Guidance of robot arms using depth data from RGB-D camera

Image Based Visual Servoing (IBVS) is a robotic control scheme based on vision. This scheme uses only the visual information obtained from a camera to guide a robot from any robot pose to a desired one. However, IBVS requires the estimation of different parameters that cannot be obtained directly from the image. These parameters range from the intrinsic camera parameters (which can be obtained from a previous camera calibration), to the measured distance on the optical axis between the camera and visual features, it is the depth. This paper presents a comparative study of the performance of D-IBVS estimating the depth from three different ways using a low cost RGB-D sensor like Kinect. The visual servoing system has been developed over ROS (Robot Operating System), which is a meta-operating system for robots. The experiments prove that the computation of the depth value for each visual feature improves the system performance.

Error induced by the estimation of the corneal power and the effective lens position with a rotationally asymmetric refractive multifocal intraocular lens

AIM: To evaluate the prediction error in intraocular lens (IOL) power calculation for a rotationally asymmetric refractive multifocal IOL and the impact on this error of the optimization of the keratometric estimation of the corneal power and the prediction of the effective lens position (ELP). METHODS: Retrospective study including a total of 25 eyes of 13 patients (age, 50 to 83y) with previous cataract surgery with implantation of the Lentis Mplus LS-312 IOL (Oculentis GmbH, Germany). In all cases, an adjusted IOL power (PIOLadj) was calculated based on Gaussian optics using a variable keratometric index value (nkadj) for the estimation of the corneal power (Pkadj) and on a new value for ELP (ELPadj) obtained by multiple regression analysis. This PIOLadj was compared with the IOL power implanted (PIOLReal) and the value proposed by three conventional formulas (Haigis, Hoffer Q and Holladay). RESULTS: PIOLReal was not significantly different than PIOLadj and Holladay IOL power (P>0.05). In the Bland and Altman analysis, PIOLadj showed lower mean difference (-0.07 D) and limits of agreement (of 1.47 and -1.61 D) when compared to PIOLReal than the IOL power value obtained with the Holladay formula. Furthermore, ELPadj was significantly lower than ELP calculated with other conventional formulas (P<0.01) and was found to be dependent on axial length, anterior chamber depth and Pkadj. CONCLUSION: Refractive outcomes after cataract surgery with implantation of the multifocal IOL Lentis Mplus LS-312 can be optimized by minimizing the keratometric error and by estimating ELP using a mathematical expression dependent on anatomical factors.

Extraterrestrial 3He estimation across the Paleocene-Eocene thermal maximum at ODP Site 208-1266

In the deep-sea, the Paleocene-Eocene Thermal Maximum (PETM) is often marked by clay-rich condensed intervals caused by dissolution of carbonate sediments, capped by a carbonate-rich interval. Constraining the duration of both the dissolution and subsequent cap-carbonate intervals is essential to computing marine carbon fluxes and thus testing hypotheses for the origin of this event. To this end, we provide new high-resolution helium isotope records spanning the Paleocene-Eocene boundary at ODP Site 1266 in the South Atlantic. The extraterrestrial 3He, 3HeET, concentrations replicate trends observed at ODP Site 690 by Farley and Eltgroth (2003, doi:10.1016/S0012-821X(03)00017-7). By assuming a constant flux of 3HeET we constrain relative changes in accumulation rates of sediment across the PETM and construct a new age model for the event. In this new chronology the zero carbonate layer represents 35 kyr, some of which reflects clay produced by dissolution of Paleocene (pre-PETM) sediments. Above this layer, carbonate concentrations increase for ~165 kyr and remain higher than in the latest Paleocene until 234 +48/-34 kyr above the base of the clay. The new chronology indicates that minimum d13C values persisted for a maximum of 134 +27/-19 kyr and the inflection point previously chosen to designate the end of the CIE recovery occurs at 217 +44/-31 kyr. This allocation of time differs from that of the cycle-based age model of Röhl et al. (2007, doi:10.1029/2007GC001784) in that it assigns more time to the clay layer followed by a more gradual recovery of carbonate-rich sedimentation. The new model also suggests a longer sustained d13C excursion followed by a more rapid recovery to pre-PETM d13C values. These differences have important implications for constraining the source(s) of carbon and mechanisms for its subsequent sequestration, favoring models that include a sustained release

Radiolarian-based bransfer function for the estimation of sea surface temperatures in the Southern Ocean (Atlantic Sector)

A new radiolarian-based transfer function for sea surface temperature (SST) estimations has been developed from 23 taxa and taxa groups in 53 surface sediment samples recovered between 35° and 72°S in the Atlantic sector of the Southern Ocean. For the selection of taxa and taxa groups ecological information from water column studies was considered. The transfer function allows the estimation of austral summer SST (December-March) ranging between -1 and 18°C with a standard error of estimate of 1.2°C. SST estimates from selected late Pleistocene squences were sucessfully compared with independend paleotemperature estimates derived from a diatom transfer function. This shows that radiolarians provide an excellent tool for paleotemperature reconstructions in Pleistocene sediments of the Southern Ocean.

Sea surface temperature estimation for the Iberian Margin

Centennial climate variability over the last ice age exhibits clear bipolar behavior. High-resolution analyses of marine sediment cores from the Iberian margin trace a number of associated changes simultaneously. Proxies of sea surface temperature and water mass distribution, as well as relative biomarker content, demonstrate that this typical north-south coupling was pervasive for the cold phases of climate during the past 420,000 years. Cold episodes after relatively warm and largely ice-free periods occurred when the predominance of deep water formation changed from northern to southern sources. These results reinforce the connection between rapid climate changes at Mediterranean latitudes and century-to-millennial variability in northern and southern polar regions.

Biogenic opal estimation of deep-sea sediment cores from the Scotia Sea

We present biogenic opal flux records from two deep-sea sites in the Scotia Sea (MD07-3133 and MD07-3134) at decadal-scale resolution, covering the last glacial cycle. Besides conventional and time-consuming biogenic opal measuring methods, we introduce new biogenic opal estimation methods derived from sediment colour b*, wet bulk density, Si/Ti-count ratio, and Fourier transform infrared spectroscopy (FTIRS). All methods capture the biogenic opal amplitude, however, FTIRS - a novel method for marine sediment - yields the most reliable results. 230Th normalization data show strong differences in sediment focusing with intensified sediment focusing during glacial times. At MD07-3134 230Th normalized biogenic opal fluxes vary between 0.2 and 2.5 g/cm2/kyr. Our biogenic opal flux records indicate bioproductivity changes in the Southern Ocean, strongly influenced by sea ice distribution and also summer sea surface temperature changes. South of the Antarctic Polar Front, lowest bioproductivity occurred during the Last Glacial Maximum when upwelling of mid-depth water was reduced and sea ice cover intensified. Around 17 ka, bioproductivity increased abruptly, corresponding to rising atmospheric CO2 contents and decreasing seasonal sea ice coverage.