Marker based Thermal-Inertial Localization for Aerial Robots in Obscurant Filled Environments

For robotic inspection tasks in known environments fiducial markers provide a reliable and low-cost solution for robot localization. However, detection of such markers relies on the quality of RGB camera data, which degrades significantly in the presence of visual obscurants such as fog and smoke. The ability to navigate known environments in the presence of obscurants can be critical for inspection tasks especially, in the aftermath of a disaster. Addressing such a scenario, this work proposes a method for the design of fiducial markers to be used with thermal cameras for the pose estimation of aerial robots. Our low cost markers are designed to work in the long wave infrared spectrum, which is not affected by the presence of obscurants, and can be affixed to any object that has measurable temperature difference with respect to its surroundings. Furthermore, the estimated pose from the fiducial markers is fused with inertial measurements in an extended Kalman filter to remove high frequency noise and error present in the fiducial pose estimates. The proposed markers and the pose estimation method are experimentally evaluated in an obscurant filled environment using an aerial robot carrying a thermal camera.Comment: 10 pages, 5 figures, Published in International Symposium on Visual Computing 201

Critical Repetition Rates for Perceptual Segregation of Time-Varying Auditory, Visual and Vibrotactile Stimulation

What sound quality has led to exclude infrasound from sound in the conventional hearing range? We examined whether temporal segregation of pressure pulses is a distinctive property and evaluated this perceptual limit via an adaptive psychophysical procedure for pure tones and carriers of different envelopes. Further, to examine across-domain similarity and individual covariation of this limit, here called the critical segregation rate (CSR), it was also measured for various periodic visual and vibrotactile stimuli. Results showed that sequential auditory or vibrotactile stimuli separated by at least ~80‒90 ms (~11‒12-Hz repetition rates), will be perceived as perceptually segregated from one another. While this limit did not statistically differ between these two modalities, it was significantly lower than the ~150 ms necessary to perceptually segregate successive visual stimuli. For the three sensory modalities, stimulus periodicity was the main factor determining the CSR, which apparently reflects neural recovery times of the different sensory systems. Among all experimental conditions, significant within- and across-modality individual CSR correlations were observed, despite the visual CSR (mean: 6.8 Hz) being significantly lower than that of both other modalities. The auditory CSR was found to be significantly lower than the frequency above which sinusoids start to elicit a tonal quality (19 Hz; recently published for the same subjects). Returning to our initial question, the latter suggests that the cessation of tonal quality — not the segregation of pressure fluctuations — is the perceptual quality that has led to exclude infrasound (sound with frequencies < 20 Hz) from the conventional hearing range

Comparative study of tributyltin toxicity on two bacteria of the genus Bacillus

Tributyltin is a potent biocide mainly used in marine antifouling paints. Owing to its widespread distribution in coast areas and its high toxicity to aquatic organisms, the use of this compound is generally restricted and under government regulation. Despite of that, it persists in the aquatic environment. Organotins used in industry have also been detected in terrestrial environments. The persistence and high lipophilicity explain bioaccumulation. The role of bacteria in recycling organic matter prompted us to study the interaction of tributyltin with two ubiquitous bacilli, B. stearothermophilus and B. subtilis, proposed as biological indicators of pollutants with ecological impact. These bacteria have been used as suitable models for the study of toxicity mechanisms of unselective lipophilic compounds (e.g., DDT and endosulfan). Drug effects on growth parameters, oxygen consumption and membrane organization were assessed. Bacteria growth in a liquid complex medium was disturbed by concentrations of TBT as low as 25 nM (8 [mu]g L-1), close to the concentration in polluted environments. The respiratory activity is affected by TBT in both microorganisms. Membrane organization, assessed by fluorescence polarization of two fluidity probes, 1,6-diphenyl-1,3,5-hexatriene (DPH) and a propionic acid derivative (DPH-PA), was also perturbed by the xenobiotic. Alterations on growth, oxygen consumption and physical properties of membrane lipids are stronger in B. stearothermophilus as compared to B. subtilis. A putative relationship between growth inhibition and respiratory activity impairment induced by TBT and its effects on the physical behaviour of bacterial membrane lipids is suggested.http://www.sciencedirect.com/science/article/B6TCP-4GSJR3R-9/1/18e0ee5c8ce4e887466d84b850ad8ec

Non-random distribution of biocrust in a natural arid environment in the northern mexican plateau

Abstract. Biocrust, as photosynthetic organisms, has been considered to show an inversely proportional relationship with vascular plant cover. However, some studies report association and facilitation relationships between them. This research explores whether i) biocrust is associated with shrub species, ii) biocrust cover is higher in undershrub microenvironments than in open areas between plants and, iii) soil moisture and solar radiation affect biocrust distribution. Biocrust cover was analyzed by morphotype in microenvironments under the canopy of two dominant shrub species (Larrea tridentata and Parthenium incanum) and in open areas. Soil moisture and solar radiation were recorded at each microenvironment. Thirty-three interception lines (975 points) were used to analyze the association between vascular plants and biocrust and 20 sampling plots to estimate morphotype cover. Results reveal a positive association between biocrust and plant species compared to open areas. Lichens and cyanobacteria showed a higher cover under L. tridentata than under P. incanum and in open areas, suggesting a species-specific facilitative association with L. tridentata, maybe due to a higher soil water content in this microenvironment. Mosses had lower cover in the open area where the highest solar radiation was recorded. Lichens and cyanobacteria distribution appeared to be related to soil moisture. Keywords: creosote bush, cyanobacteria, lichens, mosses, northeastern Mexic

Autonomous underwater gliders monitoring variability at "choke points" in our ocean system: a case study in Western Mediterranean Sea

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Geomicrobiology of a seawater-influenced active sulfuric acid cave.

Fetida Cave is an active sulfuric acid cave influenced by seawater, showing abundant microbial communities that organize themselves under three main different morphologies: water filaments, vermiculations and moonmilk deposits. These biofilms/deposits have different cave distribution, pH, macro- and microelement and mineralogical composition, carbon and nitrogen content. In particular, water filaments and vermiculations had circumneutral and slightly acidic pH, respectively, both had abundant organic carbon and high microbial diversity. They were rich in macro- and microelements, deriving from mineral dissolution, and, in the case of water filaments, from seawater composition. Vermiculations had different color, partly associated with their mineralogy, and unusual minerals probably due to trapping capacities. Moonmilk was composed of gypsum, poor in organic matter, had an extremely low pH (0\u20131) and low microbial diversity. Based on 16S rRNA gene analysis, the microbial composition of the biofilms/deposits included autotrophic taxa associated with sulfur and nitrogen cycles and biomineralization processes. In particular, water filaments communities were characterized by bacterial taxa involved in sulfur oxidation and reduction in aquatic, aphotic, microaerophilic/anoxic environments (Campylobacterales, Thiotrichales, Arenicellales, Desulfobacterales, Desulforomonadales) and in chemolithotrophy in marine habitats (Oceanospirillales, Chromatiales). Their biodiversity was linked to the morphology of the water filaments and their collection site. Microbial communities within vermiculations were partly related to their color and showed high abundance of unclassified Betaproteobacteria and sulfur-oxidizing Hydrogenophilales (including Sulfuriferula), and Acidiferrobacterales (including Sulfurifustis), sulfur-reducing Desulfurellales, and ammonia-oxidizing Planctomycetes and Nitrospirae. The microbial community associated with gypsum moonmilk showed the strong dominance (&gt;60%) of the archaeal genus Thermoplasma and lower abundance of chemolithotrophic Acidithiobacillus, metal-oxidizing Metallibacterium, Sulfobacillus, and Acidibacillus. This study describes the geomicrobiology of water filaments, vermiculations and gypsum moonmilk from Fetida Cave, providing insights into the microbial taxa that characterize each morphology and contribute to biogeochemical cycles and speleogenesis of this peculiar seawater-influenced sulfuric acid cave

Software-automatized individual lactation model fitting, peak and persistence and Bayesian criteria comparison for milk yield genetic studies in Murciano-Granadina goats

SPSS model syntax was defined and used to evaluate the individual performance of 49 linear and non-linear models to fit the lactation curve of 159 Murciano-Granadina goats selected for genotyping analyses. Lactation curve shape, peak and persistence were evaluated for each model using 3107 milk yield controls with an average of 3.78 ± 2.05 lactations per goat. Best fit (Adjusted R2) values (0.47) were reached by the five-parameter logarithmic model of Ali and Schaeffer. Three main possibilities were detected: non-fitting (did not converge), standard (Adjusted R2 over 75%) and atypical curves (Adjusted R2 below 75%). All the goats fitted for 38 models. The ability to fit different possible functional forms for each goat, which progressively increased with the number of parameters comprised in each model, translated into a higher sensitivity to explaining curve shape individual variability. However, for models for which all goats fitted, only moderate increases in explanatory and predictive potential (AIC, AICc or BIC) were found. The Ali and Schaeffer model reported the best fitting results to study the genetic variability behind goat milk yield and perhaps enhance the evaluation of curve parameters as trustable future selection criteria to face the future challenges offered by the goat dairy industry