RGBD Human-Hand recognition for the Interaction with Robot-Hand

New low cost sensors and the new open free libraries for 3D image processing are permitting to achieve important advances for robot vision applications such as tridimensional object recognition, semantic mapping, navigation and localization of robots, human detection and/or gesture recognition for human-machine interaction. In this paper, a method to recognize the human hand and to track the fingers is proposed. This new method is based on point clouds from range images, RGBD. It does not require visual marks, camera calibration, environment knowledge and complex expensive acquisition systems. Furthermore, this method has been implemented to create a human interface in order to move a robot hand. The human hand is recognized and the movement of the fingers is analyzed. Afterwards, it is imitated from a Barret hand, using communication events programmed from ROS.

An improvement of a SLAM RGB-D method with movement prediction derived from a study of visual features

This paper presents a method for the fast calculation of a robot’s egomotion using visual features. The method is part of a complete system for automatic map building and Simultaneous Location and Mapping (SLAM). The method uses optical flow to determine whether the robot has undergone a movement. If so, some visual features that do not satisfy several criteria are deleted, and then egomotion is calculated. Thus, the proposed method improves the efficiency of the whole process because not all the data is processed. We use a state-of-the-art algorithm (TORO) to rectify the map and solve the SLAM problem. Additionally, a study of different visual detectors and descriptors has been conducted to identify which of them are more suitable for the SLAM problem. Finally, a navigation method is described using the map obtained from the SLAM solution.

Guidelines for the design of efficient sono-microreactors

Possible drawbacks of microreactors are inefficient reactant mixing and the clogging of microchannels when solid-forming reactions are carried out or solid (catalysts) suspensions are used. Ultrasonic irradiation has been successfully implemented for solving these problems in microreactor configurations ranging from capillaries immersed in ultrasonic baths to devices with miniaturized piezoelectric transducers. Moving forward in process intensification and sustainable development, the acoustic energy implementation requires a strategy to optimize the microreactor from an ultrasound viewpoint during its design. In this work, we present a simple analytical model that can be used as a guide to achieving a proper acoustic design of stacked microreactors. An example of this methodology was demonstrated through finite element analysis and it was compared with an experimental study found in the literature.

Reduction of tobacco smoke components yield in commercial cigarette brands by addition of HUSY, NaY and Al-MCM-41 to the cigarette rod

The effect of two zeolites, HUSY, NaY and a mesoporous synthesized Al-MCM-41 material on the smoke composition of ten commercial cigarettes brands has been studied. Cigarettes were prepared by mixing the tobacco with the three powdered materials, and the smoke obtained under the ISO conditions was analyzed. Up to 32 compounds were identified and quantified in the gas fraction and 80 in the total particulate matter (TPM) condensed in the cigarettes filters and in the traps located after the mouth end of the cigarettes. Al-MCM-41 is by far the best additive, providing the highest reductions of the yield for most compounds and brands analyzed. A positive correlation was observed among the TPM and nicotine yields with the reduction obtained in nicotine, CO, and most compounds with the three additives. The amount of ashes in additive free basis increases due to the coke deposited on the solids, especially with Al-MCM-41. Nicotine is reduced with Al-MCM-41 by an average of 34.4% for the brands studied (49.5% for the brand where the major reduction was obtained and 18.5 for the brand behaving the worst). CO is reduced by an average of 18.6% (ranging from 10.3 to 35.2% in the different brands).

Probing large-scale wind structures in Vela X–1 using off-states with INTEGRAL

Vela X–1 is the prototype of the class of wind-fed accreting pulsars in high-mass X-ray binaries hosting a supergiant donor. We have analysed in a systematic way 10 years of INTEGRAL data of Vela X–1 (22–50 keV) and we found that when outside the X-ray eclipse, the source undergoes several luminosity drops where the hard X-rays luminosity goes below ∼3 × 1035 erg s−1, becoming undetected by INTEGRAL. These drops in the X-ray flux are usually referred to as ‘off-states’ in the literature. We have investigated the distribution of these off-states along the Vela X–1 ∼ 8.9 d orbit, finding that their orbital occurrence displays an asymmetric distribution, with a higher probability to observe an off-state near the pre-eclipse than during the post-eclipse. This asymmetry can be explained by scattering of hard X-rays in a region of ionized wind, able to reduce the source hard X-ray brightness preferentially near eclipse ingress. We associate this ionized large-scale wind structure with the photoionization wake produced by the interaction of the supergiant wind with the X-ray emission from the neutron star. We emphasize that this observational result could be obtained thanks to the accumulation of a decade of INTEGRAL data, with observations covering the whole orbit several times, allowing us to detect an asymmetric pattern in the orbital distribution of off-states in Vela X–1.

Caracterización de la impedancia de transferencia de materiales porosos-fibrosos usando holografía acústica de campo cercano (NAH)

En este trabajo se aplica la técnica de holografía acústica de campo cercano (NAH-Near field Acoustic Holography) para determinar la velocidad de vibración de la superficie de una capa de material absorbente que a su vez está adherido a una placa metálica circular que emula un pistón rígido. Este dato de la velocidad es necesario para predecir su impedancia de transferencia. En la experiencia propuesta, la placa metálica vibra por la acción de un actuador ubicado en su centro transmitiendo su vibración a la lámina porosa. El experimento y la técnica implementada se apoyan en la hipótesis del desacoplamiento de la parte vibratoria y la acústica de un sistema placa-poroso para determinar la eficiencia de radiación.

First EURONEAR NEA discoveries from La Palma using the INT

Since 2006, the European Near Earth Asteroids Research (EURONEAR) project has been contributing to the research of near-Earth asteroids (NEAs) within a European network. One of the main aims is the amelioration of the orbits of NEAs, and starting in 2014 February we focus on the recovery of one-opposition NEAs using the Isaac Newton Telescope (INT) in La Palma in override mode. Part of this NEA recovery project, since 2014 June EURONEAR serendipitously started to discover and secure the first NEAs from La Palma and using the INT, thanks to the teamwork including amateurs and students who promptly reduce the data, report discoveries and secure new objects recovered with the INT and few other telescopes from the EURONEAR network. Five NEAs were discovered with the INT, including 2014 LU14, 2014 NL52 (one very fast rotator), 2014 OL339 (the fourth known Earth quasi-satellite), 2014 SG143 (a quite large NEA), and 2014 VP. Another very fast moving NEA was discovered but was unfortunately lost due to lack of follow-up time. Additionally, another 14 NEA candidates were identified based on two models, all being rapidly followed-up using the INT and another 11 telescopes within the EURONEAR network. They include one object discovered by Pan-STARRS, two Mars crossers, two Hungarias, one Jupiter trojan, and other few inner main belt asteroids (MBAs). Using the INT and Sierra Nevada 1.5 m for photometry, then the Gran Telescopio de Canarias for spectroscopy, we derived the very rapid rotation of 2014 NL52, then its albedo, magnitude, size, and its spectral class. Based on the total sky coverage in dark conditions, we evaluate the actual survey discovery rate using 2-m class telescopes. One NEA is possible to be discovered randomly within minimum 2.8 deg2 and maximum 5.5 deg2. These findings update our past statistics, being based on double sky coverage and taking into account the recent increase in discovery.

An XMM-Newton view of FeKα in high-mass X-ray binaries

We present a comprehensive analysis of the whole sample of available XMM-Newton observations of high-mass X-ray binaries (HMXBs) until August 2013, focusing on the FeKα emission line. This line is key to better understanding the physical properties of the material surrounding the X-ray source within a few stellar radii (the circumstellar medium). We collected observations from 46 HMXBs and detected FeKα in 21 of them. We used the standard classification of HMXBs to divide the sample into different groups. We find that (1) different classes of HMXBs display different qualitative behaviours in the FeKα spectral region. This is visible especially in SGXBs (showing ubiquitous Fe fluorescence but not recombination Fe lines) and in γ Cass analogues (showing both fluorescent and recombination Fe lines). (2) FeKα is centred at a mean value of 6.42 keV. Considering the instrumental and fits uncertainties, this value is compatible with ionization states that are lower than Fe xviii. (3) The flux of the continuum is well correlated with the flux of the line, as expected. Eclipse observations show that the Fe fluorescence emission comes from an extended region surrounding the X-ray source. (4) We observe an inverse correlation between the X-ray luminosity and the equivalent width of FeKα (EW). This phenomenon is known as the X-ray Baldwin effect. (5) FeKα is narrow (σline< 0.15 keV), reflecting that the reprocessing material does not move at high speeds. We attempt to explain the broadness of the line in terms of three possible broadening phenomena: line blending, Compton scattering, and Doppler shifts (with velocities of the reprocessing material V ~ 1000 km s-1). (6) The equivalent hydrogen column (NH) directly correlates to the EW of FeKα, displaying clear similarities to numerical simulations. It highlights the strong link between the absorbing and the fluorescent matter. (7) The observed NH in supergiant X-ray binaries (SGXBs) is in general higher than in supergiant fast X-ray transients (SFXTs). We suggest two possible explanations: different orbital configurations or a different interaction compact object – wind. (8) Finally, we analysed the sources IGR J16320-4751 and 4U 1700-37 in more detail, covering several orbital phases. The observed variation in NH between phases is compatible with the absorption produced by the wind of their optical companions. The results clearly point to a very important contribution of the donor’s wind in the FeKα emission and the absorption when the donor is a supergiant massive star.

A Simple RVoG Test for PolInSAR Data

In this paper, we present a simple algorithm for assessing the validity of the RVoG model for PolInSAR-based inversion techniques. This approach makes use of two important features characterizing a homogeneous random volume over a ground surface, i.e., the independence on polarization states of wave propagation through the volume and the structure of the polarimetric interferometric coherency matrix. These two features have led to two different methods proposed in the literature for retrieving the topographic phase within natural covers, i.e., the well-known line fitting procedure and the observation of the (1, 2) element of the polarimetric interferometric coherency matrix. We show that differences between outputs from both approaches can be interpreted in terms of the PolInSAR modeling based on the Freeman-Durden concept, and this leads to the definition of a RVoG/non-RVoG test. The algorithm is tested with both indoor and airborne data over agricultural and tropical forest areas.

Estimation of Key Dates and Stages in Rice Crops Using Dual-Polarization SAR Time Series and a Particle Filtering Approach

Information of crop phenology is essential for evaluating crop productivity. In a previous work, we determined phenological stages with remote sensing data using a dynamic system framework and an extended Kalman filter (EKF) approach. In this paper, we demonstrate that the particle filter is a more reliable method to infer any phenological stage compared to the EKF. The improvements achieved with this approach are discussed. In addition, this methodology enables the estimation of key cultivation dates, thus providing a practical product for many applications. The dates of some important stages, as the sowing date and the day when the crop reaches the panicle initiation stage, have been chosen to show the potential of this technique.

Revisiting the effect of foundation embedment on elastic settlement: A new approach

The effect of foundation embedment on settlement calculation is a widely researched topic in which there is no scientific consensus regarding the magnitude of settlement reduction. In this paper, a non-linear three dimensional Finite Element analysis has been performed with the aim of evaluating the aforementioned effect. For this purpose, 1800 models were run considering different variables, such as the depth and dimensions of the foundation and the Young’s modulus and Poisson’s ratio of the soil. The settlements from models with foundations at surface level and at depth were then compared and the relationship between them established. The statistical analysis of this data allowed two new expressions, with a mean maximum error of 1.80%, for the embedment influence factor of a foundation to be proposed and these to be compared with commonly used corrections. The proposed equations were validated by comparing the settlements calculated with the proposed influence factors and the true settlements measured in several real foundations. From the comprehensive study of all modelled cases, an improved approach, when compared to those proposed by other authors, for the calculation of the true elastic settlements of an embedded foundation is proposed.

Brackish groundwater desalination by reverse osmosis in southeastern Spain. Presence of emerging contaminants and potential impacts on soil-aquifer media

Desalinated brackish groundwater is becoming a new source of water supply to comply with growing water demands, especially in (semi-) arid countries. Recent publications show that some chemical compounds may persist in an unaltered form after the desalination processes and that there is an associated risk of mixing waters with different salinity for irrigation. At the university of Alicante campus (Spain), a mix of desalinated brackish groundwater and water from the existing aquifer is currently applied for landscape irrigation. The presence of 209 emerging compounds, surfactants, priority substances according to the 2008/105/EC Directive, 11 heavy metals and microbiological organisms in blended water and aquifer samples was investigated. Thirty-five compounds were detected (pesticides, pharmaceuticals and surfactants) among them two priority substances α-endosulfan and Ni were found above the permitted maximum concentration. Blended water used for landscape irrigation during the summer period is supersaturated with respect to carbonates, which may ultimately lead to mineral precipitation in the soil-aquifer media and changes in hydraulic parameters.

Using Sewage-Sludge Ash as Filler in Bituminous Mixes

In this study, the behavior of bituminous mixes made with sewage sludge ash (SSA) as mineral filler was investigated. The behavior of these mixes was evaluated with the Cantabro, indirect tensile strength, water sensitivity, permanent deformation, and resilient modulus tests. The results show that SSA waste may be used in bituminous mixes at approximately 2–3% weight percent, maintaining adequate levels of cohesion and adhesion in the mixtures, which is comparable to mixtures made with active fillers such as hydrated lime and cement. Moreover, its use does not increase permanent deformations. However, the resilient modulus test gave slightly lower results for mixes made with SSA than for mixtures made with other fillers. It may be concluded that SSA waste may be used as a filler for bituminous mixes with better results than for mixes made with limestone fillers and with similar results for mixes made with other fillers such as hydrated lime and cement.

Subsidence activity maps derived from DInSAR data: Orihuela case study

A new methodology is proposed to produce subsidence activity maps based on the geostatistical analysis of persistent scatterer interferometry (PSI) data. PSI displacement measurements are interpolated based on conditional Sequential Gaussian Simulation (SGS) to calculate multiple equiprobable realizations of subsidence. The result from this process is a series of interpolated subsidence values, with an estimation of the spatial variability and a confidence level on the interpolation. These maps complement the PSI displacement map, improving the identification of wide subsiding areas at a regional scale. At a local scale, they can be used to identify buildings susceptible to suffer subsidence related damages. In order to do so, it is necessary to calculate the maximum differential settlement and the maximum angular distortion for each building of the study area. Based on PSI-derived parameters those buildings in which the serviceability limit state has been exceeded, and where in situ forensic analysis should be made, can be automatically identified. This methodology has been tested in the city of Orihuela (SE Spain) for the study of historical buildings damaged during the last two decades by subsidence due to aquifer overexploitation. The qualitative evaluation of the results from the methodology carried out in buildings where damages have been reported shows a success rate of 100%.

Comparison between the mainstream smoke of eleven RYO tobacco brands and the reference tobacco 3R4F

In this study 11 commercial roll-your-own (RYO) tobacco brands sold in Spain and the reference tobacco 3R4F have been smoked and several components of the mainstream tobacco smoke have been analyzed. Cigarettes were prepared using commercial tubes, and were smoked under smoking conditions based on the ISO 3308. The gaseous and condensed fractions of the smoke from RYO brands and 3R4F have been analyzed and compared. RYO tobaccos, as opposed to 3R4F, present lower amounts of condensed products in the traps than in the filters. In general, RYO tobaccos also provide lower yields of most of the compounds detected in the gas fraction. The yield of CO is between 15.4 and 20.4 mg/cigarette. In most of the cases studied, RYO tobaccos deliver higher amounts of nicotine than the 3R4F tobacco. On average, the yield of the different chemical families of compounds appearing in the particulate matter retained in the cigarette filters tends to be around three times higher than those obtained from 3R4F, whereas similar values have been obtained in the particulate matter retained in the traps located after the filters. It can be concluded that RYO tobaccos are not less hazardous than the reference tobacco, which may be contrary to popular belief.