Stable isotope record of planktonic foraminifera from the western Iberian margin during marine isotope stage 2

The surface water hydrography along the western Iberian margin, as part of the North Atlantic's eastern boundary upwelling system, consists of a complex, seasonally variable system of equatorward and poleward surface and subsurface currents and seasonal upwelling. Not much information exists to ascertain if the modern current and productivity patterns subsisted under glacial climate conditions, such as during marine isotope stage (MIS) 2, and how North Atlantic meltwater events, especially Heinrich events, affected them. To help answer these questions we are combining stable isotope records of surface to subsurface dwelling planktonic foraminifer species with sea surface temperature and export productivity data for four cores distributed along the western and southwestern Iberian margin (MD95-2040, MD95-2041, MD99-2336, and MD99-2339). The records reveals that with the exception of the Heinrich events and Greenland Stadial (GS) 4 hydrographic conditions along the western Iberian margin were not much different from the present. During the Last Glacial Maximum (LGM), subtropical surface and subsurface waters penetrated poleward to at least 40.6°N (site MD95-2040). Export productivity was, in general, high on the western margin during the LGM and low in the central Gulf of Cadiz, in agreement with the modern situation. During the Heinrich events and GS 4, on the other hand, productivity was high in the Gulf of Cadiz and suppressed in the upwelling regions along the western margin where a strong halocline inhibited upwelling. Heinrich event 1 had the strongest impact on the hydrography and productivity off Iberia and was the only period when subarctic surface waters were recorded in the central Gulf of Cadiz. South of Lisbon (39°N), the impact of the other Heinrich events was diminished, and not all of them led to a significant cooling in the surface waters. Thus, climatic impacts of Heinrich events highly varied with latitude and the prevailing hydrographic conditions in this region.

Stable isotope record, and abundances of ice rafted debris and Neogloboquadrina pachyderma in sediments of the Iberian margin

This paper documents the migration of the Polar Front (PF) over the Iberian margin during some of the cold climatic extremes of the last 45 ka. It is based on a compilation of robust and coherent paleohydrological proxies obtained from eleven cores distributed between 36 and 42°N. Planktonic delta18O (Globigerina bulloides), ice-rafted detritus concentrations, and the relative abundance of the polar foraminifera Neogloboquadrina pachyderma sinistral were used to track the PF position. These three data sets, compared from core to core, show a consistent evolution of the sea surface paleohydrology along the Iberian margin over the last 45 ka. We focused on five time slices representative of cold periods under distinct paleoenvironmental forcings: the 8.2 ka event and the Younger Dryas (two recent cold events occurring within high values of summer insolation), Heinrich events 1 and 4 (reflecting major episodes of massive iceberg discharges into the North Atlantic), and the Last Glacial Maximum (typifying the highest ice volume accumulated in the Northern Hemisphere). For each event, we generated schematic maps mirroring past sea surface hydrological conditions. The maps revealed that the Polar Front presence along the Iberian margin was restricted to Heinrich events. The sea surface conditions during the Last Glacial Maximum were close to those at present day, except for the northern sites which briefly experienced subarctic conditions.

Gacaca and DDR : the disputable record of state-building in Rwanda

State-building is currently considered to be an indispensable process in overcoming state fragility: a condition characterized by frequent armed conflicts as well as chronic poverty. In this process, both the capacity and the legitimacy of the state are supposed to be enhanced; such balanced development of capacity and legitimacy has also been demanded in security sector reform (SSR), which is regarded as being a crucial part of post-conflict state-building. To enhance legitimacy, the importance of democratic governance is stressed in both state-building and SSR in post-conflict countries. In reality, however, the balanced enhancement of capacity and legitimacy has rarely been realized. In particular, legitimacy enhancement tends to stagnate in countries in which one of multiple warring parties takes a strong grip on state power. This paper tries to understand why such unbalanced development of state-building and SSR has been observed in post-conflict countries, through a case study of Rwanda. Analyses of two policy initiatives in the security sector - Gacaca transitional justice and disarmament, demobilization, and reintegration (DDR) - indicate that although these programs achieved goals set by the government, their contribution to the normative objectives promoted by the international community was quite debatable. It can be understood that this is because the country has subordinated SSR to its state-building process. After the military victory of the former rebels, the Rwandan Patriotic Front (RPF), the ruling elite prioritized the establishment of political stability over the introduction of international norms such as democratic governance and the rule of law. SSR was implemented only to the extent that it contributed to, and did not threaten, Rwanda's RPF-led state-building.

A method for Kinematic Calibration of a Parallel Robot by using one camera in hand and a spherical object

The main purpose of robot calibration is the correction of the possible errors in the robot parameters. This paper presents a method for a kinematic calibration of a parallel robot that is equipped with one camera in hand. In order to preserve the mechanical configuration of the robot, the camera is utilized to acquire incremental positions of the end effector from a spherical object that is fixed in the word reference frame. The positions of the end effector are related to incremental positions of resolvers of the motors of the robot, and a kinematic model of the robot is used to find a new group of parameters which minimizes errors in the kinematic equations. Additionally, properties of the spherical object and intrinsic camera parameters are utilized to model the projection of the object in the image and improving spatial measurements. Finally, the robotic system is designed to carry out tracking tasks and the calibration of the robot is validated by means of integrating the errors of the visual controller.

Hand Image Segmentation by means of Gaussian Multiscale Aggregation for biometric applications

Applying biometrics to daily scenarios involves demanding requirements in terms of software and hardware. On the contrary, current biometric techniques are also being adapted to present-day devices, like mobile phones, laptops and the like, which are far from meeting the previous stated requirements. In fact, achieving a combination of both necessities is one of the most difficult problems at present in biometrics. Therefore, this paper presents a segmentation algorithm able to provide suitable solutions in terms of precision for hand biometric recognition, considering a wide range of backgrounds like carpets, glass, grass, mud, pavement, plastic, tiles or wood. Results highlight that segmentation accuracy is carried out with high rates of precision (F-measure 88%)), presenting competitive time results when compared to state-of-the-art segmentation algorithms time performance

Study of the effect of blurriness in image acquisition for Hand Biometrics in Mobile Devices

This paper presents a study on the effect of blurred images in hand biometrics. Blurred images simulates out-of-focus effects in hand image acquisition, a common consequence of unconstrained, contact-less and platform-free hand biometrics in mobile devices. The proposed biometric system presents a hand image segmentation based on multiscale aggregation, a segmentation method invariant to different changes like noise or blurriness, together with an innovative feature extraction and a template creation, oriented to obtain an invariant performance against blurring effects. The results highlight that the proposed system is invariant to some low degrees of blurriness, requiring an image quality control to detect and correct those images with a high degree of blurriness. The evaluation has considered a synthetic database created based on a publicly available database with 120 individuals. In addition, several biometric techniques could benefit from the approach proposed in this paper, since blurriness is a very common effect in biometric techniques involving image acquisition.

A comparative study on unconstrained hand biometrics

Biometrics applied to mobile devices are of great interest for security applications. Daily scenarios can benefit of a combination of both the most secure systems and most simple and extended devices. This document presents a hand biometric system oriented to mobile devices, proposing a non-intrusive, contact-less acquisition process where final users should take a picture of their hand in free-space with a mobile device without removals of rings, bracelets or watches. The main contribution of this paper is threefold: firstly, a feature extraction method is proposed, providing invariant hand measurements to previous changes; second contribution consists of providing a template creation based on hand geometric distances, requiring information from only one individual, without considering data from the rest of individuals within the database; finally, a proposal for template matching is proposed, minimizing the intra-class similarity and maximizing the inter-class likeliness. The proposed method is evaluated using three publicly available contact-less, platform-free databases. In addition, the results obtained with these databases will be compared to the results provided by two competitive pattern recognition techniques, namely Support Vector Machines (SVM) and k-Nearest Neighbour, often employed within the literature. Therefore, this approach provides an appropriate solution to adapt hand biometrics to mobile devices, with an accurate results and a non-intrusive acquisition procedure which increases the overall acceptance from the final user.

Gaussian Multiscale Aggregation oriented to Hand Biometric Segmentation in Mobile Devices

New trends in biometrics are oriented to mobile devices in order to increase the overall security in daily actions like bank account access, e-commerce or even document protection within the mobile. However, applying biometrics to mobile devices imply challenging aspects in biometric data acquisition, feature extraction or private data storage. Concretely, this paper attempts to deal with the problem of hand segmentation given a picture of the hand in an unknown background, requiring an accurate result in terms of hand isolation. For the sake of user acceptability, no restrictions are done on background, and therefore, hand images can be taken without any constraint, resulting segmentation in an exigent task. Multiscale aggregation strategies are proposed in order to solve this problem due to their accurate results in unconstrained and complicated scenarios, together with their properties in time performance. This method is evaluated with a public synthetic database with 480000 images considering different backgrounds and illumination environments. The results obtained in terms of accuracy and time performance highlight their capability of being a suitable solution for the problem of hand segmentation in contact-less environments, outperforming competitive methods in literature like Lossy Data Compression image segmentation (LDC).

Unconstrained and Contactless Hand Geometry Biometrics

This paper presents a hand biometric system for contact-less, platform-free scenarios, proposing innovative methods in feature extraction, template creation and template matching. The evaluation of the proposed method considers both the use of three contact-less publicly available hand databases, and the comparison of the performance to two competitive pattern recognition techniques existing in literature: namely Support Vector Machines (SVM) and k-Nearest Neighbour (k-NN). Results highlight the fact that the proposed method outcomes existing approaches in literature in terms of computational cost, accuracy in human identification, number of extracted features and number of samples for template creation. The proposed method is a suitable solution for human identification in contact-less scenarios based on hand biometrics, providing a feasible solution to devices with limited hardware requirements like mobile devices

Gaussian Multiscale Aggregation Applied to Segmentation in Hand Biometrics

This paper presents an image segmentation algorithm based on Gaussian multiscale aggregation oriented to hand biometric applications. The method is able to isolate the hand from a wide variety of background textures such as carpets, fabric, glass, grass, soil or stones. The evaluation was carried out by using a publicly available synthetic database with 408,000 hand images in different backgrounds, comparing the performance in terms of accuracy and computational cost to two competitive segmentation methods existing in literature, namely Lossy Data Compression (LDC) and Normalized Cuts (NCuts). The results highlight that the proposed method outperforms current competitive segmentation methods with regard to computational cost, time performance, accuracy and memory usage.

An approach to hand biometrics in mobile devices

This paper focuses on hand biometrics applied to images acquired from a mobile device. The system offers the possibility of identifying individuals based on features extracted from hand pictures obtained with a low-quality camera embedded on a mobile device. Furthermore, the acquisitions have been carried out regardless illumination control, orientation, distance to camera, and similar aspects. In addition, the whole system has been tested with an owned database. Finally, the results obtained (6.0% ± 0.2) and the algorithm structure are both promising in relation to a posterior mobile implementation

Grasp Mapping Between a 3-Finger Haptic Device and a Robotic Hand

This paper presents the implementation of a robust grasp mapping between a 3-finger haptic device (master) and a robotic hand (slave). Mapping is based on a grasp equivalence defined considering the manipulation capabilities of the master and slave devices. The metrics that translate the human hand gesture to the robotic hand workspace are obtained through an analytical user study. This allows a natural control of the robotic hand. The grasp mapping is accomplished defining 4 control modes that encapsulate all the grasps gestures considered.