Calibration Method for Underwater Visual Ground-Truth System

This work presents an automatic calibration method for a vision based external underwater ground-truth positioning system. These systems are a relevant tool in benchmarking and assessing the quality of research in underwater robotics applications. A stereo vision system can in suitable environments such as test tanks or in clear water conditions provide accurate position with low cost and flexible operation. In this work we present a two step extrinsic camera parameter calibration procedure in order to reduce the setup time and provide accurate results. The proposed method uses a planar homography decomposition in order to determine the relative camera poses and the determination of vanishing points of detected lines in the image to obtain the global pose of the stereo rig in the reference frame. This method was applied to our external vision based ground-truth at the INESC TEC/Robotics test tank. Results are presented in comparison with an precise calibration performed using points obtained from an accurate 3D LIDAR modelling of the environment.

Stereo-Based Head Pose Tracking Using Iterative Closest Point and Normal Flow Constraint

In this text, we present two stereo-based head tracking techniques along with a fast 3D model acquisition system. The first tracking technique is a robust implementation of stereo-based head tracking designed for interactive environments with uncontrolled lighting. We integrate fast face detection and drift reduction algorithms with a gradient-based stereo rigid motion tracking technique. Our system can automatically segment and track a user's head under large rotation and illumination variations. Precision and usability of this approach are compared with previous tracking methods for cursor control and target selection in both desktop and interactive room environments. The second tracking technique is designed to improve the robustness of head pose tracking for fast movements. Our iterative hybrid tracker combines constraints from the ICP (Iterative Closest Point) algorithm and normal flow constraint. This new technique is more precise for small movements and noisy depth than ICP alone, and more robust for large movements than the normal flow constraint alone. We present experiments which test the accuracy of our approach on sequences of real and synthetic stereo images. The 3D model acquisition system we present quickly aligns intensity and depth images, and reconstructs a textured 3D mesh. 3D views are registered with shape alignment based on our iterative hybrid tracker. We reconstruct the 3D model using a new Cubic Ray Projection merging algorithm which takes advantage of a novel data structure: the linked voxel space. We present experiments to test the accuracy of our approach on 3D face modelling using real-time stereo images.

Proceedings : 10th International Multimedia Modeling Conference : MMM 2004 : Brisbane, Australia, 5-7 January 2004

The International Multimedia Modelling conference series is an annual forum to discuss the efficient representation, processing, interaction, integration, communication, and retrieval of multimedia information.
In particular, the 10th International Multimedia Modelling Conference (MMM2004) concentrates on common modelling frameworks for integrating the diverse fields of visual, audio, video, and
virtual world information.
MMM2004 deals with emerging Multimedia Modelling topics including:
• Multimedia Databases
• Audio Processing, Coding and Encryption
• Network Games and Animation
• Video Applications
• Multimedia Frameworks and QoS
• Topological and 3D Geometric Modelling
• Image Applications
• Image Retrieval
• Modelling / Editing / Virtual Environment
• Video Retrieval and Browsing

Evidências da herança geotectônica pré-cambriana na geração da barcia potiguar: um estudo geofísico multdisciplinar

The 3D gravity modeling of the Potiguar rift basin consisted of a digital processing of gravity and aeromagnetic data, subsidized by the results of Euler deconvolution of gravity and magnetic data and the interpretation of seismic lines and wells descriptions. The gravity database is a compilation of independent geophysical surveys conducted by several universities, research institutions and governmental agencies. The aeromagnetic data are from the Bacia Potiguar and Plataforma Continental do Nordeste projects, obtained from the Brazilian Petroleum Agency (ANP). The solutions of the Euler Deconvolution allowed the analysis of the behavior of the rift main limits. While the integrated interpretation of seismic lines provided the delimitating horizons of the sedimentary formations and the basement top. The integration of these data allowed a 3D gravity modeling of basement topography, allowing the identification of a series of internal structures of the Potiguar rift, as well intra-basement structures without the gravity effect of the rift. The proposed inversion procedure of the gravity data allowed to identify the main structural features of the Potiguar rift, elongated in the NE-SW direction, and its southern and eastern faulted edges, where the sedimentary infill reachs thicknesses up to 5500 m. The southern boundary is marked by the Apodi and Baixa Grande faults. These faults seem to be a single NW-SE oriented fault with a strong bend to NE-SW direction. In addition, the eastern boundary of the rift is conditioned by the NE-SW trending Carnaubais fault system. It was also observed NW-SE oriented faults, which acted as transfer faults to the extensional efforts during the basin formation. In the central part of the residual anomaly map without the gravity effect of the rift stands out a NW-SE trending gravity high, corresponding to the Orós-Jaguaribe belt lithotypes. We also observe a gravity maximum parallel to the Carnaubais fault system. This anomaly is aligned to the eastern limit of the rift and reflects the contact of different crustal blocks, limited by the eastern ward counterpart of the Portalegre Shear Zone

Caracterização de reservatórios siliciclásticos neoaptianos: um estudo do membro carmópolis no campo de Camorim, sub-bacia de Sergipe, Brasil

The Camorim Oilfield, discovered in 1970 in the shallow water domain of the Sergipe Sub-basin, produces hydrocarbons from the Carmópolis Member of the Muribeca Formation, the main reservoir interval, interpreted as siliciclastics deposited in an alluvial-fluvial-deltaic context during a late rifting phase of Neoaptian age, in the Sergipe-Alagoas Basin. The structural setting of the field defines different production blocks, being associated to the evolution of the Atalaia High during the rift stage and subsequent reactivations, encompassing NE-SW trending major normal faults and NWEW trending secondary faults. The complexity of this field is related to the strong facies variation due to the interaction between continental and coastal depositional environments, coupled with strata juxtaposition along fault blocks. This study aims to geologically characterize its reservoirs, to provide new insights to well drilling locations in order to increase the recovery factor of the field. Facies analysis based on drill cores and geophysical logs and the 3D interpretation of a seismic volume, provide a high resolution stratigraphic analysis approach to be applied in this geodynamic transitional context between the rift and drift evolutionary stages of the basin. The objective was to define spatial and time relations between production zones and the preferential directions of fluid flow, using isochore maps that represent the external geometry of the deposits and facies distribution maps to characterize the internal heterogeneities of these intervals, identified in a 4th order stratigraphic zoning. This work methodology, integrated in a 3D geological modelling process, will help to optimize well drilling and hydrocarbons production. This methodology may be applied in other reservoirs in tectonic and depositional contexts similar to the one observed at Camorim, for example, the oil fields in the Aracaju High, Sergipe Sub-basin, which together represent the largest volume of oil in place in onshore Brazilian basins

Gravimetria no estudo da extremidade sudeste da faixa de dobramentos Brasília

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Design Participativo para a Sustentabilidade: desenvolvimento de painéis modulares para fechamentos, utilizando bambu associado com terra e resíduos

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

The cytochrome P450 aromatase lacking exon 5 is associated with a phenotype of nonclassic aromatase deficiency and is also present in normal human steroidogenic tissues

OBJECTIVE: The previously described c655G>A mutation of the human cytochrome P450 aromatase gene (P450aro, CYP19) results in aberrant splicing due to disruption of a donor splice site. To explain the phenotype of partial aromatase deficiency observed in a female patient described with this mutation, molecular consequences of the c655G>A mutation were investigated. DESIGN: To investigate whether the c655G>A mutation causes an aberrant spliced mRNA lacking exon 5 (-Ex5), P450aro RNA was analysed from the patient's lymphocytes by reverse transcription polymerase chain reaction (RT-PCR) and by splicing assays performed in Y1 cells transfected with a P450aro -Ex5 expression vector. Aromatase activity of the c655G>A mutant was predicted by three dimensional (3D) protein modelling studies and analysed in transiently transfected Y1 cells. Exon 5 might be predicted as a poorly defined exon suggesting a susceptibility to both splicing mutations and physiological alternative splicing events. Therefore, expression of the -Ex5 mRNA was also assessed as a possibly naturally occurring alternative splicing transcript in normal human steroidogenic tissues. PATIENTS: An aromatase deficient girl was born with ambiguous genitalia. Elevated serum LH, FSH and androgens, as well as cystic ovaries, were found during prepuberty. At the age of 8.4 years, spontaneous breast development and a 194.6 pmol/l serum oestradiol level was observed. RESULTS: The -Ex5 mRNA was found in lymphocytes of the P450aro deficient girl and her father, who was a carrier of the mutation. Mutant minigene expression resulted in complete exon 5 skipping. As expected from 3D protein modelling, -Ex5 cDNA expression in Y1 cells resulted in loss of P450aro activity. In addition, the -Ex5 mRNA was present in placenta, prepubertal testis and adrenal tissues. CONCLUSIONS: Alternative splicing of exon 5 of the CYP19 gene occurs in the wild type (WT) as well as in the c655G>A mutant. We speculate that for the WT it might function as a regulatory mechanism for aromatization, whereas for the mutant a relative prevalence of the shorter over the full-length protein might explain the phenotype of partial aromatase deficiency.

Geophysical investigations in the European Alps

Joint interpretation of magnetotelluric and geomagnetic depth sounding data in the western European Alps offer new insights into the conductivity structure of the Earth's crust and mantle. This first large scale electromagnetic study in the Alps covers a cross-section from Germany to northern Italy and shows the importance of the alpine mountain chain as an interrupter of continuous conductors. Poor data quality due to the highly crystalline underground is overcome by Remote Reference and Robust Processing techniques. 3d-forward-modelling reveals on the one hand interrupted dipping crustal conductors with maximum conductance of 4960 S and on the other hand a lithosphere thickening up to 208 km beneath the central western Alps. Graphite networks arising from Paleozoic sedimentary deposits are considered to be accountable for the occurrence of high conductivity and the distribution pattern of crustal conductors. The influence of huge sedimentary molasse basins on the electromagnetic data is suggested to be minor compared with the influence of crustal conductors. In conclusion, electromagnetic results can be attributed to the geological, tectonic and palaeogeographical background. Dipping direction (S-SE) and maximum angle (10.1°) of the northern crustal conductor reveal the main thrusting conditions beneath the Helvetic Alps whereas the existence of a crustal conductor in the Briançonnais supports theses about its palaeographic belonging to the Iberian Peninsula.

La aportación de la Península Ibérica a la tecnología naval analizada a través de la interpretación de los documentos y la reproducción de los buques descritos en ellos (1570-1620)

El período de la Historia comprendido entre 1570 y 1620 nos ha dejado un importante conjunto de documentos relacionados con la construcción naval en la Península Ibérica. En una época convulsa en la que los reinos de España y Portugal se aglutinaron bajo una misma Corona, surgen una serie de manuscritos, libros y leyes que reflejan la creciente preocupación de la sociedad por el tema naval. Entre sus páginas encontramos las descripciones del proceso constructivo de los buques que sus autores consideraban más significativos para las demandas que se planteaban en ese momento. Este proceso que combinaba generación de formas y construcción del buque provenía de una secular tradición nacida en el Mediterráneo. Mediante reglas geométricas sencillas, el constructor naval trazaba las secciones centrales y el perfil de la nao, quedando los extremos de la misma (hasta más de la mitad de la eslora) a su buen hacer y experiencia. Las herramientas informáticas de generación de superficies mediante NURBs (Non- Uniform Rational B-spline) permiten reconstruir las formas de los navíos reproduciendo con fiabilidad las carenas de los mismos a partir de los documentos de la época. Mediante un estudio detallado de interpretación de los textos y transcribiendo los procesos, llegamos a obtener con un buen grado de precisión las carenas de los buques descritos en sus páginas. A partir de ahí y mediante el análisis cualitativo y cuantitativo de los parámetros obtenidos es posible valorar si las soluciones representadas por los barcos respondían a las preguntas planteadas por sus autores , la influencia de factores externos a la construcción naval tales como las regulaciones del Estado o identificar su relación con el germen y la expansión de la teoría que ha determinado los efectos de la Ciencia en la Arquitectura Naval. Comenzando por la nao veneciana de 1550, heredera de la secular tradición constructiva mediterránea, hasta llegar a las Reales Ordenanzas promulgadas en 1618, se reproducen hasta nueve carenas a partir de otros tantos documentos, se dibujan sus planos de formas y se exportan para su análisis hidrostático. El trabajo requiere la realización de otros estudios en paralelo necesarios para entender aquellos factores que formaron parte del desarrollo tecnológico naval como son, las unidades de medida en uso en los astilleros, los distintos sistemas de arqueo impuestos por la Corona y la representación de los diferentes instrumentos geométricos de modificación de los parámetros de diseño. A lo largo del trabajo se dan respuesta a interrogantes planteados por la arqueología en relación con el desarrollo de la arquitectura naval poniendo en evidencia que durante este período quedaron establecidos los fundamentos teórico-prácticos de lo que más adelante se convirtió en la ciencia de la ingeniería naval y se plantean nuevos retos para aquellos que deseen continuar la apasionante tarea de la investigación científica de nuestra historia. ABSTRACT The period of the History comprised between 1570 and 1620 has left an important set of shipbuilding documents in the Iberian Peninsula. In a turbulent time in which the kingdoms of Spain and Portugal were ruled under the same Crown, manuscripts, books and laws that reflect the growing concern of society for the naval theme arose. We found among their pages shipbuilding process descriptions of the more relevant vessels that responded to claims that arose at that time. This process brought together hull generation and shipbuilding and came from a secular tradition born in the Mediterranean. By means of simple geometric rules, the shipbuilder traced the central sections and profile of the ship, leaving the ends thereof (almost half of the length) to its good performance and experience. 3D computer modelling software by NURBs (Non-Uniform Rational B-spline) surfaces helps to reconstruct ships hulls from contemporary documents. Through a detailed texts interpretation and transcription processes, we manage to reach with a good degree of accuracy the ship hulls described in its pages. From there and through qualitative and quantitative analysis of the parameters obtained we can assess whether the solutions represented by ships gave response to the questions raised by the authors, the influence of external factors such as shipbuilding state regulations or identify their relationship to the origin and expansion of the theory that has determined the effects of Science in Naval Architecture. From the 1550 Venetian nao, inheritor of the secular Mediterranean building tradition, to the Royal Ordinances enacted in 1618, as nine hulls are reproduced, their line drawings are traced and exported for analysis hydrostatic. Further studies are needed to understand the factors that were part of shipbuilding technology development as the units of measure in use in shipyards, the different official regulations for calculating ship tonnage and the different geometric instruments to amend the design parameters. The work gives response to questions raised by archaeology in relation to the development of naval architecture highlighting that during this period were established the theoretical and practical foundations of what later became the science of naval engineering and raising new challenges for those wishing to continue the exciting task of scientific research of our History.

Computer aided manufacturing of geometric models

As systems for computer-aided-design and production of mechanical parts have developed, there has arisen a need for techniques for the comprehensive description of the desired part, including its 3-D shape. The creation and manipulation of shapes is generally known as geometric modelling. It is desirable that links be established between geometric modellers and machining programs. Currently, unbounded APT and some bounded geometry systems are being widely used in manufacturing industry for machining operations such as: milling, drilling, boring and turning, applied mainly to engineering parts. APT systems, however, are presently only linked to wire-frame drafting systems. The combination of a geometric modeller and APT will provide a powerful manufacturing system for industry from the initial design right through part manufacture using NC machines. This thesis describes a recently developed interface (ROMAPT) between a bounded geometry modeller (ROMULUS) and an unbounded NC processor (APT). A new set of theoretical functions and practical algorithms for the computer aided manufacturing of 3D solid geometric model has been investigated. This work has led to the development of a sophisticated computer program, ROMAPT, which provides a new link between CAD (in form of a goemetric modeller ROMULUS) and CAM (in form of the APT NC system). ROMAPT has been used to machine some engineering prototypes successfully both in soft foam material and aluminium. It has been demonstrated above that the theory and algorithms developed by the author for the development of computer aided manufacturing of 3D solid modelling are both valid and applicable. ROMAPT allows the full potential of a solid geometric modeller (ROMULUS) to be further exploited for NC applications without requiring major investment in new NC processor. ROMAPT supports output in APT-AC, APT4 and the CAM-I SSRI NC languages.

Evolução dos sistemas de falhas de borda do Rifte Potiguar com base em curvas de crescimento de falhas

The discussion about rift evolution in the Brazilian Equatorial margin during the South America-Africa breakup in the Jurassic/Cretaceous has been focused in many researches. But rift evolution based on development and growth of faults has not been well explored. In this sense, we investigated the Cretaceous Potiguar Basin in the Equatorial margin of Brazil to understand the geometry of major faults and the influence of crustal heterogeneity and preexisting structural fabric in the evolution of the basin internal architecture. Previous studies pointed out that the rift is an asymmetrical half-graben elongated along the NE-SW direction. We used 2D seismic, well logs and 3D gravity modeling to analyze four major border fault segments and determine their maximum displacement (Dmax) and length (L) ratio in the Potiguar Rift. We constrained the 3D gravity modeling with well data and the interpretation of seismic sections. The difference of the fault displacement measured in the gravity model is in the order of 10% compared to seismic and well data. The fault-growth curves allowed us to divide the faulted rift border into four main fault segments, which provide roughly similar Dmax/L ratios. Fault-growth curves suggest that a regional uniform tectonic mechanism influenced growth of the rift fault segments. The variation of the displacements along the fault segments indicates that the fault segments were formed independently during rift initiation and were linked by hard and soft linkages. The latter formed relay ramps. In the interconnection zones the Dmax/L ratios are highest due to interference of fault segment motions. We divided the evolution of the Potiguar Rift into five stages based on these ratios and correlated them with the major tectonic stages of the breakup between South America and Africa in Early Cretaceous.

Evolução dos sistemas de falhas de borda do Rifte Potiguar com base em curvas de crescimento de falhas

The discussion about rift evolution in the Brazilian Equatorial margin during the South America-Africa breakup in the Jurassic/Cretaceous has been focused in many researches. But rift evolution based on development and growth of faults has not been well explored. In this sense, we investigated the Cretaceous Potiguar Basin in the Equatorial margin of Brazil to understand the geometry of major faults and the influence of crustal heterogeneity and preexisting structural fabric in the evolution of the basin internal architecture. Previous studies pointed out that the rift is an asymmetrical half-graben elongated along the NE-SW direction. We used 2D seismic, well logs and 3D gravity modeling to analyze four major border fault segments and determine their maximum displacement (Dmax) and length (L) ratio in the Potiguar Rift. We constrained the 3D gravity modeling with well data and the interpretation of seismic sections. The difference of the fault displacement measured in the gravity model is in the order of 10% compared to seismic and well data. The fault-growth curves allowed us to divide the faulted rift border into four main fault segments, which provide roughly similar Dmax/L ratios. Fault-growth curves suggest that a regional uniform tectonic mechanism influenced growth of the rift fault segments. The variation of the displacements along the fault segments indicates that the fault segments were formed independently during rift initiation and were linked by hard and soft linkages. The latter formed relay ramps. In the interconnection zones the Dmax/L ratios are highest due to interference of fault segment motions. We divided the evolution of the Potiguar Rift into five stages based on these ratios and correlated them with the major tectonic stages of the breakup between South America and Africa in Early Cretaceous.

Trabajos de documentación digital de grabados rupestres en el término municipal de Alcázar de San Juan (Ciudad Real)

[EN]In recent years, several historical rock art sites have been located in Alcazar de San. Given its fragility, one of the most important and urgent tasks being undertaken within the framework of the DIPAR research project is the documentation of these sites. Among the various techniques used to this, two stand out above the rest: the application of digital photography at night, and three-dimensional documentation.