Perspectives of auto-correcting lens distortions in mosaic-based underwater navigation

When unmanned underwater vehicles (UUVs) perform missions near the ocean floor, optical sensors can be used to improve local navigation. Video mosaics allow to efficiently process the images acquired by the vehicle, and also to obtain position estimates. We discuss in this paper the role of lens distortions in this context, proving that degenerate mosaics have their origin not only in the selected motion model or in registration errors, but also in the cumulative effect of radial distortion residuals. Additionally, we present results on the accuracy of different feature-based approaches for self-correction of lens distortions that may guide the choice of appropriate techniques for correcting distortions

Formulation and Implementation of Air Quality Control Pogrammes : Patterns of Interest Consideration

This article investigates some central aspects of the relationships between programme structure and implementation of sulphur dioxide air quality control policies. Previous implementation research, primarily adopting American approaches, has neglected the connections between the processes of programme formulation and implementation. 'Programme', as the key variable in implementation studies, has been defined too narrowly. On the basis of theoretical and conceptual reflections and provisional empirical results from studies in France, Italy, England, and the Federal Republic of Germany, the authors demonstrate that an integral process analysis using a more extended programme concept is necessary if patterns of interest recognition in policies are to be discovered. Otherwise, the still important question of critical social science cannot be answered, namely, what is the impact of special interests upon implementation processes.

Impact of thermal proofing of a church on its indoor air-quality - The combustion of candles and incense as a source of pollution

Some years ago, a parish in Geneva decided to reduce heating costs by insulating its church to make it more energy efficient. Three years after the last renovations, it was observed that the internal surfaces of the naves had already become dusty compared with the customary frequency of 10-12 years. Dust even deposited on various surfaces during religious services. Our investigation showed that nearly all the dust found inside the church may in fact be soot from incense and candle combustion. Incense appears to be a significant source of polycyclic aromatic hydrocarbons. With a mechanical ventilation system and petrol lamps resembling candles the problem can be resolved.

Estudi del model dinàmic d’un robot submarí d’intervenció (IAUV) composat per un vehicle i un braç manipulador

Fins a la data d’avui, el grup VICOROB de la Universitat de Girona ha desenvolupat diversos vehicles autònoms (GARBÍ, URIS i ICTINEU). El projecte que comença aquest any té com objectiu desenvolupar un nou vehicle submarí autònom amb capacitat d’intervenció (I-AUV) gràcies a un braç manipulador. Aquest projecte final de carrera té com objectiu desenvolupar en entorn MATLAB un simulador d’un I-AUV, format per un AUV i un braç manipulador de n graus de llibertat per tal d’avaluar les reaccions dels moviments del braç, amb càrrega i sense, sobre el robot, iviceversa

Conceiving Comparative Policy Analysis : Implementing Air Quality Improvement Programs

The comparative analysis of air quality control policies provides an interesting field for studies of comparative policy analysis including program formulation and implementation processes. In European countries, the problem is comparable, whereas implementation structures, programs and policy impacts vary to a considerable extent. Analysis testing possibilities and constraints of air control policies under varying conditions are likely to contribute to a further development of a theory of policy analysis. This paper presents the analytical framework applied in a continuing empirical study explaining program formulation and implementation processes with respect to the different actors involved. Concrete emitter behavior can be explained by interaction processes at the very local level, by program elements of national legislation, and by structural constraints under which such programs are produced.

Disseny d’un comportament en ROS per a mantenir la posició d’un vehicle autònom submarí a partir de referències visuals

En el Centre d'Investigació en Robòtica Submarina (CIRS) de la Universitat de Gironaes disposa de diferents robots submarins els quals utilitzen una arquitectura software anomenada Component Oriented Layered-based Architecture for Autonomy ( COLA2 ), la qual ha estat desenvolupada per estudiants i professors del mateix centre. Per tal de fer aquesta arquitectura més accessible per a professors i estudiant d’altres centres la COLA2 s’està adaptant al Robot Operative System (ROS) que és un framework genèricper al desenvolupament d’aplicacions amb robots. Aquest projecte pretén dissenyar un comportament per al robot Girona500 que estigui desenvolupat dins la versió ROS de l’arquitectura COLA2. El comportament haurà de fer mantenir una determinada posició al robot amb informació visual de la càmera del robot i amb dades de navegació. La tasca de mantenir la posició es de vital importància per a poder realitzar intervencions submarines que requereixen de precisió i, precisament, el medi on es treballa no ajuda

Simulació mitjançant tècniques CFD d'una culata per al motor del vehicle de baix consum "Àliga-EPS-UdG"

El projecte pretén estudiar i quantificar les restriccions creades al fluid en circular pelsconductes d’admissió i escapament de la culata del motor del vehicle Àliga. L’estudi consta de quatre etapes: estudi de les restriccions actuals dels sistemes d’admissió i escapament; anàlisi dels resultats de la culata de sèrie i proposta de millores aplicables al model real; càlcul de les restriccions creades pels models millorats, i finalment, estudi comparatiu dels resultats obtinguts, interpretant els resultats dels principals paràmetres a analitzar

Millora aerodinàmica de la nova carrosseria del vehicle l'Àliga. Estudis dels efectes de la rugositat i l'inserció d'apèndixs aerodinàmics

L' objectiu d' aquest estudi és intentar millorar l' aerodinàmica de la nova carrosseria del vehicle de baix consum de la UdG,l' Àliga, a través de programes informàtics de CFD.Des de fa uns anys l' Escola Politècnica Superior de la Universitat de Girona participa a l' Eco Shell Marathon, mirant d' assolir els millors resultats possibles.El nom del vehicle utilitzat per aquesta carrera és l' Àliga.Aquest projecte parteix dels resultats obtinguts al Projece fi de carrera d' en Daniel Vilavedra Vilà (2006):"Redisseny aerodinàmic de la carrosseria del vehicle de baix consum Àliga"

Biofilm formation at the solid-liquid and air-liquid interfaces by Acinetobacter species.

BACKGROUND The members of the genus Acinetobacter are Gram-negative cocobacilli that are frequently found in the environment but also in the hospital setting where they have been associated with outbreaks of nosocomial infections. Among them, Acinetobacter baumannii has emerged as the most common pathogenic species involved in hospital-acquired infections. One reason for this emergence may be its persistence in the hospital wards, in particular in the intensive care unit; this persistence could be partially explained by the capacity of these microorganisms to form biofilm. Therefore, our main objective was to study the prevalence of the two main types of biofilm formed by the most relevant Acinetobacter species, comparing biofilm formation between the different species. FINDINGS Biofilm formation at the air-liquid and solid-liquid interfaces was investigated in different Acinetobacter spp. and it appeared to be generally more important at 25°C than at 37°C. The biofilm formation at the solid-liquid interface by the members of the ACB-complex was at least 3 times higher than the other species (80-91% versus 5-24%). In addition, only the isolates belonging to this complex were able to form biofilm at the air-liquid interface; between 9% and 36% of the tested isolates formed this type of pellicle. Finally, within the ACB-complex, the biofilm formed at the air-liquid interface was almost 4 times higher for A. baumannii and Acinetobacter G13TU than for Acinetobacter G3 (36%, 27% & 9% respectively). CONCLUSIONS Overall, this study has shown the capacity of the Acinetobacter spp to form two different types of biofilm: solid-liquid and air-liquid interfaces. This ability was generally higher at 25°C which might contribute to their persistence in the inanimate hospital environment. Our work has also demonstrated for the first time the ability of the members of the ACB-complex to form biofilm at the air-liquid interface, a feature that was not observed in other Acinetobacter species.

Càlcul, disseny i fabricació d'una carrosseria autoportant en material compòsit per al vehicle de baix consum Àliga

El projecte és l’inici de la creació d’un nou prototip per a poder competir la temporada 2008 a la cursa de vehicles de baix consum Shell Eco-Marathon. El principal objectiu és aconseguir un xassís que redueixi, en la mesura del possible, el pes del prototip a la vegada que asseguri una millor rigidesa i millori l’ergonomia de tot el conjunt. Es dissenyarà tota la part estructural de la carrosseria, que serà sotmesa a càlcul mitjançant la tècnica dels elements finits i posteriorment es realitzarà una guia de producció per tal de guiar els membres de l’equip que en realitzin la producció

Integrating human indoor air pollutant exposure within Life Cycle Impact Assessment.

Neglecting health effects from indoor pollutant emissions and exposure, as currently done in Life Cycle Assessment (LCA), may result in product or process optimizations at the expense of workers' or consumers' health. To close this gap, methods for considering indoor exposure to chemicals are needed to complement the methods for outdoor human exposure assessment already in use. This paper summarizes the work of an international expert group on the integration of human indoor and outdoor exposure in LCA, within the UNEP/ SETAC Life Cycle Initiative. A new methodological framework is proposed for a general procedure to include human-health effects from indoor exposure in LCA. Exposure models from occupational hygiene and household indoor air quality studies and practices are critically reviewed and recommendations are provided on the appropriateness of various model alternatives in the context of LCA. A single-compartment box model is recommended for use as a default in LCA, enabling one to screen occupational and household exposures consistent with the existing models to assess outdoor emission in a multimedia environment. An initial set of model parameter values was collected. The comparison between indoor and outdoor human exposure per unit of emission shows that for many pollutants, intake per unit of indoor emission may be several orders of magnitude higher than for outdoor emissions. It is concluded that indoor exposure should be routinely addressed within LCA.