Planar Odometry from a Radial Laser Scanner. A Range Flow-based Approach

In this paper we present a fast and precise method to estimate the planar motion of a lidar from consecutive range scans. For every scanned point we formulate the range flow constraint equation in terms of the sensor velocity, and minimize a robust function of the resulting geometric constraints to obtain the motion estimate. Conversely to traditional approaches, this method does not search for correspondences but performs dense scan alignment based on the scan gradients, in the fashion of dense 3D visual odometry. The minimization problem is solved in a coarse-to-fine scheme to cope with large displacements, and a smooth filter based on the covariance of the estimate is employed to handle uncertainty in unconstraint scenarios (e.g. corridors). Simulated and real experiments have been performed to compare our approach with two prominent scan matchers and with wheel odometry. Quantitative and qualitative results demonstrate the superior performance of our approach which, along with its very low computational cost (0.9 milliseconds on a single CPU core), makes it suitable for those robotic applications that require planar odometry. For this purpose, we also provide the code so that the robotics community can benefit from it.

Estudio comparativo de la fiabilidad y reproducibilidad en la medición de los tamaños dentarios y las medidas de las arcadas dentarias entre registros manuales y digitales 3d obtenidos por escaneado intraoral y extraoral

Tradicionalmente, los ortodoncistas han realizado las mediciones dentales en los modelos de yeso, pero los avances tecnológicos permiten ahora a los ortodoncistas realizar esas mediciones en los modelos digitales. El propósito de este estudio fue comparar la fiabilidad y reproducibilidad de las medidas de los tamaños dentarios y las arcadas dentarias entre el método manual y los métodos digitales 3D obtenidos por un escáner intraoral CEREC Omnicam (Sirona Dental Systems) y dos escáneres extraorales: inEos X5 (Sirona Dental Systems) y Dental Scanner SMART (Open Technologies). Un modelo de yeso, un escaneado intraoral y dos modelos digitales con un escáner extraoral fueron realizadas para cada uno de los 20 sujetos. Las medidas de los tamaños dentarios, la distancia intercanina y la distancia intermolar de los modelos digitales se compararon con los correspondientes modelos de yeso (estándar de oro) Se utilizó el test de ANOVA para establecer la fiabilidad entre los cuatro métodos y el coeficiente de correlación intraclase fue calculado para determinar la reproducibilidad intra- e inter-examinador. Los resultados encontrados fueron que no existieron diferencias estadísticamente significativas entre las medidas hechas directamente en los modelos de yeso y los modelos digitales. Los coeficientes de correlación intraclase tanto intra- e inter-examinador fue alto y considerado bueno para los cuatro métodos de medición. CCI> 0.90. Se concluyó que las mediciones en los modelos digitales obtenidos con un escáner extraoral e intraoral son fiables y reproducibles

Dalla generazione di modelli 3D densi mediante TLS e fotogrammetria alla modellazione BIM

La tesi tratta la ricerca di procedure che permettano di rilevare oggetti utilizzando il maggior numero di informazioni geometriche ottenibili da una nuvola di punti densa generata da un rilievo fotogrammetrico o da TLS realizzando un modello 3D importabile in ambiente FEM. Il primo test si è eseguito su una piccola struttura, 1.2x0.5x0.2m, in modo da definire delle procedure di analisi ripetibili; la prima consente di passare dalla nuvola di punti “Cloud” all’oggetto solido “Solid” al modello agli elementi finiti “Fem” e per questo motivo è stata chiamata “metodo CSF”, mentre la seconda, che prevede di realizzare il modello della struttura con un software BIM è stata chiamata semplicemente “metodo BIM”. Una volta dimostrata la fattibilità della procedura la si è validata adottando come oggetto di studio un monumento storico di grandi dimensioni, l’Arco di Augusto di Rimini, confrontando i risultati ottenuti con quelli di altre tesi sulla medesima struttura, in particolare si è fatto riferimento a modelli FEM 2D e a modelli ottenuti da una nuvola di punti con i metodi CAD e con un software scientifico sviluppato al DICAM Cloud2FEM. Sull’arco sono state eseguite due tipi di analisi, una lineare sotto peso proprio e una modale ottenendo risultati compatibili tra i vari metodi sia dal punto di vista degli spostamenti, 0.1-0.2mm, che delle frequenze naturali ma si osserva che le frequenze naturali del modello BIM sono più simili a quelle dei modelli generati da cloud rispetto al modello CAD. Il quarto modo di vibrare invece presenta differenze maggiori. Il confronto con le frequenze naturali del modello FEM ha restituito differenze percentuali maggiori dovute alla natura 2D del modello e all’assenza della muratura limitrofa. Si sono confrontate le tensioni normali dei modelli CSF e BIM con quelle ottenute dal modello FEM ottenendo differenze inferiori a 1.28 kg/cm2 per le tensioni normali verticali e sull’ordine 10-2 kg/cm2 per quelle orizzontali.

Geometric Deep Learning per il denoising di mesh 3D

La crescente disponibilità di scanner 3D ha reso più semplice l’acquisizione di modelli 3D dall’ambiente. A causa delle inevitabili imperfezioni ed errori che possono avvenire durante la fase di scansione, i modelli acquisiti possono risultare a volte inutilizzabili ed affetti da rumore. Le tecniche di denoising hanno come obiettivo quello di rimuovere dalla superficie della mesh 3D scannerizzata i disturbi provocati dal rumore, ristabilendo le caratteristiche originali della superficie senza introdurre false informazioni. Per risolvere questo problema, un approccio innovativo è quello di utilizzare il Geometric Deep Learning per addestrare una Rete Neurale in maniera da renderla in grado di eseguire efficacemente il denoising di mesh. L’obiettivo di questa tesi è descrivere il Geometric Deep Learning nell’ambito del problema sotto esame.

Ecocardiografia 3D real-time: principi fisici, tecnologia e applicazioni fetali per diagnosi prenatale

La diagnosi clinica, definita come un giudizio clinico espresso da un esperto sulla salute di un individuo, dopo aver effettuato degli esami obiettivi attraverso la strumentazione adeguata allo specifico caso clinico, rappresenta un elemento fondamentale nel paradigma Prevenzione – Diagnosi – Cura – Riabilitazione, che ha come fine ultimo la salute del paziente. In questo elaborato viene presentata una tecnica di imaging che permette di fare diagnosi in uno degli organi più importanti e delicati del corpo umano, cioè il cuore, sia degli adulti, sia dei feti: l’ecocardiografia 3D Real-Time. L’elaborato si sviluppa in tre capitoli, come di seguito presentato. - Capitolo 1: si descrive la tecnologia su cui si fonda l’ecocardiografia volumetrica Real-Time attraverso le varie fasi di realizzazione dello scanner, il quale consente sia l’acquisizione sia la visualizzazione dei volumi in tempo reale; - Capitolo 2: il sistema di imaging presentato nel capitolo precedente, viene contestualizzato in un organo specifico, ovvero il cuore, illustrandone le caratteristiche, le differenze rispetto a tecniche ritenute meno performanti nella valutazione di patologie cardiache, oltre che alcune particolari evoluzioni, quali Strain Rate Imaging e Tissue Doppler Imaging; - Capitolo 3: si descrive in cosa consiste l’ecocardiografia 3D Real-Time fetale, qual è la sua finalità e quali potrebbero essere alcune applicazioni cliniche tramite cui fare una diagnosi prenatale; inoltre, si evidenzia l’importanza dell’ecocardiografia per studiare le modifiche a cui è soggetto l’apparato cardiovascolare di una donna durante i mesi di gestazione e, quindi, sottoporla alle cure opportune.

Acquisizione e modellazione 3D in ambito museale per nuove forme di accessibilità per ipovedenti

Il tema approfondito in questo elaborato è relativo a nuove forme di esperienze museali in grado di favorire una maggiore fruizione dei musei da parte dei visitatori portatori di disabilità sensoriali. L’obiettivo dello studio, reso possibile grazie alla collaborazione con il Comune di Riccione, l’Università di Bologna e il Museo del Territorio di Riccione, riguarda la riproduzione tattile 3D di alcuni manufatti di epoca romana rinvenuti nel territorio e l’implementazione di soluzioni di esplorazione dei modelli fisici con tecniche di realtà aumentata e feedback sonori per fornire al visitatore un’esperienza tattile/sensoriale sugli oggetti. La parte di competenza di questo elaborato riguarda principalmente due aspetti: il rilievo 3D effettuato su quattro diversi frammenti di due serie di lastre fittili, mediante l’utilizzo di scanner ad alta risoluzione e fotogrammetria digitale, e la successiva modellazione in ambiente digitale. Quest’ultima fase comporta l’elaborazione delle scansioni tramite software dedicati e la creazione di mesh per generare la stampa di copie fisiche 3D. In una fase successiva alla stampa 3D le copie saranno poi gestite con particolari tecnologie di esplorazione sensoriale che accompagneranno l’utente durante l’esperienza tattile con feedback sonori. La sperimentazione condotta in questa tesi vuole dimostrare come sia possibile portare ad una trasformazione del ruolo dei musei, da quello tradizionale di magazzino statico a quello di ambiente di apprendimento attivo a disposizione di tutti offrendo esperienze immersive ed educative.

Rilievo e modellazione 3D di un’opera idraulica storica e del suo contesto

L'elaborato di tesi affronta le tematiche legate al rilievo tridimensionale di un'opera idraulica storica, georeferenziato nel proprio contesto territoriale per supportare applicazioni di gestione, manutenzione e protezione civile. Si illustrano le tecniche geomatiche adottate e la loro integrazione, evidenziando in particolare le procedure adottate nella elaborazione della nuvola di punti derivante dalla fusione di rilievi fotogrammetrici e con laser a scansione. Sono infine presentati alcuni dei prodotti realizzati.

Spinal Cord Atrophy Correlates With Disease Duration And Severity In Amyotrophic Lateral Sclerosis.

Our objective was to investigate spinal cord (SC) atrophy in amyotrophic lateral sclerosis (ALS) patients, and to determine whether it correlates with clinical parameters. Forty-three patients with ALS (25 males) and 43 age- and gender-matched healthy controls underwent MRI on a 3T scanner. We used T1-weighted 3D images covering the whole brain and the cervical SC to estimate cervical SC area and eccentricity at C2/C3 level using validated software (SpineSeg). Disease severity was quantified with the ALSFRS-R and ALS Severity scores. SC areas of patients and controls were compared with a Mann-Whitney test. We used linear regression to investigate association between SC area and clinical parameters. Results showed that mean age of patients and disease duration were 53.1 ± 12.2 years and 34.0 ± 29.8 months, respectively. The two groups were significantly different regarding SC areas (67.8 ± 6.8 mm² vs. 59.5 ± 8.4 mm², p < 0.001). Eccentricity values were similar in both groups (p = 0.394). SC areas correlated with disease duration (r = - 0.585, p < 0.001), ALSFRS-R score (r = 0.309, p = 0.044) and ALS Severity scale (r = 0.347, p = 0.022). In conclusion, patients with ALS have SC atrophy, but no flattening. In addition, SC areas correlated with disease duration and functional status. These data suggest that quantitative MRI of the SC may be a useful biomarker in the disease.

Multimodal Mri-based Study In Patients With Spg4 Mutations.

Mutations in the SPG4 gene (SPG4-HSP) are the most frequent cause of hereditary spastic paraplegia, but the extent of the neurodegeneration related to the disease is not yet known. Therefore, our objective is to identify regions of the central nervous system damaged in patients with SPG4-HSP using a multi-modal neuroimaging approach. In addition, we aimed to identify possible clinical correlates of such damage. Eleven patients (mean age 46.0 ± 15.0 years, 8 men) with molecular confirmation of hereditary spastic paraplegia, and 23 matched healthy controls (mean age 51.4 ± 14.1years, 17 men) underwent MRI scans in a 3T scanner. We used 3D T1 images to perform volumetric measurements of the brain and spinal cord. We then performed tract-based spatial statistics and tractography analyses of diffusion tensor images to assess microstructural integrity of white matter tracts. Disease severity was quantified with the Spastic Paraplegia Rating Scale. Correlations were then carried out between MRI metrics and clinical data. Volumetric analyses did not identify macroscopic abnormalities in the brain of hereditary spastic paraplegia patients. In contrast, we found extensive fractional anisotropy reduction in the corticospinal tracts, cingulate gyri and splenium of the corpus callosum. Spinal cord morphometry identified atrophy without flattening in the group of patients with hereditary spastic paraplegia. Fractional anisotropy of the corpus callosum and pyramidal tracts did correlate with disease severity. Hereditary spastic paraplegia is characterized by relative sparing of the cortical mantle and remarkable damage to the distal portions of the corticospinal tracts, extending into the spinal cord.

Spinal Cord Damage In Machado-joseph Disease.

Machado-Joseph disease (SCA3) is the most frequent spinocerebellar ataxia worldwide and characterized by remarkable phenotypic heterogeneity. MRI-based studies in SCA3 focused in the cerebellum and connections, but little is known about cord damage in the disease and its clinical relevance. To evaluate the spinal cord damage in SCA3 through quantitative analysis of MRI scans. A group of 48 patients with SCA3 and 48 age and gender-matched healthy controls underwent MRI on a 3T scanner. We used T1-weighted 3D images to estimate the cervical spinal cord area (CA) and eccentricity (CE) at three C2/C3 levels based on a semi-automatic image segmentation protocol. The scale for assessment and rating of ataxia (SARA) was employed to quantify disease severity. The two groups-SCA3 and controls-were significantly different regarding CA (49.5 ± 7.3 vs 67.2 ± 6.3 mm(2), p < 0.001) and CE values (0.79 ± 0.06 vs 0.75 ± 0.05, p = 0.005). In addition, CA presented a significant correlation with SARA scores in the patient group (p = 0.010). CE was not associated with SARA scores (p = 0.857). In the multiple variable regression, we found that disease duration was the only variable associated with CA (coefficient = -0.629, p = 0.025). SCA3 is characterized by cervical cord atrophy and antero-posterior flattening. In addition, the spinal cord areas did correlate with disease severity. This suggests that quantitative analyses of the spinal cord MRI might be a useful biomarker in SCA3.

Structural and chemical basis for anticancer activity of a series of 'beta'-tubulin ligands: molecular modeling and 3D QSAR studies

An important approach to cancer therapy is the design of small molecule modulators that interfere with microtubule dynamics through their specific binding to the ²-subunit of tubulin. In the present work, comparative molecular field analysis (CoMFA) studies were conducted on a series of discodermolide analogs with antimitotic properties. Significant correlation coefficients were obtained (CoMFA(i), q² =0.68, r²=0.94; CoMFA(ii), q² = 0.63, r²= 0.91), indicating the good internal and external consistency of the models generated using two independent structural alignment strategies. The models were externally validated employing a test set, and the predicted values were in good agreement with the experimental results. The final QSAR models and the 3D contour maps provided important insights into the chemical and structural basis involved in the molecular recognition process of this family of discodermolide analogs, and should be useful for the design of new specific ²-tubulin modulators with potent anticancer activity.

Stress distribution in the cervical region of an upper central incisor in a 3D finite element model

The aim of this study was to evaluate the stress distribution in the cervical region of a sound upper central incisor in two clinical situations, standard and maximum masticatory forces, by means of a 3D model with the highest possible level of fidelity to the anatomic dimensions. Two models with 331,887 linear tetrahedral elements that represent a sound upper central incisor with periodontal ligament, cortical and trabecular bones were loaded at 45º in relation to the tooth's long axis. All structures were considered to be homogeneous and isotropic, with the exception of the enamel (anisotropic). A standard masticatory force (100 N) was simulated on one of the models, while on the other one a maximum masticatory force was simulated (235.9 N). The software used were: PATRAN for pre- and post-processing and Nastran for processing. In the cementoenamel junction area, tensile forces reached 14.7 MPa in the 100 N model, and 40.2 MPa in the 235.9 N model, exceeding the enamel's tensile strength (16.7 MPa). The fact that the stress concentration in the amelodentinal junction exceeded the enamel's tensile strength under simulated conditions of maximum masticatory force suggests the possibility of the occurrence of non-carious cervical lesions such as abfractions.

Remote sensing the vertical profile of cloud droplet effective radius, thermodynamic phase, and temperature

Cloud-aerosol interaction is a key issue in the climate system, affecting the water cycle, the weather, and the total energy balance including the spatial and temporal distribution of latent heat release. Information on the vertical distribution of cloud droplet microphysics and thermodynamic phase as a function of temperature or height, can be correlated with details of the aerosol field to provide insight on how these particles are affecting cloud properties and their consequences to cloud lifetime, precipitation, water cycle, and general energy balance. Unfortunately, today's experimental methods still lack the observational tools that can characterize the true evolution of the cloud microphysical, spatial and temporal structure in the cloud droplet scale, and then link these characteristics to environmental factors and properties of the cloud condensation nuclei. Here we propose and demonstrate a new experimental approach (the cloud scanner instrument) that provides the microphysical information missed in current experiments and remote sensing options. Cloud scanner measurements can be performed from aircraft, ground, or satellite by scanning the side of the clouds from the base to the top, providing us with the unique opportunity of obtaining snapshots of the cloud droplet microphysical and thermodynamic states as a function of height and brightness temperature in clouds at several development stages. The brightness temperature profile of the cloud side can be directly associated with the thermodynamic phase of the droplets to provide information on the glaciation temperature as a function of different ambient conditions, aerosol concentration, and type. An aircraft prototype of the cloud scanner was built and flew in a field campaign in Brazil. The CLAIM-3D (3-Dimensional Cloud Aerosol Interaction Mission) satellite concept proposed here combines several techniques to simultaneously measure the vertical profile of cloud microphysics, thermodynamic phase, brightness temperature, and aerosol amount and type in the neighborhood of the clouds. The wide wavelength range, and the use of multi-angle polarization measurements proposed for this mission allow us to estimate the availability and characteristics of aerosol particles acting as cloud condensation nuclei, and their effects on the cloud microphysical structure. These results can provide unprecedented details on the response of cloud droplet microphysics to natural and anthropogenic aerosols in the size scale where the interaction really happens.

Dynamical Lorentz symmetry breaking in 3D and charge fractionalization

We analyze the breaking of Lorentz invariance in a 3D model of fermion fields self-coupled through four-fermion interactions. The low-energy limit of the theory contains various submodels which are similar to those used in the study of graphene or in the description of irrational charge fractionalization.

Density functional theory investigation of 3d, 4d, and 5d 13-atom metal clusters

The knowledge of the atomic structure of clusters composed by few atoms is a basic prerequisite to obtain insights into the mechanisms that determine their chemical and physical properties as a function of diameter, shape, surface termination, as well as to understand the mechanism of bulk formation. Due to the wide use of metal systems in our modern life, the accurate determination of the properties of 3d, 4d, and 5d metal clusters poses a huge problem for nanoscience. In this work, we report a density functional theory study of the atomic structure, binding energies, effective coordination numbers, average bond lengths, and magnetic properties of the 3d, 4d, and 5d metal (30 elements) clusters containing 13 atoms, M(13). First, a set of lowest-energy local minimum structures (as supported by vibrational analysis) were obtained by combining high-temperature first- principles molecular-dynamics simulation, structure crossover, and the selection of five well-known M(13) structures. Several new lower energy configurations were identified, e. g., Pd(13), W(13), Pt(13), etc., and previous known structures were confirmed by our calculations. Furthermore, the following trends were identified: (i) compact icosahedral-like forms at the beginning of each metal series, more opened structures such as hexagonal bilayerlike and double simple-cubic layers at the middle of each metal series, and structures with an increasing effective coordination number occur for large d states occupation. (ii) For Au(13), we found that spin-orbit coupling favors the three-dimensional (3D) structures, i.e., a 3D structure is about 0.10 eV lower in energy than the lowest energy known two-dimensional configuration. (iii) The magnetic exchange interactions play an important role for particular systems such as Fe, Cr, and Mn. (iv) The analysis of the binding energy and average bond lengths show a paraboliclike shape as a function of the occupation of the d states and hence, most of the properties can be explained by the chemistry picture of occupation of the bonding and antibonding states.