Progetto di un dispositivo wireless di feedback tattile per un sistema di ausilio per non vedenti o ipovedenti

La tesi è incentrata sullo studio e sulla progettazione di un dispositivo wireless di feedback tattile per un sistema di ausilio per non vedenti o ipovedenti. Il dispositivo composto da micro motori vibranti avvisa l'utente di imminenti ostacoli nel suo cammino. La rilevazione degli ostacoli è opera del visore, un sistema composto da una videocamera stereo, con elaborazione su FPGA, collegata ad un Odroid-U3. Viene trattato anche lo sviluppo di un'applicazione server, con relativa libreria di funzioni, che permette al visore di comunicare con dispositivi iOS esterni. Quest'ultima parte è avvenuta in collaborazione con il collega Luca Ranalli che si è occupato dell' App client per smartphone e tablet iOS.

Metodologie di apprendimento automatico applicate alla generazione di dati 3D

Il framework in oggetto, è un ambiente ideato con lo scopo di applicare tecniche di Machine Learning (in particolare le Random Forest) alle funzionalità dell'algoritmo di stereo matching SGM (Semi Global Matching), al fine di incrementarne l'accuratezza in versione standard. Scopo della presente tesi è quello di modificare alcune impostazioni di tale framework rendendolo un ambiente che meglio si adatti alla direzionalità delle scanline (introducendo finestre di supporto rettangolari e ortogonali e il training di foreste separate in base alla singola scanline) e ampliarne le funzionalità tramite l'aggiunta di alcune nuove feature, quali la distanza dal più vicino edge direzionale e la distintività calcolate sulle immagini Left della stereo pair e gli edge direzionali sulle mappe di disparità. Il fine ultimo sarà quello di eseguire svariati test sui dataset Middlebury 2014 e KITTI e raccogliere dati che descrivano l'andamento in positivo o negativo delle modifiche effettuate.

Study Of The Binding Of Substrate By The Phe557Val Mutant Soybean Lipoxygenase-1

Lipoxygenases are a class of enzymes which consist of non-heme iron dioxygenases that are produced by fungi, plants, and mammals and catalyze the oxygenation of polyunsaturated fatty acid substrates to unsaturated fatty acid hydroperoxide products. The unsaturated fatty acid hydroperoxide products are stereo- and regiospecific. One such lipoxygenase, soybean lipoxygenase-1 (SBLO-1), catalyzes the conversion of linoleate to 13-hydroperoxy-9(Z),11(E)-octadecadienoate (13-HPOD) and a small amount of 9-hydroperoxy-10(E),12(Z)-octadecadienoate (9-HPOD). Although the structure of SBLO-1 is known and it is the most widely studied lipoxygenase, how it binds to substrate is still poorly understood. Two competing binding hypotheses that have been used to understand and explain the binding are the head first binding model and the tail first binding model. The head first binding model predicts linoleate binds with its polar carboxylate group in the binding pocket and the methyl terminus at the surface of the binding pocket. The tail first binding model predicts that linoleate binds with its methyl terminus end in the binding pocket and the polar carboxylate group at the surface of the binding pocket. Both binding models have been used in the explanation of previous work. In previous work the replacement of phenylalanine with valine has been performed to produce the phe557val mutant SBLO-1. The mutant SBLO-1 was then used in the enzymatic oxygenation of linoleate. With this mutant, the amount of 9-HPOD that is formed increases. This result has been interpreted using the head-first binding model in which the smaller valine residue allows linoleate to bind with the polar carboxylate group of linoleate interacting with arginine-707. The work presented in this thesis confirms the regiochemical results of the previous work and further tests the head-first binding model. If head-first binding occurs, the 9-HPOD is expected to have primarily S configuration. Utilizing chiral-phase HPLC, it was found that the 9-HPOD produced by the phe557val mutant SBLO-1 is primarily S, consistent with head-first binding. The head-first binding model was also tested using linoleyl dimethylamine (LDMA), which has been shown to be a good substrate for SBLO-1 at pH 7.0, where LDMA is thought to be positively charged. This model predicts that less of the 9-peroxide should be produced with this substrate. Through the use of gas chromatography/mass spectrometry, it was found that the conversion of LDMA by the phe557val mutant SBLO-1 resulted in the formation of a 46:54 mixture of the 13-peroxide:9-peroxide. The higher amount of 9-peroxide is the opposite of what is expected for the currently proposed model suggesting that the proposed model may not be entirely correct. The results thus far have been consistent with reverse binding but not with the proposed interaction of the polar end of the substrate with arginine-707.

Evaluation of cavitations in proximal caries lesions at various magnification levels in vitro

OBJECTIVES: The aim of this study was to evaluate the cavitation rate of proximal caries using different magnification aids in vitro. METHODS: Radiographs of 285 extracted teeth were taken and the proximal surfaces were graded to the criteria R0 (no radiolucency), R1 (radiolucency confined to the outer half of enamel), R2 (inner half of enamel) and R3 (outer half of dentin). Subsequently, the proximal surfaces were checked for the presence of cavitations with the naked eye (NE), and by using 4.3 x magnification eyeglasses (ME), a stereo microscope (SM, 10x), or a scanning electron microscope (SEM, up to 2000 x magnification). RESULTS: In surfaces with R3 caries, cavitations were visible in 56 of 59 cases with the naked eye. When using SEM, all surfaces revealed cavitations (100%). Regarding the surfaces with R2 lesion, 36 of 46 cases showed cavitations (NE); the corresponding values were 39/46 (ME), 41/46 (SM), and 46/46 (SEM); in the latter, in most cases deep defects could be observed. With regard to R1 lesions, 36/60 (NE), 43/60 (ME), 45/60 (SM), and 58/60 (SEM) cases revealed cavitations. A breakdown of radiographically sound surfaces (R0) was present in some 10% of the examined surfaces (24/261, NE; 33/261, SEM). CONCLUSIONS: Cavitations (defined as breakdown of the surface) are present in significantly more cases than previously reported. This might be an explanation why even small radiolucencies tend to progress, albeit slowly. Thus, close follow-ups should strongly be recommended when considering a preventive treatment regimen with small radiolucencies.

Lag Camera: A Moving Multi-Camera Array for Scene-Acquisition

Many applications, such as telepresence, virtual reality, and interactive walkthroughs, require a three-dimensional(3D)model of real-world environments. Methods, such as lightfields, geometric reconstruction and computer vision use cameras to acquire visual samples of the environment and construct a model. Unfortunately, obtaining models of real-world locations is a challenging task. In particular, important environments are often actively in use, containing moving objects, such as people entering and leaving the scene. The methods previously listed have difficulty in capturing the color and structure of the environment while in the presence of moving and temporary occluders. We describe a class of cameras called lag cameras. The main concept is to generalize a camera to take samples over space and time. Such a camera, can easily and interactively detect moving objects while continuously moving through the environment. Moreover, since both the lag camera and occluder are moving, the scene behind the occluder is captured by the lag camera even from viewpoints where the occluder lies in between the lag camera and the hidden scene. We demonstrate an implementation of a lag camera, complete with analysis and captured environments.

Cosine Lobe Based Relighting from Gradient Illumination Photographs

We present an image-based method for relighting a scene by analytically fitting cosine lobes to the reflectance function at each pixel, based on gradient illumination photographs. Realistic relighting results for many materials are obtained using a single per-pixel cosine lobe obtained from just two color photographs: one under uniform white illumination and the other under colored gradient illumination. For materials with wavelength-dependent scattering, a better fit can be obtained using independent cosine lobes for the red, green, and blue channels, obtained from three achromatic gradient illumination conditions instead of the colored gradient condition. We explore two cosine lobe reflectance functions, both of which allow an analytic fit to the gradient conditions. One is non-zero over half the sphere of lighting directions, which works well for diffuse and specular materials, but fails for materials with broader scattering such as fur. The other is non-zero everywhere, which works well for broadly scattering materials and still produces visually plausible results for diffuse and specular materials. We also perform an approximate diffuse/specular separation of the reflectance, and estimate scene geometry from the recovered photometric normals to produce hard shadows cast by the geometry, while still reconstructing the input photographs exactly.

High Resolution Image Correspondences for Video Post-Production

We present an algorithm for estimating dense image correspondences. Our versatile approach lends itself to various tasks typical for video post-processing, including image morphing, optical flow estimation, stereo rectification, disparity/depth reconstruction, and baseline adjustment. We incorporate recent advances in feature matching, energy minimization, stereo vision, and data clustering into our approach. At the core of our correspondence estimation we use Efficient Belief Propagation for energy minimization. While state-of-the-art algorithms only work on thumbnail-sized images, our novel feature downsampling scheme in combination with a simple, yet efficient data term compression, can cope with high-resolution data. The incorporation of SIFT (Scale-Invariant Feature Transform) features into data term computation further resolves matching ambiguities, making long-range correspondence estimation possible. We detect occluded areas by evaluating the correspondence symmetry, we further apply Geodesic matting to automatically determine plausible values in these regions.

Stereocopic Photography Encounters the Staircase

The staircase is presented as the architectural component that most potently embodies thresholds, boundaries and passages due to its diagonal orientation and essence as an intermediary zone. Connections then are made between the kinesthetic requirements of traversing a staircase and viewing a stereoscopic photograph. From this foundation, the haptic essence of stereoscopic photography is proposed as uniquely qualified medium through which to view a staircase and therefore thresholds, boundaries, and passages within architecture. Analyses of stereoviews of staircases in the Palais de Justice in Brussels, the Library of Congress in Washington, and the Palais Garnier (Opéra) in Paris close the essay.

Isothermal loop-mediated amplification (LAMP) for diagnosis of contagious bovine pleuro-pneumonia.

BACKGROUND Contagious Bovine Pleuropneumonia (CBPP) is the most important chronic pulmonary disease of cattle on the African continent causing severe economic losses. The disease, caused by infection with Mycoplasma mycoides subsp. mycoides is transmitted by animal contact and develops slowly into a chronic form preventing an early clinical diagnosis. Because available vaccines confer a low protection rate and short-lived immunity, the rapid diagnosis of infected animals combined with traditional curbing measures is seen as the best way to control the disease. While traditional labour-intensive bacteriological methods for the detection of M. mycoides subsp. mycoides have been replaced by molecular genetic techniques in the last two decades, these latter approaches require well-equipped laboratories and specialized personnel for the diagnosis. This is a handicap in areas where CBPP is endemic and early diagnosis is essential. RESULTS We present a rapid, sensitive and specific diagnostic tool for M. mycoides subsp. mycoides detection based on isothermal loop-mediated amplification (LAMP) that is applicable to field conditions. The primer set developed is highly specific and sensitive enough to diagnose clinical cases without prior cultivation of the organism. The LAMP assay detects M. mycoides subsp. mycoides DNA directly from crude samples of pulmonary/pleural fluids and serum/plasma within an hour using a simple dilution protocol. A photometric detection of LAMP products allows the real-time visualisation of the amplification curve and the application of a melting curve/re-association analysis presents a means of quality assurance based on the predetermined strand-inherent temperature profile supporting the diagnosis. CONCLUSION The CBPP LAMP developed in a robust kit format can be run on a battery-driven mobile device to rapidly detect M. mycoides subsp. mycoides infections from clinical or post mortem samples. The stringent innate quality control allows a conclusive on-site diagnosis of CBPP such as during farm or slaughter house inspections.

3D Conversion using Vanishing Points and Image Warping

We describe a user assisted technique for 3D stereo conversion from 2D images. Our approach exploits the geometric structure of perspective images including vanishing points. We allow a user to indicate lines, planes, and vanishing points in the input image, and directly employ these as constraints in an image warping framework to produce a stereo pair. By sidestepping explicit construction of a depth map, our approach is applicable to more general scenes and avoids potential artifacts of depth-image-based rendering. Our method is most suitable for scenes with large scale structures such as buildings.

Micrometer-sized ice particles for planetary-science experiments – II. Bidirectional reflectance

We have measured the bidirectional reflectance of spherical micrometer-sized water-ice particles in the visible spectral range over a wide range of incidence and emission angles. The small ice spheres were produced by spraying fine water droplets directly into liquid nitrogen. The resulting mean particle radii are 1.47 + 0.96 - 0.58 μm. Such a material shares many properties with ice in comets and at the surface of icy satellites. Measurements show that the fresh sample material is highly backscattering, contrasting with natural terrestrial snow and frost. The formation of agglomerates of particles during the sample production results in a noticeable variability of the photometric properties of the samples in their initial state. We have also observed significant temporal evolutions of the scattering behavior of the samples, shifting towards more forward scattering within some tens of hours, resulting most likely from sintering processes. All reflectance data are fitted by the Hapke photometric model (1993 and 2002 formulation) with a one/two/three-parameter Henyey-Greenstein phase function and the resulting Hapke parameters are provided. These parameters can be used to compare laboratory results with the observed photometric behaviors of astronomical objects. We show, in particular, that the optical properties of the fresh micrometer-sized ice samples can be used to reproduce the predominant backscattering in the phase curves of Enceladus and Europa.

A Texture-based land cover classification for the delineation of a shifting cultivation landscape in the Lao PDR using landscape metrics

The delineation of shifting cultivation landscapes using remote sensing in mountainous regions is challenging. On the one hand, there are difficulties related to the distinction of forest and fallow forest classes as occurring in a shifting cultivation landscape in mountainous regions. On the other hand, the dynamic nature of the shifting cultivation system poses problems to the delineation of landscapes where shifting cultivation occurs. We present a two-step approach based on an object-oriented classification of Advanced Land Observing Satellite, Advanced Visible and Near-Infrared Spectrometer (ALOS AVNIR) and Panchromatic Remote-sensing Instrument for Stereo Mapping (ALOS PRISM) data and landscape metrics. When including texture measures in the object-oriented classification, the accuracy of forest and fallow forest classes could be increased substantially. Based on such a classification, landscape metrics in the form of land cover class ratios enabled the identification of crop-fallow rotation characteristics of the shifting cultivation land use practice. By classifying and combining these landscape metrics, shifting cultivation landscapes could be delineated using a single land cover dataset.

Mechanisms of perceptual learning of depth discrimination in random dot stereograms.

Perceptual learning is a training induced improvement in performance. Mechanisms underlying the perceptual learning of depth discrimination in dynamic random dot stereograms were examined by assessing stereothresholds as a function of decorrelation. The inflection point of the decorrelation function was defined as the level of decorrelation corresponding to 1.4 times the threshold when decorrelation is 0%. In general, stereothresholds increased with increasing decorrelation. Following training, stereothresholds and standard errors of measurement decreased systematically for all tested decorrelation values. Post training decorrelation functions were reduced by a multiplicative constant (approximately 5), exhibiting changes in stereothresholds without changes in the inflection points. Disparity energy model simulations indicate that a post-training reduction in neuronal noise can sufficiently account for the perceptual learning effects. In two subjects, learning effects were retained over a period of six months, which may have application for training stereo deficient subjects.

A New Velocity Map for Byrd Glacier, East Antarctica, from Sequential Aster Satellite Imagery

New ice-velocity measurements are obtained for the main trunk of Byrd Glacier, East Antarctica, using recently acquired Advanced Spaceborne Thermal Emission and Reflection Radiometer (ASTER) imagery. The velocities are derived from the application of a cross-correlation technique to sequential images acquired in 2000 and 2001. Images were co-registered and ortho-rectified with the aid of a digital elevation model (DEM) generated from ASTER stereo imagery. This paper outlines the process of DEM generation, image co-registration and correction, and the application of the cross-correlation technique to obtain ice velocities. Comparison of the new velocity map with earlier measurements of velocity from 1978 indicates that the glacier has undergone a substantial deceleration between observations. Portions of the glacier flowing at speeds of similar to 850 m a(-1) in 1978/79 were flowing at similar to 650 m a(-1) in 2000/01. The cause of this change in ice dynamics is not known, but the observation shows that East Antarctic outlet glaciers can undergo substantial changes on relatively short timescales.

Dentinhaftung von Zementen. Der Haftverbund von Zementen mit Dentin in Kombination mit verschiedenen indirekten Restaurationsmaterialien

Einleitung: Die Anzahl zahnärztlicher Zemente sowie Restaurationsmaterialien steigt stetig. Die richtige Zementwahl für einen zuverlässigen Haftverbund zwischen Restaurationsmaterial und Zahnsubstanz ist von Interesse für den Kliniker. Ziel der vorliegenden in vitro-Studie war es daher, den Dentinhaftverbund von verschiedenen Zementen in Kombination mit verschiedenen indirekten Restaurationsmaterialien zu untersuchen. Material und Methoden: Zylindrische Probekörper aus sechs Restaurationsmaterialien (Goldlegierung, Titan, Feldspat-Keramik, Leuzit-Glaskeramik, Zirkon sowie Komposit) wurden an einem Ende plangeschliffen und sandgestrahlt. Die Zylinder aus Feldspat-Keramik und Leuzit-Glaskeramik wurden zusätzlich mit Flusssäure geätzt und silanisiert. Die Zylinder wurden anschliessend mit acht Zementen auf plangeschliffenes Dentin extrahierter menschlicher Zähne zementiert (ein Zink-Phosphatzement (DeTrey Zinc), ein konventioneller Glasionomerzement (Fuji I), ein kunststoffmodifizierter Glasionomerzement (Fuji Plus), ein "etch-&-rinse" Kompositzement (Variolink II), zwei "self-etch" Kompositzemente (Panavia F2.0 und Multilink) und zwei "self-adhesive" Kompositzemente (RelyX Unicem Aplicap und Maxcem)). Nach einwöchiger Wasserlagerung bei 37°C wurden die Dentinhaftwerte der Zylinder (n=8 pro Gruppe) mittels Scherkraft-Test gemessen. Zusätzlich wurde das Frakturmuster unter dem Lichtmikroskop bestimmt. Die Haftwerte wurden mittels zweifaktorieller ANOVA und einem post hoc-Test analysiert (Signifikanzniveau α = 0.05). Resultate: Sowohl das Restaurationsmaterial wie auch der Zement hatten einen statistisch signifikanten Effekt auf den Haftverbund. Der Zink-Phosphatzement sowie beide Glasionomerzemente zeigten die niedrigsten Haftwerte. Die höchsten Haftwerte wurden mit beiden "self-etch" und einem der zwei "self-adhesive" Kompositzementen erzielt. Im Allgemeinen variierte das Frakturmuster deutlich je nach Zement und Restaurationsmaterial. Schlussfolgerungen: Der Dentinhaftverbund wurde stärker vom Zement beeinflusst als vom Restaurationsmaterial. Die Kompositzemente erzielten im Grossen und Ganzen die höchsten Haftwerte.