Underwater mapping using sonar

[ES]El proyecto contiene módulos de simulación, procesado de datos, mapeo y localización, desarrollados en C++ utilizando ROS (Robot Operating System) y PCL (Point Cloud Library). Ha sido desarrollado bajo el proyecto de robótica submarina AVORA.Se han caracterizado el vehículo y el sensor, y se han analizado diferentes tecnologías de sensores y mapeo. Los datos pasan por tres etapas: Conversión a nube de puntos, filtrado por umbral, eliminación de puntos espureos y, opcionalmente, detección de formas. Estos datos son utilizados para construir un mapa de superficie multinivel. La otra herramienta desarrollada es un algoritmo de Punto más Cercano Iterativo (ICP) modificado, que tiene en cuenta el modo de funcionamiento del sonar de imagen utilizado.

Computer vision based eyewear selector

[EN]This paper describes a low-cost system that allows the user to visualize different glasses models in live video. The user can also move the glasses to adjust its position on the face. The system, which runs at 9.5 frames/s on general-purpose hardware, has a homeostatic module that keeps image parameters controlled. This is achieved by using a camera with motorized zoom, iris, white balance, etc. This feature can be specially useful in environments with changing illumination and shadows, like in an optical shop. The system also includes a face and eye detection module and a glasses management module.

Determinazione di amminotioli mediante elettroforesi capillare

The aminothiols are critical cellular components that play numerous and important roles in metabolism as key extracellular reducing agents, critical substrates for proteins synthesis and detoxificants of free radicals and peroxides. Because altered thiols levels in body fluids are linked to specific pathological conditions, their measurement is thus considered very important. One method to determine these compounds is the capillary electrophoresis, a technique that involves the separation of charged molecules on the basis of their movement under the influence of an applied electric field. The instrument used in this work is equipped with an amperometric detector recording the current of the thiols oxidized at the end of the capillary at a BDD electrode. The aim of this work is to find a valid method for the separations of the aminothiols analyzed, in terms of capillary coating and experimental conditions. In order to find an alternative and less expensive electrode than BDD and to increase sensitivity for the detection of the thiols, a modified electrode consisting in a carbon paste electrode containing Cobalt-phthalocyanine has been studied. In this electrode Cobalt-phthalocyanine works as electrocatalyst to enhance the oxidation reaction, meanwhile the graphite acts as conductive mean. This kind of electrode shows great sensibility and low detection limits for the thiols that have a free thiolic group, but it is not sensible to disulfides. The analysis of human plasma point out that the best method found for the capillary electrophoresis is not useful for the detection of aminothiols in a healthy person, because the very low concentrations in which they are present.