A Modern Differential Geometric Approach to Shape from Shading

How the visual system extracts shape information from a single grey-level image can be approached by examining how the information about shape is contained in the image. This technical report considers the characteristic equations derived by Horn as a dynamical system. Certain image critical points generate dynamical system critical points. The stable and unstable manifolds of these critical points correspond to convex and concave solution surfaces, giving more general existence and uniqueness results. A new kind of highly parallel, robust shape from shading algorithm is suggested on neighborhoods of these critical points. The information at bounding contours in the image is also analyzed.

The Synthesis of Stable Force-Closure Grasps

This thesis addresses the problem of synthesizing grasps that are force-closure and stable. The synthesis of force-closure grasps constructs independent regions of contact for the fingertips, such that the motion of the grasped object is totally constrained. The synthesis of stable grasps constructs virtual springs at the contacts, such that the grasped object is stable, and has a desired stiffness matrix about its stable equilibrium. A grasp on an object is force-closure if and only if we can exert, through the set of contacts, arbitrary forces and moments on the object. So force-closure implies equilibrium exists because zero forces and moment is spanned. In the reverse direction, we prove that a non-marginal equilibrium grasp is also a force-closure grasp, if it has at least two point contacts with friction in 2D, or two soft-finger contacts or three hard-finger contacts in 3D. Next, we prove that all force-closure grasps can be made stable, by using either active or passive springs at the contacts. The thesis develops a simple relation between the stability and stiffness of the grasp and the spatial configuration of the virtual springs at the contacts. The stiffness of the grasp depends also on whether the points of contact stick, or slide without friction on straight or curved surfaces of the object. The thesis presents fast and simple algorithms for directly constructing stable fore-closure grasps based on the shape of the grasped object. The formal framework of force-closure and stable grasps provides a partial explanation to why we stably grasp objects to easily, and to why our fingers are better soft than hard.

Strong effect of transitional metals on the sulfur resistance of Pd/HY-Al2O3 catalysts for aromatic hydrogenation

In order to improve the sulfur resistance of noble metal catalysts in the aromatic hydrogenation of diesel fuel, the alloying effect of non-noble metals with Pd was studied. Toluene hydrogenation over Pd and Pd-M bimetallic catalysts (M = Cr, W,La, Mn, Mo, Ag) on a mixed HY-Al2O3 support was investigated in the presence of 3000 ppm sulfur as thiophene in the feedstock. The results showed that the addition of the second metals strongly affected the activity of toluene hydrogenation, which suggests that the sulfur resistibility of Pd-M bimetallic catalysts is much different from single Pd. La, Mn, Mo and Ag decreased the sulfur resistance of the palladium catalysts. For example, the toluene conversion at 553 K was observed to decrease sharply from 39.4 wt.% on Pd to 1.6 wt.% on Pd-Ag, which is by a factor of 25. One of the important findings in this article is that Cr and W increase hydrogenation activity of Pd catalysts. The reactions occurring on these catalysts include hydrogenation, isomerization and hydrocracking, The addition of the second metals has no noticeable effects on the hydrogenation and isomerization selectivity, but it slightly suppresses hydrocracking reactions. The four typical catalysts, Pd-Cr, Pd-W, Pd-Ag and Pd were characterized by infrared (IR) spectroscopy of pyridine and CO. LR spectra of CO revealed the strong interaction between Pd and the second metal as Cr, W and Ag (or their oxide), indicating that the improvement in sulfur resistance originates from electron-deficient Pd with the addition of second metals. (C) 2001 Elsevier Science B.V. All rights reserved.

Structural relation properties of hydrothermally stable functionalized mesoporous organosilicas and catalysis

The surfactant assistant syntheses of sulfonic acid functionalized periodic mesoporous organosilicas with large pores are reported. A one-step condensation of tetramethoxysilane (TMOS) with 1,2-bis(trimethoxysilyi)ethane (BTME) and 3-mercaptopropyltrimethoxysilane (MPTMS) in highly acidic medium was performed in the presence of triblock copolymer Pluronic P123 and inorganic salt as additive. During the condensation process, thiol (-SH) group was in situ oxidized to sulfonic acid (-SO3H) by hydrogen peroxide (30 wt % H2O2). X-ray diffraction studies along with nitrogen and water sorption analyses reveal the formation of stable, highly hydrophobic, and well-ordered hexagonal mesoscopic structures in a wide range of -CH2CH2-concentrations in the mesoporous framework. The resultant materials were also investigated by Si-29 MAS and C-13 CP MAS NMR, thermogravimetric analyses, UV-Raman spectroscopy, and FT-IR spectroscopy. The role of the bridged organic group on the hydrothermal stability of the mesoporous materials was established, which revealed an enhancement in hydrothermal stability of the materials with incorporation of the bridged organic groups in the network. The catalytic performance of -SO3H functionalized mesoporous materials was investigated in the esterification of ethanol with acetic acid, and the results demonstrate that the ethane groups incorporated in the mesoporous framework have a positive influence on the catalytic behavior of the materials.

Meta-stable memory in an artificial immune network

Neal, M., Meta-stable memory in an artificial immune network, Proceedings of the 2nd International Conference on Artificial Immune Systems {ICARIS}, Springer, 168-180, 2003,LNCS 2787/2003

Uniqueness of the polar factorisation and projection of a vector-valued mapping

G.R. BURTON and R.J. DOUGLAS, Uniqueness of the polar factorisation and projection of a vector-valued mapping. Ann. I.H. Poincare ? A.N. 20 (2003), 405-418.

'What Foes more dang'rous than too strong Allies?': Anglo-Welsh relations in eighteenth-century London

Prescott, Sarah, ''What Foes more dang'rous than too strong Allies?': Anglo-Welsh relations in eighteenth-century London', The Huntington Library Quarterly (2006) 69 (4) pp.535-554 RAE2008

Keats, Cornwall and the 'Scent of Strong-Smelling Phrases'

Marggraf Turley, Richard, 'Keats, Cornwall and the 'Scent of Strong-Smelling Phrases,' Romanticism (2006) 12 (2), pp. 102-114 RAE2008

Współpraca transgraniczna i regionalna w obszarze Morza Bałtyckiego w latach 1989 -2007

Wydział Nauk Politycznych i Dziennikarstwa

Optimized strong stability preserving IMEX Runge-Kutta methods

Esta es la versión no revisada del artículo: Inmaculada Higueras, Natalie Happenhofer, Othmar Koch, and Friedrich Kupka. 2014. Optimized strong stability preserving IMEX Runge-Kutta methods. J. Comput. Appl. Math. 272 (December 2014), 116-140. Se puede consultar la versión final en https://doi.org/10.1016/j.cam.2014.05.011

Strong High Pressure Systems Influencing the Weather in Poland During the Period 1971-2000

This paper shows preliminary results of research into the occurrence of strong anticyclonic systems that influenced the weather in Poland during the period 1971–2000. The study was based on NCEP/NCAR reanalysis data, including daily values of the 1000 and 500 hPa geopotential heights, maps of mentioned geopotential heights and maps of sea-level field pressure. With the use of these data a number of exceptionally strong high-pressure systems were identified, together with their areas of origin and subsequent development patterns. They were then broken down into five groups with similar dynamics. The numbers of systems in each group were not found to follow any significant change trends in the long term. The greatest differences between groups were identified in terms of their annual occurrence rates and centre pressure values.

Novos sistemas terapêuticos nanotecnológicos

Monografia apresentada à Universidade Fernando Pessoa para obtenção do grau Licenciada em Ciências Farmacêuticas