From fall-risk assessment to fall detection: inertial sensors in the clinical routine and daily life

Falls are caused by complex interaction between multiple risk factors which may be modified by age, disease and environment. A variety of methods and tools for fall risk assessment have been proposed, but none of which is universally accepted. Existing tools are generally not capable of providing a quantitative predictive assessment of fall risk. The need for objective, cost-effective and clinically applicable methods would enable quantitative assessment of fall risk on a subject-specific basis. Tracking objectively falls risk could provide timely feedback about the effectiveness of administered interventions enabling intervention strategies to be modified or changed if found to be ineffective. Moreover, some of the fundamental factors leading to falls and what actually happens during a fall remain unclear. Objectively documented and measured falls are needed to improve knowledge of fall in order to develop more effective prevention strategies and prolong independent living. In the last decade, several research groups have developed sensor-based automatic or semi-automatic fall risk assessment tools using wearable inertial sensors. This approach may also serve to detect falls. At the moment, i) several fall-risk assessment studies based on inertial sensors, even if promising, lack of a biomechanical model-based approach which could provide accurate and more detailed measurements of interests (e.g., joint moments, forces) and ii) the number of published real-world fall data of older people in a real-world environment is minimal since most authors have used simulations with healthy volunteers as a surrogate for real-world falls. With these limitations in mind, this thesis aims i) to suggest a novel method for the kinematics and dynamics evaluation of functional motor tasks, often used in clinics for the fall-risk evaluation, through a body sensor network and a biomechanical approach and ii) to define the guidelines for a fall detection algorithm based on a real-world fall database availability.

Assessment of Daily Life Mobility Levels using Wearable Inertial Sensors and Minimun Measured Input Models

Tracking activities during daily life and assessing movement parameters is essential for complementing the information gathered in confined environments such as clinical and physical activity laboratories for the assessment of mobility. Inertial measurement units (IMUs) are used as to monitor the motion of human movement for prolonged periods of time and without space limitations. The focus in this study was to provide a robust, low-cost and an unobtrusive solution for evaluating human motion using a single IMU. First part of the study focused on monitoring and classification of the daily life activities. A simple method that analyses the variations in signal was developed to distinguish two types of activity intervals: active and inactive. Neural classifier was used to classify active intervals; the angle with respect to gravity was used to classify inactive intervals. Second part of the study focused on extraction of gait parameters using a single inertial measurement unit (IMU) attached to the pelvis. Two complementary methods were proposed for gait parameters estimation. First method was a wavelet based method developed for the estimation of gait events. Second method was developed for estimating step and stride length during level walking using the estimations of the previous method. A special integration algorithm was extended to operate on each gait cycle using a specially designed Kalman filter. The developed methods were also applied on various scenarios. Activity monitoring method was used in a PRIN’07 project to assess the mobility levels of individuals living in a urban area. The same method was applied on volleyball players to analyze the fitness levels of them by monitoring their daily life activities. The methods proposed in these studies provided a simple, unobtrusive and low-cost solution for monitoring and assessing activities outside of controlled environments.

Biochemische Charakterisierung des O 2-Sensors NreB aus Staphylococcus carnosus

Staphylococcus carnosus wird in der Lebensmittelindustrie als Starterkultur in der Rohwurstfermentation eingesetzt. Das Gram-positive Bakterium ist fakultativ anaerob und kann unter anaeroben Bedingungen Nitrat und Nitrit zu Ammonium reduzieren. Die Expression der Gene der Nitrat-, Nitritreduktase und des potentiellen Nitrattrans-porters, wird vom NreBC Zwei-Komponentensystem reguliert. NreB ist eine cy-toplasmatische Sensor-Histidinkinase, die Ähnlichkeiten zu HämB-bindenden PAS-Domänen aufweist. NreB reagiert auf Sauerstoff und kontrolliert zusammen mit dem Response-Regulator NreC die Expression der Gene der Nitrat/Nitrit-Atmung. Die Gene nreBC wurden in Staphylococcus Arten, Bacillus clausii und anderen Bacil-lus Arten gefunden. Anaerob präpariertes NreB von S. carnosus enthält ein diamag-netisches [4Fe-4S]2+-Zentrum, das durch Mössbauer-Spektroskopie identifiziert wur-de. Nach Luftexposition wurde das [4Fe-4S]2+-Zentrum mit einer Halbwertszeit von 2,5 Minuten zu nicht an das Protein gebundenem γ-FeOOH oxidiert. Mit EPR- und Mössbauer-Spektroskopie konnten keine signifikanten Mengen von Zwischenstufen detektiert werden. Photoreduktion mit Deazaflavin lieferte kleine Mengen von [4Fe-4S]1+, die aber nicht stabil waren und sofort wieder zerfielen. Das magnetische Mössbauer-Spektrum des [4Fe-4S]2+-Zentrums wies eine hohe Symmetrie auf, wor-aus man auf eine vollständige Delokalisation der Elektronen und dieselben Liganden für alle Eisenionen schließen kann. In Übereinstimmung mit ihrer Rolle als Liganden des FeS-Zentrums inaktivierte der Austausch der einzelnen Cysteinreste (Cys59, Cys62, Cys74, Cys77) gegen Alanin oder Serin die Funktion von NreB in vivo. Die [4Fe-4S]2+-enthaltende Form von NreB besaß eine hohe Kinaseaktivität. Luftexposition erniedrigte den Gehalt an [4Fe-4S]2+-Zentrum und die Kinaseaktivität mit ähnlichen Halbwertszeiten von 2,5 min. Die Sensor-Domäne von NreB ist eine neuartige PAS-Domäne, die einen FeS-haltigen Co-Faktor (in diesem Fall ein [4Fe-4S]2+-Zentrum) zur Reizperzeption be-sitzt. Das O2-sensitive [4Fe-4S]2+-Zentrum von NreB ist dem [4Fe-4S]2+-Zentrum des DNA-bindenden FNR Proteins aus Escherichia coli ähnlich und kommt möglicherwei-se in anderen O2-wahrnehmenden bakteriellen Proteinen vor. Daraus kann man schließen, dass der Mechanismus der Sauerstoffwahrnehmung über O2-sensitive [4Fe-4S]2+-Zentren in der Evolution mehrfach und unabhängig voneinander in ver-schiedenen bakteriellen O2-Sensoren entstanden ist.

Global scale investigation of cirrus clouds properties using active and passive sensors

A year of satellite-borne lidar CALIOP data is analyzed and statistics on occurrence and distribution of bulk properties of cirri are provided. The relationship between environmental and cloud physical parameters and the shape of the backscatter profile (BSP) is investigated. It is found that CALIOP BSP is mainly affected by cloud geometrical thickness while only minor impacts can be attributed to other quantities such as optical depth or temperature. To fit mean BSPs as functions of geometrical thickness and position within the cloud layer, polynomial functions are provided. It is demonstrated that, under realistic hypotheses, the mean BSP is linearly proportional to the IWC profile. The IWC parameterization is included into the RT-RET retrieval algorithm, that is exploited to analyze infrared radiance measurements in presence of cirrus clouds during the ECOWAR field campaign. Retrieved microphysical and optical properties of the observed cloud are used as input parameters in a forward RT simulation run over the 100-1100 cm-1 spectral interval and compared with interferometric data to test the ability of the current single scattering properties database of ice crystal to reproduce realistic optical features. Finally a global scale investigation of cirrus clouds is performed by developing a collocation algorithm that exploits satellite data from multiple sensors (AIRS, CALIOP, MODIS). The resulting data set is utilized to test a new infrared hyperspectral retrieval algorithm. Retrieval products are compared to data and in particular the cloud top height (CTH) product is considered for this purpose. A better agreement of the retrieval with the CALIOP CTH than MODIS is found, even if some cases of underestimation and overestimation are observed.

From inverted pendulum to N-link chain: inertial sensors-based assessment of movement kinematics and dynamics for functional evaluation and rehabilitation

Despite several clinical tests that have been developed to qualitatively describe complex motor tasks by functional testing, these methods often depend on clinicians' interpretation, experience and training, which make the assessment results inconsistent, without the precision required to objectively assess the effect of the rehabilitative intervention. A more detailed characterization is required to fully capture the various aspects of motor control and performance during complex movements of lower and upper limbs. The need for cost-effective and clinically applicable instrumented tests would enable quantitative assessment of performance on a subject-specific basis, overcoming the limitations due to the lack of objectiveness related to individual judgment, and possibly disclosing subtle alterations that are not clearly visible to the observer. Postural motion measurements at additional locations, such as lower and upper limbs and trunk, may be necessary in order to obtain information about the inter-segmental coordination during different functional tests involved in clinical practice. With these considerations in mind, this Thesis aims: i) to suggest a novel quantitative assessment tool for the kinematics and dynamics evaluation of a multi-link kinematic chain during several functional motor tasks (i.e. squat, sit-to-stand, postural sway), using one single-axis accelerometer per segment, ii) to present a novel quantitative technique for the upper limb joint kinematics estimation, considering a 3-link kinematic chain during the Fugl-Meyer Motor Assessment and using one inertial measurement unit per segment. The suggested methods could have several positive feedbacks from clinical practice. The use of objective biomechanical measurements, provided by inertial sensor-based technique, may help clinicians to: i) objectively track changes in motor ability, ii) provide timely feedback about the effectiveness of administered rehabilitation interventions, iii) enable intervention strategies to be modified or changed if found to be ineffective, and iv) speed up the experimental sessions when several subjects are asked to perform different functional tests.

Movement Analysis by means of inertial sensors: from bench to bedside

in the everyday clinical practice. Having this in mind, the choice of a simple setup would not be enough because, even if the setup is quick and simple, the instrumental assessment would still be in addition to the daily routine. The will to overcome this limit has led to the idea of instrumenting already existing and widely used functional tests. In this way the sensor based assessment becomes an integral part of the clinical assessment. Reliable and validated signal processing methods have been successfully implemented in Personal Health Systems based on smartphone technology. At the end of this research project there is evidence that such solution can really and easily used in clinical practice in both supervised and unsupervised settings. Smartphone based solution, together or in place of dedicated wearable sensing units, can truly become a pervasive and low-cost means for providing suitable testing solutions for quantitative movement analysis with a clear clinical value, ultimately providing enhanced balance and mobility support to an aging population.

Plasmons as sensors

“Plasmon” is a synonym for collective oscillations of the conduction electrons in a metal nanoparticle (excited by an incoming light wave), which cause strong optical responses like efficient light scattering. The scattering cross-section with respect to the light wavelength depends not only on material, size and shape of the nanoparticle, but also on the refractive index of the embedding medium. For this reason, plasmonic nanoparticles are interesting candidates for sensing applications. Here, two novel setups for rapid spectral investigations of single nanoparticles and different sensing experiments are presented.rnrnPrecisely, the novel setups are based on an optical microscope operated in darkfield modus. For the fast single particle spectroscopy (fastSPS) setup, the entrance pinhole of a coupled spectrometer is replaced by a liquid crystal device (LCD) acting as spatially addressable electronic shutter. This improvement allows the automatic and continuous investigation of several particles in parallel for the first time. The second novel setup (RotPOL) usesrna rotating wedge-shaped polarizer and encodes the full polarization information of each particle within one image, which reveals the symmetry of the particles and their plasmon modes. Both setups are used to observe nanoparticle growth in situ on a single-particle level to extract quantitative data on nanoparticle growth.rnrnUsing the fastSPS setup, I investigate the membrane coating of gold nanorods in aqueous solution and show unequivocally the subsequent detection of protein binding to the membrane. This binding process leads to a spectral shift of the particles resonance due to the higher refractive index of the protein compared to water. Hence, the nanosized addressable sensor platform allows for local analysis of protein interactions with biological membranes as a function of the lateral composition of phase separated membranes.rnrnThe sensitivity on changes in the environmental refractive index depends on the particles’ aspect ratio. On the basis of simulations and experiments, I could present the existence of an optimal aspect ratio range between 3 and 4 for gold nanorods for sensing applications. A further sensitivity increase can only be reached by chemical modifications of the gold nanorods. This can be achieved by synthesizing an additional porous gold cage around the nanorods, resulting in a plasmon sensitivity raise of up to 50 % for those “nanorattles” compared to gold nanorods with the same resonance wavelength. Another possibility isrnto coat the gold nanorods with a thin silver shell. This reduces the single particle’s resonance spectral linewidth about 30 %, which enlarges the resolution of the observable shift. rnrnThis silver coating evokes the interesting effect of reducing the ensemble plasmon linewidth by changing the relation connecting particle shape and plasmon resonance wavelength. This change, I term plasmonic focusing, leads to less variation of resonance wavelengths for the same particle size distribution, which I show experimentally and theoretically.rnrnIn a system of two coupled nanoparticles, the plasmon modes of the transversal and longitudinal axis depend on the refractive index of the environmental solution, but only the latter one is influenced by the interparticle distance. I show that monitoring both modes provides a self-calibrating system, where interparticle distance variations and changes of the environmental refractive index can be determined with high precision.

Interplay of pi–pi stacking and hydrogen bonding in conjugated supramolecular systems studied by solid-state NMR

In this work supramolecular organic systems based on rigid pi-conjugated building blocks and flexible side chains were studied via solid-state NMR spectroscopy. Specifically, these studies focussed on phenylene ethynylene based macrocycles, polymer systems including polythiophenes, and rod-coil copolymers of oligo(p-benzamide) and poly(ethylene glycol). All systems were studied in terms of the local order and mobility. The central topic of this dissertation was to elucidate the role of the flexible side chains in interplay of different non-covalent interactions, like pi-pi-stacking and hydrogen bonding.Combining the results of this work, it can be concluded that the ratio of the rigid block and the attached alkyl side chains can be crucial for the design of an ordered pi-conjugated supramolecular system. Through alkyl side chains, it is also possible to introduce liquid-crystalline phases in the system, which can foster the local order of the system. Moreover in the studied system longer, unbranched alkyl side chains are better suited to stabilize the corresponding aggregation than shorter, branched ones.The combination of non-covalent interactions such as pi-pi-stacking and hydrogen bonding play an important role for structure formation. However, the effect of pi-pi-stacking interaction is much weaker than the effect of hydrogen bonding and is only observed in systems with a suitable local order. Hence, they are often not strong enough to control the local order. In contrast, hydrogen bonds predominantly influence the structural organization and packing. In comparison the size of the alkyl side chains is only of minor importance. The suppression of certain hydrogen bonds can lead to completely different structures and can induce a specific aggregation behavior. Thus, for the design of a supramolecular ordered system the presence of hydrogen bonding efficiently stabilizes the corresponding structure, but the ratio of hydrogen bond forming groups should be kept low to be able to influence the structure selectively.

The oxygen sensors FNR from Escherichia coli and NreABC from Staphylococcus carnosus

Im Laufe der Evolution entwickelte sich eine Reihe von Sauerstoff-Sensorsystemen in Bakterien, um die Genexpression der Sauerstoffverfügbarkeit anzupassen. Der Sauerstoffsensor FNR aus Escherichia coli bindet unter anaeroben Bedingungen ein [4Fe4S]2+ Zentrum. Unter Sauerstoffeinfluß zerfällt aktives [4Fe4S]2+FNR zu inaktivem [2Fe2S]2+FNR und weiter zu ebenfalls inaktivem apoFNR. In der vorliegenden Arbeit wurde der Zustand von FNR in vivo in aeroben und anaeroben Zellen von Escherichia coli aufgeklärt. Durch Alkylierung der Cysteine in FNR und anschließender Analyse im Massenspektrometer konnte gezeigt werden, das FNR in aeroben Zellen hauptsächlich in der apo-Form vorliegt. Nach ca. 6 Minuten war in lebenden E. coli Zellen die Umwandlung von [4Fe4S]2+ FNR zu apoFNR abgeschlossen.rnrnIn dem gram positiven Bakterium Staphylococcus carnosus aktiviert das NreBC System unter anaeroben Wachstumsbedingungen die Gene der Nitratatmung. NreB ist eine cytoplasmatische Sensorhistidinkinase, die ein sauerstofflabiles [4Fe4S]2+ Zentrum über eine PAS-Domäne bindet. Das [4Fe4S]2+ Zentrum wird von vier Cysteinen gebunden. Der Responsregulator NreC steuert nach Aktivierung durch NreB die Transkription der Zielgene. In der vorliegenden Arbeit wurde NreB mit Hilfe von Cysteinmarkierungen in vivo charakterisiert. Durch die Änderung der Cystein-Zugänglichkeit für Thiolreagenzien nach Sauerstoffzugabe konnte eine Halbwertszeit von ca. 3 Minuten für das [4Fe4S]2+ Zentrum in vivo bestimmt werden. In anaeroben Bakterien stellt [4Fe4S]2+NreB die Hauptform von NreB dar, während in aeroben Bakterien hauptsächlich apoNreB vorkommt. Dieses Ergebnis konnte durch Massenspektroskopie bestätigt werden. Weiterhin konnte gezeigt werden das NreA mit NreB und NreC wechselwirkt und Bestandteil des NreABC Drei-Komponentensystems ist. rn

Characterization of optical transduction-based molecular systems and nanoparticles for the development of chemical sensors

With the increasing importance that nanotechnologies have in everyday life, it is not difficult to realize that also a single molecule, if properly designed, can be a device able to perform useful functions: such a chemical species is called chemosensor, that is a molecule of abiotic origin that signals the presence of matter or energy. Signal transduction is the mechanism by which an interaction of a sensor with an analyte yields a measurable form of energy. When dealing with the design of a chemosensor, we need to take into account a “communication requirement” between its three component: the receptor unit, responsible for the selective analyte binding, the spacer, which controls the geometry of the system and modulates the electronic interaction between the receptor and the signalling unit, whose physico-chemical properties change upon complexation. A luminescent chemosensor communicates a variation of the physico-chemical properties of the receptor unit with a luminescence output signal. This thesis work consists in the characterization of new molecular and nanoparticle-based system which can be used as sensitive materials for the construction of new optical transduction devices able to provide information about the concentration of analytes in solution. In particular two direction were taken. The first is to continue in the development of new chemosensors, that is the first step for the construction of reliable and efficient devices, and in particular the work will be focused on chemosensors for metal ions for biomedical and environmental applications. The second is to study more efficient and complex organized systems, such as derivatized silica nanoparticles. These system can potentially have higher sensitivity than molecular systems, and present many advantages, like the possibility to be ratiometric, higher Stokes shifts and lower signal-to-noise ratio.

A chemical-loop approach for the generation of hydrogen by means of ethanol reforming

The work investigates the feasibility of a new process aimed at the production of hydrogen with inherent separation of carbon oxides. The process consists in a cycle in which, in the first step, a mixed metal oxide is reduced by ethanol (obtained from biomasses). The reduced metal is then contacted with steam in order to split the water and sequestrating the oxygen into the looping material’s structure. The oxides used to run this thermochemical cycle, also called “steam-iron process” are mixed ferrites in the spinel structure MeFe2O4 (Me = Fe, Co, Ni or Cu). To understand the reactions involved in the anaerobic reforming of ethanol, diffuse reflectance spectroscopy (DRIFTS) was used, coupled with the mass analysis of the effluent, to study the surface composition of the ferrites during the adsorption of ethanol and its transformations during the temperature program. This study was paired with the tests on a laboratory scale plant and the characterization through various techniques such as XRD, Mössbauer spectroscopy, elemental analysis... on the materials as synthesized and at different reduction degrees In the first step it was found that besides the generation of the expected CO, CO2 and H2O, the products of ethanol anaerobic oxidation, also a large amount of H2 and coke were produced. The latter is highly undesired, since it affects the second step, during which water is fed over the pre-reduced spinel at high temperature. The behavior of the different spinels was affected by the nature of the divalent metal cation; magnetite was the oxide showing the slower rate of reduction by ethanol, but on the other hand it was that one which could perform the entire cycle of the process more efficiently. Still the problem of coke formation remains the greater challenge to solve.

Ab-initio study of hydrogen technology materials for hydrogen storage and proton conduction

This dissertation deals with two specific aspects of a potential hydrogen-based energy economy, namely the problems of energy storage and energy conversion. In order to contribute to the solution of these problems, the structural and dynamical properties of two promising materials for hydrogen storage (lithium imide/amide) and proton conduction (poly[vinyl phosphonic acid]) are modeled on an atomistic scale by means of first principles molecular dynamics simulation methods.rnrnrnIn the case of the hydrogen storage system lithium amide/imide (LiNH_2/Li_2NH), the focus was on the interplay of structural features and nuclear quantum effects. For these calculations, Path-Integral Molecular Dynamics (PIMD) simulations were used. The structures of these materials at room temperature were elucidated; in collaboration with an experimental group, a very good agreement between calculated and experimental solid-state 1H-NMR chemical shifts was observed. Specifically, the structure of Li_2NH features a disordered arrangement of the Li lattice, which was not reported in previous studies. In addition, a persistent precession of the NH bonds was observed in our simulations. We provide evidence that this precession is the consequence of a toroid-shaped effective potential, in which the protons in the material are immersed. This potential is essentially flat along the torus azimuthal angle, which might lead to important quantum delocalization effects of the protons over the torus.rnrnOn the energy conversion side, the dynamics of protons in a proton conducting polymer (poly[vinyl phosphonic acid], PVPA) was studied by means of a steered ab-initio Molecular Dynamics approach applied on a simplified polymer model. The focus was put on understanding the microscopic proton transport mechanism in polymer membranes, and on characterizing the relevance of the local environment. This covers particularly the effect of water molecules, which participate in the hydrogen bonding network in the material. The results indicate that these water molecules are essential for the effectiveness of proton conduction. A water-mediated Grotthuss mechanism is identified as the main contributor to proton conduction, which agrees with the experimentally observed decay on conductivity for the same material in the absence of water molecules.rnrnThe gain in understanding the microscopic processes and structures present in this materials can help the development of new materials with improved properties, thus contributing to the solution of problems in the implementation of fuel cells.

Three-dimensional joint kinematics of swimming using body-worn inertial and magnetic sensors

Wearable inertial and magnetic measurements units (IMMU) are an important tool for underwater motion analysis because they are swimmer-centric, they require only simple measurement set-up and they provide the performance results very quickly. In order to estimate 3D joint kinematics during motion, protocols were developed to transpose the IMMU orientation estimation to a biomechanical model. The aim of the thesis was to validate a protocol originally propositioned to estimate the joint angles of the upper limbs during one-degree-of-freedom movements in dry settings and herein modified to perform 3D kinematics analysis of shoulders, elbows and wrists during swimming. Eight high-level swimmers were assessed in the laboratory by means of an IMMU while simulating the front crawl and breaststroke movements. A stereo-photogrammetric system (SPS) was used as reference. The joint angles (in degrees) of the shoulders (flexion-extension, abduction-adduction and internal-external rotation), the elbows (flexion-extension and pronation-supination), and the wrists (flexion-extension and radial-ulnar deviation) were estimated with the two systems and compared by means of root mean square errors (RMSE), relative RMSE, Pearson’s product-moment coefficient correlation (R) and coefficient of multiple correlation (CMC). Subsequently, the athletes were assessed during pool swimming trials through the IMMU. Considering both swim styles and all joint degrees of freedom modeled, the comparison between the IMMU and the SPS showed median values of RMSE lower than 8°, representing 10% of overall joint range of motion, high median values of CMC (0.97) and R (0.96). These findings suggest that the protocol accurately estimated the 3D orientation of the shoulders, elbows and wrists joint during swimming with accuracy adequate for the purposes of research. In conclusion, the proposed method to evaluate the 3D joint kinematics through IMMU was revealed to be a useful tool for both sport and clinical contexts.

Analysis of diffractive dissociation of K - into K - pi + pi - on a liquid hydrogen target at the COMPASS spectrometer

The systematic exploration of excited meson and baryon states was the central topic of the COMPASS physics program in the years 2008 and 2009 at the CERN facility. A hadron beam of 190 GeV/c particle momentum was impinging on a 40 cm long liquid hydrogen target to create excited states of beam particles by diffractive processes. The presented work is about the study of the process $K^- p rightarrow K^- pi^+ pi^- p_{recoil}$ where special emphasis is put on how kaons were distinguished from pions with the CEDAR detectors in the initial channel as well as with the RICH detector in the final states. At the end formed 270 000 events an invariant K pi pi mass distribution of overlapping resonances. In addition a detailed MC simulation study of 44 million decays in the range of 0.8 < m(K pi pi) [GeV/c^2] < 3.0 was performed and analysed for acceptance corrections.All information was combined into a mass independent partial wave analysis to observe resonances of individual particles. The main contribution was found in the JP = 0+, 1+, 2- and 2+ spin-parity states.

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.