Topological SLAM using a graph-matching based method on omnidirectional images

Comunicación presentada en el XI Workshop of Physical Agents, Valencia, 9-10 septiembre 2010.

Dynamic investigation of an ancient masonry bell tower with operational modal analysis: a non-destructive experimental technique to obtain the dynamic characteristics of a structure

This paper shows the results of an experimental analysis on the bell tower of “Chiesa della Maddalena” (Mola di Bari, Italy), to better understand the structural behavior of slender masonry structures. The research aims to calibrate a numerical model by means of the Operational Modal Analysis (OMA) method. In this way realistic conclusions about the dynamic behavior of the structure are obtained. The choice of using an OMA derives from the necessity to know the modal parameters of a structure with a non-destructive testing, especially in case of cultural-historical value structures. Therefore by means of an easy and accurate process, it is possible to acquire in-situ environmental vibrations. The data collected are very important to estimate the mode shapes, the natural frequencies and the damping ratios of the structure. To analyze the data obtained from the monitoring, the Peak Picking method has been applied to the Fast Fourier Transforms (FFT) of the signals in order to identify the values of the effective natural frequencies and damping factors of the structure. The main frequencies and the damping ratios have been determined from measurements at some relevant locations. The responses have been then extrapolated and extended to the entire tower through a 3-D Finite Element Model. In this way, knowing the modes of vibration, it has been possible to understand the overall dynamic behavior of the structure.

A study of a soft computing based method for 3D scenario reconstruction

Several recent works deal with 3D data in mobile robotic problems, e.g., mapping. Data comes from any kind of sensor (time of flight, Kinect or 3D lasers) that provide a huge amount of unorganized 3D data. In this paper we detail an efficient approach to build complete 3D models using a soft computing method, the Growing Neural Gas (GNG). As neural models deal easily with noise, imprecision, uncertainty or partial data, GNG provides better results than other approaches. The GNG obtained is then applied to a sequence. We present a comprehensive study on GNG parameters to ensure the best result at the lowest time cost. From this GNG structure, we propose to calculate planar patches and thus obtaining a fast method to compute the movement performed by a mobile robot by means of a 3D models registration algorithm. Final results of 3D mapping are also shown.

Use of an Inverse Method for Time Series to Estimate the Dynamics of and Management Strategies for the Box Jellyfish Carybdea marsupialis

Frequently, population ecology of marine organisms uses a descriptive approach in which their sizes and densities are plotted over time. This approach has limited usefulness for design strategies in management or modelling different scenarios. Population projection matrix models are among the most widely used tools in ecology. Unfortunately, for the majority of pelagic marine organisms, it is difficult to mark individuals and follow them over time to determine their vital rates and built a population projection matrix model. Nevertheless, it is possible to get time-series data to calculate size structure and densities of each size, in order to determine the matrix parameters. This approach is known as a “demographic inverse problem” and it is based on quadratic programming methods, but it has rarely been used on aquatic organisms. We used unpublished field data of a population of cubomedusae Carybdea marsupialis to construct a population projection matrix model and compare two different management strategies to lower population to values before year 2008 when there was no significant interaction with bathers. Those strategies were by direct removal of medusae and by reducing prey. Our results showed that removal of jellyfish from all size classes was more effective than removing only juveniles or adults. When reducing prey, the highest efficiency to lower the C. marsupialis population occurred when prey depletion affected prey of all medusae sizes. Our model fit well with the field data and may serve to design an efficient management strategy or build hypothetical scenarios such as removal of individuals or reducing prey. TThis This sdfsdshis method is applicable to other marine or terrestrial species, for which density and population structure over time are available.

A simple method to predict elastic settlements in foundations resting on two soils of differing deformability

This paper shows the analysis results obtained from more than 200 finite element method (FEM) models used to calculate the settlement of a foundation resting on two soils of differing deformability. The analysis considers such different parameters as the foundation geometry, the percentage of each soil in contact with the foundation base and the ratio of the soils’ elastic moduli. From the described analysis, it is concluded that the maximum settlement of the foundation, calculated by assuming that the foundation is completely resting on the most deformable soil, can be correlated with the settlement calculated by FEM models through a correction coefficient named “settlement reduction factor” (α). As a consequence, a novel expression is proposed for calculating the real settlement of a foundation resting on two soils of different deformability with maximum errors lower than 1.57%, as demonstrated by the statistical analysis carried out. A guide for the application of the proposed simple method is also explained in the paper. Finally, the proposed methodology has been validated using settlement data from an instrumented foundation, indicating that this is a simple, reliable and quick method which allows the computation of the maximum elastic settlement of a raft foundation, evaluates its suitability and optimises its selection process.

Assessing the Implementation of a Secondary Plan Using a Conformance-Based GIS Method: A Pilot Project in Winnipeg, Manitoba

This case study evaluates the implementation of a secondary land use plan in Winnipeg, MB. The area selected for this case study is the Northeast Neighbourhood located in Waverley West; the development of this neighbourhood was guided by the Northeast Neighbourhood Area Structure Plan (NNASP). This case study evaluates the implementation of the NNASP through a conformance analysis which answers the following research questions: 1) Does the developed land use pattern in the NNASP area conform to what was planned; and 2) Does the implementation of the NNASP conform to the goals, objectives, policies, and intent of the plan? The implementation of the NNASP was evaluated against 62 evaluation criteria which were generated based on the policies of the NNASP. Using this method, the development of the Northeast Neighbourhood is effectively evaluated against the requirements of the NNASP. This conformity test utilized threefold approach including GIS analysis, a site visit, and document analysis.

Les effets du dalcetrapib, un inhibiteur de la protéine de transfert des esters de cholestérol (CETP), sur la structure et la fonction des lipoprotéines de haute densité (HDL) dans l’étude dal-PLAQUE2

Introduction : Le dalcetrapib, inhibiteur de la glycoprotéine hydrophobe de transfert des esters de cholestérol (CETP), a été étudié dans le cadre de l’essai clinique de phase II dal-PLAQUE2 (DP2). L’objectif principal est d’étudier l’effet du dalcetrapib après 1 an de traitement sur la structure et la fonction des HDL dans une sous-population de la cohorte DP2. Méthode : Les sujets de la cohorte DP2 ayant une série de mesures de cIMT et des échantillons de plasma et sérum au baseline et à 1 an de traitement furent sélectionnés (379 sujets: 193 du groupe placebo (PCB) et 186 du groupe dalcetrapib (DAL)). Des données biochimiques prédéterminées, le profil des concentrations et tailles des sous-classes de HDL et LDL en résonance magnétique nucléaire (RMN) et 2 mesures de capacité d’efflux de cholestérol (CEC) du sérum ont été explorées. Les données statistiques furent obtenues en comparant les changements à un an à partir du « baseline » avec un ANOVA ou ANCOVA. La procédure normalisée de fonctionnement d’essai d’efflux de cholestérol permet de calculer l’efflux fractionnel (en %) de 3H-cholestérol des lignées cellulaires BHK-ABCA1 (fibroblastes) et J774 (macrophages, voie ABCA1) et HepG2 (hépatocytes, voie SR-BI), vers les échantillons sériques de la cohorte DP2. Résultats : Pour la biochimie plasmatique, un effet combiné des changements d’activité de CETP dans les 2 groupes a causé une réduction de 30% dans le groupe DAL. Après 1 an de traitement dans le groupe DAL, la valeur de HDL-C a augmenté de 35,5% (p < 0,001) et l’apoA-I a augmenté de 14,0% (p < 0,001). Au profil RMN, dans le groupe DAL après 1 an de traitement, il y a augmentation de la taille des HDL-P (5,2%; p < 0,001), des grosses particules HDL (68,7%; p < 0,001) et des grosses particules LDL (37,5%; p < 0,01). Les petites particules HDL sont diminuées (-9,1%; p < 0,001). Il n’y a aucune différence significative de mesure de cIMT entre les deux groupes après 1 an de traitement. Pour la CEC, il y a augmentation significative par la voie du SR-BI et une augmentation via la voie ABCA1 dans le groupe DAL après 1 an de traitement. Conclusion : Après un an de traitement au dalcetrapib, on note une hausse de HDL-C, des résultats plutôt neutres au niveau du profil lipidique par RMN et une CEC augmentée mais trop faible pour affecter la valeur de cIMT chez les échantillons testés.

Exploring Multi-Component Superconducting Compounds by a High-Pressure Method and Ceramic Combinatorial Chemistry

In this short review, we provide some new insights into the material synthesis and characterization of modern multi-component superconducting oxides. Two different approaches such as the high-pressure, high-temperature method and ceramic combinatorial chemistry will be reported with application to several typical examples. First, we highlight the key role of the extreme conditions in the growth of Fe-based superconductors, where a careful control of the composition-structure relation is vital for understanding the microscopic physics. The availability of high-quality LnFeAsO (Ln = lanthanide) single crystals with substitution of O by F, Sm by Th, Fe by Co, and As by P allowed us to measure intrinsic and anisotropic superconducting properties such as Hc2, Jc. Furthermore, we demonstrate that combinatorial ceramic chemistry is an efficient way to search for new superconducting compounds. A single-sample synthesis concept based on multi-element ceramic mixtures can produce a variety of local products. Such a system needs local probe analyses and separation techniques to identify compounds of interest. We present the results obtained from random mixtures of Ca, Sr, Ba, La, Zr, Pb, Tl, Y, Bi, and Cu oxides reacted at different conditions. By adding Zr but removing Tl, Y, and Bi, the bulk state superconductivity got enhanced up to about 122 K.

Iron and steel : principles of manufacture, structure, composition and treatment ...

Principles of iron and steel manufacture.--Steel castings.--Steel hardening metals.--Development and use of high-speed steel.--Hardening steel, by E.R. Markham.--Case-hardening.--The Brinell method of testing the hardness of metals, by E. Oberg.

More maximal arcs in Desarguesian projective planes and their geometric structure

In a previous paper R. Mathon gave a new construction method for maximal arcs in finite Desarguesian projective planes via closed sets of conics, as well as giving many new examples of maximal arcs. In the current paper, new classes of maximal arcs are constructed, and it is shown that every maximal arc so constructed gives rise to an infinite class of maximal arcs. Apart from when they are of Denniston type or dual hyperovals, closed sets of conics are shown to give maximal arcs that are not isomorphic to the known constructions. An easy characterisation of when a closed set of conics is of Denniston type is given. Results on the geometric structure of the maximal arcs and their duals are proved, as well as on elements of their collineation stabilisers.

A novel method to prepare mesoporous nano-zirconia

A novel method to prepare mesoporous zirconia was developed. The synthesis was carried out in the presence of PEO surfactants via solid-state reaction. The materials exhibit strong diffraction peak at low 2-theta angle and their nitrogen adsorption/desorption isotherms are typical of IV type with H3 hysteresis loops. The pore structure examined by TEM can be described as wormhole domains. The tetragonal zirconia nanocrystals are uniform in size (around 1.5nm) and their pores center at around 4.6nm. The zirconia nanocrystal growth is mainly via an aggregation mechanism. This study also reveals that the PEO surfactants can interact with the Zr-O-Zr framework to reinforce the thermal stability of zirconia. The ratio of NaOH to ZrOCl2, crystallization and calcination temperature play an important role in the synthesis of mesoporous zirconia.

Development of forest structure on cleared rainforest land in eastern Australia under different styles of reforestation

Rainforests in eastern Australia have been extensively cleared over the past two centuries. In recent decades, there have been increasing efforts to reforest some of these cleared lands, using a variety of methods, to meet a range of economic and environmental objectives. However, the extent to which the various styles of reforestation restore structure, composition and ecological function to cleared land is not presently understood. In this study, we develop and apply a method for quantifying the structural attributes of reforestation sites in tropical and subtropical Australia. The types of reforestation studied were plantation monocultures, mixed-species cabinet timber plots, diverse restoration plantings and unmanaged regrowth. Two age classes of reforestation were examined: 'young' (5-22 years), incorporating sites from all categories, and 'old' (30-70 years), in which only monoculture plantations and regrowth were represented. A total of 104 sites were surveyed including reference sites in intact rainforest and pasture. Intact rainforest was characterised by a suite of complex structural features including abundant special life forms (vines, epiphytes, hemi-epiphytes and strangler figs), a dense stand of trees in a range of size classes, a closed canopy, a shrubby understorey and a well-developed ground layer of leaf litter and woody debris. These features were lost on conversion to pasture. While all types of reforestation returned some elements of structural complexity to cleared land, young plantation monocultures, cabinet timber plots and young regrowth had a relatively simple structure. These sites typically had a low density of woody stems, a relatively open canopy and grassy ground cover, and lacked large trees, coarse woody debris and most special life forms. Restoration plantings and old regrowth were more complex, with a high density of woody stems, a relatively closed canopy and shrubby understorey. Old monoculture plantations in the tropics had acquired many of the structural attributes of intact forest, however this was not the case in the subtropics, where plantations were subject to more intensive management. The marked differences in structural complexity between sites suggest that the different types of reforestation practiced in eastern Australia are likely to vary considerably in their value as habitat for rainforest biota. (C) 2003 Elsevier Science B.V. All rights reserved.

The 3-D Structure of Polycrystalline Diamond Film by Electron Backscattering Diffraction (EBSD)

A lithographic method was used to produce polycrystalline diamond films having highly defined surface geometry, showing an array of diamond tips for possible application as a field emitter device. The films grown in this study used microwave plasma assisted chemical vapour deposition (MACVD) on a silicon substrate; the substrate was then dissolved away to reveal the surface features on the diamond film. It is possible to align the crystallite direction and affect the electron emission properties using a voltage bias to enhance the nucleation process and influence the nuclei to a preferred orientation. This study focuses on the identification of the distribution of crystal directions in the film, using electron backscattering diffraction (EBSD) to identify the crystallographic character of the film surface. EBSD allows direct examination of the individual diamond grains, grains boundaries and the crystal orientation of each individual crystallite. The EBSD maps of the bottom (nucleation side) of the films, following which a layer of film is ion-milled away and the mapping process repeated. The method demonstrates experimentally that oriented nucleation occurs and the thin sections allow the crystal texture to be reconstructed in 3-D. (C) 2003 Elsevier B.V. All rights reserved.

Noninvasive tests for arterial structure, function, and compliance: Do they identify risk or diagnose disease?

Background: Brachial artery reactivity (BAR), carotid intima-media thickness (IMT), and applanation tonometry for evaluation of total arterial compliance may provide information about preclinical vascular disease. We sought to determine whether these tests could be used to identify patients with coronary artery disease (CAD) without being influenced by their ability to identify those at risk ford CAD developing. Methods: We studied 100 patients and compared 3 groups: 35 patients with known CAD; 34 patients with symptoms and risk factors but no CAD identified by stress echocardiography (risk group); and 31 control subjects. BAR and IMT were measured using standard methods, and total arterial compliance was calculated by the pulse-pressure method from simultaneous radial applanation tonometry and pulsed wave Doppler of the left ventricular outflow. Ischemia was identified as a new or worsening wall-motion abnormality induced by stress. Results: In a comparison between the control subjects and patients either at risk for developing CAD or with CAD, the predictors of risk for CAD were: age (P = .01); smoking history (P = .002); hypercholesterolemia (P = .002); and hypertension (P = .004) (model R = 0.82; P = .0001). The independent predictors of CAD were: IMT (P = .001); BAR (P = .04); sex (P = .005); and hypertension (P = .005) (model R = 0.80; P = .0001). Conclusion: IMT, BAR, and traditional cardiovascular risk factors appear to identify patients at risk for CAD developing. However, only IMT was significantly different between patients at risk for developing CAD and those with overt CAD.

Pseudo-ternary phase diagrams of aqueous mixtures of Quil A, cholesterol and phospholipid prepared by the lipid-film hydration method

Pseudo-ternary phase diagrams of the polar lipids Quil A, cholesterol (Chol) and phosphatidylcholine (PC) in aqueous mixtures prepared by the lipid film hydration method (where dried lipid film of phospholipids and cholesterol are hydrated by an aqueous solution of Quil A) were investigated in terms of the types of particulate structures formed therein. Negative staining transmission electron microscopy and polarized light microscopy were used to characterize the colloidal and coarse dispersed particles present in the systems. Pseudo-ternary phase diagrams were established for lipid mixtures hydrated in water and in Tris buffer (pH 7.4). The effect of equilibration time was also studied with respect to systems hydrated in water where the samples were stored for 2 months at 4degreesC. Depending on the mass ratio of Quil A, Chol and PC in the systems, various colloidal particles including ISCOM matrices, liposomes, ring-like micelles and worm-like micelles were observed. Other colloidal particles were also observed as minor structures in the presence of these predominant colloids including helices, layered structures and lamellae (hexagonal pattern of ring-like micelles). In terms of the conditions which appeared to promote the formation of ISCOM matrices, the area of the phase diagrams associated with systems containing these structures increased in the order: hydrated in water/short equilibration period < hydrated in buffer/short equilibration period < hydrated in water/prolonged equilibration period. ISCOM matrices appeared to form over time from samples, which initially contained a high concentration of ring-like micelles suggesting that these colloidal structures may be precursors to ISCOM matrix formation. Helices were also frequently found in samples containing ISCOM matrices as a minor colloidal structure. Equilibration time and presence of buffer salts also promoted the formation of liposomes in systems not containing Quil A. These parameters however, did not appear to significantly affect the occurrence and predominance of other structures present in the pseudo-binary systems containing Quil A. Pseudo-ternary phase diagrams of PC, Chol and Quil A are important to identify combinations which will produce different colloidal structures, particularly ISCOM matrices, by the method of lipid film hydration. Colloidal structures comprising these three components are readily prepared by hydration of dried lipid films and may have application in vaccine delivery where the functionality of ISCOMs has clearly been demonstrated. (C) 2003 Elsevier B.V. All rights reserved.