Pose-based SLAM with probabilistic scan matching algorithm using a mechanical scanned imaging sonar

This paper proposes a pose-based algorithm to solve the full SLAM problem for an autonomous underwater vehicle (AUV), navigating in an unknown and possibly unstructured environment. The technique incorporate probabilistic scan matching with range scans gathered from a mechanical scanning imaging sonar (MSIS) and the robot dead-reckoning displacements estimated from a Doppler velocity log (DVL) and a motion reference unit (MRU). The proposed method utilizes two extended Kalman filters (EKF). The first, estimates the local path travelled by the robot while grabbing the scan as well as its uncertainty and provides position estimates for correcting the distortions that the vehicle motion produces in the acoustic images. The second is an augment state EKF that estimates and keeps the registered scans poses. The raw data from the sensors are processed and fused in-line. No priory structural information or initial pose are considered. The algorithm has been tested on an AUV guided along a 600 m path within a marina environment, showing the viability of the proposed approach

Komposiittirakenteiden soveltamismahdollisuudet pesureissa

Teräksen raaka-ainekustannusten jyrkkä nousu pakottaa prosessiteollisuuden etsimään vaihtoehtoisia rakennemateriaaleja, joiden ominaisuudet ovat vähintään terästä vastaavia. Prosessiteollisuudessa joudutaan käyttämään runsaasti kemikaaleja kestäviä laitteita, jolloin rakennemateriaaliksi sopiva on haponkestävä teräs. Laitteiden kokojen kasvusta seuraa niiden kokonaispainojen kasvu aiheuttaen haasteita niitä kantaville perustuksille. Komposiitti on yksi varteenotettava vaihtoehto haponkestävän teräksen korvaajaksi, sillä komposiitin ominaisuus/painosuhde on terästä parempi. Diplomityön tavoitteena on ollut selvittää Washers & Filters – tuoteperheeseen kuuluvien laitteiden, DD-pesurin (Drum Displacer) ja GF- suotimen (GasFree Filter), rakenteista löytyvien osien mahdollisuutta korvata komposiitilla. Työn pohjaksi on käsitelty komposiittien ominaisuuksia, tyyppejä ja valmistusmenetelmiä sekä perehdytty sellupesureiden toimintaprosessiin. Tältä pohjalta löytyi valintakriteerien avulla rakenteita, joita olisi mahdollista korvata komposiitilla.

Substâncias húmicas: sistema de fracionamento sequencial por ultrafiltração com base no tamanho molecular

A sequential system for fractionation by ultrafiltration (SSFU) equipped with advanced membranes filters (molecular size cut-off: 5, 10, 30, 50 and 100 kDalton) of the polyethersulfone type was developed for analytical fractionation of humic substances (HS) extracted from aquatic systems or soils. The device consists of five membrane filters (Sartocon® Micro) operated by a multi-channel peristaltic pump, enabling an easy handling, working in a closed system and with simple collection of the six obtained fractions (F1>100; F2: 100-50; F3: 50-30; F4:30-10; F5: 10-5 and F6 <5 kDalton). Then, the HS sample (250 mL solution 1.0 mg/mL, pH 5.0 to 6.0) to be fractionated is pumped by pump through the series of membrane filters with a tangential flow of 85 mL/min, initial pressure 0.2 to 0.3 bar and permeation flux through the membranes of 0.8 to 1.4 mL/min. The overall time for fractionation and cleaning of the device is about 10 h and 25 mL of each fraction is obtained.

Estudo comparativo sobre filtragem de sinais instrumentais usando transformadas de Fourier e Wavelet

A comparative study of the Fourier (FT) and the wavelet transforms (WT) for instrumental signal denoising is presented. The basic principles of wavelet theory are described in a succinct and simplified manner. For illustration, FT and WT are used to filter UV-VIS and plasma emission spectra using MATLAB software for computation. Results show that FT and WT filters are comparable when the signal does not display sharp peaks (UV-VIS spectra), but the WT yields a better filtering when the filling factor of the signal is small (plasma spectra), since it causes low peak distortion.

The use of non-animal alternatives in the safety evaluations of cosmetics ingredients by the Scientific Committee on Consumer Safety (SCCS)

In Europe, the safety evaluation of cosmetics is based on the safety evaluation of each individual ingredient. Article 3 of the Cosmetics Regulation specifies that a cosmetic product made available on the market is to be safe for human health when used normally or under reasonably foreseeable conditions. For substances that cause some concern with respect to human health (e.g. colorants, preservatives, UV-filters), safety is evaluated at the Commission level by a scientific committee, presently called the Scientific Committee on Consumer Safety (SCCS). According to the Cosmetics Regulations, in the EU, the marketing of cosmetics products and their ingredients that have been tested on animals for most of their human health effects, including acute toxicity, is prohibited. Nevertheless, any study dating from before this prohibition took effect is accepted for the safety assessment of cosmetics ingredients. The in vitro methods reported in the dossiers summited to the SCCS are here evaluated from the published reports issued by the scientific committee of the Directorate General of Health and Consumers (DG SANCO); responsible for the safety of cosmetics ingredients. The number of studies submitted to the SCCS that do not involve animals is still low and in general the safety of cosmetics ingredients is based on in vivo studies performed before the prohibition.

Um experimento com propostas múltiplas para um laboratório de química geral

This article suggests a sequence of experiments on the preparation, analysis and some photochemical aspects of potassium tris (oxalato) ferrate(III) trihydrate. The sequence of experiments could be carried out in four or five 4-hour laboratory periods. The new part of this article is related to the kinetics studies involving the ambient illumination as well as the use of the cellophane paper of different colors as light filters. The aspects such as quantum yield, light absorption and photochemical reactions are explored in order to illustrate the relationships between the exposure time, light intensity and wavelength range on the photochemical reactions.

Некоторые наблюдения по поводу построения компьютерного морфологического анализатора марийского языка. [Problems in writing a two-level model of Mari morphology]

The article describes some concrete problems that were encountered when writing a two-level model of Mari morphology. Mari is an agglutinative Finno-Ugric language spoken in Russia by about 600 000 people. The work was begun in the 1980s on the basis of K. Koskenniemi’s Two-Level Morphology (1983), but in the latest stage R. Beesley’s and L. Karttunen’s Finite State Morphology (2003) was used. Many of the problems described in the article concern the inexplicitness of the rules in Mari grammars and the lack of information about the exact distribution of some suffixes, e.g. enclitics. The Mari grammars usually give complete paradigms for a few unproblematic verb stems, whereas the difficult or unclear forms of certain verbs are only superficially discussed. Another example of phenomena that are poorly described in grammars is the way suffixes with an initial sibilant combine to stems ending in a sibilant. The help of informants and searches from electronic corpora were used to overcome such difficulties in the development of the two-level model of Mari. The variation of the order of plural markers, case suffixes and possessive suffixes is a typical feature of Mari. The morphotactic rules constructed for Mari declensional forms tend to be recursive and their productivity must be limited by some technical device, such as filters. In the present model, certain plural markers were treated like nouns. The positional and functional versatility of the possessive suffixes can be regarded as the most challenging phenomenon in attempts to formalize the Mari morphology. Cyrillic orthography, which was used in the model, also caused problems. For instance, a Cyrillic letter may represent a sequence of two sounds, the first being part of the word stem while the other belongs to a suffix. In some cases, letters for voiced consonants are also generalized to represent voiceless consonants. Such orthographical conventions distance a morphological model based on orthography from the actual (morpho)phonological processes in the language.

Electrochemical Characterisation of Filter Media Properties and Their Exploitation in Enhanced Filtration

Streaming potential measurements for the surface charge characterisation of different filter media types and materials were used. The equipment was developed further so that measurements could be taken along the surfaces, and so that tubular membranes could also be measured. The streaming potential proved to be a very useful tool in the charge analysis of both clean and fouled filter media. Adsorption and fouling could be studied, as could flux, as functions of time. A module to determine the membrane potential was also constructed. The results collected from the experiments conducted with these devices were used in the study of the theory of streaming potential as an electrokinetic phenomenon. Several correction factors, which are derived to take into account the surface conductance and the electrokinetic flow in very narrow capillaries, were tested in practice. The surface materials were studied using FTIR and the results compared with those from the streaming potentials. FTIR analysis was also found to be a useful tool in the characterisation of filters, as well as in the fouling studies. Upon examination of the recorded spectra from different depths in a sample it was possible to determine the adsorption sites. The influence of an external electric field on the cross flow microflltration of a binary protein system was investigated using a membrane electroflltration apparatus. The results showed that a significant improvement could be achieved in membrane filtration by using the measured electrochemical properties to help adjust the process conditions.

Computational Techniques for Spectral Image Analysis

Multispectral images are becoming more common in the field of remote sensing, computer vision, and industrial applications. Due to the high accuracy of the multispectral information, it can be used as an important quality factor in the inspection of industrial products. Recently, the development on multispectral imaging systems and the computational analysis on the multispectral images have been the focus of a growing interest. In this thesis, three areas of multispectral image analysis are considered. First, a method for analyzing multispectral textured images was developed. The method is based on a spectral cooccurrence matrix, which contains information of the joint distribution of spectral classes in a spectral domain. Next, a procedure for estimating the illumination spectrum of the color images was developed. Proposed method can be used, for example, in color constancy, color correction, and in the content based search from color image databases. Finally, color filters for the optical pattern recognition were designed, and a prototype of a spectral vision system was constructed. The spectral vision system can be used to acquire a low dimensional component image set for the two dimensional spectral image reconstruction. The data obtained by the spectral vision system is small and therefore convenient for storing and transmitting a spectral image.

Private micro-irrigation costs using reclaimed water

The cost of reusing water in micro-irrigation at the field level has not been studied in depth although the use of effluents in agriculture is a viable alternative in areas where water is scarce or there is intense competition for its use. The aim of the present study is to analyse the private costs of water reuse in micro-irrigation in an experimental plot. This analysis is intended to provide information about the decision a farmer would make when the choice to use conventional or reclaimed water is guided by cost criteria. The components of the total costs of different combinations of four types of filters and five emitters that can be installed in micro-irrigation systems using reclaimed water have been studied with the data obtained from an experimental plot in conditions similar to those of fruit orchards. Different scenarios that compared the costs of using conventional or reclaimed water in terms of water price and nutrient content were also studied. The results show that a proper combination of filters and emitters can save up to 33% in irrigation costs. Capital costs and maintenance costs were the most variable among the different combinations. Scenario analysis showed that the greater price of reclaimed water could be compensated by high nutrient contents, which would reduce fertilizer costs

Monitoramento atmosférico passivo de SO2, NO2 e O3 em áreas urbanas e de influência industrial como prática de química ambiental para alunos de graduação

This study is a result of undergraduate student participation in the Environmental Chemistry discipline provided by the Chemistry Institute/UFBA. The students were involved in the development of passive samplers, a project of the LAQUAM (Environmental Analytical Chemistry Laboratory). The students' residences and other neighborhoods were used to create a passive sampling network, allowing the measurement of atmospheric levels of pollutants in urban areas and in those under industrial influence. The assembly of the passive samplers, including impregnation of filters and chemical analysis were part of the students' practice tasks. The results were analyzed taking into consideration the Brazilian legislation.

Estudo da labilidade de Cu(II), Cd(II), Mn(II) e Ni(II) em substâncias húmicas aquáticas utilizando-se membranas celulósicas organomodificadas

In this work commercial filters papers were organomodified with tetraethylorthosilicate (TEOS) and 3-aminopropyltriethoxysilane (3-APTS), aiming at the development of a new analytical procedure for in-situ speciation of labile and inert metal species in aquatic systems. Parameters that exert influence on the metal lability such as pH, chelating time, concentration and characteristics of the organic matter were studied in the laboratory using tests for metal recuperation. The results showed slower kinetics for Cu ion than for Ni, Mn and Cd in the absence of aquatic humic substances (AHS). The relative lability observed for complexed metals in aquatic humic substances using organomodified filter papers was Cu>>Cd>Ni>Mn. The pH values, structural characteristics and concentration of AHS exert strong influence on the lability of the metals. The results obtained showed that the utilization of organomodified filter papers can be an interesting and promising alternative for in situ characterization of metal lability in aquatic systems.

Protetores solares

Health problems related to UV radiation can be minimized by the appropriate use of sunscreens. Different kinds of sunscreens are reported in the literature, even though there is a misleading denomination among them and few discussions are presented about how they work. This paper describes some important aspects in order to understand sunscreen phenomena such as: solar radiation effect, type of solar filters, protection mechanism, formulations and solar protection factor (SPF). Moreover the importance of Chemistry and the interdisciplinary studies related to sunscreens and cosmetic researches are emphasized.

Hybrid LC Filter for Power Electronic Drives: Theory and Implementation

Power electronic converter drives use, for the sake of high efficiency, pulse-width modulation that results in sequences of high-voltage high-frequency steep-edged pulses. Such a signal contains a set of high harmonics not required for control purposes. Harmonics cause reflections in the cable between the motor and the inverter leading to faster winding insulation ageing. Bearing failures and problems with electromagnetic compatibility may also result. Electrical du/dt filters provide an effective solution to problems caused by pulse-width modulation, thereby increasing the performance and service life of the electrical machines. It is shown that RLC filters effectively decrease the reflection phenomena in the cable. Improved (simple, but effective) solutions are found for both differential- and common-mode signals; these solutions use a galvanic connection between the RLC filter star point and the converter DC link. Foil chokes and film capacitors are among the most widely used components in high-power applications. In actual applications they can be placed in different parts of the cabinet. This fact complicates the arrangement of the cabinet and decreases the reliability of the system. In addition, the inductances of connection wires may prevent filtration at high frequencies. This thesis introduces a new hybrid LC filter that uses a natural capacitance between the turns of the foil choke based on integration of an auxiliary layer into it. The main idea of the hybrid LC filter results from the fact that both the foil choke and the film capacitors have the same roll structure. Moreover, the capacitance between the turns (“intra capacitance”) of the foil inductors is the reason for the deterioration of their properties at high frequencies. It is shown that the proposed filter has a natural cancellation of the intra capacitance. A hybrid LC filter may contain two or more foil layers isolated from each other and coiled on a core. The core material can be iron or even air as in the filter considered in this work. One of the foils, called the main foil, can be placed between the inverter and the motor cable. Other ones, called auxiliary foils, may be connected in star to create differential-mode noise paths, and then coupled to the DC link midpoint to guarantee a traveling path, especially for the common-mode currents. This way, there is a remarkable capacitance between the main foil and the auxiliary foil. Investigations showed that such a system can be described by a simple equivalent LC filter in a wide range of frequencies. Because of its simple hybrid construction, the proposed LC filter can be a cost-effective and competitive solution for modern power drives. In the thesis, the application field of the proposed filter is considered and determined. The basics of hybrid LC filter design are developed further. High-frequency behaviour of the proposed filter is analysed by simulations. Finally, the thesis presents experimental data proving that the hybrid LC filter can be used for du/dt of PWM pulses and reduction of common-mode currents.

Estudi per a la construcció de l'EDAR mitjançant filtres verds de la Nou de Gaià (Tarragonès)

El tractament de les aigües en nuclis menors de 2000 habitants es troba pendent de completar per part de l’Agència Catalana de l’Aigua més concretament al corresponent Pla de Sanejament d’Aigües Residuals Urbanes (PSARU). El nucli de La Nou de Gaià (al Tarragonès) es troba pendent de la construcció de la corresponent instal·lació de sanejament, projectada al 2007. Alternativament a les depuradores tradicionals basades en l’ús de formigó (o materials alternatius) i en la despesa elèctrica per assegurar una aeració i una evacuació dels fangs generats, existeixen tecnologies “toves”. Aquestes tecnologies, també conegudes com a “verdes”, es basen en imitar els sistemes naturals maximitzant el seu potencial d’autodepuració. A grans trets existeixen dos formes de depurar les aigües de forma ecològica”: llacunatges (existeix una capa d’aigua lliure) i filtres verds. El present estudi es basa en l’aplicació de filtres verds de morfologia vertical i flux subsuperficial, plantat amb canyes dels generes Scirpus o Phragmites. El resultat han estat 4 bases de 35*35 per a tractar un cabal de 150 m3/d i una població equivalent de 1272.