Towards a Mobile Three-dimensional Modelling System for Underground Structures

Robotica 2012: 12th International Conference on Autonomous Robot Systems and Competitions April 11, 2012, Guimarães, Portugal

Application of Visual-Inertial SLAM for 3D Mapping of Underground Environments

The underground scenarios are one of the most challenging environments for accurate and precise 3d mapping where hostile conditions like absence of Global Positioning Systems, extreme lighting variations and geometrically smooth surfaces may be expected. So far, the state-of-the-art methods in underground modelling remain restricted to environments in which pronounced geometric features are abundant. This limitation is a consequence of the scan matching algorithms used to solve the localization and registration problems. This paper contributes to the expansion of the modelling capabilities to structures characterized by uniform geometry and smooth surfaces, as is the case of road and train tunnels. To achieve that, we combine some state of the art techniques from mobile robotics, and propose a method for 6DOF platform positioning in such scenarios, that is latter used for the environment modelling. A visual monocular Simultaneous Localization and Mapping (MonoSLAM) approach based on the Extended Kalman Filter (EKF), complemented by the introduction of inertial measurements in the prediction step, allows our system to localize himself over long distances, using exclusively sensors carried on board a mobile platform. By feeding the Extended Kalman Filter with inertial data we were able to overcome the major problem related with MonoSLAM implementations, known as scale factor ambiguity. Despite extreme lighting variations, reliable visual features were extracted through the SIFT algorithm, and inserted directly in the EKF mechanism according to the Inverse Depth Parametrization. Through the 1-Point RANSAC (Random Sample Consensus) wrong frame-to-frame feature matches were rejected. The developed method was tested based on a dataset acquired inside a road tunnel and the navigation results compared with a ground truth obtained by post-processing a high grade Inertial Navigation System and L1/L2 RTK-GPS measurements acquired outside the tunnel. Results from the localization strategy are presented and analyzed.

Emove

A Work Project, presented as part of the requirements for the Award of a Masters Degree in Management from the NOVA – School of Business and Economics

Deeper insights into SRB-driven biocorrosion mechanisms

Dissertação para obtenção do Grau de Doutor em Química Sustentável

Structure-property relationships in polymer nanocomposites

Tese de Doutoramento em Ciência e Engenharia de Polímeros e Compósitos

Effect of pH on Candida tropicalis virulence factors

Dissertação de mestrado em Bioengenharia

Estudos sôbre a distribuição do radiozinco no tomateiro (Lycopersicum esculentum)

The present paper relates a few experiments carried out to study the distribution of radiozinc in tomato seedlings as well its translocation in adult plants. 1 Tomato seedlings grown in nutrient solution were given during two weeks ca. 0.2 microcuries of Zn65C112; the seedlings were then harvested, and after careful washing of the roots with distiled water and diluted HC1, a radioautograph was taken (Fig. 1); this shows that the whole seedling, including the first cotyledon leaves are active; the Zn65 is preferentially concentrated, however, in the root system; this fact suggests that finding by ROSSITER (1953) that the roots of plants growing under natural conditions had a very high concentration of zinc is not due to soil contamination being ascribable to the physiology of such micronutrient. 2. The translocation of radiozinc was demonstrated by three different ways. In the first case, Zn65Cl2 was supplied to the nutrient solution during four weeks; three weeks after the addition of the radiozinc was discontinued, the newer leaves were detached and a radioautograph was taken (Fig. 2); the activity therein found shows that translocation occurred from the old leaves to the young ones. In the next experiment, identical procedure was followed but, instead of a radioautograph, different parts of the plant were ashed and counted; it was verified that 66.6 per cent of the activity supplied was absorbed; due to a great fixation within the roots only 5,6 per cent was translocated to the newer organs. In the third trial, Zn65C12 was directly applied to both upper and lower surfaces of medium aged leaves; counting the separated organs revealed that: 24.2 per cent of the activity applied hab been absorbed; however, 13.7 per cent translocated to the rest of the plant including to the roots. The author wishes to express his gratitude to Dr. P. R. Stout, Chairman, Dept. of Plant Nutrition, University of California, Berkeley and to Mr. A. B. Carlton for their help during part of this work. O autor agradece ao Laboratório de Isótopos da Universidade de São Paulo, na pessoa do Dr. T. Eston, o fornecimento do Zn65 usado neste trabalho.

Estudos sôbre a alimentação mineral do cafeeiro. II: absorção do superfosfato radioativo pelo cafeeiro (Coffea arabica L., var. Bourbon Amarelo) em condições de campo

In order to find out the best way to supply phosphorus to coffee plants when growing in "terra roxa misturada", a red soil with a high fixing capacity, tagged superphosphate was applied by the following procedures: (1) topdressed in a circular strip around the trees; (2) placed in the bottom of a circular furrow 15 cm deep; (3) placed in a semicircular furrow also 15 cm deep; (4) sprayed directly to the leaves. In each case 150 gms. of ordinary superphosphate tagged with H3 P32 O4 to give 5 X 10(9) c.p.m. were given to the two and half year old coffee plants. It was found that for the several treatments of the total phosphorus in the leaves the following values, on a per cent basis, came from the applied superphosphates: (1) topdressed 10.2 per cent, (2) circular furrow 2.4 per cent, (3) semicircular furrow 1.7 per cent, (4) sprayed 38.0 per cent; one can see, then, that methods (2) and (3) commonly used by the coffee planters are a very inefficient way to supply phosphorus in this type of soil. The remarkable foliar absorption was checked twice: a water culture experiment was carried out, the radiophosphorus being supplied by brushing it in the upper and lower surfaces of a given leaf; radioactivity was detected all over the plant as a result both of absorption and translocation; on the other hand, leaves collected from the sprayed trees were radioautographed; the radioautographs showed the pattern of distribution of the P32 which indicates true absorption rather than a surface contamination. In another locality, an experiment was caried out with 8 year old plants growing in "arenito de Bauru" which is a sandy soil with much less phosphorus fixing capacity. In this experiment the aim was to compare absorption of tagged superphosphate by trees growin under mulch against plants not receiving this treatment, The uptake of phosphorus was the same for both sets of plants. In both field experiments soil samples down to 15 cm in the profile were collected and its 0.2NHC1 soluble phosphorus was counted; rather significant values were observed mainly in the upper 5 cm layers.

A concentric analysis of the impact of urbanization on the threatened European tree frog in an agricultural landscape

Pond-breeding amphibians are affected by site-specific factors and regional and landscape-scale patterns of land use. Recent anthropogenic landscape modifications (drainage, agriculture intensification, larger road networks, and increased traffic) affect species by reducing the suitable habitat area and fragmenting remaining populations. Using a robust concentric approach based on permutation tests, we evaluated the impact of recent landscape changes on the presence of the endangered European tree frog (Hyla arborea.) in wetlands. We analyzed the frequency of 1 traffic and 14 land-use indices at 20 circular ranges (from 100-m up to 2-km radii) around 76 ponds identified in western Switzerland. Urban areas and road surfaces had a strong adverse effect on tree frog presence even at relatively great distances (from 100 m up to 1 km). When traffic measurements were considered instead of road surfaces, the effect increased, suggesting a negative impact due to a vehicle-induced effect. Altogether, our results indicate that urbanization and traffic must be taken into account when pond creation is an option in conservation management plans, as is the case for the European tree frog in western Switzerland. We conclude that our easy-to-use and robust concentric method of analysis can successfully assist managers in identifying potential sites for pond creation, where probability of the presence of tree frogs is maximized.

Morphological Aspects of the Larval Instars of Chrysomya albiceps (Diptera, Calliphoridae) Reared in the Laboratory

In order to study the morphology of young Chrysomya albiceps forms, newly hatched larvae were collected at 2 hr intervals, during the first 56 hr; after this time the collection was made at 12 hr intervals. For identification and drawing, larvae were placed between a slide and a coverslip. The cephalopharyngeal skeletons along with the first and last segments were cut off for observation of their structures and spiracles. The larvae present microspines, which are distributed randomly throughout the 12 segments of the body surface; the cephalopharyngeal skeleton varies in shape and extent of sclerotization according to larval instar; the second and third instars have relatively long processes (tubercles) on the dorsal, lateral and ventral surfaces, with microspine circles on the terminal portion

Oxygen consumption in offspring tawny owls Strix aluco is associated with colour morph of foster mother

In several colour polymorphic species, morphs differ in thermoregulation either because dark and pale surfaces absorb solar radiation to a different extent and/or because morphs differ in key metabolic processes. Morph-specific thermoregulation may potentially account for the observation that differently coloured individuals are frequently not randomly distributed among habitats, and differ in many respects, including behaviour, morphology, survival and reproductive success. In a wild population of the colour polymorphic tawny owl Strix aluco, a recent cross-fostering experiment showed that offspring raised and born from red mothers were heavier than those from grey mothers. In the present study, we tested in the same individuals whether these morph-specific offspring growth patterns were associated with a difference in metabolic rate between offspring of red and grey mothers. For this purpose, we measured nestling oxygen consumption under two different temperatures (laboratory measurements: 4 and 20 degrees C), and examined the relationships between these data sets and the colour morph of foster and biological mothers. After controlling for nestling body mass, oxygen consumption at 20 degrees C was greater in foster offspring raised by grey foster mothers. No relationship was found between nestling oxygen consumption and coloration of their biological mother. Therefore, our study indicates that in our experiment offspring raised by grey foster mothers showed not only a lower body mass than offspring raised by red foster mothers, but also consumed more oxygen under warm temperature. This further indicates that rearing conditions in nests of grey mothers were more stressful than in nests of red mothers.

The Tightness of the Cotton Swabs Meshing Influences the Chances of Getting Conclusive DNA Profiles

Objective: The chance of obtaining a conclusive DNA profile strongly depends on the quantity of biological material that can be recovered from a crime scene sample. Optimizing the collection strategy is therefore of prime interest. A difference in the level of tightness of the cotton meshed around the shaft has been observed between manufacturers and is hypothesized to affect the collection and subsequent release capacity of cotton swabs. Consequently, we compared the performance of cotton swabs from two different suppliers: Applimed SA and DryswabTM. Methods: These swabs were used to recover 50 ml of blood, either pure or diluted (1:1000 and 1:5000), deposited on both smooth and absorbent surfaces. Performance was compared in terms of ease of use, concentration of extracted DNA, and quality of DNA profiles. DNA quantification was obtained by real-time PCR using the QuantifilerTM Human DNA Quantification Kit. Evaluation of DNA profiles was based on profiles obtained using AmpFlSTR® NGM SElectTM PCR Amplification kit. Results: When considering smooth surfaces, recovered DNA was more concentrated when using the DryswabTM than the Applimed SA cotton swab. More precisely, DNA concentrations ranged from 15.7 to 28.8 ng/ml and 6.7 to 21.2 ng/ml, respectively for samples of pure blood. The same trend was observed for the absorbent surface, with 2.0 to 5.0 ng/ml and 0.9 to 1.4 ng/ml, respectively. Conclusion: Our results illustrate that different cotton swabs produce different results in terms of ease of use and quantity of recovered DNA and this should be taken into consideration when choosing which swab to use at both the crime scene and laboratory. More specifically, results from the present study suggest that looser meshing of the cotton fibres

Detailed 3D seismic imaging of a fault zone beneath Lake Geneva, Switzerland

An efficient high-resolution (HR) three-dimensional (3D) seismic reflection system for small-scale targets in lacustrine settings was developed. In Lake Geneva, near the city of Lausanne, Switzerland, the offshore extension of a complex fault zone well mapped on land was chosen for testing our system. A preliminary two-dimensional seismic survey indicated structures that include a thin (<40 m) layer of subhorizontal Quaternary sediments that unconformably overlie south-east-dipping Tertiary Molasse beds and a major fault zone (Paudeze Fault Zone) that separates Plateau and Subalpine Molasse (SM) units. A 3D survey was conducted over this test site using a newly developed three-streamer system. It provided high-quality data with a penetration to depths of 300 m below the water bottom of non-aliased signal for dips up to 30degrees and with a maximum vertical resolution of 1.1 m. The data were subjected to a conventional 3D processing sequence that included post-stack time migration. Tests with 3D pre-stack depth migration showed that such techniques can be applied to HR seismic surveys. Delineation of several horizons and fault surfaces reveals the potential for small-scale geologic and tectonic interpretation in three dimensions. Five major seismic facies and their detailed 3D geometries can be distinguished. Three fault surfaces and the top of a molasse surface were mapped in 3D. Analysis of the geometry of these surfaces and their relative orientation suggests that pre-existing structures within the Plateau Molasse (PM) unit influenced later faulting between the Plateau and SM. In particular, a change in strike of the PM bed dip may indicate a fold formed by a regional stress regime, the orientation of which was different from the one responsible for the creation of the Paudeze Fault Zone. This structure might have later influenced the local stress regime and caused the curved shape of the Paudeze Fault in our surveyed area.

Linear response functions for a vibrational configuration interaction state

Linear response functions are implemented for a vibrational configuration interaction state allowing accurate analytical calculations of pure vibrational contributions to dynamical polarizabilities. Sample calculations are presented for the pure vibrational contributions to the polarizabilities of water and formaldehyde. We discuss the convergence of the results with respect to various details of the vibrational wave function description as well as the potential and property surfaces. We also analyze the frequency dependence of the linear response function and the effect of accounting phenomenologically for the finite lifetime of the excited vibrational states. Finally, we compare the analytical response approach to a sum-over-states approach

O Papel do Ar e Água Ambientais como Veículos de Transmissão de Infeções Fúngicas no Hospital Agostinho Neto, Cidade da Praia, Cabo Verde

Os fungos são um grupo de microrganismos diversificado com uma grande ubiquidade na natureza, podendo ser encontrados no solo, no ar e na água. Alguns destes microrganismos são considerados como verdadeiros agentes patogénicos para humanos e, embora na grande maioria sejam inofensivos para indivíduos saudáveis, tornam-se patogénicos para indivíduos com fragilidade imunológica. A infeção por estes agentes em ambiente hospitalar tem sido relatada neste últimos anos como a principal causa de morte nos pacientes internados com debilidade imunológica. Neste estudo foi feita a monitorização da presença de fungos no ambiente de algumas unidades mais críticas do Hospital Agostinho Neto na cidade da Praia em Cabo Verde durante o mês de Janeiro de 2012, nomeadamente no Bloco Operatório do hospital, no serviço de internamento Cirúrgico e Queimadura, no serviço de internamento de Neonatologia, no serviço de internamento de Infeciologia, no serviço de Oncologia e no serviço de Hemodiálise. No total foram recolhidas 34 amostras de diferentes locais, detectadas 393ufc/m3 no ar, 685ufc/m3 na água e 2696ufc/m2 nas superfícies e isolados 104 fungos morfologicamente diferentes, sendo sido obtidos 29 a partir do ar, 21 de amostras da água e 54 de superfícies. A análise micológica destas amostras revelou uma forte presença dos géneros como Penicillium sp., Cladosporium sp. e Aspergillus sp. em todas as colheitas. Sabendo que a contaminação do ambiente hospitalar por estes agentes pode ser um fator de risco para infeção nosocomial em pacientes com sistema imunitário muito debilitado, sugerimos no final do trabalho algumas linhas orientadoras para minimizar os fatores de risco e propor trabalhos futuros para correlacionar esses fatores com casos de ocorrência de infeções fúngicas no Hospital Agostinho Neto na cidade da Praia, Cabo Verde.