Towards a real-time 3D object recognition pipeline on mobile GPGPU computing platforms using low-cost RGB-D sensors

In this project, we propose the implementation of a 3D object recognition system which will be optimized to operate under demanding time constraints. The system must be robust so that objects can be recognized properly in poor light conditions and cluttered scenes with significant levels of occlusion. An important requirement must be met: the system must exhibit a reasonable performance running on a low power consumption mobile GPU computing platform (NVIDIA Jetson TK1) so that it can be integrated in mobile robotics systems, ambient intelligence or ambient assisted living applications. The acquisition system is based on the use of color and depth (RGB-D) data streams provided by low-cost 3D sensors like Microsoft Kinect or PrimeSense Carmine. The range of algorithms and applications to be implemented and integrated will be quite broad, ranging from the acquisition, outlier removal or filtering of the input data and the segmentation or characterization of regions of interest in the scene to the very object recognition and pose estimation. Furthermore, in order to validate the proposed system, we will create a 3D object dataset. It will be composed by a set of 3D models, reconstructed from common household objects, as well as a handful of test scenes in which those objects appear. The scenes will be characterized by different levels of occlusion, diverse distances from the elements to the sensor and variations on the pose of the target objects. The creation of this dataset implies the additional development of 3D data acquisition and 3D object reconstruction applications. The resulting system has many possible applications, ranging from mobile robot navigation and semantic scene labeling to human-computer interaction (HCI) systems based on visual information.

L'ús d'animals a la medicina de la tradició llatina: estudi del Tresor de la Beutat, un tractat medieval dedicat als cosmètics femenins

L’ús de productes derivats d’animals (Zooteràpia) ha format part de l’arsenal terapèutic dermatològic en les diverses cultures a través del temps. El Tresor de Beutat és un tractat medieval dedicat als cosmètics femenins i la salut, escrit en català medieval que es conserva a la Biblioteca de la Universitat de Barcelona. Descriu més de 200 remeis i tractaments per a les dones del segle XIV . Molts d’aquests tractaments eren productes d’origen animal. Estudiem el Tresor de Beutat per determinar quins animals i quines de les seves parts eren emprades, així com la forma d’utilització i indicacions terapèutiques. El document original va ser transcrit al català formal i el text analitzat per tal d’identificar totes les substàncies d’origen animal destinades a la teràpia. Aquestes substàncies van ser ordenades segons l’espècie, i es van estudiar les diferents parts emprades dels animals, la manera de preparació i les seves indicacions. Es van identificar un total de 223 substàncies o elements (animals, plantes i minerals) utilitzats com a remeis. D’ells, 47 (21%) eren d’origen animal, pertanyents a 30 animals, 15 mamífers, 7 aus, 4 animals marins, 2 de rèptils i amfibis i 2 insectes. Les diferents parts dels animals utilitzats inclouen la pell, el greix, els ronyons, el cervell, les banyes, les ungles, les secrecions anals, glàndules mamàries o salivals, la femta, o fins i tot l’animal sencer, en el cas dels mamífers. De les aus, s’usaven les plomes, ous, greixos, els nius, el cap, el suc propi de l’animal, i els excrements. Dels animals marins es va emprar l’animal a trossos, els ossos i els ous, i dels insectes els ous de formiga; la mel i la cera d’abelles; dels rèptils i amfibis els ous i la sang. Els tractaments s’utilitzen principalment per a la cara, com a cosmètics per al cabell i el cos, la higiene, la salut general i per la pell. També per l’esfera otorinolaringològica, ocular, els trastorns dentals, i ginecològics, així com per a l’alleugeriment del dolor. El Tresor de Beutat proporciona informació sobre el coneixement dels tractaments tòpics, amb una base científica (i no màgica) amb una àmplia gamma de recursos d’origen animal, amb les formulacions acuradament elaborades per a fins cosmètics i terapèutics dissenyats per assolir l’ideal de la bellesa i la salut en les dones medievals, sent evident en les bases d’alguns tractaments tòpics utilitzats en el segle XXI.

The isotope composition of selenium in chondrites constrains the depletion mechanism of volatile elements in solar system materials

Solar nebula processes led to a depletion of volatile elements in different chondrite groups when compared to the bulk chemical composition of the solar system deduced from the Sun's photosphere. For moderately-volatile elements, this depletion primarily correlates with the element condensation temperature and is possibly caused by incomplete condensation from a hot solar nebula, evaporative loss from the precursor dust, and/or inherited from the interstellar medium. Element concentrations and interelement ratios of volatile elements do not provide a clear picture about responsible mechanisms. Here, the abundance and stable isotope composition of the moderately- to highly-volatile element Se are investigated in carbonaceous, ordinary, and enstatite chondrites to constrain the mechanism responsible for the depletion of volatile elements in planetary bodies of the inner solar system and to define a δ(82/78)Se value for the bulk solar system. The δ(82/78)Se of the studied chondrite falls are identical within their measurement uncertainties with a mean of −0.20±0.26‰ (2 s.d., n=14n=14, relative to NIST SRM 3149) despite Se abundance depletions of up to a factor of 2.5 with respect to the CI group. The absence of resolvable Se isotope fractionation rules out a kinetic Rayleigh-type incomplete condensation of Se from the hot solar nebula or partial kinetic evaporative loss on the precursor material and/or the parent bodies. The Se depletion, if acquired during partial condensation or evaporative loss, therefore must have occurred under near equilibrium conditions to prevent measurable isotope fractionation. Alternatively, the depletion and cooling of the nebula could have occurred simultaneously due to the continuous removal of gas and fine particles by the solar wind accompanied by the quantitative condensation of elements from the pre-depleted gas. In this scenario the condensation of elements does not require equilibrium conditions to avoid isotope fractionation. The results further suggest that the processes causing the high variability of Se concentrations and depletions in ordinary and enstatite chondrites did not involve any measurable isotope fractionation. Different degrees of element depletions and isotope fractionations of the moderately-volatile elements Zn, S, and Se in ordinary and enstatite chondrites indicate that their volatility is controlled by the thermal stabilities of their host phases and not by the condensation temperature under canonical nebular conditions.

Rare earth and trace elements in igneous and metamorphic minerals of oceanic gabbros from the Mid-Atlantic Ridge

SIMS analyses have been carried out on clinopyroxenes, plagioclases and amphiboles of six gabbroic samples from Holes 921-924 of the Ocean Drilling Program Leg 153 sited in the MARK area of the Mid-Atlantic Ridge at the ridge-transform intersection, to investigate the rare earth, trace and volatile element distribution in the lower ocean crust during igneous crystallization and higher grade metamorphic conditions. The metagabbros underwent granulite to subgreenschist facies conditions through three main tectono-metamorphic phases: (1) ductile regime (750 < T < 1000 °C and P = 0.3 GPa); (2) transitional regime (600 < T < 700 °C and P = 0.2 GPa); (3) brittle regime (350 < T < 600 °C and P < 0.2 GPa). Igneous clinopyroxenes show Cl-chondrite normalized patterns depleted in LREE, and nearly flat for HREE. The rare earth and trace element distributions in igneous clinopyroxenes and plagioclases indicate that these minerals act as REE reservoirs, and comprise the main contribution to the overall rock content. The abundances in igneous minerals reflect the degree of fractionation of the parent liquids. In metamorphic clinopyroxenes recrystallized in anhydrous assemblages, the REE and trace elements patterns mimic those of the primary ones. Conversely, clinopyroxerie re-equilibrated in amphibolebearing assemblages shows a significant increase in REE, Ti, Zr, Y and V, a negative Eu anomaly, and slight decreases in Sr and Ba. An overall increase of REE and some trace elements is evident in hydrous assemblages, with preferential partitioning in the amphibole. It shows high Ti (18196-22844 ppm), LREE depleted patterns and LaN/SmN = 0.10-0.33, LaN/YbN = 0.10-0.30. Amphiboles from granoblastic assemblages show homogeneous patterns with no or a positive anomaly for TiN and negative anomalies for SrN and ZrN. Volatiles in amphibole are low, with Cl/F < 1; H2O% is significantly lower than the stoichiometric ratio (1.33-1.53%). The composition of the clinopyroxene and amphibole recrystallized in low-strain domains records evidence of incomplete re-equilibration, and element diffusion and partitioning is in part controlled by the textural site. The possible origins of the fluids involved in the metamorphic recrystallization are discussed: (1) remobilization from igneous amphibole; (2) exsolution from evolved melts; (3) introduction of seawater-derived fluids modified in rock-dominated systems; (4) injection of highly evolved hydrous melts during the metamorphic process.

(Tab. XIII.1) TOC content, carbonate content, carbonate mineralogy, percentage of total carbonate, aragonite, low magnesium calcium, and high magnesium calcium, and grain-size contents from samples from the Golfe d'Arguin and from the Western Sahara

Modern carbonate sedimentation takes place on the northern Mauritanian shelf (20°N), where typical tropical components (e.g. hermatypic reefs, calcareous green algae) are absent. Such deposits are reminiscent of extratropical sediment in the geological record. The tropical open shelf of Mauritania is influenced by large siliciclastic dust input and upwelling, highly fertilizing the ocean, as well as strongly limiting the light penetration. In this context, temperature does not appear to be the steering factor of carbonate production. This thesis describes the depositional system of the Golfe d'Arguin off Mauritania and focuses on environmental conditions that control the depositional pattern, in particular carbonate production. The description of this modern analogue provides a tool for paleoenvironmental interpretation of ancient counterparts. The Golfe d'Arguin is a broad shallow shelf comprising extensive shoals (<10 m water depth; i.e. the Banc d'Arguin) on the inner shelf where waters warm up. The sediments collected in water depths between 4 and 600 m are characterized by mixed carbonate and siliciclastic (dust) deposits. They vary from clean coarse-grained, almost pure carbonate loose sediments to siliciclastic-dominated fine-grained sediments. The carbonate content and sediment grain size show a north-south decreasing pattern through the Golfe d'Arguin and are controlled by the hydraulic regime influenced by wind-driven surface currents, swell, and tidal currents. The carbonate grain association is heterozoan. Components include abundant molluscs, foraminifers, and worm tubes, as well as barnacles and echinoderms, elements that are also abundant in extratropical sediments. The spatial distribution of the sedimentary facies of the Golfe d'Arguin does not display a depth zonation but rather a mosaic (i.e. patchy distribution). The depth and climatic signatures of the different sedimentary facies are determined by taxonomic and ecological investigations of the carbonate-secreting biota (molluscs and foraminifers). While certain planktonic foraminifers and molluscs represent upwelling elements, other components (e.g. mollusc and benthic foraminifer taxa) demonstrate the tropical origin of the sediment. The nutrient-rich (and thus also low light-penetration) conditions are reflected in the fact that symbiotic and photosynthetic carbonate-producing organisms (e.g. hermatypic corals) are absent. The Mauritanian deposits represent an environment that is rare in the modern world but might have been more common in the geological past when global temperatures were higher. Taxonomic and ecological studies allow for distinguishing carbonate sediments formed under either tropical high-nutrient or extratropical conditions, thus improving paleoclimate reconstruction.

Ages analysis, trace elements and relative frequencies of foraminifera snd diatoms from sediment cores AvH248260-2 and AvH248260-1, Ameralik Fjord, SW Greenland

A multiproxy record including benthic foraminifera, diatoms and XRF data of a marine sediment core from a SW Greenland fjord provides a detailed reconstruction of the oceanographic and climatic variations of the region during the last 4400 cal. years. The lower part of our record represents the final termination of the Holocene Thermal Maximum. After the onset of the 'Neoglaciation' at approximately 3.2 ka cal. BP, the fjord system was subject to a number of marked hydrographical changes that were closely linked to the general climatic and oceanographic development of the Labrador Sea and the North Atlantic region. Our data show that increased advection of Atlantic water (Irminger Sea Water) from the West Greenland Current into the Labrador Sea was a typical feature of Northeast Atlantic cooling episodes such as the 'Little Ice Age' and the 'European Dark Ages', while the advection of Irminger Sea Water decreased significantly during warm episodes such as the 'Mediaeval Warm Period' and the 'Roman Warm Period'.Whereas the 'Mediaeval Warm Period' was characterized by relatively cool climate as suggested by low meltwater production, the preceding 'Dark Ages' display higher meltwater runoff and consequently warmer climate. When compared with European climate, these regional climate anomalies indicate persisting patterns of advection of colder, respectively warmer air masses in the study region during these periods and thus a long-term seesaw climate pattern between West Greenland and Europe.

Geochemistry and isotopic ratios of basalts from ODP Leg 163 sites

Voluminous, subaerial magmatism resulted in the formation of extensive seaward-dipping reflector sequences (SDRS) along the Paleogene Southeast Greenland rifted margin. Drilling during Leg 163 recovered basalts from the SDRS at 66ºN (Site 988) and 63ºN (Sites 989 and 990). The basalt from Site 988 is light rare-earth-element (REE) enriched (La(n)/Yb(n) = 3.4), with epsilon-Nd(t=60) = 5.3, 87Sr/86Sr = 0.7034, and 206Pb/204Pb = 17.98. It is similar to tholeiites recovered from the Irminger Basin during Leg 49 and to light-REE-enriched tholeiites from Iceland. Drilling at Site 989, the innermost of the sites on the 63ºN transect, was proposed to extend recovery of the earliest part of the SDRS initiated during Leg 152. These basalts are, however, younger than those from Site 917 and are compositionally similar to basalts from the more seaward Sites 990 and 915. Many of the basalts from Sites 989 and 990 show evidence of contamination by continental crust (e.g., epsilon-Nd(t=60) extends down to -3.7, 206Pb/204Pb extends down to 15.1). We suggest that the contaminant is a mixture of Archean granulite and amphibolite and that the most contaminated basalts have assimilated ~5% of crust. Uncontaminated basalts are isotopically similar to basalts from Site 918, on the main body of the SDRS, and are light-REE depleted. Consistent with previous models of the development of this margin, we show that at the time of formation of the basalts from Sites 989 and 990 (1) melting was at relatively shallow levels in a fully-fledged rift zone; (2) fragments of continental crust were present in the lithosphere above the zones of melt generation; and (3) the sublithospheric mantle was dominated by a depleted Icelandic plume component.

Sample descriptions, d-spacing and geochemistry at DSDP Holes 68-501 and 69-504B

Mössbauer analyses were conducted on a sample of saponite selected from DSDP Leg 69 basalt core. The sample was initially placed within a nitrogen-purged container on-board Glomar Challenger approximately three hours after recovery, where it remained until analysis. The Mössbauer data revealed an original, in situ Fe2O3/FeO ratio of 0.46, with both Fe**2+ and Fe**3+ in octahedral coordination. With controlled exposure to air under ambient laboratory storage conditions, the proportion of Fe**3+ increased from an original 30% to 51% over a period of about 11.5 months. The Fe**3+ thus produced remained in octahedral coordination, and no observable changes occurred in the physical appearance of the sample.