Geographical Distribution, Habitat and Reproductive Phenology of the Genus Kallymenia (Gigartinales, Rhodophyta) from Catalonia, Spain

Geographical distribution, habitat and reproductive phenology of the Genus Kallymenia (Gigartinales, Rhodophyta) from Catalonia, Spain

Assisted visual servoing by means of structured light

Aquesta tesi tracta sobre la combinació del control visual i la llum estructurada. El control visual clàssic assumeix que elements visuals poden ser fàcilment extrets de les imatges. Això fa que objectes d'aspecte uniforme o poc texturats no es puguin tenir en compte. En aquesta tesi proposem l'ús de la llum estructurada per dotar d'elements visuals als objectes independentment de la seva aparença. En primer lloc, es presenta un ampli estudi de la llum estructurada, el qual ens permet proposar un nou patró codificat que millora els existents. La resta de la tesi es concentra en el posicionament d'un robot dotat d'una càmara respecte diferents objectes, utilitzant la informació proveïda per la projecció de diferents patrons de llum. Dos configuracions han estat estudiades: quan el projector de llum es troba separat del robot, i quan el projector està embarcat en el robot juntament amb la càmara. Les tècniques proposades en la tesi estan avalades per un ampli estudi analític i validades per resultats experimentals.

An approach to coded structured light to obtain three dimensional information

The human visual ability to perceive depth looks like a puzzle. We perceive three-dimensional spatial information quickly and efficiently by using the binocular stereopsis of our eyes and, what is mote important the learning of the most common objects which we achieved through living. Nowadays, modelling the behaviour of our brain is a fiction, that is why the huge problem of 3D perception and further, interpretation is split into a sequence of easier problems. A lot of research is involved in robot vision in order to obtain 3D information of the surrounded scene. Most of this research is based on modelling the stereopsis of humans by using two cameras as if they were two eyes. This method is known as stereo vision and has been widely studied in the past and is being studied at present, and a lot of work will be surely done in the future. This fact allows us to affirm that this topic is one of the most interesting ones in computer vision. The stereo vision principle is based on obtaining the three dimensional position of an object point from the position of its projective points in both camera image planes. However, before inferring 3D information, the mathematical models of both cameras have to be known. This step is known as camera calibration and is broadly describes in the thesis. Perhaps the most important problem in stereo vision is the determination of the pair of homologue points in the two images, known as the correspondence problem, and it is also one of the most difficult problems to be solved which is currently investigated by a lot of researchers. The epipolar geometry allows us to reduce the correspondence problem. An approach to the epipolar geometry is describes in the thesis. Nevertheless, it does not solve it at all as a lot of considerations have to be taken into account. As an example we have to consider points without correspondence due to a surface occlusion or simply due to a projection out of the camera scope. The interest of the thesis is focused on structured light which has been considered as one of the most frequently used techniques in order to reduce the problems related lo stereo vision. Structured light is based on the relationship between a projected light pattern its projection and an image sensor. The deformations between the pattern projected into the scene and the one captured by the camera, permits to obtain three dimensional information of the illuminated scene. This technique has been widely used in such applications as: 3D object reconstruction, robot navigation, quality control, and so on. Although the projection of regular patterns solve the problem of points without match, it does not solve the problem of multiple matching, which leads us to use hard computing algorithms in order to search the correct matches. In recent years, another structured light technique has increased in importance. This technique is based on the codification of the light projected on the scene in order to be used as a tool to obtain an unique match. Each token of light is imaged by the camera, we have to read the label (decode the pattern) in order to solve the correspondence problem. The advantages and disadvantages of stereo vision against structured light and a survey on coded structured light are related and discussed. The work carried out in the frame of this thesis has permitted to present a new coded structured light pattern which solves the correspondence problem uniquely and robust. Unique, as each token of light is coded by a different word which removes the problem of multiple matching. Robust, since the pattern has been coded using the position of each token of light with respect to both co-ordinate axis. Algorithms and experimental results are included in the thesis. The reader can see examples 3D measurement of static objects, and the more complicated measurement of moving objects. The technique can be used in both cases as the pattern is coded by a single projection shot. Then it can be used in several applications of robot vision. Our interest is focused on the mathematical study of the camera and pattern projector models. We are also interested in how these models can be obtained by calibration, and how they can be used to obtained three dimensional information from two correspondence points. Furthermore, we have studied structured light and coded structured light, and we have presented a new coded structured light pattern. However, in this thesis we started from the assumption that the correspondence points could be well-segmented from the captured image. Computer vision constitutes a huge problem and a lot of work is being done at all levels of human vision modelling, starting from a)image acquisition; b) further image enhancement, filtering and processing, c) image segmentation which involves thresholding, thinning, contour detection, texture and colour analysis, and so on. The interest of this thesis starts in the next step, usually known as depth perception or 3D measurement.

Catadioptric stereo based on structured light projection

La percepció per visió es millorada quan es pot gaudir d'un camp de visió ampli. Aquesta tesi es concentra en la percepció visual de la profunditat amb l'ajuda de càmeres omnidireccionals. La percepció 3D s'obté generalment en la visió per computadora utilitzant configuracions estèreo amb el desavantatge del cost computacional elevat a l'hora de buscar els elements visuals comuns entre les imatges. La solució que ofereix aquesta tesi és l'ús de la llum estructurada per resoldre el problema de relacionar les correspondències. S'ha realitzat un estudi sobre els sistemes de visió omnidireccional. S'han avaluat vàries configuracions estèreo i s'ha escollit la millor. Els paràmetres del model són difícils de mesurar directament i, en conseqüència, s'ha desenvolupat una sèrie de mètodes de calibració. Els resultats obtinguts són prometedors i demostren que el sensor pot ésser utilitzat en aplicacions per a la percepció de la profunditat com serien el modelatge de l'escena, la inspecció de canonades, navegació de robots, etc.

Incidencia del aprendizaje en los planes de carrera en una empresa de software. Caso de Structured Intelligente

A través de esta investigación se buscó establecer la relación existente entre el aprendizaje y el plan de carrera en una organización real; y lograr una propuesta viable para la empresa y sus empleados sobre estos temas. El estudio está basado en una revisión de aspectos teóricos de forma bibliografía, y se incorporó la revisión de entrevistas, encuestas y observación para el análisis de la situación actual y deseada. Al realizar el estudio se determinaron tres apoyos importantes que sirven a la empresa para la obtención de sus objetivos estratégicos, los cuales son competencias, conocimientos y planes de carrera. El resultado fue las propuestas de gestión por competencias, gestión del conocimiento y planes de carrera, alineadas a la propuesta de planificación estratégica para la empresa Structured Intelligente del Ecuador S.A. Concluyendo que el aprendizaje incide directamente sobre los planes de carrera.

Stable Isotope Analysis Reveals That Agricultural Habitat Provides an Important Dietary Component for Nonbreeding Dunlin

Although shorebirds spending the winter in temperate areas frequently use estuarine and supratidal (upland) feeding habitats, the relative contribution of each habitat to individual diets has not been directly quantified. We quantified the proportional use that Calidris alpina pacifica (Dunlin) made of estuarine vs. terrestrial farmland resources on the Fraser River Delta, British Columbia, using stable isotope analysis (δ13C, δ15N) of blood from 268 Dunlin over four winters, 1997 through 2000. We tested for individual, age, sex, morphological, seasonal, and weather-related differences in dietary sources. Based on single- (δ13C) and dual-isotope mixing models, the agricultural habitat contributed approximately 38% of Dunlin diet averaged over four winters, with the balance from intertidal flats. However, there was a wide variation among individuals in the extent of agricultural feeding, ranging from about 1% to 95% of diet. Younger birds had a significantly higher terrestrial contribution to diet (43%) than did adults (35%). We estimated that 6% of adults and 13% of juveniles were obtaining at least 75% of their diet from terrestrial sources. The isotope data provided no evidence for sex or overall body size effects on the proportion of diet that is terrestrial in origin. The use of agricultural habitat by Dunlin peaked in early January. Adult Dunlin obtained a greater proportion of their diet terrestrially during periods of lower temperatures and high precipitation, whereas no such relationship existed for juveniles. Seasonal variation in the use of agricultural habitat suggests that it is used more during energetically stressful periods. The terrestrial farmland zone appears to be consistently important as a habitat for juveniles, but for adults it may provide an alternative feeding site used as a buffer against starvation during periods of extreme weather. Loss or reduction of agricultural habitat adjacent to estuaries may negatively impact shorebird fitness, with juveniles disproportionately affected.

Foraging Habitat and Chick Diets of Roseate Tern, Sterna dougallii, Breeding on Country Island, Nova Scotia

Breeding seabirds are threatened by human activities that affect nesting and foraging habitat. In Canada, one of the seabirds most at risk of extirpation is the Roseate Tern, Sterna dougallii. Although critical nesting habitat has been identified for the Roseate Tern in Canada, its foraging locations and the diet of its chicks are unknown. Therefore, our goal was to determine the foraging locations and diet of chicks of Roseate Tern breeding on Country Island, Nova Scotia, which is one of Canada's two main breeding colonies. In 2003 and 2004, we radio-tracked the Roseate Tern by plane to locate foraging areas and conducted feeding watches to determine the diet of chicks. Roseate Tern foraged approximately 7 km from the breeding colony over shallow water < 5 m deep. In both years, sand lance, Ammodytes spp., was the most common prey item delivered to chicks, followed by hake, Urophycis spp. Our results are consistent with previous work at colonies in the northeastern United States, suggesting that throughout its range, this species may be restricted in both habitat use and prey selection. The reliance on a specific habitat type and narrow range of prey species makes the Roseate Tern generally susceptible to habitat perturbations and reductions in the availability of prey.

Evaluating the Potential Impact of a Gas Pipeline on Whimbrel Breeding Habitat in the Outer Mackenzie Delta, Northwest Territories

We used ground surveys to identify breeding habitat for Whimbrel (Numenius phaeopus) in the outer Mackenzie Delta, Northwest Territories, and to test the value of high-resolution IKONOS imagery for mapping additional breeding habitat in the Delta. During ground surveys, we found Whimbrel nests (n = 28) in extensive areas of wet-sedge low-centered polygon (LCP) habitat on two islands in the Delta (Taglu and Fish islands) in 2006 and 2007. Supervised classification using spectral analysis of IKONOS imagery successfully identified additional areas of wet-sedge habitat in the region. However, ground surveys to test this classification found that many areas of wet-sedge habitat had dense shrubs, no standing water, and/or lacked polygon structure and did not support breeding Whimbrel. Visual examination of the IKONOS imagery was necessary to determine which areas exhibited LCP structure. Much lower densities of nesting Whimbrel were also found in upland habitats near wetlands. We used habitat maps developed from a combination of methods, to perform scenario analyses to estimate the potential effects of the Mackenzie Gas Project on Whimbrel habitat. Assuming effective complete habitat loss within 20 m, 50 m, or 250 m of any infrastructure or pipeline, the currently proposed pipeline development would result in loss of 8%, 12%, or 30% of existing Whimbrel habitat. If subsidence were to occur, most Whimbrel habitat could become unsuitable. If the facility is developed, follow-up surveys will be required to test these models.