Hessian-based occlusion-aware radiance caching

Simuler efficacement l'éclairage global est l'un des problèmes ouverts les plus importants en infographie. Calculer avec précision les effets de l'éclairage indirect, causés par des rebonds secondaires de la lumière sur des surfaces d'une scène 3D, est généralement un processus coûteux et souvent résolu en utilisant des algorithmes tels que le path tracing ou photon mapping. Ces techniquesrésolvent numériquement l'équation du rendu en utilisant un lancer de rayons Monte Carlo. Ward et al. ont proposé une technique nommée irradiance caching afin d'accélérer les techniques précédentes lors du calcul de la composante indirecte de l'éclairage global sur les surfaces diffuses. Krivanek a étendu l'approche de Ward et Heckbert pour traiter le cas plus complexe des surfaces spéculaires, en introduisant une approche nommée radiance caching. Jarosz et al. et Schwarzhaupt et al. ont proposé un modèle utilisant le hessien et l'information de visibilité pour raffiner le positionnement des points de la cache dans la scène, raffiner de manière significative la qualité et la performance des approches précédentes. Dans ce mémoire, nous avons étendu les approches introduites dans les travaux précédents au problème du radiance caching pour améliorer le positionnement des éléments de la cache. Nous avons aussi découvert un problème important négligé dans les travaux précédents en raison du choix des scènes de test. Nous avons fait une étude préliminaire sur ce problème et nous avons trouvé deux solutions potentielles qui méritent une recherche plus approfondie.

Logarithme d'harmoniques sphériques pour le rendu d'ombres douces de champs de hauteurs et de maillages

Les ombres sont un élément important pour la compréhension d'une scène. Grâce à elles, il est possible de résoudre des situations autrement ambigües, notamment concernant les mouvements, ou encore les positions relatives des objets de la scène. Il y a principalement deux types d'ombres: des ombres dures, aux limites très nettes, qui résultent souvent de lumières ponctuelles ou directionnelles; et des ombres douces, plus floues, qui contribuent à l'atmosphère et à la qualité visuelle de la scène. Les ombres douces résultent de grandes sources de lumière, comme des cartes environnementales, et sont difficiles à échantillonner efficacement en temps réel. Lorsque l'interactivité est prioritaire sur la qualité, des méthodes d'approximation peuvent être utilisées pour améliorer le rendu d'une scène à moindre coût en temps de calcul. Nous calculons interactivement les ombres douces résultant de sources de lumière environnementales, pour des scènes composées d'objets en mouvement et d'un champ de hauteurs dynamique. Notre méthode enrichit la méthode d'exponentiation des harmoniques sphériques, jusque là limitée aux bloqueurs sphériques, pour pouvoir traiter des champs de hauteurs. Nous ajoutons également une représentation pour les BRDFs diffuses et glossy. Nous pouvons ainsi combiner les visibilités et BRDFs dans un même espace, afin de calculer efficacement les ombres douces et les réflexions de scènes complexes. Un algorithme hybride, qui associe les visibilités en espace écran et en espace objet, permet de découpler la complexité des ombres de la complexité de la scène.

Role of Nuclear Angiotensin-II Receptor Mediated Signalling in Cardiovascular Remodelling

Le remodelage cardiaque est le processus par lequel la structure ou la fonction cardiaque change en réponse à un déséquilibre pathophysiologique tel qu'une maladie cardiaque, un contexte d'arythmie prolongée ou une modification de l'équilibre hormonal. Le système rénine-angiotensine (SRA) est un système hormonal largement étudié et il est impliqué dans de nombreuses activités associées au remodelage cardiovasculaire. L’existence d'un système circulatoire couplé à un système de tissus locaux est une représentation classique, cependant de nouvelles données suggèrent un SRA indépendant et fonctionnellement actif à l'échelle cellulaire. La compréhension de l'activité intracellulaire du SRA pourrait mener à de nouvelles pistes thérapeutiques qui pourraient prévenir un remodelage cardiovasculaire défavorable. L'objectif de cette thèse était d'élucider le rôle du SRA intracellulaire dans les cellules cardiaques. Récemment, les récepteurs couplés aux protéines G (RCPG), les protéines G et leurs effecteurs ont été détectés sur des membranes intracellulaires, y compris sur la membrane nucléaire, et les concepts de RCPG intracellulaires fonctionnels sont en voie d'être acceptés comme une réalité. Nous avons dès lors fait l'hypothèse que la signalisation du SRA délimitant le noyau était impliquée dans le contrôle de l'expression des gènes cardiaques. Nous avons démontré la présence de récepteurs d'angiotensine de type-1 (AT1R) et de type-2 (AT2R) nucléaires dans les cardiomyocytes ventriculaires adultes et dans une fraction nucléaire purifiée de tissu cardiaque. Des quantités d'Ang II ont été détectées dans du lysat de cardiomyocytes et des microinjections d'Ang-II-FITC ont donné lieu à des liaisons préférentielles aux sites nucléaires. L'analyse transcriptionnelle prouve que la synthèse d'ARN de novo dans des noyaux isolés stimulés à l'Ang-II, et l'expression des ARNm de NF-κB étaient beaucoup plus importants lorsque les noyaux étaient exposés à de l'Ang II par rapport aux cardiomyocytes intacts. La stimulation des AT1R nucléaires a engendré une mobilisation de Ca2+ via les récepteurs de l'inositol trisphosphate (IP3R), et le blocage des IP3R a diminué la réponse transcriptionnelle. Les méthodes disponibles actuellement pour l'étude de la signalisation intracrine sont limitées aux méthodes indirectes. L'un des objectifs de cette thèse était de synthétiser et caractériser des analogues d'Ang-II cellule-perméants afin d’étudier spécifiquement dans les cellules intactes l'activité intracellulaire du SRA. Nous avons synthétisé et caractérisé pharmacologiquement des analogues photosensibles Ang-II encapsulée en incorporant un groupement 4,5-diméthoxy-2-nitrobenzyl (DMNB) photoclivable sur les sites actifs identifiés du peptide. Chacun des trois analogues d'Ang II encapsulée synthétisés et purifiés: [Tyr(DMNB)4]Ang-II, Ang-II-ODMNB et [Tyr(DMNB)4]Ang-II-ODMNB a montré une réduction par un facteur deux ou trois de l'affinité de liaison envers AT1R et AT2R dans les dosages par liaison compétitive et une activité réduite dans la contraction de l'aorte thoracique. La photostimulation de [Tyr(DMNB)4]Ang-II dans des cellules HEK a augmenté la phosphorylation d'ERK1/2 (via AT1R) et la production de cGMP (via AT2R) alors que dans les cardiomyocytes isolés elle générait une augmentation de Ca2+ nucléoplasmique et initiait la synthèse d'ARNr 18S et d'ARNm du NF-κB. Les fibroblastes sont les principaux générateurs de remodelage cardiaque structurel, et les fibroblastes auriculaires sont plus réactifs aux stimuli profibrotiques que les fibroblastes ventriculaires. Nous avons émis l'hypothèse que l’Ang-II intracellulaire et l'activation des AT1R et AT2R nucléaires associés contrôlaient les profils d'expression des gènes des fibroblastes via des systèmes de signalisation distincts et de ce fait jouaient un rôle majeur dans le développement de la fibrose cardiaque. Nous avons remarqué que les fibroblastes auriculaires expriment l’AT1R et l’AT2R nucléaire et l'Ang-II au niveau intracellulaire. L’expression d'AT1R nucléaire a été régulés positivement dans les cas d’insuffisance cardiaque (IC), tandis que l'AT2R nucléaire a été glycosylé post-traductionnellement. La machinerie protéique des protéines G, y compris Gαq/11, Gαi/3, et Gβ, a été observée dans des noyaux isolés de fibroblastes. AT1R et AT2R régulent l'initiation de la transcription du fibroblaste via les voies de transduction de signal d'IP3R et du NO. La photostimulation de [Tyr(DMNB)4]Ang-II dans une culture de fibroblastes auriculaire déclenche la libération de Ca2+ nucléoplasmique, la prolifération, et la synthèse et sécrétion de collagène qui ne sont pas inhibées par les bloqueurs d'AT1R et/ou AT2R extracellulaires.

Chelating behavior of acylhydrazones towards transition metals:Spectral and structural aspects

The current work deals with the synthesis and characterization of metal complexes derived from some substituted acylhydrazones. The hydrazones under investigation were characterized by IR, UV, NMR spectral studies and the molecular structure of one of the hydrazones was solved by single crystal XRD studies. In the present work dioxovanadium(V), manganese(II), cobalt(II/III), nickel(II), copper(II), zinc(II) and cadmium(II) complexes were synthesized and characterized by various spectroscopic techniques, molar conductance measurements, magnetic susceptibility measurements and cyclic voltammetry. Single crystals of some of the complexes were isolated and characterized by single crystal X-ray diffraction.The thesis is divided into eight chapters. Chapter 1 gives an introduction on hydrazones, diversity in their chelating behavior and their application in various fields. This chapter also describes different analytical techniques employed for the characterization of hydrazones and their metal complexes. Chapter 2 includes the synthesis and characterization of two substituted acylhydrazones. This chapter also discusses how the coordination behavior of hydrazones under investigation is interesting. Chapters 3-8 discuss the synthesis and characterization of some transition metal complexes derived from the acylhydrazones under study.The hydrazones synthesized were found to exist in the amido form. Various characterization techniques were carried out to explore the structure of the synthesized complexes. The results indicate that both the hydrazones coordinate through the pyridyl and azomethine nitrogens and amide oxygen either in enolate or neutral form. Out of synthesized complexes V(V), Zn/Cd(II) and one of the cobalt complex was found to diamagnetic. We could isolate single crystals of some of the complexes and most of the complexes crystallized were found to have a distorted octahedral geometry. Thus X-ray crystallographic study which was used as major tool in the structure determination revealed that the hydrazones undergo a rotation about the azomethine bond on complexation. We hope the work presented in the thesis would be helpful for those who are working in the field of metal complexes and can further they can be utilized for various applications.

Lipase production by marine fungus Aspergillus Awamori Nagazawa

The present study indicate the scope for the utilization of the marine fungus Aspergillus awamori Nagazawa BTMFW 032 for extracellular lipase production employing submerged fermentation. To the best of our knowledge this is the first report on lipase production by a marine fungus employing statistical modeling towards industrial production. The characterization of purified lipase produced by A. awamori showed stability in organic solvents, oxidizing agent and reducing agents, I,3-regiospecificity and hydrolytic activity. These properties make this lipase an ideal candidate for biocatalysis in organic media for the production of novel compounds such as biodiesel and sugar fatty esters. 91.4 % reduction in oil and grease content in ayurvedic oil by the treatment of A. awamori lipase indicates that there is a scope for this enzyme in the treatment of oil effluents and bioremediation. There is ample scope for further research on the biochemistry of the enzyme, structure elucidation and enzyme engineering towards a wide range of further applications, besides enriching scientific knowledge on marine enzymes.

Computer vision techniques in seafood quality control

The application of computer vision based quality control has been slowly but steadily gaining importance mainly due to its speed in achieving results and also greatly due to its non- destnictive nature of testing. Besides, in food applications it also does not contribute to contamination. However, computer vision applications in quality control needs the application of an appropriate software for image analysis. Eventhough computer vision based quality control has several advantages, its application has limitations as to the type of work to be done, particularly so in the food industries. Selective applications, however, can be highly advantageous and very accurate.Computer vision based image analysis could be used in morphometric measurements of fish with the same accuracy as the existing conventional method. The method is non-destructive and non-contaminating thus providing anadvantage in seafood processing.The images could be stored in archives and retrieved at anytime to carry out morphometric studies for biologists.Computer vision and subsequent image analysis could be used in measurements of various food products to assess uniformity of size. One product namely cutlet and product ingredients namely coating materials such as bread crumbs and rava were selected for the study. Computer vision based image analysis was used in the measurements of length, width and area of cutlets. Also the width of coating materials like bread crumbs was measured.Computer imaging and subsequent image analysis can be very effectively used in quality evaluations of product ingredients in food processing. Measurement of width of coating materials could establish uniformity of particles or the lack of it. The application of image analysis in bacteriological work was also done

Motion Segmentation And Meanshift Assisted Contour Refinement For Airborne Video

This paper presents methods for moving object detection in airborne video surveillance. The motion segmentation in the above scenario is usually difficult because of small size of the object, motion of camera, and inconsistency in detected object shape etc. Here we present a motion segmentation system for moving camera video, based on background subtraction. An adaptive background building is used to take advantage of creation of background based on most recent frame. Our proposed system suggests CPU efficient alternative for conventional batch processing based background subtraction systems. We further refine the segmented motion by meanshift based mode association.

Fliesslochformen und Gewindefurchen in dünne Bleche und Rohre aus Kupfer und Kupferlegierungen

This thesis in Thermal Flow Drilling and Flowtap in thin metal sheet and pipes of copper and copper alloys had as objectives to know the comportment of copper and copper alloys sheet metal during the Thermal Flow Drill processes with normal tools, to know the best Speed and Feed machine data for the best bushing quality, to known the best Speed for Form Tapping processes and to know the best bush long in pure copper pipes for water solar interchange equipment. Thermal Flow Drilling (TFD) and Form Tapping (FT) is one of the research lines of the Institute of Production and Logistics (IPL) at University of Kassel. At December 1995, a work meeting of IPL, Santa Catarina University, Brazil, Buenos Aires University, Argentine, Tarapacá University (UTA), Chile members and the CEO of Flowdrill B.V. was held in Brazil. The group decided that the Manufacturing Laboratory (ML) of UTA would work with pure copper and brass alloys sheet metal and pure copper pipes in order to develop a water interchange solar heater. The Flowdrill BV Company sent tools to Tarapacá University in 1996. In 1999 IPL and the ML carried out an ALECHILE research project promoted by the DAAD and CONICyT in copper sheet metal and copper pipes and sheet metal a-brass alloys. The normal tools are lobed, conical tungsten carbide tool. When rotated at high speed and pressed with high axial force into sheet metal or thin walled tube generated heat softens the metal and allows the drill to feed forward produce a hole and simultaneously form a bushing from the displacement material. In the market exist many features but in this thesis is used short and longs normal tools of TFD. For reach the objectives it was takes as references four qualities of the frayed end bushing, where the best one is the quality class I. It was used pure copper and a-brass alloys sheet metals, with different thickness. It was used different TFD drills diameter for four thread type, from M-5 to M10. Similar to the Aluminium sheet metals studies it was used the predrilling processes with HSS drills around 30% of the TFD diameter (1,5 – 3,0 mm D). In the next step is used only 2,0 mm thick metal sheet, and 9,2 mm TFD diameter for M-10 thread. For the case of pure commercial copper pipes is used for ¾” inch diameter and 12, 8 mm (3/8”) TFD drill for holes for 3/8” pipes and different normal HSS drills for predrilling processes. The chemical sheet metal characteristics were takes as reference for the material behaviour. The Chilean pure copper have 99,35% of Cu and 0,163% of Zinc and the Chilean a-brass alloys have 75,6% of Cu and 24,0% of Zinc. It is used two German a-brass alloys; Nº1 have 61,6% of Cu, 36,03 % of Zinc and 2,2% of Pb and the German a-brass alloys Nº2 have 63,1% of Cu, 36,7% of Zinc and 0% of Pb. The equipments used were a HAAS CNC milling machine centre, a Kistler dynamometer, PC Pentium II, Acquisition card, TESTPOINT and XAct software, 3D measurement machine, micro hardness, universal test machine, and metallographic microscope. During the test is obtained the feed force and momentum curves that shows the material behaviour with TFD processes. In general it is take three phases. It was possible obtain the best machining data for the different sheet of copper and a-brass alloys thick of Chilean materials and bush quality class I. In the case of a-brass alloys, the chemical components and the TFD processes temperature have big influence. The temperature reach to 400º Celsius during the TFD processes and the a-brass alloys have some percents of Zinc the bush quality is class I. But when the a-brass alloys have some percents of Lead who have 200º C melting point is not possible to obtain a bush, because the Lead gasify and the metallographic net broke. During the TFD processes the recrystallization structures occur around the Copper and a-brass alloy bush, who gives more hardness in these zones. When the threads were produce with Form Tapping processes with Flowtap tools, this hardness amount gives a high limit load of the thread when hey are tested in a special support that was developed for it. For eliminated the predrilling processes with normal HSS drills it was developed a compound tool. With this new tool it was possible obtain the best machining data for quality class I bush. For the copper pipes it is made bush without predrilling and the quality class IV was obtained. When it is was used predrilling processes, quality classes I bush were obtained. Then with different HSS drill diameter were obtained different long bush, where were soldering with four types soldering materials between pipes with 3/8” in a big one as ¾”. Those soldering unions were tested by traction test and all the 3/8” pipes broken, and the soldering zone doesn’t have any problem. Finally were developed different solar water interchange heaters and tested. As conclusions, the present Thesis shows that the Thermal Flow Drilling in thinner metal sheets of cooper and cooper alloys needs a predrilling process for frayed end quality class I bushings, similar to thinner sheets of aluminium bushes. The compound tool developed could obtain quality class I bushings and excludes predrilling processes. The bush recrystalization, product of the friction between the tool and the material, the hardness grows and it is advantageous for the Form Tapping. The methodology developed for commercial copper pipes permits to built water solar interchange heaters.

Untersuchungen zu kumulativen psychischen und physiologischen Effekten des fliegenden Personals auf der Kurzstrecke

Die fliegerische Tätigkeit auf der Kurzstrecke in der zivilen Luftfahrt unterliegt arbeitsspezifischen Belastungsfaktoren, die sich in wesentlichen Punkten von denen auf der Langstrecke unterscheiden. Eine hohe Arbeitsbelastung auf der Kurzstrecke ist mit vielen Starts und Landungen am Tag verbunden. Neben der Anzahl der Flugabschnitte können auch lange Flugdienstzeiten und/oder unregelmäßige Arbeitszeiten sowie der Zeitdruck während der Einsätze auf der Kurzstrecke zur Belastung für Cockpitbesatzungsmitglieder werden und zu Ermüdungserscheinungen führen. Bisher wurden flugmedizinische und -psychologische Daten hauptsächlich auf der Langstrecke in Bezug auf die Auswirkungen der Jet-Leg Symptomatik und kaum auf der Kurzstrecke erhoben. Deshalb wurde im Rahmen des DLR- Projekts „Untersuchungen zu kumulativen psychischen und physiologischen Effekten des fliegenden Personals auf der Kurzstrecke“ eine Langzeituntersuchung zur Belastung/Beanspruchung, Ermüdung sowie Erholung des Cockpitpersonals auf der Kurzstrecke über jeweils 56 Tage durchgeführt. In Zusammenarbeit mit der Deutschen Lufthansa AG dauerte die Untersuchung zu den Auswirkungen arbeitsspezifischer Belastungsfaktoren auf die Cockpitbesatzungsmitglieder der Boeing 737-Flotte von 2003 bis 2006. ZIEL: Unter Berücksichtigung theoretisch fundierter arbeitspsychologischer Konzepte war das Ziel der Studie, kumulative und akute Effekte auf das Schlaf-Wach-Verhalten, auf die Belastung/Beanspruchung sowie auf die Müdigkeit zu identifizieren, die durch aufeinander folgende Einsätze auf der Kurzstrecke innerhalb eines Zeitraums von acht Wochen auftreten können. Hierfür wurden Daten von 29 Piloten (N=13 Kapitäne; N=16 Erste Offiziere) aufgezeichnet. Das Durchschnittsalter lag bei 33,8 ± 7,9 Jahren (Kapitäne: 42,0 ± 3,8 Jahre; Erste Offiziere: 27,4 ± 2,2 Jahre). METHODEN: Über ein Handheld PC konnten effizient Fragebögen bearbeitet und das Sleep Log sowie das Flight Log geführt werden. Die subjektive Ermüdung und Arbeitsbeanspruchung wurden durch standardisierte Fragebögen (z.B. Ermüdungsskala von Samn & Perelli (1982), NASA-TLX) operationalisiert. Im Sleep Log und im Flight Log wurden das Schlaf-Wach-Verhalten sowie flugspezifische Daten dokumentiert (z.B. Dienstbeginn, Dienstende, Flugabschnitte, Zielorte, etc.). Der Schlaf-Wach-Zyklus wurde mittels der Aktimetrie während des gesamten Messverlaufs aufgezeichnet. Die objektive Leistungsfähigkeit wurde täglich morgens und abends mit Hilfe einer computergestützten Psychomotor Vigilance Task (PVT) nach Dinges & Powell (1985) erfasst. Die Leistung in der PVT diente als Indikator für die Ermüdung eines Piloten. Zusätzliche Befragungen mit Paper-Pencil-Fragebögen sollten Aufschluss über relevante, psychosoziale Randbedingungen geben, die bei den täglichen Erhebungen nicht berücksichtigt wurden (z.B. Arbeitszufriedenheit; Essgewohnheiten; Kollegenbeziehungen). ERGEBNISSE: Unter Beachtung kumulativer Effekte wurde über die Studiendauer keine Veränderung in der Schlafqualität und im Schlafbedürfnis festgestellt. Die Müdigkeit nahm dagegen während der achtwöchigen Untersuchung zu. Die Reaktionszeit in der PVT zeigte an Flugdiensttagen eine Verschlechterung über die Zeit. Insgesamt wurden keine kritischen längerfristigen Effekte analysiert. Akute signifikante Effekte wurden bei der Ermüdung, der Gesamtbelastung und der Leistungsfähigkeit an Flugdiensttagen gefunden. Die Ermüdung als auch die Gesamtbelastung stiegen bei zunehmender Flugdienstdauer und Leganzahl und die Leistung nahm in der PVT ab. Der „time on task“ Effekt zeigte sich besonders in der Ermüdung durch die fliegerische Tätigkeit ab einer Flugdienstzeit von > 10 Stunden und > 4 Legs pro Tag. SCHLUSSFOLGERUNG: Mit diesen Ergebnissen konnte eine wissenschaftliche Datenbasis geschaffen werden aus der Empfehlungen resultieren, wie die Einsatzplanung für das Cockpitpersonal auf der Kurzstrecke unter flugmedizinischen und flugpsychologischen Gesichtspunkten optimiert werden kann. Zudem kann ein sachgerechter Beitrag im Rahmen der Diskussion zur Flugdienst- und Ruhezeitenregelung auf europäischer Ebene geleistet werden.

Prevalence of intestinal parasites in small ruminants and their senstivity to treatments with ethnobotanical remedies in Cholistan, Pakistan

Livestock production contributes substantially to the livelihoods of poor rural farmers in Pakistan; strengthening pastoral communities plays an imperative role in the country’s thrive for poverty alleviation. Intestinal helminths constitute a major threat for pastoral livestock keepers in the whole country because chronic infestation leads to distinct losses in livestock productivity, particularly the growth of young animals. Synthetic anthelmintics have long been considered the only effective way of controlling this problem but high prices, side effects and chemical residues/toxicity problems, or development of resistance, lead to their very limited use in many pastoral systems. Additionally, poor pastoralists in remote areas of Pakistan hardly have access to appropriate anthelmintic drugs, which are also relatively expensive due to the long routes of transportation. The search for new and more sustainable ways of supporting livestock keepers in remote areas has given rise to studies of ethno-botanicals or traditional plant-based remedies to be used in livestock health care. Plant-based remedies are cheap or free of cost, environmentally safe and generally create no problem of drug resistance; they thus might substitute allopathic drugs. Furthermore, these remedies are easily available in remote areas and simple to prepare and/or administer. Cholistan desert is a quite poor region of Pakistan and the majority of its inhabitants are practicing a nomadic life. The region’s total livestock population (1.29 million heads) is almost twice that of the human population. Livestock husbandry is the primordial occupation of the communities and traditionally wealth assessment was based on the number of animals, especially goats and sheep, owned by an individual. Fortunately, about 60% of this desert region is richly endowed with highly adapted grasses, shrubs and trees. This natural flora has a rich heritage of scientifically unexplored botanical pharmacopoeia. Against this background, the present research project that was conducted under the umbrella of the International Center for Development and Decent Work at Kassel University, focused on a development aspect: in the Cholistan desert region it was firstly examined how pastoralists manage their livestock, which major health problems they face for the different animal species, and which of the naturally occurring plants they use for the treatment of animal diseases (Chapter 2). For this purpose, a baseline survey was carried out across five locations in Cholistan, using a structured questionnaire to collect data from 100 livestock farmers (LF) and 20 local healers (LH). Most of LF and LH were illiterate (66%; 70%). On average, LH had larger herds (109 animals) than LF (85 animals) and were more experienced in livestock husbandry and management. On average LF spent about 163 Euro per year on the treatment of their livestock, with a huge variability in expenditures. Eighty-six traditional remedies based on 64 plants belonging to 43 families were used. Capparaceae was the botanical family with the largest number of species used (4), followed by Chenopodiaceae, Poaceae, Solanaceae and Zygophyllaceae (3). The plants Capparis decidua (n=55 mentions), Salsola foetida (n=52), Suaeda fruticosa (n=46), Haloxylon salicornicum (n=42) and Haloxylon recurvum (n=39) were said to be most effective against the infestations with gastrointestinal parasites. Aerial parts (43%), leaves (26%), fruits (9%), seeds and seed oils (9%) were the plant parts frequently used for preparation of remedies, while flowers, roots, bulbs and pods were less frequently used (<5%). Common preparations were decoction, jaggery and ball drench; oral drug administration was very common. There was some variation in the doses used for different animal species depending on age, size and physical condition of the animal and severity of the disease. In a second step the regionally most prevalent gastrointestinal parasites of sheep and goats were determined (Chapter 3) in 500 animals per species randomly chosen from pastoral herds across the previously studied five localities. Standard parasitological techniques were applied to identify the parasites in faecal samples manually collected at the rectum. Overall helminth prevalence was 78.1% across the 1000 animals; pure nematode infestations were most prevalent (37.5%), followed by pure trematode (7.9%), pure cestode (2.6%) and pure protozoa infestations (0.8%). Mixed infestations with nematodes and trematodes occurred in 6.4% of all animals, mixed nematode-cestode infestations in 3.8%, and all three groups were found in 19.1% of the sheep and goats. In goats more males (81.1%) than females (77.0%) were infested, the opposite was found in sheep (73.6% males, 79.5% females). Parasites were especially prevalent in suckling goats (85.2%) and sheep (88.5%) and to a lesser extent in young (goats 80.6%, sheep 79.3%) and adult animals (goats 72.8%, sheep 73.8%). Haemonchus contortus, Trichuris ovis and Paramphistomum cervi were the most prevalent helminths. In a third step the in vitro anthelmintic activity of C. decidua, S. foetida, S. fruticosa, H. salicornicum and H. recurvum (Chapter 2) was investigated against adult worms of H. contortus, T. ovis and P. cervi (Chapter 3) via adult motility assay (Chapter 4). Various concentrations ranging from 7.8 to 500 mg dry matter/ml of three types of extracts of each plant, i.e. aqueous, methanol, and aqueous-methanol (30:70), were used at different time intervals to access their anthelmintic activity. Levamisol (0.55 mg/ml) and oxyclozanide (30 mg/ml) served as positive and phosphate-buffered saline as negative control. All extracts exhibited minimum and maximum activity at 2 h and 12 h after parasite exposure; the 500 mg/ml extract concentrations were most effective. Plant species (P<0.05), extract type (P<0.01), parasite species (P<0.01), extract concentration (P<0.01), time of exposure (P<0.01) and their interactions (P<0.01) had significant effects on the number of immobile/dead helminths. From the comparison of LC50 values it appeared that the aqueous extract of C. decidua was more potent against H. contortus and T. ovis, while the aqueous extract of S. foetida was effective against P. cervi. The methanol extracts of H. recurvum were most potent against all three types of parasites, and its aqueous-methanol extract was also very effective against T. ovis and P. cervi. Based on these result it is concluded that the aqueous extract of C. decidua, as well as the methanol and aqueous-methanol extract of H. recurvum have the potential to be developed into plant-based drugs for treatment against H. contortus, T. ovis and P. cervi infestations. Further studies are now needed to investigate the in vivo anthelmintic activity of these plants and plant extracts, respectively, in order to develop effective, cheap and locally available anthelmintics for pastoralists in Cholistan and neighboring desert regions. This will allow developing tangible recommendations for plant-based anthelminthic treatment of sheep and goat herds, and by this enable pastoralists to maintain healthy and productive flocks at low costs and probably even manufacture herbal drugs for marketing on a regional scale.

Example Based Image Analysis and Synthesis

Image analysis and graphics synthesis can be achieved with learning techniques using directly image examples without physically-based, 3D models. In our technique: -- the mapping from novel images to a vector of "pose" and "expression" parameters can be learned from a small set of example images using a function approximation technique that we call an analysis network; -- the inverse mapping from input "pose" and "expression" parameters to output images can be synthesized from a small set of example images and used to produce new images using a similar synthesis network. The techniques described here have several applications in computer graphics, special effects, interactive multimedia and very low bandwidth teleconferencing.

Translation Invariance in Object Recognition, and Its Relation to Other Visual Transformations

Human object recognition is generally considered to tolerate changes of the stimulus position in the visual field. A number of recent studies, however, have cast doubt on the completeness of translation invariance. In a new series of experiments we tried to investigate whether positional specificity of short-term memory is a general property of visual perception. We tested same/different discrimination of computer graphics models that were displayed at the same or at different locations of the visual field, and found complete translation invariance, regardless of the similarity of the animals and irrespective of direction and size of the displacement (Exp. 1 and 2). Decisions were strongly biased towards same decisions if stimuli appeared at a constant location, while after translation subjects displayed a tendency towards different decisions. Even if the spatial order of animal limbs was randomized ("scrambled animals"), no deteriorating effect of shifts in the field of view could be detected (Exp. 3). However, if the influence of single features was reduced (Exp. 4 and 5) small but significant effects of translation could be obtained. Under conditions that do not reveal an influence of translation, rotation in depth strongly interferes with recognition (Exp. 6). Changes of stimulus size did not reduce performance (Exp. 7). Tolerance to these object transformations seems to rely on different brain mechanisms, with translation and scale invariance being achieved in principle, while rotation invariance is not.

Online Robust 3D Mapping Using Structure from Motion Cues

This paper presents a complete solution for creating accurate 3D textured models from monocular video sequences. The methods are developed within the framework of sequential structure from motion, where a 3D model of the environment is maintained and updated as new visual information becomes available. The camera position is recovered by directly associating the 3D scene model with local image observations. Compared to standard structure from motion techniques, this approach decreases the error accumulation while increasing the robustness to scene occlusions and feature association failures. The obtained 3D information is used to generate high quality, composite visual maps of the scene (mosaics). The visual maps are used to create texture-mapped, realistic views of the scene

Graphical simulators for AUV development

A long development time is needed from the design to the implementation of an AUV. During the first steps, simulation plays an important role, since it allows for the development of preliminary versions of the control system to be integrated. Once the robot is ready, the control systems are implemented, tuned and tested. The use of a real-time simulator can help closing the gap between off-line simulation and real testing using the already implemented robot. When properly interfaced with the robot hardware, a real-time graphical simulation with a "hardware in the loop" configuration, can allow for the testing of the implemented control system running in the actual robot hardware. Hence, the development time is drastically reduced. These paper overviews the field of graphical simulators used for AUV development proposing a classification. It also presents NEPTUNE, a multi-vehicle, real-time, graphical simulator based on OpenGL that allows hardware in the loop simulations