Efficient topology estimation for large scale optical mapping

Large scale image mosaicing methods are in great demand among scientists who study different aspects of the seabed, and have been fostered by impressive advances in the capabilities of underwater robots in gathering optical data from the seafloor. Cost and weight constraints mean that lowcost Remotely operated vehicles (ROVs) usually have a very limited number of sensors. When a low-cost robot carries out a seafloor survey using a down-looking camera, it usually follows a predetermined trajectory that provides several non time-consecutive overlapping image pairs. Finding these pairs (a process known as topology estimation) is indispensable to obtaining globally consistent mosaics and accurate trajectory estimates, which are necessary for a global view of the surveyed area, especially when optical sensors are the only data source. This thesis presents a set of consistent methods aimed at creating large area image mosaics from optical data obtained during surveys with low-cost underwater vehicles. First, a global alignment method developed within a Feature-based image mosaicing (FIM) framework, where nonlinear minimisation is substituted by two linear steps, is discussed. Then, a simple four-point mosaic rectifying method is proposed to reduce distortions that might occur due to lens distortions, error accumulation and the difficulties of optical imaging in an underwater medium. The topology estimation problem is addressed by means of an augmented state and extended Kalman filter combined framework, aimed at minimising the total number of matching attempts and simultaneously obtaining the best possible trajectory. Potential image pairs are predicted by taking into account the uncertainty in the trajectory. The contribution of matching an image pair is investigated using information theory principles. Lastly, a different solution to the topology estimation problem is proposed in a bundle adjustment framework. Innovative aspects include the use of fast image similarity criterion combined with a Minimum spanning tree (MST) solution, to obtain a tentative topology. This topology is improved by attempting image matching with the pairs for which there is the most overlap evidence. Unlike previous approaches for large-area mosaicing, our framework is able to deal naturally with cases where time-consecutive images cannot be matched successfully, such as completely unordered sets. Finally, the efficiency of the proposed methods is discussed and a comparison made with other state-of-the-art approaches, using a series of challenging datasets in underwater scenarios

Desenvolupament de mètodes de predicció de soroll i anàlisi de l'impacte acústic produït pel trànsit viari i el ferrocarril en la ciutat de Girona

La feina feta en aquest treball de tesis s'ha desenvolupat a partir de tres objectius vertebradors, que fonamentalment són: ·El primer dels objectius d'aquest treball de tesis és presentar un recull dels factors que intervenen en l'acústica urbanística: soroll produït pels diferents vehicles, fórmules de predicció de soroll, geometria dels edificis... , tot estudiant els seus efectes en la ciutat de Girona. ·Un altre objectiu ha estat desenvolupar uns mètodes numèrics propis, contrastats experimentalment i extrapolables a qualsevol entorn urbanístic, que permetin predir els valors de les pertorbacions acústiques produïdes pels diferents vehicles en diferents situacions, entre els que es destaquen: -Fórmula de predicció del soroll en un entorn urbà i la seva aplicació a Girona. -Càlcul de l'increment de soroll en un carrer provocat per les reflexions de les ones sonores en les façanes dels edificis. -Estudi del nivell de soroll en la boca de la cavitat d'un túnel produït pel pas del ferrocarril. -Determinació del soroll provocat pel pas d'un tren sobre un viaducte. -Mètode de distribució i planificació del trànsit urbà per disminuir l'impacte acústic sobre la zona. ·El darrer objectiu consisteix en fer una descripció analítica de les principals fonts de soroll que afecten a la ciutat: el trànsit viari i el ferrocarril. Per realitzar aquests objectius s'ha disposat d'un banc de dades amb més de 2.000 mesures sonores de Girona (nivells equivalents de 10 minuts de durada). La metodologia seguida i els principis en que es fonamenta es detallen a l'inici de cada apartat. La finalitat de tots aquests estudis, no és altre que millorar el confort acústic, i la qualitat de vida, de les ciutats. Gairebé tots els grans nuclis de població del planeta es veuen afectats per una gravíssima problemàtica mediambiental, doncs a l'anomenada contaminació acústica cal afegir uns alts índexs de pol·lució atmosfèrica (altes concentracions de biòxid de carboni, generació d'illes de calor...). Aquesta situació, generalitzada arreu del planeta, ha propiciat l'aparició de mesures dràstiques consistents fonamentalment en restringir l'accés dels vehicles motoritzats als nuclis i zones centrals de les àrees urbanes. Precisament aquesta opció s'ha proposat per les zones interiors de Girona on l'elevada densitat de les edificacions deixa un escàs marge per plantejar la construcció de noves rutes o vies alternatives. Cal esmentar que tots els càlculs i teories que es desenvolupen en aquest treball de tesis reflecteixen la realitat acústica actual provocada pels diferents mitjans de transport. Molt possiblement, en un futur no massa llunyà, els nivells de soroll (dB) enregistrats en situacions de tràfic similar seran força menors. Són molts els factors que poden contribuir a aquesta disminució de la intensitat de les emissions sonores: reducció del fregament mecànic, augment del coeficient aerodinàmic, nous materials pels pneumàtics i l'asfalt ... Sense cap mena de dubte, però, una millora transcendental, i no només pel que fa al confort acústic sinó per l'ecosistema en general, seria potenciar la construcció de motors elèctrics o d'hidrogen. Aquests últims per exemple, a diferència dels motors de combustió, funcionen mitjançant piles de combustible que converteixen, amb molta netedat, el gas hidrogen en electricitat i possibiliten l'existència de vehicles no contaminants propulsats per motors elèctrics menys sorollosos. Així, al haver-hi menys fregament entre les parts mòbils del motor (no hi ha pistons ni cilindres) el soroll generat es reduiria considerablement.

Distribució espacial i ús de l'hàbitat de la comunitat de peixos a l'estany de Banyoles

En el marc d'un projecte més ampli sobre la comunitat de peixos de la conca lacustre de Banyoles, s'ha estudiat la distribució espacial de les diferents espècies així com l'ús que aquestes fan de l'hàbitat. El poblament piscícola de l'estany de Banyoles és el resultat d'un llarg historial d'introducció d'espècies exòtiques i extinció de les poblacions autòctones locals. S'ha revisat la seva composició actual detectant un total de 18 espècies (4 autòctones i 14 introduïdes) de les quals només 13 presenten una població estable. L'estudi de l'hàbitat s'ha centrat a l'Estany, l'element principal del sistema lacustre, analitzant per separat la zona litoral i la zona limnètica. En el primer cas s'han realitzat les captures d'individus mitjançant pesca elèctrica des d'una embarcació adaptada per aquesta pràctica. La totalitat del litoral ha estat dividida en trams de característiques homogènies on s'han obtingut les captures per unitat d'esforç per cada espècie. El mostreig s'ha desenvolupat entre l'estiu de 1997 i la primavera del 2000 realitzant un total de 10 campanyes de pesca. Les espècies més abundants al litoral són la perca americana (Micropterus salmoides) i el peix sol (Lepomis gibbosus), essent també presents la perca (Perca fluviatilis), carpa (Cyprinus carpio) i el gardí (Scardinius erythrophthalmus). S'han capturat altres espècies com ara anguila (Anguilla anguilla), bagra (Squalius cephalus), sandra (Sander lucioperca), carpí (Carassius auratus) i madrilleta vera (Rutilus rutilus), però són molt menys abundants en nombre. S'ha examinat, per cadascuna de les espècies, si existeix selecció de l'hàbitat i en cas afirmatiu, quin és el preferent en base a la classificació del litoral en sis tipus de vegetació predominant. Les espècies més abundants, perca americana i peix sol, ocupen tots els hàbitats disponibles però amb una densitat diferent. La perca mostra també una clara selecció de l'hàbitat a favor de les zones molt estructurades amb abundant presència de jonca litoral. Carpa i gardí seleccionen els ambients més fondos amb major presència de matèria orgànica d'origen vegetal procedent del bogar. En general els individus ocupen les zones amb una densitat de vegetació intermèdia, majoritàriament zones de jonca a l'estiu i zones amb mansega a l'hivern, on troben refugi i els recursos tròfics necessaris. La perca americana, a més, presenta una elevada fidelitat a un mateix punt del litoral al llarg de la seva vida. La zona limnètica ha estat prospectada mensualment mitjançant ecosondació, realitzant transectes perpendiculars a l'eix principal de l'Estany, cobrint la seva totalitat. La composició d'espècies s'ha obtingut a partir de les captures fetes amb xarxes (tresmalls) amb periodicitat estacional. L'anàlisi geoestadística de la densitat de peixos ha permès descriure l'estructura espacial d'aquesta a partir dels variogrames, així com la seva variabilitat tant espacial com temporal, i obtenir els mapes de densitat. A l'hivern, la densitat de peixos a la zona limnètica assoleix els seus valors mínims i els individus es troben formant agregats dispersos, pels diferents estrats de fondària. A partir de la primavera la densitat augmenta, pel reclutament i la major freqüència d'individus que abandonen el litoral; la densitat esdevé més homogènia a les primer capes de fondària. A l'estiu la densitat és màxima i l'estrat més homogeni coincideix amb la posició de la termoclina. Aquest estructura varia en disminuir la temperatura i barrejar-se la columna d'aigua, tornant a la situació hivernal. La perca i la madrilleta vera són les espècies predominants en aquest ambient, juntament amb la carpa. La seva distribució no és homogènia i respon a les característiques limnològiques de les diferents cubetes de l'Estany. Una particularitat d'aquest, relacionada amb el seu origen càrstic, es la formació d'una ploma hidrotermal que afecta la distribució dels peixos, probablement en augmentar la terbolesa. S'ha integrat l'ús de l'hàbitat de les espècies que ocupen tant la zona limnètica com la litoral a partir del seguiment d'individus, concretament de perca i bagra. S'ha utilitzat un sistema automàtic de posicionament que estima la localització dels individus marcats amb transmissor de telemetria acústica. L'anàlisi dels desplaçaments mostra un rang superior per la bagra en comparació amb la perca. Ambdues espècies mostren una orientació en els seus desplaçaments. La perca ocupa el litoral a la nit i es desplaça a la zona limnètica de dia, amb un ritme d'activitat marcat per dos màxims coincidint amb la sortida i posta de sol; en canvi la bagra mostra una major activitat nocturna amb zones de repòs properes al litoral. S'ha estimat igualment els dominis vital de cada individu marcat.

Selective submap joining SLAM for autonomous vehicles

Simultaneous Localization and Mapping (SLAM) do not result in consistent maps of large areas because of gradual increase of the uncertainty for long term missions. In addition, as the size of the map grows the computational cost increases, making SLAM solutions unsuitable for on-line applications. This thesis surveys SLAM approaches paying special attention to those approaches aimed to work on large scenarios. Special focus is given to existing underwater SLAM applications. A technique based on using independent local maps together with a global stochastic map is presented. This technique is called Selective Submap Joining SLAM (SSJS). A global map contains relative transformations between local maps, which are updated once a new loop is detected. Maps sharing several features are fused, maintaining the correlation between landmarks and vehicle's pose. The use of local maps reduces computational costs and improves map consistency as compared to state of the art techniques.

Acoustical barriers to communication and hearing

This study examined the acoustical conditions, including the surface-dimension measurements, background noise levels, and reverberation times in classrooms in a metropolitan area. The data collected in this study will help school administrators realize that appropriate classroom acoustics are necessary for both hearing impaired and normal hearing students.

Palaeohydrology of the Fazzan Basin and surrounding regions: The last 7 million years

We have integrated information on topography, geology and geomorphology with the results of targeted fieldwork in order to develop a chronology for the development of Lake Megafazzan, a giant lake that has periodically existed in the Fazzan Basin since the late Miocene. The development of the basin can be best understood by considering the main geological and geomorphological events that occurred thought Libya during this period and thus an overview of the palaeohydrology of all Libya is also presented. The origin of the Fazzan Basin appears to lie in the Late Miocene. At this time Libya was dominated by two large rivers systems that flowed into the Mediterranean Sea, the Sahabi River draining central and eastern Libya and the Wadi Nashu River draining much of western Libya. As the Miocene progressed the region become increasingly affected by volcanic activity on its northern and eastern margin that appears to have blocked the River Nashu in Late Miocene or early Messinian times forming a sizeable closed basin in the Fazzan within which proto-Lake Megafazzan would have developed during humid periods. The fall in base level associated with the Messinian desiccation of the Mediterranean Sea promoted down-cutting and extension of river systems throughout much of Libya. To the south of the proto Fazzan Basin the Sahabi River tributary know as Wadi Barjuj appears to have expanded its headwaters westwards. The channel now terminates at Al Haruj al Aswad. We interpret this as a suggestion that Wadi Barjuj was blocked by the progressive development of Al Haruj al Aswad. K/Ar dating of lava flows suggests that this occurred between 4 and 2 Ma. This event would have increased the size of the closed basin in the Fazzan by about half, producing a catchment close to its current size (-350,000 km(2)). The Fazzan Basin contains a wealth of Pleistocene to recent palaeolake sediment outcrops and shorelines. Dating of these features demonstrates evidence of lacustrine conditions during numerous interglacials spanning a period greater than 420 ka. The middle to late Pleistocene interglacials were humid enough to produce a giant lake of about 135,000 km(2) that we have called Lake Megafazzan. Later lake phases were smaller, the interglacials less humid, developing lakes of a few thousand square kilometres. In parallel with these palaeohydrological developments in the Fazzan Basin, change was occurring in other parts of Libya. The Lower Pliocene sea level rise caused sediments to infill much of the Messinian channel system. As this was occurring, subsidence in the Al Kufrah Basin caused expansion of the Al Kufrah River system at the expense of the River Sahabi. By the Pleistocene, the Al Kufrah River dominated the palaeohydrology of eastern Libya and had developed a very large inland delta in its northern reaches that exhibited a complex distributary channel network which at times fed substantial lakes in the Sirt Basin. At this time Libya was a veritable lake district during humid periods with about 10% of the country underwater. (C) 2008 Elsevier B.V. All rights reserved.

The point-source method for 3D reconstructions for the Helmholtz and Maxwell equations

We use the point-source method (PSM) to reconstruct a scattered field from its associated far field pattern. The reconstruction scheme is described and numerical results are presented for three-dimensional acoustic and electromagnetic scattering problems. We give new proofs of the algorithms, based on the Green and Stratton-Chu formulae, which are more general than with the former use of the reciprocity relation. This allows us to handle the case of limited aperture data and arbitrary incident fields. Both for 3D acoustics and electromagnetics, numerical reconstructions of the field for different settings and with noisy data are shown. For shape reconstruction in acoustics, we develop an appropriate strategy to identify areas with good reconstruction quality and combine different such regions into one joint function. Then, we show how shapes of unknown sound-soft scatterers are found as level curves of the total reconstructed field.

On logarithmic ratio quantities and their units

The use of special units for logarithmic ratio quantities is reviewed. The neper is used with a natural logarithm (logarithm to the base e) to express the logarithm of the amplitude ratio of two pure sinusoidal signals, particularly in the context of linear systems where it is desired to represent the gain or loss in amplitude of a single-frequency signal between the input and output. The bel, and its more commonly used submultiple, the decibel, are used with a decadic logarithm (logarithm to the base 10) to measure the ratio of two power-like quantities, such as a mean square signal or a mean square sound pressure in acoustics. Thus two distinctly different quantities are involved. In this review we define the quantities first, without reference to the units, as is standard practice in any system of quantities and units. We show that two different definitions of the quantity power level, or logarithmic power ratio, are possible. We show that this leads to two different interpretations for the meaning and numerical values of the units bel and decibel. We review the question of which of these alternative definitions is actually used, or is used by implication, by workers in the field. Finally, we discuss the relative advantages of the alternative definitions.

Proposed design for an ultrasonic optical force-feedback microphone

We discuss a novel approach that would lead to the development of an ultrasonic optical force-feedback measurement microphone.

Computer modelling and estimation of recruitment patterns of non-branching coral colonies at three sites in Wakatobi Marine Park, S.E. Sulawesi, Indonesia; implications for coral reef conservation

We have studied growth and estimated recruitment of massive coral colonies at three sites, Kaledupa, Hoga and Sampela, separated by about 1.5 km in the Wakatobi Marine National Park, S.E. Sulawesi, Indonesia. There was significantly higher species richness (P<0.05), coral cover (P<0.05) and rugosity (P<0.01) at Kaledupa than at Sampela. A model for coral reef growth has been developed based on a rational polynomial function, where dx/dt is an index of coral growth with time; W is the variable (for example, coral weight, coral length or coral area), up to the power of n in the numerator and m in the denominator; a1……an and b1…bm are constants. The values for n and m represent the degree of the polynomial, and can relate to the morphology of the coral. The model was used to simulate typical coral growth curves, and tested using published data obtained by weighing coral colonies underwater in reefs on the south-west coast of Curaçao [‘Neth. J. Sea Res. 10 (1976) 285’]. The model proved an accurate fit to the data, and parameters were obtained for a number of coral species. Surface area data was obtained on over 1200 massive corals at three different sites in the Wakatobi Marine National Park, S.E. Sulawesi, Indonesia. The year of an individual's recruitment was calculated from knowledge of the growth rate modified by application of the rational polynomial model. The estimated pattern of recruitment was variable, with little numbers of massive corals settling and growing before 1950 at the heavily used site, Sampela, relative to the reef site with little or no human use, Kaledupa, and the intermediate site, Hoga. There was a significantly greater sedimentation rate at Sampela than at either Kaledupa (P<0.0001) or Hoga (P<0.0005). The relative mean abundance of fish families present at the reef crests at the three sites, determined using digital video photography, did not correlate with sedimentation rates, underwater visibility or lack of large non-branching coral colonies. Radial growth rates of three genera of non-branching corals were significantly lower at Sampela than at Kaledupa or at Hoga, and there was a high correlation (r=0.89) between radial growth rates and underwater visibility. Porites spp. was the most abundant coral over all the sites and at all depths followed by Favites (P<0.04) and Favia spp. (P<0.03). Colony ages of Porites corals were significantly lower at the 5 m reef flat on the Sampela reef than at the same depth on both other reefs (P<0.005). At Sampela, only 2.8% of corals on the 5 m reef crest are of a size to have survived from before 1950. The Scleractinian coral community of Sampela is severely impacted by depositing sediments which can lead to the suffocation of corals, whilst also decreasing light penetration resulting in decreased growth and calcification rates. The net loss of material from Sampela, if not checked, could result in the loss of this protective barrier which would be to the detriment of the sublittoral sand flats and hence the Sampela village.

Robust classification of SAR imagery

In this work the G(A)(0) distribution is assumed as the universal model for amplitude Synthetic Aperture (SAR) imagery data under the Multiplicative Model. The observed data, therefore, is assumed to obey a G(A)(0) (alpha; gamma, n) law, where the parameter n is related to the speckle noise, and (alpha, gamma) are related to the ground truth, giving information about the background. Therefore, maps generated by the estimation of (alpha, gamma) in each coordinate can be used as the input for classification methods. Maximum likelihood estimators are derived and used to form estimated parameter maps. This estimation can be hampered by the presence of corner reflectors, man-made objects used to calibrate SAR images that produce large return values. In order to alleviate this contamination, robust (M) estimators are also derived for the universal model. Gaussian Maximum Likelihood classification is used to obtain maps using hard-to-deal-with simulated data, and the superiority of robust estimation is quantitatively assessed.

Performance limitations of piezoelectric and force feedback electrostatic transducers in different applications

Current limitations in piezoelectric and electrostatic transducers are discussed. A force-feedback electrostatic transducer capable of operating at bandwidths up to 20 kHz is described. Advantages of the proposed design are a linearised operation which simplifies the feedback control aspects and robustness of the performance characteristics to environmental perturbations. Applications in nanotechnology, optical sciences and acoustics are discussed.