Model-Based Tracking Initialization in Ship Building Environment

An augmented reality (AR) device must know observer’s location and orientation, i.e. observer’s pose, to be able to correctly register the virtual content to observer’s view. One possible way to determine and continuously follow-up the pose is model-based visual tracking. It supposes that a 3D model of the surroundings is known and that there is a video camera that is fixed to the device. The pose is tracked by comparing the video camera image to the model. Each new pose estimate is usually based on the previous estimate. However, the first estimate must be found out without a prior estimate, i.e. the tracking must be initialized, which in practice means that some model features must be identified from the image and matched to model features. This is known in literature as model-to-image registration problem or simultaneous pose and correspondence problem. This report reviews visual tracking initialization methods that are suitable for visual tracking in ship building environment when the ship CAD model is available. The environment is complex, which makes the initialization non-trivial. The report has been done as part of MARIN project.

INFLUENCE OF THE GLYPHOSATE FORMULATIONS ON WETTABILITY AND EVAPORATION TIME OF DROPLETS ON DIFFERENT TARGETS

ABSTRACTEfficiency of weed control can be increased if the herbicide formulation provides higher target coverage and evaporation time that enable an adequate distribution of herbicide on the target plant, allowing the absorption to continue even after the droplets evaporation. The aim of this research was to assess the influence of glyphosate formulations on the wetted area and evaporation time of droplets on different targets. Tests were conducted with droplets sizing from 500 μm containing three formulations of glyphosate (isopropylamine salt, ammonium salt and potassium salt) deposited on three surfaces, two leaves (Bidens pilosa and Cenchrus echinatus) and glass slides. Sequential images analyses were used to quantify the evaporation time and the wetted area. An experimental system was utilized that was composed of a droplet generator, a stereo microscope with a camera to capture images, as well as an environmental chamber controlled for temperature and relative humidity. The kind of glyphosate formulations and target surfaces are crucial in the wetted area and evaporation time. The isopropylamine salt decreased the wetted area and evaporation time when compared with ammonium salt and potassium salt for all the surfaces deposited on. Bidens pilosa allows an increased wetted area for all the glyphosate formulations when compared to Cenchrus echinatus and glass slides.

The renal and hepatic distribution of Bence Jones proteins depends on glycosylation: a scintigraphic study in rats

The aim of the present study was to evaluate renal and liver distribution of two monoclonal immunoglobulin light chains. The chains were purified individually from the urine of patients with multiple myeloma and characterized as lambda light chains with a molecular mass of 28 kDa. They were named BJg (high amount of galactose residues exposed) and BJs (sialic acid residues exposed) on the basis of carbohydrate content. A scintigraphic study was performed on male Wistar rats weighing 250 g for 60 min after iv administration of 1 mg of each protein (7.4 MBq), as the intact proteins and also after carbohydrate oxidation. Images were obtained with a Siemens gamma camera with a high-resolution collimator and processed with a MicroDelta system. Hepatic and renal distribution were established and are reported as percent of injected dose. Liver uptake of BJg was significantly higher than liver uptake of BJs (94.3 vs 81.4%) (P<0.05). This contributed to its greater removal from the intravascular compartment, and consequently lower kidney accumulation of BJg in comparison to BJs (5.7 vs 18.6%) (P<0.05). After carbohydrate oxidation, there was a decrease in hepatic accumulation of both proteins and consequently a higher renal overload. The tissue distribution of periodate-treated BJg was similar to that of native BJs: 82.7 vs 81.4% in the liver and 17.3 vs 18.6% in the kidneys. These observations indicate the important role of sugar residues of Bence Jones proteins for their recognition by specific membrane receptors, which leads to differential tissue accumulation and possible toxicity

Methylmercury intoxication and histochemical demonstration of NADPH-diaphorase activity in the striate cortex of adult cats

The effects of methylmercury (MeHg) on histochemical demonstration of the NADPH-diaphorase (NADPH-d) activity in the striate cortex were studied in 4 adult cats. Two animals were used as control. The contaminated animals received 50 ml milk containing 0.42 µg MeHg and 100 g fish containing 0.03 µg MeHg daily for 2 months. The level of MeHg in area 17 of intoxicated animals was 3.2 µg/g wet weight brain tissue. Two cats were perfused 24 h after the last dose (group 1) and the other animals were perfused 6 months later (group 2). After microtomy, sections were processed for NADPHd histochemistry procedures using the malic enzyme method. Dendritic branch counts were performed from camera lucida drawings for control and intoxicated animals (N = 80). Average, standard deviation and Student t-test were calculated for each data group. The concentrations of mercury (Hg) in milk, fish and brain tissue were measured by acid digestion of samples, followed by reduction of total Hg in the digested sample to metallic Hg using stannous chloride followed by atomic fluorescence analysis. Only group 2 revealed a reduction of the neuropil enzyme activity and morphometric analysis showed a reduction in dendritic field area and in the number of distal dendrite branches of the NADPHd neurons in the white matter (P<0.05). These results suggest that NADPHd neurons in the white matter are more vulnerable to the long-term effects of MeHg than NADPHd neurons in the gray matter.

Ethological analysis of mother-pup interactions and other behavioral reactions in rats: effects of malnutrition and tactile stimulation of the pups

Mother-pup interaction, as well as other behavioral reactions were studied during the lactation period in 24 litters of Wistar rats and their dams fed either a 16% (control - C; 12 litters) or a 6% (malnourished - M; 12 litters) protein diet. The diets were isocaloric. Throughout lactation there was a 36.4% weight loss of M dams and a 63% body weight deficit in the M pups when compared to control pups. During this period, half of the litters were exposed daily to additional tactile stimulation (CS or MS), while the other half were submitted to normal rearing conditions (CN or MN). The tactile stimulation of pups (handling) consisted of holding the animal in one hand and gently touching the dorsal part of the animal's body with the fingers for 3 min. A special camera and a time-lapse video were used to record litter behavior in their home cages. Starting at 6 p.m. and ending at 6 a.m., on days 3, 6, 12, 15, 18 and 21 of lactation, photos were taken at 4-s intervals. An increase in the frequency (154.88 ± 16.19) and duration (455.86 ± 18.05 min) of suckling was observed throughout the lactation period in all groups compared to birth day (frequency 24.88 ± 2.37 and duration 376.76 ± 21.01 min), but the frequency was higher in the C (84.96 ± 8.52) than in the M group (43.13 ± 4.37); however, the M group (470.2 ± 11.87 min) spent more time suckling as compared with the C group (393.67 ± 13.09 min). The M dams showed a decreased frequency of resting position throughout the lactation period (6.5 ± 2.48) compared to birth day (25.42 ± 7.74). Pups from the C group were more frequently observed separated (73.02 ± 4.38) and interacting (258.99 ± 20.61) more with their mothers than the M pups (separated 66.94 ± 5.5 and interacting 165.72 ± 12.05). Tactile stimulation did not interact with diet condition, showing that the kind of stimulation used in the present study did not lead to recovery from the changes induced by protein malnutrition. The changes in mother-pup interaction produced by protein malnutrition of both may represent retardation in neuromotor development and a higher dependence of the pups on their mothers. These changes may represent an important means of energy saving and heat maintenance in malnourished pups.

Defense reaction induced by a metabotropic glutamate receptor agonist microinjected into the dorsal periaqueductal gray of rats

The behavioral effects of trans-(±)-1-amino-1,3-cyclopentanedicarboxylic acid (t-ACPD), a metabotropic glutamate receptor (mGluR) agonist, or 0.9% (w/v) saline, injected into the dorsal periaqueductal gray (DPAG), was investigated. Male Wistar rats showed defense reactions characterized by jumps toward the top edges of the cages (saline = 0 vs t-ACPD = 6.0, medians P<0.05) and gallops (saline = 0 vs t-ACPD = 10.0, medians P<0.05) during the 60-s period after the beginning of the injection. In another experiment animals were placed inside an open arena for 5 min immediately after injection. Their behavior was recorded by a video camera and a computer program analyzed the videotapes. Eleven of fifteen rats injected with t-ACPD showed a short-lasting (about 1 min) flight reaction. No saline-treated animal showed this reaction (P<0.0005, chi-square test). The drug induced an increase in turning behavior (P = 0.002, MANOVA) and a decrease in the number of rearings (P<0.001, MANOVA) and grooming episodes (P<0.001, MANOVA). These results suggest that mGluRs play a role in the control of defense reactions in the DPAG.

Determination of macromolecular exchange and PO2 in the microcirculation: a simple system for in vivo fluorescence and phosphorescence videomicroscopy

We have developed a system with two epi-illumination sources, a DC-regulated lamp for transillumination and mechanical switches for rapid shift of illumination and detection of defined areas (250-750 µm²) by fluorescence and phosphorescence videomicroscopy. The system permits investigation of standard microvascular parameters, vascular permeability as well as intra- and extravascular PO2 by phosphorescence quenching of Pd-meso-tetra (4-carboxyphenyl) porphine (PORPH). A Pechan prism was used to position a defined region over the photomultiplier and TV camera. In order to validate the system for in vivo use, in vitro tests were performed with probes at concentrations that can be found in microvascular studies. Extensive in vitro evaluations were performed by filling glass capillaries with solutions of various concentrations of FITC-dextran (diluted in blood and in saline) mixed with different amounts of PORPH. Fluorescence intensity and phosphorescence decay were determined for each mixture. FITC-dextran solutions without PORPH and PORPH solutions without FITC-dextran were used as references. Phosphorescence decay curves were relatively unaffected by the presence of FITC-dextran at all concentrations tested (0.1 µg/ml to 5 mg/ml). Likewise, fluorescence determinations were performed in the presence of PORPH (0.05 to 0.5 mg/ml). The system was successfully used to study macromolecular extravasation and PO2 in the rat mesentery circulation under controlled conditions and during ischemia-reperfusion.

Pupil size following dark adaptation in patients with retinitis pigmentosa

According to the equivalent light hypothesis, molecular defects in the photoreceptor lead to a continuous activation of the photoreceptor cascade in a manner equivalent to real light. The consequences in diseases such as retinitis pigmentosa (RP) are as disruptive to the cells as real light. Two forms of the equivalent light hypothesis can be distinguished: strong - mutations in rhodopsin or other cascade proteins in some forms of RP continuously excite the visual phototransduction cascade; weak - disruption of outer segments in all patients with RP eliminates circulating dark current and blocks neurotransmitter release in a manner similar to real light. Both forms of the equivalent light hypothesis predict that pupils of patients with RP will be constricted like those of normal subjects in the light. The purpose of this study was to test the equivalent light hypothesis by determining whether steady-state pupil diameter following full dark adaptation is abnormally small in any of a sample of patients with RP. Thirty-five patients with RP and 15 normal subjects were tested. Direct steady-state pupillometric measures were obtained from one eye in a full-field dome after 45 min of dark adaptation by videotaping the pupil with an infrared camera. Mean pupil diameter in the dark was comparable (t = -0.15, P = 0.88) between patients with RP (6.85 ± 0.58 mm) and normal subjects (6.82 ± 0.76 mm). The results of the present study are clearly counter to the prediction of the second (weaker) form of the equivalent light hypothesis.

Fingerprinting of cell lines by directed amplification of minisatellite-region DNA (DAMD)

The development of in vitro propagation of cells has been an extraordinary technical advance for several biological studies. The correct identification of the cell line used, however, is crucial, as a mistaken identity or the presence of another contaminating cell may lead to invalid and/or erroneous conclusions. We report here the application of a DNA fingerprinting procedure (directed amplification of minisatellite-region DNA), developed by Heath et al. [Nucleic Acids Research (1993) 21: 5782-5785], to the characterization of cell lines. Genomic DNA of cells in culture was extracted and amplified by PCR in the presence of VNTR core sequences, and the amplicons were separated by agarose gel electrophoresis. After image capture with a digital camera, the banding profiles obtained were analyzed using a software (AnaGel) specially developed for the storage and analysis of electrophoretic fingerprints. The fingerprints are useful for construction of a data base for identification of cell lines by comparison to reference profiles as well as comparison of similar lines from different sources and periodic follow-up of cells in culture.

Pharmacology of human experimental anxiety

This review covers the effect of drugs affecting anxiety using four psychological procedures for inducing experimental anxiety applied to healthy volunteers and patients with anxiety disorders. The first is aversive conditioning of the skin conductance responses to tones. The second is simulated public speaking, which consists of speaking in front of a video camera, with anxiety being measured with psychometric scales. The third is the Stroop Color-Word test, in which words naming colors are painted in the same or in a different shade, the incongruence generating a cognitive conflict. The last test is a human version of a thoroughly studied animal model of anxiety, fear-potentiated startle, in which the eye-blink reflex to a loud noise is recorded. The evidence reviewed led to the conclusion that the aversive conditioning and potentiated startle tests are based on classical conditioning of anticipatory anxiety. Their sensitivity to benzodiazepine anxiolytics suggests that these models generate an emotional state related to generalized anxiety disorder. On the other hand, the increase in anxiety determined by simulated public speaking is resistant to benzodiazepines and sensitive to drugs affecting serotonergic neurotransmission. This pharmacological profile, together with epidemiological evidence indicating its widespread prevalence, suggests that the emotional state generated by public speaking represents a species-specific response that may be related to social phobia and panic disorder. Because of scant pharmacological data, the status of the Stroop Color-Word test remains uncertain. In spite of ethical and economic constraints, human experimental anxiety constitutes a valuable tool for the study of the pathophysiology of anxiety disorders.

Pulssimuodon vaikutus valokaaren käytettävyyteen pulssi-MIG/MAG-hitsauksessa

Käytettävyydeltään huippuluokkaa olevan pulssi-MIG/MAG-hitsausvalokaaren toteuttaminen vaatii runsaasti tietoa eri pulssiparametreista ja niiden vaikutuksista hitsaukseen. Näihin vaikutuksiin liittyvä tieteellinen tutkimus on ollut melko vähäistä. Erityisesti tieto pulssimuodon vaikutuksista hitsausääneen on perustunut lähinnä kokemuksen tuomaan tuntumaan. Tässä diplomityössä tutkittiin pulssimuodon vaikutusta valokaaren käytettävyyteen pulssi-MIG/MAG-hitsauksessa. Käytettävyys käsittää tässä tapauksessa hitsausäänen, hitsin geometrian ja hitsausominaisuudet. Tutkimuksen alussa perehdyttiin kirjallisuuteen ja tuoreimpiin tutkimuksiin, jonka jälkeen vertailtiin erilaisia pulssimuotoja keskenään hitsauskokeiden avulla. Hitsausääneen ja hitsin geometriaan liittyvät kokeet suoritettiin mekanisoidusti. Hitsausääneen liittyvät mittaukset suoritettiin luokan 1 äänitasomittarilla ja tuloksia analysoitiin tietokoneohjelmistolla. Hitsien geometrioiden vertailu suoritettiin makrohietutkimuksena. Hitsausominaisuuksia tutkittiin suurnopeuskameran ja oskilloskoopin, sekä lopulta käsinhitsauskokeiden avulla. Kaikissa koevaiheissa pulssimuodon tarkasteluun käytettiin oskilloskooppia. Lisäksi käytössä oli toinen oskilloskooppi, jolla tarkasteltiin hitsausvirran spektriä. Pulssimuodon muokkaamiseen käytettiin erillistä tietokoneohjelmaa. Työn kokeellinen osuus keskittyi pulssi-MAG-hitsaukseen. Pulssimuotoa muokkaamalla saatiin aikaan miellyttävämpi hitsausääni. Lisäksi havaittiin, että pulssimuotoa muokkaamalla hitsistä saadaan kapeampi, jolloin juuritunkeumaa saavutetaan enemmän. Käsinhitsauskokeet osoittivat muokatun pulssimuodon olevan myös hitsaajan näkökulmasta käytettävyydeltään paras pulssimuoto. Erityisesti valokaaren vakaus ja kohdistuvuus sekä suurien hitsausnopeuksien sietokyky olivat muokatun pulssimuodon etuja. Selviä haittavaikutuksia pulssimuodon muokkaamiselle ei löydetty.

4D-aikataulutuksen mahdollisuudet voimalaitosprojekteissa

4D-aikataulutus yhdistää aikataulun ja 3D-mallin animaatioelokuvaksi, jossa projektin rakentuminen esitetään ajan funktiona. Tässä työssä on perehdytty 4D-aikataulutukseen voimalaitosprojektien kannalta. Lisäksi työssä on perehdytty projektijohtamiseen, ja sitä kautta aikataulun merkitykseen projekteille. Työn lopuksi on esitetty 4D-aikataulutuksen käyttöönottoa ja siinä huomioon otettavia seikkoja. 4D-aikataulutuksen avulla projektin asennussuunnittelua voidaan toteutusvaiheessa tehostaa, sillä 4D-aikataulutuksen avulla asennusten törmäysten tarkastelua voidaan tehdä hyvissä ajoin suunnitteluvaiheessa. Lisäksi vaihtoehtoisten asennusmallien tekeminen on mahdollista, ja niitä voidaan keskenäään vertailla. Projektit voivat 4D-aikataulutuksen avulla analysoida myös aikatauluviiveitä, sekä esittää vaihtoehtoisia toteutustapoja projektille. 4D-aikataulutus mahdollistaa myös projektivaiheiden jälkeisen käytön. Projektin jälkeen projektin suunnitteltua ja toteutunutta aikataulua voidaan analysoida keskenään ja siten saada toisiin projekteihin vertailukelpoista tietoa. Lisäksi seisokkitöiden suunnittelussa on 4D-aikataulun avulla mahdollista suunnitella töiden järjestäminen tehokkaasti sekä ottaa myös turvallisuusnäkökohdat huomioon.

Eleohjaus Google Cardboard-virtuaaliympäristöön käyttäen älypuhelimen kameraa

Tässä opinnäytetyössä on toteutettu ja arvioitu virtuaalitodellisuuteen soveltuvaa käyttöliittymää. Motivaationa työlle oli Google Cardboardin mahdollistama todentuntuinen virtuaalikokemus älypuhelimen hinnalla. Cardboard-ympäristöön ei kuitenkaan ollut olemassa kattavaa käyttöliittymää ja tämän työn tavoitteena olikin selvittää, onko älypuhelimen kameraa mahdollista käyttää eleohjauksen toteuttamiseen niin että ohjaus on käytettävyydeltään kelvollinen ja se tukee läsnäolon tunteen syntymistä. Asian selvittämiseksi kehitettiin testipeli, jolla eleohjausta verrattiin Cardboardin oletuskäyttöliittymään. Koehenkilöt saavuttivat ehdotetulla käyttöliittymällä testipelissä keskimäärin 45-% korkeampia pistemääriä ja lisäksi he arvioivat sen olleen toimiva ja sen synnyttämän läsnäolon tunteen olleen voimakkaampaa.

Power Consumption Measurement and Scenario Based Energy Model in Wearable Computing Applications

The power is still today an issue in wearable computing applications. The aim of the present paper is to raise awareness of the power consumption of wearable computing devices in specific scenarios to be able in the future to design energy efficient wireless sensors for context recognition in wearable computing applications. The approach is based on a hardware study. The objective of this paper is to analyze and compare the total power consumption of three representative wearable computing devices in realistic scenarios such as Display, Speaker, Camera and microphone, Transfer by Wi-Fi, Monitoring outdoor physical activity and Pedometer. A scenario based energy model is also developed. The Samsung Galaxy Nexus I9250 smartphone, the Vuzix M100 Smart Glasses and the SimValley Smartwatch AW-420.RX are the three devices representative of their form factors. The power consumption is measured using PowerTutor, an android energy profiler application with logging option and using unknown parameters so it is adjusted with the USB meter. The result shows that the screen size is the main parameter influencing the power consumption. The power consumption for an identical scenario varies depending on the wearable devices meaning that others components, parameters or processes might impact on the power consumption and further study is needed to explain these variations. This paper also shows that different inputs (touchscreen is more efficient than buttons controls) and outputs (speaker sensor is more efficient than display sensor) impact the energy consumption in different way. This paper gives recommendations to reduce the energy consumption in healthcare wearable computing application using the energy model.

Map matching by using inertial sensors: literature review

This literature review aims to clarify what is known about map matching by using inertial sensors and what are the requirements for map matching, inertial sensors, placement and possible complementary position technology. The target is to develop a wearable location system that can position itself within a complex construction environment automatically with the aid of an accurate building model. The wearable location system should work on a tablet computer which is running an augmented reality (AR) solution and is capable of track and visualize 3D-CAD models in real environment. The wearable location system is needed to support the system in initialization of the accurate camera pose calculation and automatically finding the right location in the 3D-CAD model. One type of sensor which does seem applicable to people tracking is inertial measurement unit (IMU). The IMU sensors in aerospace applications, based on laser based gyroscopes, are big but provide a very accurate position estimation with a limited drift. Small and light units such as those based on Micro-Electro-Mechanical (MEMS) sensors are becoming very popular, but they have a significant bias and therefore suffer from large drifts and require method for calibration like map matching. The system requires very little fixed infrastructure, the monetary cost is proportional to the number of users, rather than to the coverage area as is the case for traditional absolute indoor location systems.