Large depth-of-view portable three-dimensional laser scanner and its segmental calibration for robot vision

A portable 3D laser scanning system has been designed and built for robot vision. By tilting the charge coupled device (CCD) plane of portable 3D scanning system according to the Scheimpflug condition, the depth-of-view is successfully extended from less than 40 to 100 mm. Based on the tilted camera model, the traditional two-step camera calibration method is modified by introducing the angle factor. Meanwhile, a novel segmental calibration approach, i.e., dividing the whole work range into two parts and calibrating, respectively, with corresponding system parameters, is proposed to effectively improve the measurement accuracy of the large depth-of-view 3D laser scanner. In the process of 3D reconstruction, different calibration parameters are used to transform the 2D coordinates into 3D coordinates according to the different positions of the image in the CCD plane, and the measurement accuracy of 60 mu m is obtained experimentally. Finally, the experiment of scanning a lamina by the large depth-of-view portable 3D laser scanner used by an industrial robot IRB 4400 is also employed to demonstrate the effectiveness and high measurement accuracy of our scanning system. (C) 2007 Elsevier Ltd. All rights reserved.

Saginaw river, Michigan. Letter from the Secretary of War, transmitting, with a letter from the chief of engineers, reports on preliminary examination and survey of Saginaw river, Michigan, with a view to securing a depth of twenty feet from Saginaw Bay to Tittabawassee river.

Mode of access: Internet.

The lakes of Michoacan (Mexico): A brief history and alternative point of view

This article is intended to open a discussion about the historical development of lakes Zirahuen, Patzcuaro and Cuitzeo in the state of Michoacan, and the postulated relationships between lake ecology and evolution. Dr Fernando De Buen was the first man dedicated to limnology in Mexico who came to the country in the 1930s. He was adviser at the Estacion Limnologica de Patzcuaro and wrote outstanding papers dealing with Mexican lakes. The lakes of Michoacan probably formed in the late Pliocene or Holocene, and were part of a tributary to the Lerma River, which became isolated by successive volanic barriers to form lake basins. Lake Zirahuen is a warm monomictic waterbody with unique water dynamics amongst the Michoacan lakes. Because it is relatively deep (max depth 40m), seasonal patterns of alternating circulation and thermal stratification develop in the lake, a feature not shared by the other two polymictic shallow lakes, Patzcuaro and Cuitzeo.

Wide Field-of-view Microscopes and Endoscopes for Time-lapse Imaging and High-throughput Screening

Wide field-of-view (FOV) microscopy is of high importance to biological research and clinical diagnosis where a high-throughput screening of samples is needed. This thesis presents the development of several novel wide FOV imaging technologies and demonstrates their capabilities in longitudinal imaging of living organisms, on the scale of viral plaques to live cells and tissues.

The ePetri Dish is a wide FOV on-chip bright-field microscope. Here we applied an ePetri platform for plaque analysis of murine norovirus 1 (MNV-1). The ePetri offers the ability to dynamically track plaques at the individual cell death event level over a wide FOV of 6 mm × 4 mm at 30 min intervals. A density-based clustering algorithm is used to analyze the spatial-temporal distribution of cell death events to identify plaques at their earliest stages. We also demonstrate the capabilities of the ePetri in viral titer count and dynamically monitoring plaque formation, growth, and the influence of antiviral drugs.

We developed another wide FOV imaging technique, the Talbot microscope, for the fluorescence imaging of live cells. The Talbot microscope takes advantage of the Talbot effect and can generate a focal spot array to scan the fluorescence samples directly on-chip. It has a resolution of 1.2 μm and a FOV of ~13 mm². We further upgraded the Talbot microscope for the long-term time-lapse fluorescence imaging of live cell cultures, and analyzed the cells’ dynamic response to an anticancer drug.

We present two wide FOV endoscopes for tissue imaging, named the AnCam and the PanCam. The AnCam is based on the contact image sensor (CIS) technology, and can scan the whole anal canal within 10 seconds with a resolution of 89 μm, a maximum FOV of 100 mm × 120 mm, and a depth-of-field (DOF) of 0.65 mm. We also demonstrate the performance of the AnCam in whole anal canal imaging in both animal models and real patients. In addition to this, the PanCam is based on a smartphone platform integrated with a panoramic annular lens (PAL), and can capture a FOV of 18 mm × 120 mm in a single shot with a resolution of 100─140 μm. In this work we demonstrate the PanCam’s performance in imaging a stained tissue sample.

Observations of the depth of ice particle evaporation beneath frontal cloud to improve NWP modelling

The evaporation (sublimation) of ice particles beneath frontal ice cloud can provide a significant source of diabatic cooling which can lead to enhanced slantwise descent below the frontal surface. The strength and vertical extent of the cooling play a role in determining the dynamic response of the atmosphere, and an adequate representation is required in numerical weather-prediction (NWP) models for accurate forecasts of frontal dynamics. In this paper, data from a vertically pointing 94 GHz radar are used to determine the characteristic depth-scale of ice particle sublimation beneath frontal ice cloud. A statistical comparison is made with equivalent data extracted from the NWP mesoscale model operational at the Met Office, defining the evaporation depth-scale as the distance for the ice water content to fall to 10% of its peak value in the cloud. The results show that the depth of the ice evaporation zone derived from observations is less than 1 km for 90% of the time. The model significantly overestimates the sublimation depth-scales by a factor of between two and three, and underestimates the local ice water content by a factor of between two and four. Consequently the results suggest the model significantly underestimates the strength of the evaporative cooling, with implications for the prediction of frontal dynamics. A number of reasons for the model discrepancy are suggested. A comparison with radiosonde relative humidity data suggests part of the overestimation in evaporation depth may be due to a high RH bias in the dry slot beneath the frontal cloud, but other possible reasons include poor vertical resolution and deficiencies in the evaporation rate or ice particle fall-speed parametrizations.

Operator performance evaluation of controlled depth of field in a stereographically displayed virtual environment

Retinal blurring resulting from the human eye's depth of focus has been shown to assist visual perception. Infinite focal depth within stereoscopically displayed virtual environments may cause undesirable effects, for instance, objects positioned at a distance in front of or behind the observer's fixation point will be perceived in sharp focus with large disparities thereby causing diplopia. Although published research on incorporation of synthetically generated Depth of Field (DoF) suggests that this might act as an enhancement to perceived image quality, no quantitative testimonies of perceptional performance gains exist. This may be due to the difficulty of dynamic generation of synthetic DoF where focal distance is actively linked to fixation distance. In this paper, such a system is described. A desktop stereographic display is used to project a virtual scene in which synthetically generated DoF is actively controlled from vergence-derived distance. A performance evaluation experiment on this system which involved subjects carrying out observations in a spatially complex virtual environment was undertaken. The virtual environment consisted of components interconnected by pipes on a distractive background. The subject was tasked with making an observation based on the connectivity of the components. The effects of focal depth variation in static and actively controlled focal distance conditions were investigated. The results and analysis are presented which show that performance gains may be achieved by addition of synthetic DoF. The merits of the application of synthetic DoF are discussed.

A variational method to retrieve the extinction profile in liquid clouds using multiple field-of-view lidar

Liquid clouds play a profound role in the global radiation budget but it is difficult to remotely retrieve their vertical profile. Ordinary narrow field-of-view (FOV) lidars receive a strong return from such clouds but the information is limited to the first few optical depths. Wideangle multiple-FOV lidars can isolate radiation scattered multiple times before returning to the instrument, often penetrating much deeper into the cloud than the singly-scattered signal. These returns potentially contain information on the vertical profile of extinction coefficient, but are challenging to interpret due to the lack of a fast radiative transfer model for simulating them. This paper describes a variational algorithm that incorporates a fast forward model based on the time-dependent two-stream approximation, and its adjoint. Application of the algorithm to simulated data from a hypothetical airborne three-FOV lidar with a maximum footprint width of 600m suggests that this approach should be able to retrieve the extinction structure down to an optical depth of around 6, and total opticaldepth up to at least 35, depending on the maximum lidar FOV. The convergence behavior of Gauss-Newton and quasi-Newton optimization schemes are compared. We then present results from an application of the algorithm to observations of stratocumulus by the 8-FOV airborne “THOR” lidar. It is demonstrated how the averaging kernel can be used to diagnose the effective vertical resolution of the retrieved profile, and therefore the depth to which information on the vertical structure can be recovered. This work enables exploitation of returns from spaceborne lidar and radar subject to multiple scattering more rigorously than previously possible.

Solutions to common issues in widefield microscopy: vignetting, mosaicing and depth of focus

In this thesis we have developed solutions to common issues regarding widefield microscopes, facing the problem of the intensity inhomogeneity of an image and dealing with two strong limitations: the impossibility of acquiring either high detailed images representative of whole samples or deep 3D objects. First, we cope with the problem of the non-uniform distribution of the light signal inside a single image, named vignetting. In particular we proposed, for both light and fluorescent microscopy, non-parametric multi-image based methods, where the vignetting function is estimated directly from the sample without requiring any prior information. After getting flat-field corrected images, we studied how to fix the problem related to the limitation of the field of view of the camera, so to be able to acquire large areas at high magnification. To this purpose, we developed mosaicing techniques capable to work on-line. Starting from a set of overlapping images manually acquired, we validated a fast registration approach to accurately stitch together the images. Finally, we worked to virtually extend the field of view of the camera in the third dimension, with the purpose of reconstructing a single image completely in focus, stemming from objects having a relevant depth or being displaced in different focus planes. After studying the existing approaches for extending the depth of focus of the microscope, we proposed a general method that does not require any prior information. In order to compare the outcome of existing methods, different standard metrics are commonly used in literature. However, no metric is available to compare different methods in real cases. First, we validated a metric able to rank the methods as the Universal Quality Index does, but without needing any reference ground truth. Second, we proved that the approach we developed performs better in both synthetic and real cases.

Unit maintenance repair parts and special tools lists : ditching machine, diesel engine driven, wheel mounted, ladder type, 6 ft depth of cut, 24 inch width of cut, Parsons model 624VL (NSN 3805-00-050-4638).

"August 1992."

Operator's manual : boring machine, engine cylinder, portable, 3 1/2 to 7 1/2 bore diameter, 18 inch depth of bore, 110-volt, 60-cycle, single-phase (Cedar Rapids Engineering Company model FL) (4910-223-9734).

"November 1965."

Organizational maintenance repair parts and special tools lists : ditching machine, diesel engine driven, wheel mounted, ladder type, 6 ft depth of cut, 24 inch width of cut, Parsons model 624VL, NSN 3805-00-050-4638.

Includes index.

Operator and organizational maintenance manual : ditching machine, diesel engine driven, wheel mounted, ladder type, 6 ft depth of cut, 24 inch width of cut (Parsons mdl 624VL), FSN 3805-050-4638.

Includes index.

Direct and general support and depot maintenance manual : ditching machine, diesel engine driven; wheel mounted; ladder type; 6 ft depth of cut, 24 inch width of cut (Parsons mdl 624VL), FSN 3805-050-4638.

Includes index.

Depth of cure and surface microhardness of composite resin cured with blue LED curing lights

Objectives. This study examined the depth of cure and surface microhardness of Filtek Z250 composite resin (3M-Espe) (shades B1, A3, and C4) when cured with three commercially available tight emitting diode (LED) curing lights [E-light (GC), Elipar Freelight (3M-ESPE), 475H (RF Lab Systems)], compared with a high intensity quartz tungsten halogen (HQTH) light (Kerr Demetron Optilux 501) and a conventional quartz tungsten halogen (QTH) lamp (Sirona S1 dental unit). Methods. The effects of light source and resin shade were evaluated as independent variables. Depth of cure after 40 s of exposure was determined using the ISO 4049:2000 method, and Vickers hardness determined at 1.0 mm intervals. Results. HQTH and QTH lamps gave the greatest depth of cure. The three LED lights showed similar performances across all parameters, and each unit exceeded the ISO standard for depth of cure except GC ELight for shade B1. In terms of shade, LED lights gave greater curing depths with A3 shade, while QTH and HQTH tights gave greater curing depths with C4 shade. Hardness at the resin surface was not significantly different between LED and conventional curing lights, however, below the surface, hardness reduced more rapidly for the LED lights, especially at depths beyond 3 mm. Significance. Since the performance of the three LED lights meets the ISO standard for depth of cure, these systems appear suitable for routine clinical application for resin curing. (C) 2003 Academy of Dental Materials. Published by Elsevier Ltd. All rights reserved.