Scene Reconstruction And Understanding By RGB-D Sensors

This thesis investigates interactive scene reconstruction and understanding using RGB-D data only. Indeed, we believe that depth cameras will still be in the near future a cheap and low-power 3D sensing alternative suitable for mobile devices too. Therefore, our contributions build on top of state-of-the-art approaches to achieve advances in three main challenging scenarios, namely mobile mapping, large scale surface reconstruction and semantic modeling. First, we will describe an effective approach dealing with Simultaneous Localization And Mapping (SLAM) on platforms with limited resources, such as a tablet device. Unlike previous methods, dense reconstruction is achieved by reprojection of RGB-D frames, while local consistency is maintained by deploying relative bundle adjustment principles. We will show quantitative results comparing our technique to the state-of-the-art as well as detailed reconstruction of various environments ranging from rooms to small apartments. Then, we will address large scale surface modeling from depth maps exploiting parallel GPU computing. We will develop a real-time camera tracking method based on the popular KinectFusion system and an online surface alignment technique capable of counteracting drift errors and closing small loops. We will show very high quality meshes outperforming existing methods on publicly available datasets as well as on data recorded with our RGB-D camera even in complete darkness. Finally, we will move to our Semantic Bundle Adjustment framework to effectively combine object detection and SLAM in a unified system. Though the mathematical framework we will describe does not restrict to a particular sensing technology, in the experimental section we will refer, again, only to RGB-D sensing. We will discuss successful implementations of our algorithm showing the benefit of a joint object detection, camera tracking and environment mapping.

Miglioramento delle performance termiche e energetiche degli edifici rurali: valutazione del retrofit di locali per la conservazione del vino su casi studio

Il presente studio si colloca all’interno di una ricerca più ampia volta alla definizione di criteri progettuali finalizzati all’ottimizzazione delle prestazioni energetiche delle cantine di aziende vitivinicole, di dimensioni produttive medio - piccole. Nello specifico la ricerca riguarda la riqualificazione di fabbricati rurali esistenti di modeste dimensioni, da convertire a magazzini per la conservazione del vino in bottiglia. Lo studio si pone come obiettivo la definizione di criteri di analisi per la valutazione di interventi di retrofit di tali fabbricati, volto sia al miglioramento delle prestazioni energetiche dell’involucro edilizio, sia alla riduzione del fabbisogno energetico legato al funzionamento di eventuali impianti di controllo termico. La ricerca è stata condotta mediante l’utilizzo del software di simulazione termica Energy Plus, per ottenere i valori simulati di temperatura interna relativi ai diversi scenari migliorativi ipotizzati, e mediante la successiva definizione di indicatori che esplicitino l’influenza delle principali variabili progettuali sull’andamento delle temperature interne dei locali di conservazione e sul fabbisogno energetico del fabbricato necessario a garantire l’intervallo di temperatura di comfort del vino. Tra tutti gli interventi possibili per il miglioramento della prestazione energetica degli edifici, quelli analizzati in questo studio prevedono l’aggiunta di un isolamento a cappotto delle pareti esterne, l’isolamento della copertura e l’aggiunta di una struttura ombreggiante vegetale esterna. I risultati ottenuti danno una prima indicazione sugli interventi più efficaci in termini di miglioramento energetico e mettono in luce l’utilità del criterio proposto nell’evidenziare le criticità degli interventi migliorativi ipotizzati. Il metodo definito nella presente ricerca risulta quindi un valido strumento di valutazione a supporto della progettazione degli interventi di retrofit dei fabbricati rurali da convertire a magazzini per la conservazione del vino.

Lachgas : Stellenwert gestern, heute, morgen

"Lachgas: Stellenwert gestern, heute, morgen" ist die Dissertation von Frau Dr. med. Susanne Maier. Dies ist die erste wissenschaftliche Arbeit, die die gesamte bisherige Literatur zu Lachgas seit Anbeginn der medizinischen Nutzung aufwendig aufgearbeitet hat. Nach dem dies Buch erschien, fingen viele europäische Kliniken an, den Lachgasgebrauch zu hinterfragen. In Folge verschwand dieses "Narkosegas" nun weltweit aus immer mehr OPs. Mangels Evidenz, welches diese Arbeit belegt, wird sicherlich absehbar dies Gas ganz aus der Humanmedizin (Schulmedizin) verschwinden. Im Rahmen eines Expertenmeetings nach der Veröffentlichung zeichnete sich dies bereits ab.

Arnt van Tricht : Werkkatalog eines Bildhauers am Niederrhein im 16. Jahrhundert

Arnt van Tricht, gest. 1570, unterhielt bis in die späten 50er Jahre des 16. Jahrhunderts, wahrschein-lich aus Antwerpen kommend, in Kalkar am Niederrhein eine sehr erfolgreiche Werkstatt. Die bis dahin vorherrschende spätgotische Formensprache der langjährig ansässigen Bildhauer löste er durch die der Renaissance ab, führte jedoch deren Arbeitsfelder und Materialwahl weiter. Arnt van Tricht schuf Arbeiten sowohl religiöser als auch profaner Natur innerhalb des Gebiets der damals sehr bedeutenden Vereinigten Herzogtümer Kleve-Mark-Jülich-Berg und Geldern. Seine wohlhabenden Auftraggeber entstammten dem Klerus, der Bürgerschaft und dem Adel.rnIm Rahmen der Arbeit zeigte sich, dass sich für den Künstler die Verlegung der herzoglichen Residenz nach Düsseldorf und der wirtschaftliche Niedergang der Region letztlich stärker auswirkte als die religiösen Veränderungen durch die Reformation.rnArnt van Tricht schuf die meisten seiner religiösen Bildwerke für die Stiftskirche St. Viktor in Xanten, die durch die Bürgerschaft ausgestattete Pfarrkirche von St. Nicolai in Kalkar und umliegende Gemeinden. Einzelne Stücke sind, wohl über familiäre Verflechtungen vermittelt, in einem weiteren Radius zu finden. Van Tricht arbeitete Schnitzretabel mitsamt ihrer ornamentalen und figuralen Aus-stattung sowie Skulpturen(-gruppen) in Eichenholz. Daneben finden sich im Werk zahlreiche in Sandstein gearbeitete Skulpturen, die teilweise an Pfeilern und Portalen der Kirchen architektur-gebunden sind. Neben diesen rundplastischen Werken schuf Arnt van Tricht eine große Anzahl an steinernen Reliefarbeiten. Hierbei nehmen die überwiegend für die lokalen Kanoniker gearbeiteten Epitaphien mit biblischem Reliefbild in Ornamentrahmen den größten Teil ein.rnEin zweiter, gleichwertiger Werkkomplex, überwiegend in Sandstein gearbeitet, ist profaner Natur und fällt durch die Größe der Aufträge ins Gewicht. Arnt van Tricht war an einigen groß angelegten Modernisierungsprojekten an Stadthäusern und Kastellen des lokalen Adels beschäftigt. Für mehrere aufwendig gestaltete Fassadendekorationen arbeitete er Architekturglieder mit figürlicher Darstellung oder Ornament, Büsten und freiplastische Skulpturen. Arnt van Tricht war aber auch an der Aus-gestaltung der Innenräume beteiligt. Aufwendig skulptierte und reliefverzierte Kaminverkleidungen stehen dabei neben reduzierteren Arbeiten für offensichtlich weniger repräsentative Räume. Neben in Eichenholz gearbeiteter Vertäfelung schuf Arnt van Tricht hölzerne figurale Handtuchhalter. Diese zeigen, wie auch die Reliefbilder der Kamine, die darüber hinaus Wappen und Porträts der Bauherren aufnehmen, eine religiöse oder profane, auch antikisierende Thematik, bei der ein moralisierender Unterton mitschwingt.rnIn dieser Arbeit werden erstmals alle Werkstücke des Künstlers zusammengeführt dargestellt, so dass ein Werkkatalog mit einem Überblick über das sehr breit gefächerte Spektrum des Opus Arnt van Trichts vorliegt. Häufig durch bloße Nennung mit Arnt van Tricht in Verbindung gebrachte Arbeiten werden bewertet und die Zu- oder Abschreibung begründet. Auch können einige Stücke neu zugeschrieben werden.

Test sperimentali e modellazione di una torre di lavaggio per la filtrazione di particolato sottile in impianti di combustione delle biomasse

This study investigates biomass and particulate matter also known as PM produced from the combustion of a domestic boiler powered by mais and how to separate PM from the stream of smoke output from the boiler using wet scrubber with structured packing. Sperimentations show the inefficiency of the separator used, so we provide an optimization of the structured packing changing geometric parameters as angle of the bend or thickness of the channels. In order to obtain a higher separation efficiency we remove the structured packinkg and introduce a packed bed composed of spheres of polyethylene with a diameter of 3 mm.

Design of an indirectly fired gas turbine integrated with an organic rankine cycle unit for combined heat and power production

In the last years, the European countries have paid increasing attention to renewable sources and greenhouse emissions. The Council of the European Union and the European Parliament have established ambitious targets for the next years. In this scenario, biomass plays a prominent role since its life cycle produces a zero net carbon dioxide emission. Additionally, biomass can ensure plant operation continuity thanks to its availability and storage ability. Several conventional systems running on biomass are available at the moment. Most of them are performant either in the large-scale or in the small power range. The absence of an efficient system on the small-middle scale inspired this thesis project. The object is an innovative plant based on a wet indirectly fired gas turbine (WIFGT) integrated with an organic Rankine cycle (ORC) unit for combined heat and power production. The WIFGT is a performant system in the small-middle power range; the ORC cycle is capable of giving value to low-temperature heat sources. Their integration is investigated in this thesis with the aim of carrying out a preliminary design of the components. The targeted plant output is around 200 kW in order not to need a wide cultivation area and to avoid biomass shipping. Existing in-house simulation tools are used: They are adapted to this purpose. Firstly the WIFGT + ORC model is built; Zero-dimensional models of heat exchangers, compressor, turbines, furnace, dryer and pump are used. Different fluids are selected but toluene and benzene turn out to be the most suitable. In the indirectly fired gas turbine a pressure ratio around 4 leads to the highest efficiency. From the thermodynamic analysis the system shows an electric efficiency of 38%, outdoing other conventional plants in the same power range. The combined plant is designed to recover thermal energy: Water is used as coolant in the condenser. It is heated from 60°C up to 90°C, ensuring the possibility of space heating. Mono-dimensional models are used to design the heat exchange equipment. Different types of heat exchangers are chosen depending on the working temperature. A finned-plate heat exchanger is selected for the WIFGT heat transfer equipment due to the high temperature, oxidizing and corrosive environment. A once-through boiler with finned tubes is chosen to vaporize the organic fluid in the ORC. A plate heat exchanger is chosen for the condenser and recuperator. A quasi-monodimensional model for single-stage axial turbine is implemented to design both the WIFGT and the ORC turbine. The system simulation after the components design shows an electric efficiency around 34% with a decrease by 10% compared to the zero-dimensional analysis. The work exhibits the system potentiality compared to the existing plants from both technical and economic point of view.

Confronto tra le prestazioni energetiche in regime dinamico di un impianto di climatizzazione ad uso residenziale tradizionale e con pompa di calore geotermica

Questo scritto affronta il tema dello sfruttamento della fonte geotermica per la climatizzazione, sia invernale che estiva, di un edificio ad uso residenziale. In particolare, la situazione a cui faremo riferimento è quella di un condominio di media grandezza (18 appartamenti da circa 60 mq ciascuno) a cui verrà applicato un impianto di climatizzazione ad aria centralizzato, alimentato da una pompa di calore geotermica reversibile. Il fine ultimo di questo lavoro è analizzare, attraverso una simulazione in regime dinamico, le prestazioni energetiche del suddetto impianto e valutarne la convenienza rispetto ad un'istallazione tradizionale, che utilizza un boiler a gas per il riscaldamento e un chiller raffreddato ad aria per il raffrescamento. L'analisi economica svolta riguarderà solo i costi di esercizio delle due versioni di impianto.

Fine particulate matter measurements in Swiss restaurants, cafés and bars: what is the effect of spatial separation between smoking and non-smoking areas?

We performed 124 measurements of particulate matter (PM(2.5)) in 95 hospitality venues such as restaurants, bars, cafés, and a disco, which had differing smoking regulations. We evaluated the impact of spatial separation between smoking and non-smoking areas on mean PM(2.5) concentration, taking relevant characteristics of the venue, such as the type of ventilation or the presence of additional PM(2.5) sources, into account. We differentiated five smoking environments: (i) completely smoke-free location, (ii) non-smoking room spatially separated from a smoking room, (iii) non-smoking area with a smoking area located in the same room, (iv) smoking area with a non-smoking area located in the same room, and (v) smoking location which could be either a room where smoking was allowed that was spatially separated from non-smoking room or a hospitality venue without smoking restriction. In these five groups, the geometric mean PM(2.5) levels were (i) 20.4, (ii) 43.9, (iii) 71.9, (iv) 110.4, and (v) 110.3 microg/m(3), respectively. This study showed that even if non-smoking and smoking areas were spatially separated into two rooms, geometric mean PM(2.5) levels in non-smoking rooms were considerably higher than in completely smoke-free hospitality venues. PRACTICAL IMPLICATIONS: PM(2.5) levels are considerably increased in the non-smoking area if smoking is allowed anywhere in the same location. Even locating the smoking area in another room resulted in a more than doubling of the PM(2.5) levels in the non-smoking room compared with venues where smoking was not allowed at all. In practice, spatial separation of rooms where smoking is allowed does not prevent exposure to environmental tobacco smoke in nearby non-smoking areas.

Prehospital ultrasound in emergency medicine: incidence, feasibility, indications and diagnoses

Sonography is an established diagnostic procedure in hospitals, but is not routinely used in prehospital emergency medicine. Several studies have addressed the use of ultrasound during helicopter flights and in emergency rooms, few in prehospital settings, but most focused on abdominal blunt trauma. Several case reports describe crucial decisions distinguished by ultrasound.

Slowdown of gist perception in colour diagnostic scenes

Humans perceive the content (gist) of a scene very rapidly within about 40 ms [Castelhano and Henderson, 2008 Journal of Experimental Psychology Human Perception and Performance 43(3) 660-675]. It has also been demonstrated that colours contribute to the perception of the gist of a scene if the colours are diagnostic for the distinction of scenes (Oliva and Schyns, 2000 Cognitive Psychology 41 176-210). We presented 320 coloured photographs of 2 diagnostic (mountains and coasts) and 2 nondiagnostic colour scenes (cities and rooms), 80 per category, in a masking paradigm. The mask consisted of randomly distributed colour patches. SOA was varied between 20 and 80 ms, in steps of 20 ms and subjects had to indicate the gist of the scene (4AFC). A control condition without masking was also included. In line with previous results we have found that the gist of nondiagnostic coloured scenes is extracted within 40 ms. However, if colour comes into play, the extraction of the scene gist is prolonged by about 20 ms. A possible reason for this outcome might be that nondiagnostic colour scenes are identified by their luminance components which are processed faster than the colour information, which in turn mediates the identification of diagnostic colour scenes

You Can't Touch This: Touch-free Navigation Through Radiological Images

Keyboards, mice, and touch screens are a potential source of infection or contamination in operating rooms, intensive care units, and autopsy suites. The authors present a low-cost prototype of a system, which allows for touch-free control of a medical image viewer. This touch-free navigation system consists of a computer system (IMac, OS X 10.6 Apple, USA) with a medical image viewer (OsiriX, OsiriX foundation, Switzerland) and a depth camera (Kinect, Microsoft, USA). They implemented software that translates the data delivered by the camera and a voice recognition software into keyboard and mouse commands, which are then passed to OsiriX. In this feasibility study, the authors introduced 10 medical professionals to the system and asked them to re-create 12 images from a CT data set. They evaluated response times and usability of the system compared with standard mouse/keyboard control. Users felt comfortable with the system after approximately 10 minutes. Response time was 120 ms. Users required 1.4 times more time to re-create an image with gesture control. Users with OsiriX experience were significantly faster using the mouse/keyboard and faster than users without prior experience. They rated the system 3.4 out of 5 for ease of use in comparison to the mouse/keyboard. The touch-free, gesture-controlled system performs favorably and removes a potential vector for infection, protecting both patients and staff. Because the camera can be quickly and easily integrated into existing systems, requires no calibration, and is low cost, the barriers to using this technology are low.

Bacchus and Civic Order: The Culture of Drink in Early Modern Germany / Bacchus und die bürgerliche Ordnung. Die Kultur des Trinkens im frühneuzeitlichen Augsburg

Lining the streets inside the city's gates, clustered in its center, and thinly scattered among its back quarters were Augsburg's taverns and drinking rooms. These institutions ranged from the poorly lit rooms of backstreet wine sellers to the elaborate marble halls frequented by society's most privileged members. Urban drinking rooms provided more than food, drink, and lodging for their guests. They also conferred upon their visitors a sense of social identity commensurate with their status. Like all German cities, Augsburg during the sixteenth and seventeenth centuries had a history shaped by the political events attending the Reformation, the post-Reformation, and the Thirty Years' War; its social and political character was also reflected and supported by its public and private drinking rooms. In Bacchus and Civic Order: The Culture of Drink in Early Modern Germany, Ann Tlusty examines the social and cultural functions served by drinking and tavern life in Germany between 1500 and 1700, and challenges existing theories about urban identity, sociability, and power. Through her reconstruction of the social history of Augsburg, from beggars to council members, Tlusty also sheds light on such diverse topics as social ritual, gender and household relations, medical practice, and the concerns of civic leaders with public health and poverty. Drunkenness, dueling, and other forms of tavern comportment that may appear "disorderly" to us today turn out to be the inevitable, even desirable result of a society functioning according to its own rules.

Pseudomonas aeruginosa outbreak in a pediatric oncology care unit caused by an errant water jet into contaminated siphons

We analyzed an outbreak of invasive infections with an exotoxin U positive Pseudomonas aeruginosa strain within a pediatric oncology care unit. Environmental sampling and molecular characterization of the Pseudomonas aeruginosa strains led to identification of the outbreak source. An errant water jet into the sink within patient rooms was observed. Optimized outbreak management resulted in an abundance of further Pseudomonas aeruginosa infections within the pediatric oncology care unit.

Prevalence and associated factors of viral hepatitis and transferrin elevations in 5036 patients admitted to the emergency room of a Swiss university hospital: cross-sectional study

BACKGROUND: The epidemiology of liver disease in patients admitted to emergency rooms is largely unknown. The current study aimed to measure the prevalence of viral hepatitis B and C infection and pathological laboratory values of liver disease in such a population, and to study factors associated with these measurements. METHODS: Cross-sectional study in patients admitted to the emergency room of a university hospital. No formal exclusion criteria. Determination of anti-HBs, anti-HCV, transferrin saturation, alanine aminotransferase, and obtaining answers from a study-specific questionnaire. RESULTS: The study included 5'036 patients, representing a 14.9% sample of the target population during the study period. Prevalence of anti-HBc and anti-HCV was 6.7% (95%CI 6.0% to 7.4%) and 2.7% (2.3% to 3.2%), respectively. Factors independently associated with positive anti-HBc were intravenous drug abuse (OR 18.3; 11.3 to 29.7), foreign country of birth (3.4; 2.6 to 4.4), non-white ethnicity (2.7; 1.9 to 3.8) and age > or =60 (2.0; 1.5 to 2.8). Positive anti-HCV was associated with intravenous drug abuse (78.9; 43.4 to 143.6), blood transfusion (1.7; 1.1 to 2.8) and abdominal pain (2.7; 1.5 to 4.8). 75% of all participants were not vaccinated against hepatitis B or did not know their vaccination status. Among anti-HCV positive patients only 49% knew about their infection and 51% reported regular alcohol consumption. Transferrin saturation was elevated in 3.3% and was associated with fatigue (prevalence ratio 1.9; 1.2 to 2.8). CONCLUSION: Emergency rooms should be considered as targets for public health programs that encourage vaccination, patient education and screening of high-risk patients for liver disease with subsequent referral for treatment if indicated.

Multimodality Preoperative Planning and Postoperative Follow-up of a Hybrid Cardiac Intervention

We describe the case of a 59-year-old man who had aortic regurgitation and a hypoplastic aortic valve and for whom an echocardiography evaluation revealed a vascular tumor in the roof of the left atrium, which was suspected to be a hemangioma. After undergoing preoperative invasive catheter coronary angiography, echocardiography, and multislice computed tomography examinations, the patient underwent an aortic miniroot replacement. Intraoperative findings confirmed the findings of the preoperative evaluations. The tumor, although macroscopically verified as a hemangioma, was not resected because of the tumor's position and size, and the threat of uncontrollable bleeding. After an uneventful postoperative clinical course, a subsequent successful transcatheter coil occlusion of the coronary fistula from the left circumflex coronary artery was performed as an alternative to surgical resection of the tumor. This case emphasizes the future role of a multimodality hybrid approach for diagnosis, planning (different 2- and 3-dimensional imaging modalities), and treatment in the form of combining interventional (transcatheter) and surgical (open heart) techniques, which could optimize different treatment strategies. This approach could be further improved by increasing the installations of hybrid operating rooms.