Optimization of medium for the production of a novel aquaculture probiotic, Micrococcus MCCB 104 using central composite design

A marine isolate of jáÅêçÅçÅÅìë MCCB 104 has been identified as an aquaculture probiotic antagonistic to sáÄêáç. In the present study different carbon and nitrogen sources and growth factors in a mineral base medium were optimized for enhanced biomass production and antagonistic activity against the target pathogen, sáÄêáç=Ü~êîÉóá, following response surface methodology (RSM). Accordingly the minimum and maximum limits of the selected variables were determined and a set of fifty experiments programmed employing central composite design (CCD) of RSM for the final optimization. The response surface plots of biomass showed similar pattern with that of antagonistic activity, which indicated a strong correlation between the biomass and antagonism. The optimum concentration of the carbon sources, nitrogen sources, and growth factors for both biomass and antagonistic activity were glucose (17.4 g/L), lactose (17 g/L), sodium chloride (16.9 g/L), ammonium chloride (3.3 g/L), and mineral salts solution (18.3 mL/L). © KSBB

Pathological changes in Fenneropenaeus indicus experimentally infected with white spot virus and virus morphogenesis

To demonstrate pathological changes due to white spot virus infection in Fenneropenaeus indicus, a batch of hatchery bred quarantined animals was experimentally infected with the virus. Organs such as gills, foregut, mid-gut, hindgut, nerve, eye, heart, ovary and integument were examined by light and electron microscopy. Histopathological analyses revealed changes hitherto not reported in F. indicus such as lesions to the internal folding of gut resulted in syncytial mass sloughed off into lumen, thickening of hepatopancreatic connective tissue with vacuolization of tubules and necrosis of rectal pads in hindgut. Virus replication was seen in the crystalline tract region of the compound eye and eosinophilic granules infiltrated from its base. In the gill arch, dilation and disintegration of median blood vessel was observed. In the nervous tissues, encapsulation and subsequent atrophy of hypertrophied nuclei of the neurosecretory cells were found. Transmission electron microscopy showed viral replication and morphogenesis in cells of infected tissue. De novo formed vesicles covered the capsid forming a bilayered envelop opened at one end inside the virogenic stroma. Circular vesicles containing nuclear material was found fused with the envelop. Subsequent thickening of the envelop resulted in the fully formed virus. In this study, a correlation was observed between the stages of viral multiplication and the corresponding pathological changes in the cells during the WSV infection. Accordingly, gill and foregut tissues were found highly infected during the onset of clinical signs itself, and are proposed to be used as the tissues for routine disease diagnosis.

Short Communication: Polystyrene-an inert carrier for L·glutaminase production by marine Vibrio costico/a under selld-state fermentation

Polystyrene beads, impregnated with mineral salts/glutamine medium as inert support, were used to produce L-glutaminase from Vibrio costicola by solid-state fermentation. Maximum enzyme yield, 88 U/g substrate, was after 36 h. Glucose at 10 g/kg enhanced the enzyme yield by 66%. The support system allowed glutaminase to be recovered with higher specific activity and lower viscosity than when a wheat-bran system was used

Detergent compatible alkaline lipase produced by marine Bacillus smithii BTMS 11

Bacillus smithii BTMS 11, isolated from marine sediment, produced alkaline and thermostable lipase. The enzyme was purified to homogeneity by ammonium sulfate precipitation and ion exchange chromatography which resulted in 0.51 % final yield and a 4.33 fold of purification. The purified enzyme was found to have a specific activity of 360 IU/mg protein. SDS-PAGE analyses, under non-reducing and reducing conditions, yielded a single band of 45 kDa indicating the single polypeptide nature of the enzyme and zymogram analysis using methylumbelliferyl butyrate as substrate confirmed the lipolytic activity of the protein band. The enzyme was found to have 50 C and pH 8.0 as optimum conditions for maximal activity. However, the enzyme was active over wide range of temperatures (30–80 C) and pH (7.0–10.0). Effect of a number of metal salts, solvents, surfactants, and other typical enzyme inhibitors on lipase activity was studied to determine the novel characteristics of the enzyme. More than 90 % of the enzyme activity was observed even after 3 h of incubation in the presence of commercial detergents Surf, Sunlight, Ariel, Henko, Tide and Ujala indicating the detergent compatibility of B. smithii lipase. The enzyme was also found to be efficient in stain removal from cotton cloths. Further it was observed that the enzyme could catalyse ester synthesis between fatty acids of varying carbon chain lengths and methanol with high preference for medium to long chain fatty acids showing 70 % of esterification. Results of the study indicated scope for application of this marine bacterial lipase in various industries

Identifying Decisive Features for Distinctive Analysis of Writings in Malayalam

This paper presents a writer identification scheme for Malayalam documents. As the accomplishment rate of a scheme is highly dependent on the features extracted from the documents, the process of feature selection and extraction is highly relevant. The paper describes a set of novel features exclusively for Malayalam language. The features were studied in detail which resulted in a comparative study of all the features. The features are fused to form the feature vector or knowledge vector. This knowledge vector is then used in all the phases of the writer identification scheme. The scheme has been tested on a test bed of 280 writers of which 50 writers having only one page, 215 writers with at least 2 pages and 15 writers with at least 4 pages. To perform a comparative evaluation of the scheme the test is conducted using WD-LBP method also. A recognition rate of around 95% was obtained for the proposed approach

Hydrogeology and hydrochemistry of the aquifer systems of Kuttanad area, Kerala: Their role in understanding the evolution of groundwaters

This is an attempt to understand the important factors that control the occurrence, development and hydrochemical evolution of groundwater resources in sedimentary multi aquifer systems. The primary objective of this work is an integrated study of the hydrogeology and hydrochemistry with a view to elucidate the hydrochemical evolution of groundwater resources in the aquifer systems. The study is taken up in a typical coastal sedimentary aquifer system evolved under fluvio-marine environment in the coastal area of Kerala, known as the Kuttanad. The present study has been carried out to understand the aquifer systems, their inter relationships and evolution in the Kuttanad area of Kerala. The multi aquifer systems in the Kuttanad basin were formed from the sediments deposited under fluvio-marine and fluvial depositional environments and the marine transgressions and regressions in the geological past and palaeo climatic conditions influenced the hydrochemical environment in these aquifers. The evolution of groundwater and the hydrochemical processes involved in the formation of the present day water quality are elucidated from hydrochemical studies and the information derived from the aquifer geometry and hydraulic properties. Kuttanad area comprises of three types of aquifer systems namely phreatic aquifer underlain by Recent confined aquifer followed by Tertiary confined aquifers. These systems were formed by the deposition of sediments under fluvio-marine and fluvial environment. The study of the hydrochemical and hydraulic properties of the three aquifer systems proved that these three systems are separate entities. The phreatic aquifers in the area have low hydraulic gradients and high rejected recharge. The Recent confined aquifer has very poor hydraulic characteristics and recharge to this aquifer is very low. The Tertiary aquifer system is the most potential fresh water aquifer system in the area and the groundwater flow in the aquifer is converging towards the central part of the study area (Alleppey town) due to large scale pumping of water for water supply from this aquifer system. Mixing of waters and anthropogenic interferences are the dominant processes modifying the hydrochemistry in phreatic aquifers. Whereas, leaching of salts and cation exchange are the dominant processes modifying the hydrochemistry of groundwater in the confined aquifer system of Recent alluvium. Two significant chemical reactions modifying the hydrochemistry in the Recent aquifers are oxidation of iron in ferruginous clays which contributes hydrogen ions and the decomposition of organic matter in the aquifer system which consumes hydrogen ions. The hydrochemical environment is entirely different in the Tertiary aquifers as the groundwater in this aquifer system are palaeo waters evolved during various marine transgressions and regressions and these waters are being modified by processes of leaching of salts, cation exchange and chemical reactions under strong reducing environment. It is proved that the salinity observed in the groundwaters of Tertiary aquifers are not due to seawater mixing or intrusion, but due to dissolution of salts from the clay formations and ion exchange processes. Fluoride contamination in this aquifer system lacks a regional pattern and is more or less site specific in natureThe lowering of piezometric heads in the Tertiary aquifer system has developed as consequence of large scale pumping over a long period. Hence, puping from this aquifer system is to be regulated as a groundwater management strategy. Pumping from the Tertiary aquifers with high capacity pumps leads to well failures and mixing of saline water from the brackish zones. Such mixing zones are noticed from the hydrochemical studies. This is the major aquifer contamination in the Tertiary aquifer system which requires immediate attention. Usage of pumps above 10 HP capacities in wells taping Tertiary aquifers should be discouraged for sustainable development of these aquifers. The recharge areas need to be identified precisely for recharging the aquifer systems throughartificial means.

Bioactive Metabolites and Biomarkers from Rhizophoraceae mangroves- A Chemotaxonomic Approach

Mangroves are specialised ecosystems developed along estuarine sea coasts and river mouths in tropical and subtropical regions of the world, mainly in the intertidal zone. Hence, the ecosystem and its biological components is under the influence of both marine and freshwater conditions and has developed a set of physiological adaptations to overcome problems of anoxia, salinity and frequent tidal inundations. This has led to the assemblage of a wide variety of plant and animal species of special adaptations suited to the ecosystem. The path of photosynthesis in mangroves is different from other glycophytes. There are modifications or alterations in other physiological processes such as carbohydrate metabolism or polyphenol synthesis. As they survive under extreme conditions of salinity, temperature, tides and anoxic soil conditions they may have chemical compounds, which protect them from these destructive elements. Mangroves are necessarily tolerant of high salt levels and have mechanisms to take up water despite strong osmotic potentials. Some also take up salts, but excrete them through specialised glands in the leaves. Others transfer salts into senescent leaves or store them in the bark or the wood. Still others simply become increasingly conservative in their water use as water salinity increases. A usual transportation or biosynthetic path as other plants cannot be expected in mangrove plants. In India, the states like West Bengal, Orissa, Andhra Pradesh, Tamil Nadu, Andaman and Nicobar Islands, Kerala, Goa, Maharashtra, and Gujarat occupy vast area of mangroves. Kerala has only 6 km2 total mangrove area with Rhizophora apiculata, Rhizophora mucronata, Bruguiera gymnorrhiza, Bruguiera cylindrica, Avicennia officinalis, Sonneratia caseolaris, Sonneratia apetala and Kandelia candal, as the important species present, most of which belong to the family Rhizophoraceae.Rhizophoraceae mangroves are ranked as “major elements of mangroves” as they give the real shape of this unique and interesting ecosystem and these mangrove species most productive and typical characteristic ecosystem of World renowned. It was found that the Rhizophoraceae mangrove extracts exhibit several bioactive properties. Various parts of these mangroves are used in ethnomedicinal practices. Even though extracts from these mangroves possess therapeutic activity against humans, animal and plant pathogens, the specific metabolites responsible for these bioactivities remains to be elucidated. Various parts of these mangroves are used in ethnomedicinal practices. There is a gap of information towards the chemistry of Rhizophoraceae mangroves from Kerala. Thorough phytochemical investigation can achieve the validity of ethnomedicines as well as apply the use of mangrove plants in the development of new drugs. Such studies can pave a firm base for their use in biomarker and chemotaxonomic studies as well as for the better management of the existing mangrove ecosystem. In this study, the various chemical parameters including minerals, biochemical components, bioactive and biomarker molecules were used to classify and assess the possible potentials of the mangrove plants of the true mangrove family Rhizophoraceae from Kochi.

The role of Ken&Barbie in JAK/STAT signalling during development of Drosophila melanogaster

Cell-cell interactions during embryonic development are crucial in the co-ordination of growth, differentiation and maintenance of many different cell types. To achieve this co-ordination each cell must properly translate signals received from neighbouring cells, into spatially and temporally appropriate developmental responses. A surprisingly limited number of signal pathways are responsible for the differentiation of enormous variety of cell types. As a result, pathways are frequently 'reused' during development. Thus, in mammals the JAK/STAT pathway is required during early embryogenesis, mammary gland formation, hematopoiesis and, finally, plays a pivotal role in immune response. In the canonical way, the JAK/STAT pathway is represented by a transmembrane receptor associated with a Janus kinase (JAK), which upon stimulation by an extra-cellular ligand, phosphorylates itself, the receptor and, finally, the signal transducer and activator of transcription (STAT) molecules. Phosphorylated STATs dimerise and translocate to the nucleus where they activate transcription of target genes. The JAK/STAT pathway has been conserved throughout evolution, and all known components are present in the genome of Drosophila melanogaster. Besides hematopoietic and immunity functions, the pathway is also required during development for processes including embryonic segmentation, tracheal morphogenesis, posterior spiracle formation etc. This study describes Drosophila Ken&Barbie (Ken) as a selective regulator of JAK/STAT signalling. ken mutations identified in a screen for modulators of an eye overgrowth phenotype, caused by over-expression of the pathway ligand unpaired, also interact genetically with the pathway receptor domeless (dome) and the transcription factor stat92E. Over-expression of Ken can phenocopy developmental defects known to be caused by the loss of JAK/STAT signalling. These genetic interactions suggest that Ken may function as a negative regulator of the pathway. Ken has C-terminal Zn-finger domain, presumably for DNA binding, and N-terminal BTB/POZ domain, often found in transcriptional repressors. Using EGFP-fused construct expressed in vivo revealed nuclear accumulation of Ken. Therefore, it is proposed that Ken may act as a suppresser of STAT92E target genes. An in vitro assay, termed SELEX, determined that Ken specifically binds to a DNA sequence, with the essential for DNA recognition core overlapping that of STAT92E. This interesting observation suggests that not all STAT92E sites may also allow Ken binding. Strikingly, when effects of ectopic Ken on the expression of putative JAK/STAT pathway target genes were examined, only a subset of the genes tested, namely vvl, trh and kni, were down-regulated by Ken, whereas some others, such as eve and fj, appeared to be unresponsive. Further analysis of vvl, one of the genes susceptible to ectopic Ken, was undertaken. In the developing hindgut, expression of vvl is JAK/STAT pathway dependent, but remains repressed in the posterior spiracles, despite the stimulation of STAT92E by Upd in their primordia. Importantly, ken is also expressed in the developing posterior spiracles. Strikingly, up-regulation of vvl is observed in these tissues in ken mutant embryos. These imply that while ectopic Ken is sufficient to repress the expression of vvl in the hindgut, endogenous Ken is also necessary to prevent its activation in the posterior spiracles. It is therefore conceivable that ectopic vvl expression in the posterior spiracles of the ken mutants may be the result of de-repression of endogenous STAT92E activity. Another consequence of these observations is a fine balance that must exist between STAT92E and Ken activities. Apparently, endogenous level of Ken is sufficient to repress vvl, but not other, as yet unidentified, JAK/STAT pathway targets, whose presumable activation by STAT92E is required for posterior spiracle development as the embryos mutant for dome, the receptor of the pathway, show severe spiracle defects. These defects are also observed in the embryos mis-expressing Ken. Though it is possible that the posterior spiracle phenotype caused by higher levels of Ken results from a JAK/STAT pathway independent activity, it seems to be more likely that Ken acts in a dosage dependent manner, and extra Ken is able to further antagonise JAK/STAT pathway target genes. While STAT92E binding sites required for target gene expression have been poorly characterised, the existence of genome data allows the prediction of candidate STAT92E sites present in target genes promoters to be attempted. When a 6kb region containing the putative regulatory domains flanking the vvl locus are examined, only a single potential STAT92E binding site located 825bp upstream of the translational start can be detected. Strikingly, this site also includes a perfect Ken binding sequence. Such an in silico observation, though consistent with both Ken DNA binding assay in vitro and regulation of STAT92E target genes in vivo, however, requires further analysis. The JAK/STAT pathway is implicated in a variety of processes during embryonic and larval development as well as in imago. In each case, stimulation of the same transcription factor results in different developmental outcomes. While many potential mechanisms have been proposed and demonstrated to explain such pleiotropy, the present study indicates that Ken may represent another mechanism, with which signal transduction pathways are controlled. Ken selectively down-regulates a subset of potential target genes and so modifies the transcriptional profile generated by activated STAT92E - a mechanism, which may be partially responsible for differences in the morphogenetic processes elicited by JAK/STAT signalling during development.

Charakterisierung der mikrobiellen Population und Untersuchungen zum Quorum Sensing in der Rhizosphäre vom Weidelgras (Lolium perenne) auf einer Rückstandshalde der Kaliindustrie

Im Rahmen dieser Dissertation wurden die Dynamik und die Kommunikation innerhalb der mikrobiellen Population der Rhizosphäre von Deutschem Weidelgras (Lolium perenne) untersucht, welches auf einer teilweise rekultivierten Rückstandshalde der Kaliindustrie wuchs. Um die niederschlagsbedingte Auswaschung von Salzen zu reduzieren, wird die Rückstandshalde des Kaliwerks Sigmundshall (in Bokeloh bei Hannover) schrittweise mit dem technogenen Abdecksubstrat REKAL/SAV ummantelt. Dieses weist eine hohe Standfestigkeit und Wasserspeicherkapazität auf und kann zudem begrünt werden, wofür als Pionierpflanze Lolium perenne dient. Durch diese Rekultivierung wird Niederschlag besser gespeichert und über Evapotranspiration wieder in die Luft abgegeben, was letztendlich die Bildung von Salzwasser vermindert. Da das Abdecksubstrat neben alkalischem pH-Wert auch teilweise hohe Schwermetallkonzentrationen aufweist, sollte in der vorliegenden Arbeit erstmals die mikrobielle Rhizosphären-Gemeinschaft in diesem extremen Habitat mittels einer kulturunabhängigen Methode erforscht werden. Zudem wurden erste Untersuchungen angestellt, ob im Substrat die zelldichte-abhängige bakterielle Kommunikation (Quorum Sensing) nachgewiesen werden kann. Mittels extrahierter Gesamt-DNA wurde anhand der 16S rDNA die Analyse des „Terminalen Restriktonsfragmentlängenpolymorphismus“ (TRFLP) verwendet, um die komplexe bakterielle Rhizosphären-Gemeinschaft unter zeitlichen und lokalen Aspekten zu vergleichen. Auftretende Veränderungen bei den bakteriellen Populationen der jeweiligen Proben wurden durch eine Zu- oder Abnahme der auch als Ribotypen bezeichneten terminalen Restriktionsfragmente (TRF) erfasst. Hierbei zeigten sich am Südhang der Halde während der Sommermonate der Jahre 2008 und 2009 zwar Schwankungen in den bakteriellen Gemeinschaftsprofilen, es lagen jedoch keine eindeutigen Dynamiken vor. Im Vergleich zum Südhang der Halde wies der Nordhang eine höhere Ribotyp-Diversität auf, was mit der fortgeschritteneren Rekultivierung dieses Haldenabschnitts zusammenhängen könnte. Zusätzlich wurden Bakterien aus der Rhizosphäre von Lolium perenne isoliert und mithilfe der Biosensoren Agrobacterium tumefaciens A136 pCF218 pCF372 und Chromobacterium violaceum CV026 auf die Produktion von N-Acylhomoserinlactonen (AHLs) überprüft. Diese AHLs werden von Gram-negativen Mikroorganismen als Signalmoleküle verwendet, um ihre Genexpression zelldichteabhängig zu kontrollieren. Von den 47 getesteten Gram-negativen Rhizosphärenisolaten konnten nur bei einem reproduzierbar AHL-Moleküle mithilfe des Reporterstamms A. tumefaciens nachgewiesen werden. Der AHL-Produzent wurde als Pseudomonas fluorescens identifiziert. Mittels dünnschichtchromatographischer Analysen konnten die extrahierten bakteriellen AHL-Moleküle den N-Octanoyl-L-homoserinlactonen zugeordnet werden.

Information Exchange and Fusion in Dynamic and Heterogeneous Distributed Environments

Context awareness, dynamic reconfiguration at runtime and heterogeneity are key characteristics of future distributed systems, particularly in ubiquitous and mobile computing scenarios. The main contributions of this dissertation are theoretical as well as architectural concepts facilitating information exchange and fusion in heterogeneous and dynamic distributed environments. Our main focus is on bridging the heterogeneity issues and, at the same time, considering uncertain, imprecise and unreliable sensor information in information fusion and reasoning approaches. A domain ontology is used to establish a common vocabulary for the exchanged information. We thereby explicitly support different representations for the same kind of information and provide Inter-Representation Operations that convert between them. Special account is taken of the conversion of associated meta-data that express uncertainty and impreciseness. The Unscented Transformation, for example, is applied to propagate Gaussian normal distributions across highly non-linear Inter-Representation Operations. Uncertain sensor information is fused using the Dempster-Shafer Theory of Evidence as it allows explicit modelling of partial and complete ignorance. We also show how to incorporate the Dempster-Shafer Theory of Evidence into probabilistic reasoning schemes such as Hidden Markov Models in order to be able to consider the uncertainty of sensor information when deriving high-level information from low-level data. For all these concepts we provide architectural support as a guideline for developers of innovative information exchange and fusion infrastructures that are particularly targeted at heterogeneous dynamic environments. Two case studies serve as proof of concept. The first case study focuses on heterogeneous autonomous robots that have to spontaneously form a cooperative team in order to achieve a common goal. The second case study is concerned with an approach for user activity recognition which serves as baseline for a context-aware adaptive application. Both case studies demonstrate the viability and strengths of the proposed solution and emphasize that the Dempster-Shafer Theory of Evidence should be preferred to pure probability theory in applications involving non-linear Inter-Representation Operations.

Short-term effects of human urine fertiliser and wood ash on soil pH and electrical conductivity

The fertiliser value of human urine has been examined on several crops, yet little is known about its effects on key soil properties of agronomic significance. This study investigated temporal soil salinization potential of human urine fertiliser (HUF). It further looked at combined effects of human urine and wood ash (WA) on soil pH, urine-NH_3 volatilisation, soil electrical conductivity (EC), and basic cation contents of two Acrisols (Adenta and Toje series) from the coastal savannah zone of Ghana. The experiment was a factorial design conducted in the laboratory for 12 weeks. The results indicated an increase in soil pH by 1.2 units for Adenta series and 1 unit for Toje series after one week of HUF application followed by a decline by about 2 pH units for both soil types after twelve weeks. This was attributed to nitrification of ammonium to nitrate leading to acidification. The EC otherwise increased with HUF application creating slightly saline conditions in Toje series and non-saline conditions in Adenta series. When WA was applied with HUF, both soil pH and EC increased. In contrast, the HUF alone slightly salinized Toje series, but both soils remained non-saline whenWA and HUF were applied together. The application ofWA resulted in two-fold increase in Ca, Mg, K, and Na content compared to HUF alone. Hence, WA is a promising amendment of acid soils and could reduce the effect of soluble salts in human urine fertilizer, which is likely to cause soil salinity.

Stimuli-responsive Novel Amphiphilic Polymers for Chemical and Biomedical Applications

Amphiphilic polymers are a class of polymers that self-assemble into different types of microstructure, depending on the solvent environment and external stimuli. Self assembly structures can exist in many different forms, such as spherical micelles, rod-like micelles, bi-layers, vesicles, bi-continuous structure etc. Most biological systems are basically comprised of many of these organised structures arranged in an intelligent manner, which impart functions and life to the system. We have adopted the atom transfer radical polymerization (ATRP) technique to synthesize various types of block copolymer systems that self-assemble into different microstructure when subject to an external stimuli, such as pH or temperature. The systems that we have studied are: (1) pH responsive fullerene (C60) containing poly(methacrylic acid) (PMAA-b-C60); (2) pH and temperature responsive fullerene containing poly[2-(dimethylamino)ethyl methacrylate] (C₆₀-b-PDMAEMA); (3) other responsive water-soluble fullerene systems. By varying temperature, pH and salt concentration, different types microstructure can be produced. In the presence of inorganic salts, fractal patterns at nano- to microscopic dimension were observed for negatively charged PMAA-b-C60, while such structure was not observed for positively charged PDMAEMA-b-C60. We demonstrated that negatively charged fullerene containing polymeric systems can serve as excellent nano-templates for the controlled growth of inorganic crystals at the nano- to micrometer length scale and the possible mechanism was proposed. The physical properties and the characteristics of their self-assembly properties will be discussed, and their implications to chemical and biomedical applications will be highlighted.

Estudio de la extracción química del fe en madera arqueológica subacuatica tratada previamente con peg 4000

Debido a la gran cantidad de muestras arqueológicas impregnadas con PEG que se encuentran contaminadas por compuestos insolubles de hierro, se plantea la posible extracción y formación de complejos Fe-L (L=PBTC) y sus efectos en (i) la estructura de la matriz orgánica, (ii) la estructura y propiedades físicas del PEG y (iii) el comportamiento de la muestra en la etapa posterior de almacenamiento. El proyecto analiza la formación de compuestos químicos y posibles modificaciones estructurales en el proceso de extracción del hierro. Consiste en un estudio sistemático de un sistema químico y su influencia en los procesos de precipitación de Fe3+ en medio acuoso. El proyecto se fundamenta en: (1) desarrollar un proceso experimental de optimización para la extracción de las sales contaminantes y (2) encontrar las técnicas analíticas óptimas que permitan apreciar modificaciones estructurales de los diferentes sistemas. Se determina la cantidad de hierro extraído mediante A.A. Las interacciones entre PBTC y PEG se analizan por IR. Las modificaciones de determinadas propiedades físicas se determinan por DSC y las estructurales mediante SEM. En las condiciones termodinámicas óptimas se obtiene una extracción superficial del hierro (30-35%). La disolución del PEG origina modificaciones de la masa y el volumen de la muestra

Pose-based SLAM with probabilistic scan matching algorithm using a mechanical scanned imaging sonar

This paper proposes a pose-based algorithm to solve the full SLAM problem for an autonomous underwater vehicle (AUV), navigating in an unknown and possibly unstructured environment. The technique incorporate probabilistic scan matching with range scans gathered from a mechanical scanning imaging sonar (MSIS) and the robot dead-reckoning displacements estimated from a Doppler velocity log (DVL) and a motion reference unit (MRU). The proposed method utilizes two extended Kalman filters (EKF). The first, estimates the local path travelled by the robot while grabbing the scan as well as its uncertainty and provides position estimates for correcting the distortions that the vehicle motion produces in the acoustic images. The second is an augment state EKF that estimates and keeps the registered scans poses. The raw data from the sensors are processed and fused in-line. No priory structural information or initial pose are considered. The algorithm has been tested on an AUV guided along a 600 m path within a marina environment, showing the viability of the proposed approach

A review of sensor fusion techniques for underwater vehicle navigation

This work provides a general description of the multi sensor data fusion concept, along with a new classification of currently used sensor fusion techniques for unmanned underwater vehicles (UUV). Unlike previous proposals that focus the classification on the sensors involved in the fusion, we propose a synthetic approach that is focused on the techniques involved in the fusion and their applications in UUV navigation. We believe that our approach is better oriented towards the development of sensor fusion systems, since a sensor fusion architecture should be first of all focused on its goals and then on the fused sensors