Visual SLAM for 3D large-scale seabed acquisition employing underwater vehicles

This paper presents a novel technique to align partial 3D reconstructions of the seabed acquired by a stereo camera mounted on an autonomous underwater vehicle. Vehicle localization and seabed mapping is performed simultaneously by means of an Extended Kalman Filter. Passive landmarks are detected on the images and characterized considering 2D and 3D features. Landmarks are re-observed while the robot is navigating and data association becomes easier but robust. Once the survey is completed, vehicle trajectory is smoothed by a Rauch-Tung-Striebel filter obtaining an even better alignment of the 3D views and yet a large-scale acquisition of the seabed

Visual SLAM for underwater vehicles using video velocity log and natural landmarks

A visual SLAM system has been implemented and optimised for real-time deployment on an AUV equipped with calibrated stereo cameras. The system incorporates a novel approach to landmark description in which landmarks are local sub maps that consist of a cloud of 3D points and their associated SIFT/SURF descriptors. Landmarks are also sparsely distributed which simplifies and accelerates data association and map updates. In addition to landmark-based localisation the system utilises visual odometry to estimate the pose of the vehicle in 6 degrees of freedom by identifying temporal matches between consecutive local sub maps and computing the motion. Both the extended Kalman filter and unscented Kalman filter have been considered for filtering the observations. The output of the filter is also smoothed using the Rauch-Tung-Striebel (RTS) method to obtain a better alignment of the sequence of local sub maps and to deliver a large-scale 3D acquisition of the surveyed area. Synthetic experiments have been performed using a simulation environment in which ray tracing is used to generate synthetic images for the stereo system

Manteniment de vehicles autopropulsats : fam??lia professional. Garantia social : iniciaci?? professional. Cicles formatius grau mitj??. Cicles formatius grau superior

Material cofinanciado por el Fondo Social Europeo. Este material forma parte de una carpeta titulada Formaci??n profesional: oferta educativa, compuesta por un conjunto de folletos y un cd-rom

El currículum i la premsa escrita : dos vehicles de comunicació per a l'aprenentatge. ' El currículum y la prensa escrita: dos vehículos de comunicación para el aprendizaje'.

Mostrar que la incorporación de aprendizajes que tengan que ver con el conocimiento y uso de la prensa diaria en los currículums de enseñanza formal no universitaria, optimiza diferentes elementos del sistema educativo y da respuesta a objetivos básicos de la educación del alumno.. La prensa como facilitadora de la comprensión y la comunicación entre profesor-alumno, y en el ámbito general del currículum escolar.. Realiza un análisis teórico sobre el tema del currículum y la prensa. Presenta el modelo teórico con la descripción de cada fase que se desarrolla. Lleva a cabo un vaciado de información en revistas infantiles y juveniles catalanas y de diarios. Propone la adaptación del modelo a otras realidades culturales. Comenta las conclusiones y marca las pautas para continuar este trabajo del modelo propuesto.El resultado positivo y la experiencia durante ocho años del proyecto 'L'Avui Eina Didàctica a l'Escola' lleva a cabo antes de la investigación, es la base del desarrollo de esta investigación.. Revistas y diarios.. La prensa debe ser un elemento de refuerzo para conseguir éxito en los en los estudios y formación del alumnado. Es un elemento optimizador y retroalimentador dels diseño, la planificación y la implementación de objetivos y contenidos del currículum. También es un soporte en la adquisición de competencias intelectuales y afectivas..

Manteniment de vehicles autopropulsats. 'Mantenimiento de vehículos autopropulsados'.

Materiales curriculares sobre vehículos autopropulsados para profesorado de FP. Se desarrollan los capítulos siguientes: 1. Carrocería, 2. Electromecánica de vehículos y 3. Automoción. Para cada contenido se ofrece un volumen con el currículum especificado y otro volumen con orientaciones para su desarrollo. En total consta de 6 volúmenes reunidos en una misma carpeta.

Procedures and examples for examining a wide range of student outcomes from 1:1 student computing settings

Resumen basado en el de la publicaci??n

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.

Servei de retirada de vehicles de la via pública del terme municipal de València basat en localització GPS i comunicacions GPRS

L’objectiu d’aquest projecte és dotar a Servicleop d’un programari que li permeti millorar la gestió dels serveis de retirada de vehicles de la via pública, que actualment s’efectua a través del canal de veu. Això s’aconseguirà mitjançant l’ús de cartografia digital i localització GPS, que permetrà optimitzar l’assignació de retirades al saber quina grua es troba en millor disposició, i PDAs que es comunicaran amb un centre de control a través de GPRS des del qual s’assignaran aquest serveis. S’oferiran facilitats sempre que sigui possible en la introducció de dades, disminuint les probabilitats de cometre errors, i tot el procés quedarà enregistrat automàticament en base de dades per a poder generar estadístiques o informes. el projecte parteix d’un altre projecte intern de Knosos anomenat Micronav.Net Serveis, en el qual també he treballat molt activament i que ofereix una solució genèrica similar a la requerida per Servicleop, empresa a la que va destinada el sistema que es presenta en aquest projecte final de carrera

Estimates of Avian Mortality Attributed to Vehicle Collisions in Canada

Although mortality of birds from collisions with vehicles is estimated to be in the millions in the USA, Europe, and the UK, to date, no estimates exist for Canada. To address this, we calculated an estimate of annual avian mortality attributed to vehicular collisions during the breeding and fledging season, in Canadian ecozones, by applying North American literature values for avian mortality to Canadian road networks. Because owls are particularly susceptible to collisions with vehicles, we also estimated the number of roadkilled Barn owls (Tyto alba) in its last remaining range within Canada. (This species is on the IUCN red list and is also listed federally as threatened; Committee on the Status of Endangered Wildlife in Canada 2010, International Union for the Conservation of Nature 2012). Through seven Canadian studies in existence, 80 species and 2,834 specimens have been found dead on roads representing species from 14 orders of birds. On Canadian 1 and 2-lane paved roads outside of major urban centers, the unadjusted number of bird mortalities/yr during an estimated 4-mo (122-d) breeding and fledging season for most birds in Canada was 4,650,137 on roads traversing through deciduous, coniferous, cropland, wetlands and nonagricultural landscapes with less than 10% treed area. On average, this represents 1,167 birds killed/100 km in Canada. Adjusted for scavenging, this estimate was 13,810,906 (3,462 dead birds/100 km). For barn owls, the unadjusted number of birds killed annually on 4-lane roads during the breeding and fledging season, within the species geographic range in southern British Columbia, was estimated as 244 owls and, when adjusted for scavenging and observer bias (3.6 factor), the total was 851 owls.

Assessing range-wide habitat suitability for the Lesser Prairie-Chicken

Population declines of many wildlife species have been linked to habitat loss incurred through land-use change. Incorporation of conservation planning into development planning may mitigate these impacts. The threatened Lesser Prairie-Chicken (Tympanuchus pallidicinctus) is experiencing loss of native habitat and high levels of energy development across its multijurisdictional range. Our goal was to explore relationships of the species occurrence with landscape characteristics and anthropogenic effects influencing its distribution through evaluation of habitat suitability associated with one particular habitat usage, lekking. Lekking has been relatively well-surveyed, though not consistently, in all jurisdictions. All five states in which Lesser Prairie-Chickens occur cooperated in development of a Maxent habitat suitability model. We created two models, one with state as a factor and one without state. When state was included it was the most important predictor, followed by percent of land cover consisting of known or suspected used vegetation classes within a 5000 m area around a lek. Without state, land cover was the most important predictor of relative habitat suitability for leks. Among the anthropogenic predictors, landscape condition, a measure of human impact integrated across several factors, was most important, ranking third in importance without state. These results quantify the relative suitability of the landscape within the current occupied range of Lesser Prairie-Chickens. These models, combined with other landscape information, form the basis of a habitat assessment tool that can be used to guide siting of development projects and targeting of areas for conservation.

Flight initiation distances of nesting Piping Plovers (Charadrius melodus) in response to human disturbance

Birds frequently interact with people when they occur in coupled human-ecological or anthropogenic environments, which makes the protection of legally protected species a challenge. Flight initiation distances (FIDs) are often used to inform development of appropriate buffer distances required for human exclusion zones used to protect birds nesting in anthropogenic landscapes. Piping Plovers (Charadrius melodus) are protected by the Endangered Species Act in the United States and often nest in areas used by humans. Studies evaluating Piping Plover FIDs are limited and implementation of exclusion zones has been inconsistent across the species’ range. We measured Piping Plover response and FIDs to naturally occurring stimuli on public beaches at Lake McConaughy, Nebraska, USA. Piping Plover FIDs differed most by stimulus class (vehicle, human, dog, human with dog), Julian day, and hour of day. Piping Plover FIDs were greatest for dog and human with dog compared to humans and vehicles. For all types of stimuli, Piping Plover FIDs decreased over time during the nesting season and increased slightly during each day. In the majority of instances in which Piping Plovers left their nests, return times to the nest were relatively short (less than three minutes). These results suggest Piping Plovers become habituated to the presence of human-related stimuli over the course of a nesting season, but other explanations such as parental investment and risk allocation cannot be excluded. Additional research and improved guidance regarding the implementation of exclusion zones is needed so managers can implement effective protection programs in anthropogenic landscapes.