An approach to coded structured light to obtain three dimensional information

The human visual ability to perceive depth looks like a puzzle. We perceive three-dimensional spatial information quickly and efficiently by using the binocular stereopsis of our eyes and, what is mote important the learning of the most common objects which we achieved through living. Nowadays, modelling the behaviour of our brain is a fiction, that is why the huge problem of 3D perception and further, interpretation is split into a sequence of easier problems. A lot of research is involved in robot vision in order to obtain 3D information of the surrounded scene. Most of this research is based on modelling the stereopsis of humans by using two cameras as if they were two eyes. This method is known as stereo vision and has been widely studied in the past and is being studied at present, and a lot of work will be surely done in the future. This fact allows us to affirm that this topic is one of the most interesting ones in computer vision. The stereo vision principle is based on obtaining the three dimensional position of an object point from the position of its projective points in both camera image planes. However, before inferring 3D information, the mathematical models of both cameras have to be known. This step is known as camera calibration and is broadly describes in the thesis. Perhaps the most important problem in stereo vision is the determination of the pair of homologue points in the two images, known as the correspondence problem, and it is also one of the most difficult problems to be solved which is currently investigated by a lot of researchers. The epipolar geometry allows us to reduce the correspondence problem. An approach to the epipolar geometry is describes in the thesis. Nevertheless, it does not solve it at all as a lot of considerations have to be taken into account. As an example we have to consider points without correspondence due to a surface occlusion or simply due to a projection out of the camera scope. The interest of the thesis is focused on structured light which has been considered as one of the most frequently used techniques in order to reduce the problems related lo stereo vision. Structured light is based on the relationship between a projected light pattern its projection and an image sensor. The deformations between the pattern projected into the scene and the one captured by the camera, permits to obtain three dimensional information of the illuminated scene. This technique has been widely used in such applications as: 3D object reconstruction, robot navigation, quality control, and so on. Although the projection of regular patterns solve the problem of points without match, it does not solve the problem of multiple matching, which leads us to use hard computing algorithms in order to search the correct matches. In recent years, another structured light technique has increased in importance. This technique is based on the codification of the light projected on the scene in order to be used as a tool to obtain an unique match. Each token of light is imaged by the camera, we have to read the label (decode the pattern) in order to solve the correspondence problem. The advantages and disadvantages of stereo vision against structured light and a survey on coded structured light are related and discussed. The work carried out in the frame of this thesis has permitted to present a new coded structured light pattern which solves the correspondence problem uniquely and robust. Unique, as each token of light is coded by a different word which removes the problem of multiple matching. Robust, since the pattern has been coded using the position of each token of light with respect to both co-ordinate axis. Algorithms and experimental results are included in the thesis. The reader can see examples 3D measurement of static objects, and the more complicated measurement of moving objects. The technique can be used in both cases as the pattern is coded by a single projection shot. Then it can be used in several applications of robot vision. Our interest is focused on the mathematical study of the camera and pattern projector models. We are also interested in how these models can be obtained by calibration, and how they can be used to obtained three dimensional information from two correspondence points. Furthermore, we have studied structured light and coded structured light, and we have presented a new coded structured light pattern. However, in this thesis we started from the assumption that the correspondence points could be well-segmented from the captured image. Computer vision constitutes a huge problem and a lot of work is being done at all levels of human vision modelling, starting from a)image acquisition; b) further image enhancement, filtering and processing, c) image segmentation which involves thresholding, thinning, contour detection, texture and colour analysis, and so on. The interest of this thesis starts in the next step, usually known as depth perception or 3D measurement.

Pilas de combustible soportadas sobre el anodo de una sola camara basadas en electrolitos de ceria dopada con Gd

La utilización de electrolitos soportados en el ánodo es una estrategia muy útil para mejorar las propiedades eléctricas de las pilas de combustible de óxido sólido, debido a que permiten disminuir considerablemente el espesor de los electrolitos. Para este trabajo, se han preparado exitosamente pilas de combustible de óxido sólido con electrolitos de ceria dopada con Gd, Ce1-xGdxO2-y (CGO) soportados sobre un ánodo formado por un cermet de Ni/CGO. Dichas pilas se han instalado y caracterizado en un reactor de una sola cámara donde se ha hecho circular una mezcla de propano y aire. Para ello, se han preparado mezclas de polvos de NiO y de ceria dopada con gadolinia, con diferentes composiciones y tamaño de partículas, para obtener los ánodos con porosidades apropiadas y así utilizarlos como soporte del electrolito en las pilas. Los polvos de los electrolitos de CGO se han preparado por la técnica sol-gel y se han depositado por"dip coating" con diferentes espesores (15-30 ¿m) utilizando una tinta preparada a partir de partículas nanométricas dispersadas en una resina comercial. Los cátodos de La1-xSrxCoO3-S (LSCO) se han preparado también por la técnica sol-gel y se han depositado sobre la capa fina del electrolito. Finalmente, las propiedades eléctricas se han determinado en un reactor de una sola cámara dónde el propano se ha mezclado con aire sintético por encima del límite superior de inflamabilidad. En estas condiciones experimentales se han obtenido altas densidades de potencia estables, controlando las velocidades de flujo total de gas transportador y la presión parcial de propano.

Pilas de combustible de una sola camara, basadas en electrolitos de ceria dopada con gadolinia y operadas con metano y propano

La principal ventaja de las pilas de combustible de óxido sólido (SOFCs) de una sola cámara, frente a las bicamerales convencionales, es que permiten simplificar el diseño del dispositivo y operar con mezclas de hidrocarburos (metano, propano...) y aire, sin necesidad de separar ambos gases, por medio del uso de electrodos selectivos a la oxidación del combustible y reducción del oxidante. En el presente trabajo, se han fabricado monopilas soportadas sobre electrolitos de ceria dopada con gadolinia (GDC), de 200 ¿m de espesor, usando Ni-GDC como ánodo y LSC(La0.5Sr0.5CoO3-¿)-GDC-Ag2O como cátodo. Las propiedades eléctricas de la celda se determinaron en un reactor de una sola cámara, usando mezclas de metano + aire y propano + aire. Se investigó la influencia de la temperatura, de las presiones parciales del combustible y oxígeno, y de la velocidad de flujo total sobre el rendimiento de las pilas preparadas. Así, la densidad de potencia se incrementó fuertemente con el aumento de la temperatura, la velocidad de flujo total y la composición de hidrocarburo. Una vez se optimizaron los parámetros operacionales, la celda presentó unas densidades de potencia máximas de 70 y 320 mW/ cm2, operando con propano a 600ºC y con metano a 795ºC, respectivamente.

Estudos complementares sobre a toxidez de Lantana camara (Verbenaceae) em bovinos

Descreve-se, no município de Quatis, RJ, a ocorrência de um surto de intoxicação por Lantana camara var. aculeata em bovinos, caracterizado por acentuada icterícia, lesões de fotossensibilização, constipação e edema subcutâneo dos membros. A reprodução experimental da doença, com êxito letal, através da administração de dose única de 40 g/kg de L. camara var. aculeata, confirmou a planta como causa do surto; doses únicas de 20 g/kg, 10 g/kg e 5 g/kg causaram respectivamente, grave intoxicação, leve intoxicação e ausência de sintomas. Experimentos com doses repetidas permitem concluir que essa planta apresenta efeito acumulativo, quando ingerida em doses diárias de 10 g/kg (1/4 da dose letal); a administração de quatro doses de 5 g/kg (1/8 da dose letal) ou de oito doses de 2,5 g/kg (1/16 da dose letal) reproduziram o quadro grave de intoxicação. Subdoses menores, de 1,25 g/kg (1/32 da dose letal), administradas durante 34 dias, não produziram quaisquer sinais clínicos. Os exames histológicos dos casos naturais e experimentais revelaram, além de bilestase, alterações regressivas nos hepatócitos e no epitélio dos túbulos renais.

Foliar anatomy of the species Lantana camara and L. radula (Verbenaceae)

The species Lantana camara, commonly used as ornamental, has spread worldwide becoming one of the world's most important weeds. To develop new methods of control of this plant, it is essential to distinguish it from other species of the same genus, and this is usually accomplished through taxonomic studies of fertile samples. Considering the similarity between L. camara and L. radula, and the consequent difficulty in distinguishing one from the other when only sterile samples are available, this work aimed to investigate the use of the anatomical characteristics of the leaves of both species as tools for supporting correct classification. The leaves of L. camara and L. radula were anatomically examined by light microscopy and scanning electron microscopy. The major differences were observed in the petiole, which presented secretory idioblasts in L. camara. Secretory idioblasts were observed in the leaf blades of L. camara and Crystalliferou idioblasts were found in L. radula. Glandular and nonglandular trichomes as well as the abaxial surface are different in each species. Such results can support the strategies aiming at the control of L. camara without interfering with L. radula.

Effects of Corynespora cassiicola on Lantana camara

The present study combines the examination of toxins produced by C. cassiicola and the effects of the fungus colonization on L. camara. C. cassiicola was cultivated on solid media and the crude extracts CAE and CE were produced. Both extracts were submitted to a seed germination and growth assay utilizing Physalis ixocarpa, Trifolium alexandrinum, Lolium multiflorum and Amaranthus hypochodriacus. The effect of the extracts on the ATP-synthesis in isolated spinach chloroplasts was also tested. Bioassay guided chromatographic fractionation identified the most active extract (CAE). From this extract ergosta-4,6,8(14),22-tetraen-3-one (C1) and fatty acids were isolated. The C1 compound reduce ATP synthesis in isolated spinach chloroplasts. The interference of fatty acids with ATP synthesis and also with weed growth provides one explanation of the phytogrowth-inhibitory properties of such fungal extracts. Histological observations involving fungus-plant interaction were made on L. camara plants inoculated with C. cassiicola conidia suspension. After inoculations, fragments of the leaf blades were prepared for observation by light and scanning electron microscopy. Fungal colonization of Lantana camara was typical of a necrotroph and penetration initiated a hypersensitive response. L. camara reacted to the pathogen penetration through thickening of the epidermis walls, cytoplasm granulation and a cicatrisation tissue.

Are there evidences of a complex mimicry system among Asclepias curassavica (Apocynaceae), Epidendrum fulgens (Orchidaceae), and Lantana camara (Verbenaceae) in Southern Brazil?

The goal of this paper was to test the presence of mimicry in Asclepias curassavica L., Epidendrum fulgens Brong., and Lantana camara L. The study was carried out at the Parque Estadual de Itapeva, RS, southern Brazil, from 2004 to 2006. Flowering period of each of the three species was followed up; focal observations of butterflies visiting flowers, from fixed point and during random walks were carried out. We also estimated the frequency of pollinaria removal in the orchid, as well as its mode of reproduction. All these variables were important for testing the mimicry hypothesis. Despite some temporal coincidences in the flowering period of two plants in the system, there was no statistical association among the three plants as to flowering period. Twenty-nine species of butterflies, as potential pollinators, were recorded, particularly Agraulis vanillae maculosa, Dryas iulia alcionea, Urbanus simplicius, Tegosa claudina, and Heliconius erato phyllis, which were the more frequent visitors of the three plants. There was association between the number of visits to L. camara and E. fulgens, based on Pearson correlation (r = 0.4603; n = 19; P = 0.0473). Pollinaria removal of E. fulgens was low, as measured by the percentage of removal (range: 0 - 10%). The analysis of the mode of reproduction of this orchid showed its pollinator-dependence, since no fruits were formed by spontaneous self-pollination. In contrast, the percentage of fruit set that resulted from geitonogamy and xenogamy was, in average, 86%. The results here shown are not conclusive as to the occurrence of a mimicry system among the three plants.

Dictamen de la Comisión de la Camara de Senadores del Congreso General sobre la aprobación del tratado celebrado por el gobierno dela República con los Estados-Unidos del Norte.

UANL

Memoria del Ministro de Relaciones Interiores y Esteriores D. Luis G. Cuevas, leida en la camara de diputados el 5, y en la de senadores el 8 de enero de 1849

UANL

Los duendes de la camara : 5,000

UANL

Camara de filmación, proyecto audio, escenario.

Proyecto realizado por la Asociación de Alumnos del centro. Son tres experiencias diferentes: creación de una emisora de radio, organización de un equipo de filmación e instalación de un escenario para realizar actividades culturales. Se plantean los siguientes objetivos: relacionar la actividad del centro con los medios de comunicación; filmar acontecimientos de la vida del centro; y potenciar la actividad teatral. Las actividades se han realizado a través de comisiones de alumnos encargados de distintas tareas: redacción, montaje, iluminación y filmación. El proyecto no incluye memoria.

Efeitos de um extrato aquoso de lantana camara (Cambará de espinho) na marcação de constituintes sanguíneos com técnecio-99m e na morfologia de hemácias de ratos-wistar

Medicinal plants have been studied and used in the world. Lantana camara has medicinal properties and it has been used in folk medicine. The aim was to verify the effect of a lantana extract on the labeling of blood constituents with 99mTc, and to evaluate the effect of an aqueous extract of Lantana camara on the morphology of RBC withdrawn from Wistar rats. The results showed that lantana extract has decreased the fixation of radioactivity on the IF-P. This effect was not observed in the BC compartment and in IF-BC. The BC-%ATI was decreased in all concentrations tested when the BC was washed. The osmotic fragility assay and morphological analysis were carried out. In presence of the extract, the data obtained indicated that (i) an increase of the hemolysis and (ii) modifications on the morphology of RBC. These effects of the Lantana camara could be associated with some pharmacological properties of the chemical compounds of this studied extract

Toxicidade de Lantana camara (Verbenaceae) em operárias de Apis mellifera (Hymenoptera: Apidae)

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)