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

Visual SLAM for underwater vehicles using video velocity log and natural landmarks

A visual SLAM system has been implemented and optimised for real-time deployment on an AUV equipped with calibrated stereo cameras. The system incorporates a novel approach to landmark description in which landmarks are local sub maps that consist of a cloud of 3D points and their associated SIFT/SURF descriptors. Landmarks are also sparsely distributed which simplifies and accelerates data association and map updates. In addition to landmark-based localisation the system utilises visual odometry to estimate the pose of the vehicle in 6 degrees of freedom by identifying temporal matches between consecutive local sub maps and computing the motion. Both the extended Kalman filter and unscented Kalman filter have been considered for filtering the observations. The output of the filter is also smoothed using the Rauch-Tung-Striebel (RTS) method to obtain a better alignment of the sequence of local sub maps and to deliver a large-scale 3D acquisition of the surveyed area. Synthetic experiments have been performed using a simulation environment in which ray tracing is used to generate synthetic images for the stereo system

Disseny d'una eina visual per a la configuració d'Iptables

Es dissenya una eina per configurar Iptables en una distribució de xarxa. L'eina permet a través d'una interfície gràfica definir una tipologia de xarxa i generar automàticament els scripts de configuració.

Uma demonstração simples e visual do efeito do aquecimento com microondas em reações de poliadição

Polyaddition of commercial monomers is easily performed on a domestic microwave oven. The rate of polymerization depends on the structure of the monomer, power and time of irradiation. This methodology can easily be used to demonstrate the acceleration of organic reactions promoted by microwaves.

Plug-in de procesado visual (OpenCV) en OpenDomo OS

Este proyecto consiste en el diseño y desarrollo de un plug-in que permita usar el sistema de procesado de imagen OpenCV desde el sistema operativo OpenDomo OS.

Control doméstico visual desde Android : VisualDomo

VisualDomo tiene como objetivo la creación de una aplicación multiplataforma para dispositivos móviles que permita controlar de manera visual los dispositivos ODControl de la empresa OpenDomo Services SL. El proyecto está desarrollado utilizando HTML, CSS y JavaScript con el soporte de Cordova.

Control domèstic visual per a Android

El projecte desenvolupa una aplicació visual per a dispositius mòbils basada en PhoneGap - Cordova (HTML + CSS + JavaScript) per al control del dispositiu ODControl de l'empresa OpenDomo Services.

PROPUESTA DE UN AMBIENTE E-LEARNING PARA EL FORTALECIMIENTO DE LAS HABILIDADES DE ALFABETIZACIÓN VISUAL E INFORMACIONAL: CASO LICENCIATURA EN ELECTRÓNICA - UPN.

El proyecto "Propuesta de un ambiente e-learning para el fortalecimiento de las habilidades de alfabetización visual e informacional: caso Licenciatura en Electrónica - UPN" fortalece la investigación alrededor de ambientes e-learning de la Universitat Oberta de Catalunya (UOC). Con la investigación se buscó determinar las estrategias organizativas, pedagógicas y tecnológicas a implementar en el diseño y desarrollo de un entorno e-learning que promueva las habilidades de alfabetización visual e informacional en estudiantes de primer semestre de la Licenciatura en Electrónica de la Universidad Pedagógica Nacional de Colombia. La investigación realizada fue de tipo cualitativo a través de un estudio de caso.

Arquitecturas pintadas. Del Renacimiento al siglo XVIII

Los transfondos arquitectónicos fueron utilizados a lo largo de los siglos XIV y XV como recursos de creación ilusionista de espacio, de la cual los pintores hacían alarde con la inclusión de pavimentos, techumbres o, en general, de ambientes interiores. Comenzaron también a aparecer en la pintura del quattrocento como complemento indispensable del paisaje, como excusa para una captación detallista de los interiores y de la vida cotidiana, y se elevaron a la condición alegórica cuando se constituyeron, por ejemplo, en la imagen del paganismo vencido por la religión cristiana. Desde el siglo XVI, asimismo, las representaciones pictóricas de edificios singulares y de conjuntos monumentales urbanos adquirieron una función documental, y se consolidaron como un objeto narrativo de carácter topográfico. Se convirtieron en un recurso poético cuando, especialmente a lo largo del siglo XVIII, se utilizaron para crear ambientes bucólicos y misteriosos. Fueron, por último, aplicadas muy a menudo con una voluntad escenográfica y teatral, un recurso visual que entronca directamente con el que, probablemente, haya sido el papel más importante de los desarrollados a lo largo de la época moderna por las arquitecturas incluidas en la pintura: el compositivo, la arquitectura utilizada como ordenadora del espacio y como distribuidora de acciones, escenas y personajes; la arquitectura entendida, pues, como vehículo narrativo.

The influence of genetic and environmental factors among MDMA users in cognitive performance

This study is aimed to clarify the association between MDMA cumulative use and cognitive dysfunction, and the potential role of candidate genetic polymorphisms in explaining individual differences in the cognitive effects of MDMA. Gene polymorphisms related to reduced serotonin function, poor competency of executive control and memory consolidation systems, and high enzymatic activity linked to bioactivation of MDMA to neurotoxic metabolites may contribute to explain variations in the cognitive impact of MDMA across regular users of this drug. Sixty ecstasy polydrug users, 110 cannabis users and 93 non-drug users were assessed using cognitive measures of Verbal Memory (California Verbal Learning Test, CVLT), Visual Memory (Rey-Osterrieth Complex Figure Test, ROCFT), Semantic Fluency, and Perceptual Attention (Symbol Digit Modalities Test, SDMT). Participants were also genotyped for polymorphisms within the 5HTT, 5HTR2A, COMT, CYP2D6, BDNF, and GRIN2B genes using polymerase chain reaction and TaqMan polymerase assays. Lifetime cumulative MDMA use was significantly associated with poorer performance on visuospatial memory and perceptual attention. Heavy MDMA users (>100 tablets lifetime use) interacted with candidate gene polymorphisms in explaining individual differences in cognitive performance between MDMA users and controls. MDMA users carrying COMT val/val and SERT s/s had poorer performance than paired controls on visuospatial attention and memory, and MDMA users with CYP2D6 ultra-rapid metabolizers performed worse than controls on semantic fluency. Both MDMA lifetime use and gene-related individual differences influence cognitive dysfunction in ecstasy users.

Azolium-based systems: application of an anion exchange resin (A- form) method and 1H NMR analysis of the charged-assisted (C<br>H)+·anion hydrogen bonds

The counteranion exchange of quaternary 1,2,3-triazolium salts was examined using a simple method that permitted halide ions to be swap for a variety of anions using an anion exchange resin (A¯ form). The method was applied to 1,2,3-triazolium-based ionic liquids and the iodideto- anion exchange proceeded in excellent to quantitative yields, concomitantly removing halide impurities. Additionally, an anion exchange resin (N3¯ form) was used to obtain the benzyl azide from benzyl halide under mild reaction. Likewise, following a similar protocol, bis(azidomethyl)arenes were also synthesized in excellent yields. The results of a proton NMR spectroscopic study of simple azolium-based ion pairs are discussed, with attention focused on the significance of the charged-assisted (CH)+···anion hydrogen bonds of simple azolium systems such as 1-butyl-3-methylimidazolium and 1-benzyl-3-methyl-1,2,3-triazolium salts.

Azolium-based systems: application of an anion exchange resin (A- form) method and 1H NMR analysis of the charged-assisted (C<br>H)+·anion hydrogen bonds

The counteranion exchange of quaternary 1,2,3-triazolium salts was examined using a simple method that permitted halide ions to be swap for a variety of anions using an anion exchange resin (A¯ form). The method was applied to 1,2,3-triazolium-based ionic liquids and the iodideto- anion exchange proceeded in excellent to quantitative yields, concomitantly removing halide impurities. Additionally, an anion exchange resin (N3¯ form) was used to obtain the benzyl azide from benzyl halide under mild reaction. Likewise, following a similar protocol, bis(azidomethyl)arenes were also synthesized in excellent yields. The results of a proton NMR spectroscopic study of simple azolium-based ion pairs are discussed, with attention focused on the significance of the charged-assisted (CH)+···anion hydrogen bonds of simple azolium systems such as 1-butyl-3-methylimidazolium and 1-benzyl-3-methyl-1,2,3-triazolium salts.

The synthesis of 1,2,3,6,6a,7-hexahydro-7-methyl-5-imino-1H-pyrrolo[1,2-c]imidazolo[5,4-b]indole

N-3-(1-Methylindol-3-yl)propan-N-(2,2,2-trichloroethoxysulfonyl)guanidine was synthesized from 3-formyl-1-methylindole in six steps and subjected to conditions intended to convert the side-chain into a 2-iminotetrahydropyrimidine- containing product, of relevance to a possible synthesis of the aplicyanins. An alternative reaction course was observed, resulting in the formation of a new tetracyclic system.

Efectos de la aplicación de biosólidos en plantaciones de especies leñosas para restauración de canteras de caliza mediterráneas

Los programas de restauración de las canteras de caliza situadas en el macizo del Garraf (sudoeste de la cordillera Litoral catalana) contemplan la plantación de especies leñosas autóctonas como medida para mitigar el impacto visual y para optimizar la restauración ecológica tras la explotación del recurso mineral. Las condiciones ambientales de partida poco favorables (elevadas pendientes y substratos poco fértiles) pueden ser limitantes para la instalación y evolución de leñosas, de forma que la adición de compost puede ser una vía para mejorar su rendimiento. En este trabajo evaluamos el efecto de la aplicación extensiva de compost en plantaciones de cuatro especies de árboles y arbustos de un año de edad en parcelas sembradas con distintas mezclas de herbáceas. Como resultado principal se observó que en las parcelas con compost la supervivencia de Pinus halepensis y Rhamnus alaternus fue menor, aunque el crecimiento de las cuatro especies ensayadas fue superior. Las leñosas presentaron una supervivencia superior en las parcelas sembradas con herbáceas autóctonas, que habían desarrollado menor cobertura, respecto a las siembras con herbáceas comerciales, con mayor cubierta.

Azolium-based systems: application of an anion exchange resin (A- form) method and 1H NMR analysis of the charged-assisted (C<br>H)+·anion hydrogen bonds

The counteranion exchange of quaternary 1,2,3-triazolium salts was examined using a simple method that permitted halide ions to be swap for a variety of anions using an anion exchange resin (A¯ form). The method was applied to 1,2,3-triazolium-based ionic liquids and the iodideto- anion exchange proceeded in excellent to quantitative yields, concomitantly removing halide impurities. Additionally, an anion exchange resin (N3¯ form) was used to obtain the benzyl azide from benzyl halide under mild reaction. Likewise, following a similar protocol, bis(azidomethyl)arenes were also synthesized in excellent yields. The results of a proton NMR spectroscopic study of simple azolium-based ion pairs are discussed, with attention focused on the significance of the charged-assisted (CH)+···anion hydrogen bonds of simple azolium systems such as 1-butyl-3-methylimidazolium and 1-benzyl-3-methyl-1,2,3-triazolium salts.