Reverse Engineering tools: development and experimentation of innovative methods for physical and geometrical data integration and post-processing

In recent years, the use of Reverse Engineering systems has got a considerable interest for a wide number of applications. Therefore, many research activities are focused on accuracy and precision of the acquired data and post processing phase improvements. In this context, this PhD Thesis deals with the definition of two novel methods for data post processing and data fusion between physical and geometrical information. In particular a technique has been defined for error definition in 3D points’ coordinates acquired by an optical triangulation laser scanner, with the aim to identify adequate correction arrays to apply under different acquisition parameters and operative conditions. Systematic error in data acquired is thus compensated, in order to increase accuracy value. Moreover, the definition of a 3D thermogram is examined. Object geometrical information and its thermal properties, coming from a thermographic inspection, are combined in order to have a temperature value for each recognizable point. Data acquired by an optical triangulation laser scanner are also used to normalize temperature values and make thermal data independent from thermal-camera point of view.

Leopoli-Cencelle beyond virtual reality Documentazione, interpretazione e comprensione di una città medievale

La città medievale di Leopoli-Cencelle (fondata da Papa Leone IV nell‘854 d.C. non lontano da Civitavecchia) è stata oggetto di studio e di periodiche campagne di scavo a partire dal 1994. Le stratigrafie investigate con metodi tradizionali, hanno portato alla luce le numerose trasformazioni che la città ha subìto nel corso della sua esistenza in vita. Case, torri, botteghe e strati di vissuto, sono stati interpretati sin dall’inizio dello scavo basandosi sulla documentazione tradizionale e bi-dimensionale, legata al dato cartaceo e al disegno. Il presente lavoro intende re-interpretare i dati di scavo con l’ausilio delle tecnologie digitali. Per il progetto sono stati utilizzati un laser scanner, tecniche di Computer Vision e modellazione 3D. I tre metodi sono stati combinati in modo da poter visualizzare tridimensionalmente gli edifici abitativi scavati, con la possibilità di sovrapporre semplici modelli 3D che permettano di formulare ipotesi differenti sulla forma e sull’uso degli spazi. Modellare spazio e tempo offrendo varie possibilità di scelta, permette di combinare i dati reali tridimensionali, acquisiti con un laser scanner, con semplici modelli filologici in 3D e offre l’opportunità di valutare diverse possibili interpretazioni delle caratteristiche dell’edificio in base agli spazi, ai materiali, alle tecniche costruttive. Lo scopo del progetto è andare oltre la Realtà Virtuale, con la possibilità di analizzare i resti e di re-interpretare la funzione di un edificio, sia in fase di scavo che a scavo concluso. Dal punto di vista della ricerca, la possibilità di visualizzare le ipotesi sul campo favorisce una comprensione più profonda del contesto archeologico. Un secondo obiettivo è la comunicazione a un pubblico di “non-archeologi”. Si vuole offrire a normali visitatori la possibilità di comprendere e sperimentare il processo interpretativo, fornendo loro qualcosa in più rispetto a una sola ipotesi definitiva.

Vergleich der retinalen und dermalen mikrovaskulären endothelialen Funktion bei Gesunden, Insulinresistenten und Typ-2-Diabetikern

Die vorliegende klinische Studie hatte zum Ziel, die mikrovaskuläre Endothelfunktion retinaler und dermaler Gefäße von Insulinresistenten und Typ 2- Diabetikern ohne Zeichen einer diabetischen Retinopathie mit einer gesunden insulinsensitiven nicht-diabetischen Kontrollgruppe hinsichtlich früher morphologischer und funktioneller Veränderungen zu vergleichen.rnrnMethode:rnEs wurden 54 Patienten ohne Nachweis einer diabetischen Retinopathie eingeschlossen und in 3 Gruppen entsprechend ihren metabolischen Ergebnissen eingeteilt: 1.) Gruppe K (Kontrollgruppe) setzte sich aus gesunden, nicht-diabetischen, insulin-sensitiven rn(HOMA ≤ 2) Probanden mit einem BMI ≤ 28 kg/m2 zusammen; 2.) Gruppe IR bestand aus den nicht-diabetischen, insulin-resistenten (HOMAs > 2), übergewichtigen Patienten mit einem BMI > 28 kg/m2 und 3.) Gruppe DM war definiert als Patienten mit einem manifesten Typ 2-Diabetes mellitus.rnrnDie mikrovaskuläre Funktion der Retina wurde mittels eines Laserdoppler-Verfahrens (Heidelberg Retina Flowmeter) untersucht und hierbei der retinale Blutfluss und das Verhältnis der Gefäßwand zum Lumen (WLR, wall-to-lumen-ratio) basal und nach Flickerlicht-Stimulation (10 Hz, Photo Stimulator 750) gemessen. Letzterer gilt als Marker für vaskuläre Schädigung. rnZusätzlich wurde die dermale Mikrozirkulation (Blutfluss, O2-Sättigung) als weiterer Faktor der mikrovaskulären Endothelfunktion in den 3 Studiengruppen untersucht und miteinander verglichen.rnErgebnisse:rnEs zeigte sich kein signifikanter Unterschied des retinalen Blutflusses zwischen den 3 Gruppen weder basal noch nach Flickerlicht-Stimulation. Es zeigte sich keine Korrelation zwischen der mikrovaskulären Funktion der Haut und der Retina. rnDie arterielle WLR zeigte nur geringe Unterscheide zwischen den 3 Gruppen.rnrnMit zunehmendem Grad der Insulinresistenz wurde jedoch eine Reduktion des basalen als auch des flickerlicht-stimulierten retinalen Blutflusses deutlich, dabei zeigte sich unerwarteter Weise eine Abnahme der WLR.rnrnDer (prä-ischämische) muskuläre Blutfluss war in der IR-Gruppe signifikant geringer als in der K-Gruppe. Auch war die postischämische dermale O2-Sättigung in der DM und IR-Gruppe signifikant niedriger im Vergleich zur K-Gruppe. Jedoch war die postischämische hyperämische dermale Reaktion in der IR und DM-Gruppe nur geringgradig weniger als in der K-Gruppe. rnrnSchlussfolgerung:rnEine Korrelation zwischen der Entwicklung der Insulinresistenz und retinaler sowie dermaler mikrovaskulärer endothelialer Funktion wurde bei der Studie deutlich. Mithilfe des neuen Verfahrens der Laser Scanner Flowmeter zur Messung der retinalen Endothelfunktion lassen sich sehr frühe morphologische Veränderungen des mikrovaskulären Blutflusses erfassen. rnDie fehlende Korrelation zwischen retinaler und dermaler mikrovaskulärer Funktion als auch die geringen Unterschiede der WLR sollte Gegenstand weiterer Studien seinrn

Lateral spreading and associated slope processes in fractured rock slabs

Landslides of the lateral spreading type, involving brittle geological units overlying ductile terrains, are a common occurrence in the sandstone and limestone plateaux of the northern Apennines of Italy. These instability phenomena can become particularly risky, when historical towns and cultural heritage sites built on the top of them are endangered. Neverthless, the mechanisms controlling the developing of related instabilities, i.e. toppling and rock falls, at the edges of rock plateaux are not fully understood yet. In addition, the groundwater flow path developing at the contact between the more permeable units, i.e. the jointed rock slab, and the relatively impermeable clay-rich units have not been already studied in details, even if they may play a role in this kind of instability processes, acting as eventual predisposing and/or triggering factors. Field survey, Terrestrial Laser Scanner and Close Range Photogrammetry techniques, laboratory tests on the involved materials, hydrogeological monitoring and modelling, displacements evaluation and stability analysis through continuum and discontinuum numerical codes have been performed on the San Leo case study, with the aim to bring further insights for the understanding and the assessment of the slope processes taking place in this geological context. The current research permitted to relate the aquifer behaviour of the rocky slab to slope instability processes. The aquifer hosted in the fractured slab leads to the development of perennial and ephemeral springs at the contact between the two units. The related piping erosion phenomena, together with slope processes in the clay-shales led to the progressive undermining of the slab. The cliff becomes progressively unstable due to undermining and undergoes large-scale landslides due to fall or topple.

Studio ed implementazione di algoritmi per la navigazione inerziale di velivoli autonomi ad ala rotante

I sistemi di navigazione inerziale, denominati INS, e quelli di navigazione inerziale assistita, ovvero che sfruttano anche sensori di tipo non inerziale come ad esempio il GPS, denominati in questo caso INS/GPS, hanno visto un forte incremento del loro utilizzo soprattutto negli ultimi anni. I filtri complementari sfruttano segnali in ingresso che presentano caratteristiche complementari in termine di banda. Con questo lavoro di tesi mi sono inserito nel contesto del progetto SHERPA (Smart collaboration between Humans and ground-aErial Robots for imProving rescuing activities in Alpine environments), un progetto europeo, coordinato dall'Università di Bologna, che prevede di mettere a punto una piattaforma robotica in grado di aiutare i soccorritori che operano in ambienti ostili, come quelli del soccorso alpino, le guardie forestali, la protezione civile. In particolare è prevista la possibilità di lanciare i droni direttamente da un elicottero di supporto, per cui potrebbe essere necessario effettuare l'avvio del sistema in volo. Ciò comporta che il sistema di navigazione dovrà essere in grado di convergere allo stato reale del sistema partendo da un grande errore iniziale, dal momento che la fase di inizializzazione funziona bene solo in condizioni di velivolo fermo. Si sono quindi ricercati, in special modo, schemi che garantissero la convergenza globale. Gli algoritmi implementati sono alla base della navigazione inerziale, assistita da GPS ed Optical Flow, della prima piattaforma aerea sviluppata per il progetto SHERPA, soprannominata DreamDroneOne, che include una grande varietà di hardware appositamente studiati per il progetto, come il laser scanner, la camera termica, ecc. Dopo una panoramica dell'architettura del sistema di Guida, Navigazione e Controllo (GNC) in cui mi sono inserito, si danno alcuni cenni sulle diverse terne di riferimento e trasformazioni, si descrivono i diversi sensori utilizzati per la navigazione, si introducono gli AHRS (Attitude Heading Rference System), per la determinazione del solo assetto sfruttando la IMU ed i magnetometri, si analizza l'AHRS basato su Extended Kalman Filter. Si analizzano, di seguito, un algoritmo non lineare per la stima dell'assetto molto recente, e il sistema INS/GPS basato su EKF, si presenta un filtro complementare molto recente per la stima di posizione ed assetto, si presenta un filtro complementare per la stima di posizione e velocità, si analizza inoltre l'uso di un predittore GPS. Infine viene presentata la piattaforma hardware utilizzata per l'implementazione e la validazione, si descrive il processo di prototipazione software nelle sue fasi e si mostrano i risultati sperimentali.

Morfometria della Grotta dell'Orso (Ponte di Veja, Monti Lessini) mediante laserscanner

Un rilievo laserscanner della Grotta dell'Orso, vicino al Ponte di Veja (Monti Lessini) ha consentito di descrivere in dettaglio questo sistema carsico e trarre alcune conclusioni dal punto di vista morfometrico e speleogenetico.

Enamel loss and adhesive remnants following bracket removal and various clean-up procedures in vitro

This study evaluated the enamel loss and composite remnants after debonding and clean-up. The tested null hypothesis is that there are no differences between different polishing systems regarding removing composite remnants without damaging the tooth surface. Brackets were bonded to 75 extracted human molars and removed after a storage period of 100 hours. The adhesive remnant index (ARI) was evaluated. The clean-up was carried out with five different procedures: 1. carbide bur; 2. carbide bur and Brownie and Greenie silicone polishers; 3. carbide bur and Astropol polishers; 4. carbide bur and Renew polishers; and 5. carbide bur, Brownie, Greenie and PoGo polishers. Silicone impressions were made at baseline (T0) and after debonding (T1) and polishing (T2) to produce plaster replicas. The replicas were analysed with a three-dimensional laser scanner and measured with analytical software. Statistical analysis was performed with the Kruskal-Wallis test and pairwise Wilcoxon tests with Bonferroni-Holm adjustment (α = 0.05). Enamel breakouts after debonding were detectable in 27 per cent of all cases, with a mean volume loss of 0.02 mm(3) (±0.03 mm(3)) and depth of 44.9 μm (±48.3 μm). The overall ARI scores was 3 with a few scores of 1 and 2. The composite remnants after debonding had a mean volume of 2.48 mm(3) (±0.92 mm(3)). Mean volume loss due to polishing was 0.05 mm(3) (±0.26 mm(3)) and the composite remnants had a mean volume of 0.22 mm(3) (±0.32 mm(3)). There were no statistically significant differences in volumetric changes after polishing (P = 0.054) between the different clean-up methods. However, sufficient clean-up without enamel loss was difficult to achieve.

Quantitative comparison of 3 enamel-stripping devices in vitro: how precisely can we strip teeth?

INTRODUCTION In this in-vitro study, we aimed to investigate the predictability of the expected amount of stripping using 3 common stripping devices on premolars. METHODS One hundred eighty extracted premolars were mounted and aligned in silicone. Tooth mobility was tested with Periotest (Medizintechnik Gulden, Modautal, Germany) (8.3 ± 2.8 units). The selected methods for interproximal enamel reduction were hand-pulled strips (Horico, Hapf Ringleb & Company, Berlin, Germany), oscillating segmental disks (O-drive-OD 30; KaVo Dental, Biberach, Germany), and motor-driven abrasive strips (Orthofile; SDC Switzerland, Lugano-Grancia, Switzerland). With each device, the operator intended to strip 0.1, 0.2, 0.3, or 0.4 mm on the mesial side of 15 teeth. The teeth were scanned before and after stripping with a 3-dimensional laser scanner. Superposition and measurement of stripped enamel on the most mesial point of the tooth were conducted with Viewbox software (dHal Software, Kifissia, Greece). The Wilcoxon signed rank test and the Kruskal-Wallis test were applied; statistical significance was set at alpha ≤ 0.05. RESULTS Large variations between the intended and the actual amounts of stripped enamel, and between stripping procedures, were observed. Significant differences were found at 0.1 mm of intended stripping (P ≤ 0.05) for the hand-pulled method and at 0.4 mm of intended stripping (P ≤ 0.001 to P = 0.05) for all methods. For all scenarios of enamel reduction, the actual amount of stripping was less than the predetermined and expected amount of stripping. The Kruskal-Wallis analysis showed no significant differences between the 3 methods. CONCLUSIONS There were variations in the stripped amounts of enamel, and the stripping technique did not appear to be a significant predictor of the actual amount of enamel reduction. In most cases, actual stripping was less than the intended amount of enamel reduction.

In vitro precision of fit of computer-aided design and computer-aided manufacturing titanium and zirconium dioxide bars

OBJECTIVES Optical scanners combined with computer-aided design and computer-aided manufacturing (CAD/CAM) technology provide high accuracy in the fabrication of titanium (TIT) and zirconium dioxide (ZrO) bars. The aim of this study was to compare the precision of fit of CAD/CAM TIT bars produced with a photogrammetric and a laser scanner. METHODS Twenty rigid CAD/CAM bars were fabricated on one single edentulous master cast with 6 implants in the positions of the second premolars, canines and central incisors. A photogrammetric scanner (P) provided digitized data for TIT-P (n=5) while a laser scanner (L) was used for TIT-L (n=5). The control groups consisted of soldered gold bars (gold, n=5) and ZrO-P with similar bar design. Median vertical distance between implant and bar platforms from non-tightened implants (one-screw test) was calculated from mesial, buccal and distal scanning electron microscope measurements. RESULTS Vertical microgaps were not significantly different between TIT-P (median 16μm; 95% CI 10-27μm) and TIT-L (25μm; 13-32μm). Gold (49μm; 12-69μm) had higher values than TIT-P (p=0.001) and TIT-L (p=0.008), while ZrO-P (35μm; 17-55μm) exhibited higher values than TIT-P (p=0.023). Misfit values increased in all groups from implant position 23 (3 units) to 15 (10 units), while in gold and TIT-P values decreased from implant 11 toward the most distal implant 15. SIGNIFICANCE CAD/CAM titanium bars showed high precision of fit using photogrammetric and laser scanners. In comparison, the misfit of ZrO bars (CAM/CAM, photogrammetric scanner) and soldered gold bars was statistically higher but values were clinically acceptable.

In vitro precision of fit of computer-aided designed and computer-aided manufactured titanium screw-retained fixed dental prostheses before and after ceramic veneering

OBJECTIVE To compare the precision of fit of full-arch implant-supported screw-retained computer-aided designed and computer-aided manufactured (CAD/CAM) titanium-fixed dental prostheses (FDP) before and after veneering. The null-hypothesis was that there is no difference in vertical microgap values between pure titanium frameworks and FDPs after porcelain firing. MATERIALS AND METHODS Five CAD/CAM titanium grade IV frameworks for a screw-retained 10-unit implant-supported reconstruction on six implants (FDI tooth positions 15, 13, 11, 21, 23, 25) were fabricated after digitizing the implant platforms and the cuspid-supporting framework resin pattern with a laser scanner (CARES(®) Scan CS2; Institut Straumann AG, Basel, Switzerland). A bonder, an opaquer, three layers of porcelain, and one layer of glaze were applied (Vita Titankeramik) and fired according to the manufacturer's preheating and fire cycle instructions at 400-800°C. The one-screw test (implant 25 screw-retained) was applied before and after veneering of the FDPs to assess the vertical microgap between implant and framework platform with a scanning electron microscope. The mean microgap was calculated from interproximal and buccal values. Statistical comparison was performed with non-parametric tests. RESULTS All vertical microgaps were clinically acceptable with values <90 μm. No statistically significant pairwise difference (P = 0.98) was observed between the relative effects of vertical microgap of unveneered (median 19 μm; 95% CI 13-35 μm) and veneered FDPs (20 μm; 13-31 μm), providing support for the null-hypothesis. Analysis within the groups showed significantly different values between the five implants of the FDPs before (P = 0.044) and after veneering (P = 0.020), while a monotonous trend of increasing values from implant 23 (closest position to screw-retained implant 25) to 15 (most distant implant) could not be observed (P = 0.169, P = 0.270). CONCLUSIONS Full-arch CAD/CAM titanium screw-retained frameworks have a high accuracy. Porcelain firing procedure had no impact on the precision of fit of the final FDPs. All implant microgap measurements of each FDP showed clinically acceptable vertical misfit values before and after veneering. Thus, the results do not only show accurate performance of the milling and firing but show also a reproducible scanning and designing process.

CAD/CAM fabrication accuracy of long- vs. short-span implant-supported FDPs

OBJECTIVE To compare the precision of fit of long-span vs. short-span implant-supported screw-retained fixed dental prostheses (FDPs) made from computer-aided-design/computer-aided-manufactured (CAD/CAM) titanium and veneered with ceramic. The null hypothesis was that there is no difference in the vertical microgap between long-span and short-span FDPs. MATERIALS AND METHODS CAD/CAM titanium frameworks for an implant-supported maxillary FDP on implants with a flat platform were fabricated on one single master cast. Group A consisted of six 10-unit FDPs connected to six implants (FDI positions 15, 13, 11, 21, 23, 25) and group B of six 5-unit FDPs (three implants, FDI positions 21, 23, 25). The CAD/CAM system from Biodenta Swiss AG (Berneck, Switzerland) was used for digitizing (laser scanner) the master cast and anatomical CAD of each framework separately. The frameworks were milled (CAM) from a titanium grade V monobloc and veneered with porcelain. Median vertical distance between implant and FDP platforms from the non-tightened implants (one-screw test on implant 25) was calculated from mesial, buccal, and distal scanning electron microscope measurements. RESULTS All measurements showed values <40 μm. Total median vertical microgaps were 23 μm (range 2-38 μm) for group A and 7 μm (4-24 μm) for group B. The difference between the groups was statistically significant at implant 21 (P = 0.002; 97.5% CI -27.3 to -4.9) and insignificant at implant 23 (P = 0.093; -3.9 to 1.0). CONCLUSIONS CAD/CAM fabrication including laboratory scanning and porcelain firing was highly precise and reproducible for all long- and short-span FDPs. While all FDPs showed clinically acceptable values, the short-span FDPs were statistically more precise at the 5-unit span distance.

Digital elevation model (DEM) of the ice sheet in western Dronning Maud Land, Antarctica

In this paper, a new digital elevation model (DEM) is derived for the ice sheet in western Dronning Maud Land, Antarctica. It is based on differential interferometric synthetic aperture radar (SAR) from the European Remote Sensing 1/2 (ERS-1/2) satellites, in combination with ICESat's Geoscience Laser Altimeter System (GLAS). A DEM mosaic is compiled out of 116 scenes from the ERS-1 ice phase in 1994 and the ERS-1/2 tandem mission between 1996 and 1997 with the GLAS data acquired in 2003 that served as ground control. Using three different SAR processors, uncertainties in phase stability and baseline model, resulting in height errors of up to 20 m, are exemplified. Atmospheric influences at the same order of magnitude are demonstrated, and corresponding scenes are excluded. For validation of the DEM mosaic, covering an area of about 130,000 km**2 on a 50-m grid, independent ICESat heights (2004-2007), ground-based kinematic GPS (2005), and airborne laser scanner data (ALS, 2007) are used. Excluding small areas with low phase coherence, the DEM differs in mean and standard deviation by 0.5 +/- 10.1, 1.1 +/- 6.4, and 3.1 +/- 4.0 m from ICESat, GPS, and ALS, respectively. The excluded data points may deviate by more than 50 m. In order to suppress the spatially variable noise below a 5-m threshold, 18% of the DEM area is selectively averaged to a final product at varying horizontal spatial resolution. Apart from mountainous areas, the new DEM outperforms other currently available DEMs and may serve as a benchmark for future elevation models such as from the TanDEM-X mission to spatially monitor ice sheet elevation.

LiDAR elevation data of Yukon Coast and Herschel Island in 2012 and 2013

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Study of the fronts of Johnsons and Hurd Glaciers (Livingston Island, Antarctica) from 1957 to 2013, with links to shapefiles

The study of glacier fronts combines different geomatics measurement techniques as the classic survey using total station or theodolite, technical GNSS (Global Navigation Satellite System), using laser-scanner or using photogrammetry (air or ground). The measure by direct methods (classical surveying and GNSS) is useful and fast when accessibility to the glaciers fronts is easy, while it is practically impossible to realize, in the case of glacier fronts that end up in the sea (tide water glaciers). In this paper, a methodology that combines photogrammetric methods and other techniques for lifting the front of the glacier Johnsons, inaccessible is studied. The images obtained from the front, come from a non-metric digital camera; its georeferencing to a global coordinate system is performed by measuring points GNSS support in accessible areas of the glacier front side and applying methods of direct intersection in inaccessible points of the front, taking measurements with theodolite. The result of observations obtained were applied to study the temporal evolution (1957-2014) of the position of the Johnsons glacier front and the position of the Argentina, Las Palmas and Sally Rocks lobes front (Hurd glacier).