Visual SLAM for 3D large-scale seabed acquisition employing underwater vehicles

This paper presents a novel technique to align partial 3D reconstructions of the seabed acquired by a stereo camera mounted on an autonomous underwater vehicle. Vehicle localization and seabed mapping is performed simultaneously by means of an Extended Kalman Filter. Passive landmarks are detected on the images and characterized considering 2D and 3D features. Landmarks are re-observed while the robot is navigating and data association becomes easier but robust. Once the survey is completed, vehicle trajectory is smoothed by a Rauch-Tung-Striebel filter obtaining an even better alignment of the 3D views and yet a large-scale acquisition of the seabed

Epäpuhtauksien optinen laskenta sulpusta

Työn tarkoituksena oli hakea mittausjärjestelmän raja-arvoja optiselle kamerapohjaiselle roskalaskentajärjestelmälle sekä testata roskalaskentajärjestelmän toimivuus käytännössä. Tavoitteena oli tuotteistaa kamerapohjainen roskalaskenta-analyysi palvelutuotteeksi, jota voitaisiin hyödyntää sihtien kuntokartoituksessa ja ongelmanratkaisuvälineenä. Teoriaosa koostui kahdesta kokonaisuudesta: sulpun epäpuhtauksista, roskalaskennan teoriasta ja epäpuhtauksien mittausmenetelmistä sekä markkinoinnista, tuotteistamis- ja lanseerausprosessista palvelutuotteen näkökulmasta. Kokeellisessa osassa selvitettiin kamerapohjaiseen roskalaskentaanalyysiin vaikuttavia tekijöitä: kameran tarkennus, kuvan terävyys, analysoitavan arkin väri, neliömassa ja roskapitoisuus, impregnointi, valonlähde, kuvan muokkaus, tiedostomuoto ja pikselimäärä. Kamerapohjaisen roskalaskenta-analyysin soveltuvuus käytäntöön testattiin tehdasesimerkin avulla. Havaittiin, että kamerapohjaista roskalaskenta-analyysiä voitaisiin käyttää lähes kaikille massatyypeille. Työssä määriteltiin kalibrointimenetelmä kameran tarkentamiseksi arkin tasoon sekä suljinnopeusanalyysi massatyypistä riippuvan suljinnopeuden selvitykseen. Kamerapohjaisessa roskalaskenta-analyysissä määritettiin käytettäväksi arkin neliömassana 60 g/m2, suljinaukkoa F5 ja terävyysasetusta 5. Tulokseksi saatiin, että analysoitavia arkkeja ei tarvitse impregnoida tai jälkikäsitellä. Korrelaatiota Somerville-erotustehokkuuteen ei löytynyt. Esimerkkitehtaasta selvitettiin primääriportaan roskapitoisuudet ja erotustehokkuudet. Tehdasesimerkin tulosten perusteella havaittiin happivaiheen ja D0-vaiheen olleen tehokkaimpia epäpuhtauksien poistajia.

Interações entre corantes e argilas em suspensão aquosa

Adsorption of cationic dyes on clays can be used as a model for the interactions between organic compounds and these minerals. Cationic dyes like methylene blue are used to study these interactions because of the spectroscopic changes observed when their molecules are adsorbed on clay surfaces. Depending on the structure and layer charge of the clay particles several processes may occur, like adsorption of dye monomers and aggregates on the external and internal surfaces of the clay tactoids, migration towards internal surfaces, protonation, etc. Under certain conditions the deaggregation-aggregation of the clay particles are accelerated trapping dye species during these processes. A general scheme is proposed for the processes occurring between clays and dyes in aqueous suspensions, which can be used to explain the behaviour of specific systems.

OLED-teknologia silmänäytössä ja linssiokulaarin korvaaminen muoviprismalla

Tämä diplomityö esittelee monikäyttöisen kamerajärjestelmän, mikä on pääsääntöisesti tarkoitettu valovahvistimen perään integroitavaksi. Tarkoituksena on parantaa sotilaan pimeätoimintakykyä ja urbaanissa ympäristössä operointia. Järjestelmän yhtenä moduulina on silmänäyttö, joka perustuu itse-emittoivaan orgaaniseen LED-näyttöelementtiin ja perinteiseen okulaarioptiikkaan. Työssä tutustutaan näyttöelementin teknologiaan, sen mahdollisiin rajoituksiin sekä selvitetään optisilla mittauksilla, voitaisiinko konventionaalinen linssiokulaari korvata muovisella prismaokulaarilla. Tämä mahdollistaisi pienemmän ja kevyemmän silmänäytön kehittämisen, mikä parantaisi kamerajärjestelmän käytettävyyttä ja kilpailukykyä.

Electroluminescence of silicon- and some metal oxides

In the present work electroluminescence in Si-SiO2 structures has been investigated. Electroluminescence has been recorded in the range of 250-900 nm in a system of electrolyte-insulator-semiconductor at the room temperature. The heating process of electrons in SiO2 was studied and possibility of separation it into two phases has been shown. The nature of luminescence centers and the model of its formation were proposed. This paper also includes consideration of oxide layer formation. Charge transfer mechanisms have been attended as well. The nature of electroluminescence is understood in detail. As a matter of fact, electron traps in silicon are the centers of luminescence. Electroluminescence occurs when electrons move from one trap to another. Thus the radiation of light quantum occurs. These traps appear as a result of the oxide growth. At the same time the bonds deformation of silicon atoms with SiOH groups is not excludes. As a result, dangling bonds are appeared, which are the trapping centers or the centers of luminescence.

Sistema de vídeo vigilancia IP

El proyecto "IP-VideoSurveillance" es un proyecto de fin de carrera con documentación y código fuente en C# (VS 2010 .NET). Su función básica es poder ser utilizado como programa para la monitorización de cámaras IP (en red) o locales (físicamente conectadas).

Eletrodeposição de irídio em tubo de grafite como modificador químico permanente em espectrometria de absorção atômica

A tubular electrochemical flow-cell for iridium deposition on the inner surface of pyrolytic graphite tube for permanent chemical modification is proposed. A transversal heated graphite tube was used as working electrode, a cylindrical piece of graphite inserted into the graphite tube as auxiliary electrode, and a micro Ag/AgCl(sat) as reference electrode. Iridium solution in 1.0 mol L-1 HCl, flowing at 0.55 mL min-1 for 60 min was used to perform the electrochemical modification. The applied potential to the flow-cell was - 0.700 V vs Ag/AgCl. Scanning electron microscopy images were taken for thermal and electrochemical modified graphite surface in order to evaluate the iridium distribution. Selenium hydride trapping was used to verify the performance of the proposed permanent chemical modifier.

Comparing Methods of Evaluating the Spread of Argentine Ants in Natural Habitats: Pitfall Traps vs. Baiting

Two methods of trapping Argentine ants in natural habitats are compared. both methods are used on the boundaries of an invaded area with the goal of assessing the spread of the invasion front. Pitfall surveys take longer to obtain results than bait surveys, but bait surveys are only a “snapshot” of the moment, with less chance of detecting Argentine ant workers. significant differences are found between the methods in terms of the number of traps occupied by Argentine ants, native ants or a combination of both. Differences in the richness of native ant species are found as well, showing that pitfall surveys are necessary to assess such richness. Despite this, no differences in the assessment of spread are found between the methods. bait surveys are an easier and faster method to assess the spread of Argentine ants, spread being one of the most important characteristics of biological invasions

Performance Evaluation and Calibration of Machine Vision Measurement

This thesis presents the calibration and comparison of two systems, a machine vision system that uses 3 channel RGB images and a line scanning spectral system. Calibration. is the process of checking and adjusting the accuracy of a measuring instrument by comparing it with standards. For the RGB system self-calibrating methods for finding various parameters of the imaging device were developed. Color calibration was done and the colors produced by the system were compared to the known colors values of the target. Software drivers for the Sony Robot were also developed and a mechanical part to connect a camera to the robot was also designed. For the line scanning spectral system, methods for the calibrating the alignment of the system and the measurement of the dimensions of the line scanned by the system were developed. Color calibration of the spectral system is also presented.

Sistema d'adquisició de temperatures de 2 canals via R.F.

Poder mesurar i enregistrar diferents tipus de magnituds com pressió, força, temperatura etc. s’ha convertit en una necessitat per moltes aplicacions actuals. Aquestes magnituds poden tenir procedències molt diverses, tals com l’entorn, o poden ser generades per sistemes mecànics, elèctrics, etc. Per tal de poder adquirir aquestes magnituds, s’utilitzen els sistemes d’adquisició de dades. Aquests sistemes, prenen mostres analògiques del món real, i les transformen en dades digitals que poden ser manipulades per un sistema electrònic. Pràcticament qualsevol magnitud es pot mesurar utilitzant el sensor adient. Una magnitud molt utilitzada en sistemes d’adquisició de dades, és la temperatura. Els sistemes d’adquisició de temperatures estan molt generalitzats, i podem trobar-los com a sistemes, on l’objectiu és mostrar les dades adquirides, o podem trobar-los formant part de sistemes de control, aportant uns inputs necessaris per el seu correcte funcionament, garantir-ne l’estabilitat, seguretat etc. Aquest projecte, promogut per l’empresa Elausa, s’encarregarà d’adquirir, el senyal d’entrada de 2 Termoparells. Aquests mesuraran temperatures de circuits electrònics, que es trobaran dintre la càmera climàtica de Elausa, sotmesos a diferents condicions de temperatura, per tal de rebre l’homologació del circuit. El sistema haurà de poder mostrar les dades adquirides en temps real, i emmagatzemar-les en un PC que estarà ubicat en una oficina, situada a uns 30 m de distància de la sala on es farà el test. El sistema constarà d’un circuit electrònic que adquirirà, i condicionarà el senyal de sortida dels termoparells, per adaptar-lo a la tensió d’entrada d’un convertidor analògic digital, del microcontrolador integrat en aquesta placa. Seguidament aquesta informació, s’enviarà a través d’un mòdul transmissor de radiofreqüència, cap al PC on es visualitzaran les dades adquirides. Els objectius plantejats són els següents: - Dissenyar el circuit electrònic d’adquisició i condicionament del senyal. - Dissenyar, fabricar i muntar el circuit imprès de la placa d’adquisició. - Realitzar el programa de control del microcontrolador. - Realitzar el programa per presentar i desar les dades en un PC. - El sistema ha d’adquirir 2 temperatures, a través de Termoparells amb un rang d’entrada de -40ºC a +240ºC - S’ha de transmetre les dades via R.F. Els resultats del projecte han estat satisfactoris i s’han complert els objectius plantejats.

Anàlisi d'imatges estereoscòpiques utilitzant mètodes de baixa càrrega computacional

Mitjançant imatges estereoscòpiques es poden detectar la posició respecte de la càmera dels objectes que apareixen en una escena. A partir de les diferències entre les imatges captades pels dos objectius es pot determinar la profunditat dels objectes. Existeixen diversitat de tècniques de visió artificial que permeten calcular la localització dels objectes, habitualment amb l’objectiu de reconstruir l’escena en 3D. Aquestes tècniques necessiten una gran càrrega computacional, ja que utilitzen mètodes de comparació bidimensionals, i per tant, no es poden utilitzar per aplicacions en temps real. En aquest treball proposem un nou mètode d’anàlisi de les imatges estereoscòpiques que ens permeti obtenir la profunditat dels objectes d’una escena amb uns resultats acceptables. Aquest nou mètode es basa en transformar la informació bidimensional de la imatge en una informació unidimensional per tal de poder fer la comparació de les imatges amb un baix cost computacional, i dels resultats de la comparació extreure’n la profunditat dels objectes dins l’escena. Això ha de permetre, per exemple, que aquest mètode es pugui implementar en un dispositiu autònom i li permeti realitzar operacions de guiatge a través d’espais interiors i exteriors.

Sensor Fusion of Proprioception, Force and Vision in Estimation and Robot

Sensor-based robot control allows manipulation in dynamic environments with uncertainties. Vision is a versatile low-cost sensory modality, but low sample rate, high sensor delay and uncertain measurements limit its usability, especially in strongly dynamic environments. Force is a complementary sensory modality allowing accurate measurements of local object shape when a tooltip is in contact with the object. In multimodal sensor fusion, several sensors measuring different modalities are combined to give a more accurate estimate of the environment. As force and vision are fundamentally different sensory modalities not sharing a common representation, combining the information from these sensors is not straightforward. In this thesis, methods for fusing proprioception, force and vision together are proposed. Making assumptions of object shape and modeling the uncertainties of the sensors, the measurements can be fused together in an extended Kalman filter. The fusion of force and visual measurements makes it possible to estimate the pose of a moving target with an end-effector mounted moving camera at high rate and accuracy. The proposed approach takes the latency of the vision system into account explicitly, to provide high sample rate estimates. The estimates also allow a smooth transition from vision-based motion control to force control. The velocity of the end-effector can be controlled by estimating the distance to the target by vision and determining the velocity profile giving rapid approach and minimal force overshoot. Experiments with a 5-degree-of-freedom parallel hydraulic manipulator and a 6-degree-of-freedom serial manipulator show that integration of several sensor modalities can increase the accuracy of the measurements significantly.

Animal sound : què se sent quan s’és una cabra?

Aquest projecte treballa sobre la possibilitat d'aplicar tècniques d'enregistrament binaural en animals, en concret, en una cabra domèstica. Mitjançant uns micròfons col·locats dins les seves orelles i una petita càmera de vídeo muntada sobre el seu cap, s'obté un material audiovisual que permet fer-se una idea aproximada de com és la seva percepció del món. En base a un estudi de cognició comparada, es pretén trobar maneres de transformar els enregistraments obtinguts per tal d'adaptar el marc psicoacústic humà al de l'animal. L'objectiu és que una persona pugui sentir com ho fa un animal, encara que sigui d'una manera aproximada. Els materials obtinguts al llarg dels enregistraments són el punt de partida per a la construcció de paisatges sonors i peces audiovisuals diverses. Així doncs, el treball s'inicia amb el disseny i construcció d'un micròfon binaural, continua amb enregistraments de camp en animals i acaba amb l'edició, el processat i la composició dels paisatges sonors finals.

Aplicação de planejamento fatorial a protocolo de extração e fixação de sulfetos volatilizáveis por acidificação (SVA) em amostras de sedimento

The AVS is defined operationally as acid volatile sulfide, which is a controlling phase on the partition of some metallic species in sediments. A Factorial design was evaluated by means of 16 experiments and using four variables: temperature, extraction time, N2 flow, and volume of the S2- collection solution. The factors that contributed to the efficiency of the process were the extraction time and the N2 flow. Trapping of S2- was efficient in AAB. The S2- was quantified using a potentiometric procedure. Recovery tests for S2- concentrations varying from 1×10-5 to 1×10-4 mol L-1 were in the range from 93 to 116%.

Photometric procedure for quantitative analysis of Aflatoxin B1 in peanuts by thin-layer chromatography using charge coupled device detector

A photometric procedure was developed for determination of aflatoxin B1 in peanuts by TLC-CCD technique. The quantification and detection limit were 1.2 μg kg-1 and 0.4 ng per spot, respectively, with mean recovery of 98%. The CCD camera is sufficiently sensitive to detect small changes in spots fluorescence intensity and the results for performance confirmed the efficiency of the method. Another important property of CCD detector is its linearity for a wide range of luminous stimulus determined by analysis of five-point calibration curves using the intensity of AFB1 fluorescence versus AFB1 concentration (0.8 to 4.8 ng per spot). The method was applied to the analysis of thirty nine peanut samples and aflatoxin B1 levels ranged from 16 to 115 μg kg-1. The TLC-CCD and the photometric procedure developed in this study demonstrated to be a simple and efficient tool for quantitative analyses of AFB1 in peanut samples.