Application of Visual-Inertial SLAM for 3D Mapping of Underground Environments

The underground scenarios are one of the most challenging environments for accurate and precise 3d mapping where hostile conditions like absence of Global Positioning Systems, extreme lighting variations and geometrically smooth surfaces may be expected. So far, the state-of-the-art methods in underground modelling remain restricted to environments in which pronounced geometric features are abundant. This limitation is a consequence of the scan matching algorithms used to solve the localization and registration problems. This paper contributes to the expansion of the modelling capabilities to structures characterized by uniform geometry and smooth surfaces, as is the case of road and train tunnels. To achieve that, we combine some state of the art techniques from mobile robotics, and propose a method for 6DOF platform positioning in such scenarios, that is latter used for the environment modelling. A visual monocular Simultaneous Localization and Mapping (MonoSLAM) approach based on the Extended Kalman Filter (EKF), complemented by the introduction of inertial measurements in the prediction step, allows our system to localize himself over long distances, using exclusively sensors carried on board a mobile platform. By feeding the Extended Kalman Filter with inertial data we were able to overcome the major problem related with MonoSLAM implementations, known as scale factor ambiguity. Despite extreme lighting variations, reliable visual features were extracted through the SIFT algorithm, and inserted directly in the EKF mechanism according to the Inverse Depth Parametrization. Through the 1-Point RANSAC (Random Sample Consensus) wrong frame-to-frame feature matches were rejected. The developed method was tested based on a dataset acquired inside a road tunnel and the navigation results compared with a ground truth obtained by post-processing a high grade Inertial Navigation System and L1/L2 RTK-GPS measurements acquired outside the tunnel. Results from the localization strategy are presented and analyzed.

Recurrence After Operative Management of Intrahepatic Cholangiocarcinoma

INTRODUCTION: Data on recurrence after operation for intrahepatic cholangiocarcinoma (ICC) are limited. We sought to investigate rates and patterns of recurrence in patients after operative intervention for ICC. METHODS: We identified 301 patients who underwent operation for ICC between 1990 and 2011 from an international, multi-institutional database. Clinicopathologic data, recurrence patterns, and recurrence-free survival (RFS) were analyzed. RESULTS: During the median follow up duration of 31 months (range 1-208), 53.5% developed a recurrence. Median RFS was 20.2 months and 5-year actuarial disease-free survival, 32.1%. The most common site for initial recurrence after operation of ICC was intrahepatic (n = 98; 60.9%), followed by simultaneous intra- and extrahepatic disease (n = 30; 18.6%); 33 (21.0%) patients developed extrahepatic recurrence only as the first site of recurrence. Macrovascular invasion (hazard ratio [HR], 2.08; 95% confidence interval [CI], 1.34-3.21; P < .001), nodal metastasis (HR, 1.55; 95% CI, 1.01-2.45; P = .04), unknown nodal status (HR, 1.57; 95% CI, 1.10-2.25; P = .04), and tumor size ≥5 cm (HR, 1.84; 95% CI, 1.28-2.65; P < .001) were independently associated with increased risk of recurrence. Patients were assigned a clinical score from 0 to 3 according to the presence of these risk factors. The 5-year RFS for patients with scores of 0, 1, 2, and 3 was 61.8%, 36.2%, 19.5%, and 9.6%, respectively. CONCLUSION: Recurrence after operative intervention for ICC was common. Disease recurred both at intra- and extrahepatic sites with roughly the same frequency. Factors such as lymph node metastasis, tumor size, and vascular invasion predict highest risk of recurrence.

Dimensionamento de lajes aligeiradas betonadas "in situ"

A conjuntura económica da construção não se encontra numa fase de prosperidade, existindo a necessidade de criar soluções construtivas que permitam a redução de custos dos materiais a nível de obra. As lajes de betão armado, devido à sua grande área de implantação, possuem uma parcela importante no orçamento final de qualquer obra de edifícios correntes. Sabendo das possibilidades de aligeiramento de lajes, torna-se necessária a realização de um estudo pormenorizado e comparativo entre soluções de aligeiramento. O desenvolvimento deste relatório reflete todo o trabalho efetuado durante a realização de um estágio curricular desenvolvido na empresa FercaNorte – Estruturas, Lajes e Cofragens, Lda. e foca-se num dimensionamento e estudo comparativo de soluções de lajes fungiformes aligeiradas, aplicadas a dois casos de estudo e também num dimensionamento e estudo comparativo de soluções de lajes aligeiradas unidirecionais mas apenas aplicadas a um caso de estudo. No primeiro caso de estudo, laje fungiforme com um vão de 6 metros nas duas direções, são dimensionadas e comparadas quatro soluções: laje fungiforme maciça; laje fungiforme aligeirada com blocos elipsoides perdidos dispostos de forma ortogonal e envolvidos totalmente por betão; laje fungiforme aligeirada com blocos elipsoides perdidos dispostos em formato de favo de mel e envolvidos totalmente por betão; e laje fungiforme nervurada com moldes recuperáveis. No segundo caso de estudo, laje fungiforme com um vão de 7,04 metros nas duas direções, são dimensionadas e comparadas cinco soluções: laje fungiforme maciça, laje fungiforme aligeirada com blocos cúbicos perdidos dispostos de forma ortogonal e envolvidos totalmente por betão; laje fungiforme aligeirada, com blocos elipsoides perdidos dispostos de forma ortogonal e envolvidos totalmente por betão; laje fungiforme aligeirada com blocos elipsoides perdidos dispostos em formato de favo de mel e envolvidos totalmente por betão; e laje fungiforme nervurada com moldes recuperáveis. No terceiro caso de estudo, laje unidirecional com um vão de 8 metros apoiada em vigas com vão de 5 metros, são dimensionadas e comparadas três soluções: laje maciça; laje aligeirada com perfis tubulares com secção transversal reta oval; e laje nervurada com moldes recuperáveis. No final é apresentada uma estimativa orçamental para cada solução analisada nos três casos de estudo abordados.

THE POWER OF THE SMALL: THE EXAMPLE OF Paracoccidioides brasiliensis CONIDIA

SUMMARYResearch on Paracoccidioides brasiliensis has centered in the yeast cell probably because of the lack of distinctive features in the mycelium. In 1942 and for the first time, lateral conidia were noticed in the fungus' hyphae. Later on, Brazilian, Venezuelan and Argentinean researchers described "aleurias" when the fungus was grown in natural substrates. In 1970 authors became interested in the conidia and were able to obtain them in large numbers and treat them as individual units. Their shape and size were defined and the presence of all the elements of a competent eukaryotic cell were demonstrated. Conidia exhibited thermal dimorphism and, additionally, when given intranasally to BALB/c male mice, they converted into yeasts in the lungs and produce progressive pulmonary lesions with further dissemination to other organs. Studies on the phagocyte-conidia interaction were revealing and showed that these versatile structures allow a better understanding of the host- P. brasiliensisinteractions.

Torpedo Maculopathy with an Anisometropic Amblyopia in a 5-Year-Old Caucasian Girl: Case Report

The aim of this study is to report a clinical case of asymptomatic female Caucasian children with torpedo maculopathy. A 5-year-old girl was referred to our clinic for routine evaluation. The ophthalmic examination revealed best-corrected visual acuity of 20/20 in both eyes, without any changes in the biomicroscopy. Fundus examination showed normal findings in one eye, whereas in the contralateral eye it disclosed, in the temporal sector of the macular region, a whitish, atrophic, oval chorioretinal lesion with clearly defined margins. Posterior evaluations documented the stability of the lesion. Torpedo maculopathy diagnosis is based on its characteristic shape and peculiar location. The differential diagnosis has to be established versus choroidal lesions (melanoma and nevus), congenital or iatrogenic hyperplasia of the retinal pigment epithelium (RPE) and particularly versus the congenital pigmented lesions associated with Gardner's syndrome.

Virtual Campus for the University of Jaume I, Castelló, Spain: 3D Modelling of the Campus Buildings using CityEngine

Dissertation submitted in partial fulfillment of the requirements for the Degree of Master of Science in Geospatial Technologies.

Image processing methodology for assessment of drilling induced damage in CFRP

Dissertação para obtenção do Grau de Mestre em Engenharia Mecânica

Nanobiophotonics for biomolecular diagnostics

Dissertação para obtenção do Grau de Doutor em Biotecnologia

Deltamethrin pyrethroid susceptibility characterization of Triatoma sordida Stål, 1859 (Hemiptera: Reduviidae) populations in the Northern Region of Minas Gerais, Brazil

Introduction Triatoma sordida is the most captured Triatomine species in the Brazilian artificial environment. In 2008, the discovery of three Triatomine populations with altered susceptibilities to deltamethrin highlighted the importance of investigating the genetic potential for resistance in triatomines. The purpose of this study was to characterize the susceptibility to deltamethrin of peridomestic T. sordida populations in Minas Gerais, Brazil. Methods A susceptibility reference lineage derived from Uberaba, Minas Gerais, Brazil was used. Serial dilutions of deltamethrin were prepared and applied to the dorsal abdomen of first instar nymphs. The control group received only pure acetone. Mortality was evaluated after 72h. Qualitative tests assessed mortality in response to a diagnostic dose of 1xLD99 of the susceptibility reference lineage. Results Susceptibility profile characterization of T. sordida populations revealed resistance ratios (RR50s) ranging from 0.42 to 3.94. The percentage mortality in response to the diagnostic dose varied from 70% to 100%. A comparison of the results obtained in the quantitative and qualitative assays demonstrated a lack of correspondence for some populations. Conclusions We demonstrated that only T. sordida populations that present a RR50>1.0 have altered susceptibility, and the execution of simultaneous field and laboratory tests is required to understand the actual effect of vector control. A possible cause of the observed resistance ratios might be the continuous use of pyrethroids in Brazil since the 1980s.

Description of continuous data using bar graphs: a misleading approach

INTRODUCTION:With the ease provided by current computational programs, medical and scientific journals use bar graphs to describe continuous data.METHODS:This manuscript discusses the inadequacy of bars graphs to present continuous data.RESULTS:Simulated data show that box plots and dot plots are more-feasible tools to describe continuous data.CONCLUSIONS:These plots are preferred to represent continuous variables since they effectively describe the range, shape, and variability of observations and clearly identify outliers. By contrast, bar graphs address only measures of central tendency. Bar graphs should be used only to describe qualitative data.

Can body traits, other than wings, reflect the flight ability of Triatominae bugs?

Abstract: INTRODUCTION : Insects of the subfamily Triatominae are vectors of Trypanosoma cruzi , the Chagas disease parasite, and their flying behavior has epidemiological importance. The flying capacity is strikingly different across and within Triatominae species, as well as between sexes or individuals. Many Triatoma infestans individuals have wings but no flying muscles. In other Triatominae species, no clear relationships were found between wing length and flying behavior. If wing presence or size is not reflective of the flying behavior, which other parts of the body could be considered as reliable markers of this important function? METHODS : The genus Mepraia has exceptional characteristics with invariably wingless females and wingless or winged males. We calculated the porous surface exposed to odorant molecules to estimate the olfactory capacity of Mepraia spinolai . The head shape and thorax size were estimated using the geometric morphometric approach and traditional morphometric techniques, respectively. RESULTS : Alary polymorphism in M. spinolai was significantly associated with consistent modification of the thorax size, head shape, and notable change in the estimated olfactory capacity. The macropterous individuals had a larger olfactory surface and thorax size and significantly different head shape compared to those of the micropterous individuals. CONCLUSIONS: We concluded that these structural changes could be associated with the flying potential of Triatominae. Thus, morphological attributes not found on wings could help determine the likely flying potential of the bugs.

Notes on the ethnoicthyology of fishermen from the Tocantins river (Brazil)

Ethnobiology includes the study of how populations perceive and classify organisms. This study focuses on the utilization and classification of fishes by fishermen from the Tocantins river. The study area is located between the cities of Imperatriz and Estreito (Maranhão and Tocantins States). Interviews with fishermen and collection of fish species were performed from October 1987 to June 1988. The criteria used by fishermen to classify fish species are mainly morphological, such as related to body shape and coloration. Fish habitat is also an information used in folk classification. Terrestrial plants and animals are a reference for some fish names. Fishermen showed a deeper knowledge and detailed classification of species of fish used for food, sale, or medicine. Folk classification represents the knowledge a population has on its environment, and it is more detailed on species which are part of its realized niche as indicated by this study.

Uma nova espécie do gênero Cynometra L. (Caesalpiniaceae) para o Estado do Pará, Brasil

Cynometra marleneae is new a taxon discovered after a detailed analysis of the species in the genus. This species differs considerably from the others studied in the shape and thichness of leaflets, shape of petals and number of racemes per axil, among other characters. It is known only from the Trombetas river and tributaries, Pará state.

The impact of work clothing design on workers’ comfort

Physical and physiological comfort, at work and during leisure time, is important to human health and motivation. A growing number of jobs require workers to sit. Most clothes, except those intended for wheelchair users, were designed for walking or the standing position. Clothing designs should be user-oriented and meet users’ needs. Garment design should conform to body position and posture, not just shape and size. In this paper we present the ergometric impact of a new type of trousers designed to adapt to changes in position. Concentrations of compression forces, temperature and pressure were documented in an exploratory pilot study and contrasted to traditional designs. The new trousers showed significant decreases in compression force concentration, especially in and around the knees and waist. Most participants identified comfort as an important factor when purchasing a pair of trousers and that, for working purposes, they would prefer these special trousers rather than traditional designs.

A influência dos blogues de beleza no processo de tomada de decisão das consumidoras

Dissertação de mestrado em Marketing e Estratégia