Edge detection algorithm based on fuzzy logic theory for a local vision system of robocup humanoid league

Este artículo presenta el desarrollo de un algoritmo para la extracción de bordes basado en la teoría de lógica difusa, mediante el cual es posible reconocer las marcas de un campo de juego para la liga humanoide de RoboCup. El algoritmo propuesto describe la creación de un sistema de inferencia difuso que permite evaluar la relación existente entre los pixeles de una imagen, encontrando así las variaciones en los niveles de gris para una vecindad de pixeles específica. Posteriormente se plantea la implementación del método OTSU para binarizar la imagen obtenida en el proceso difuso y así generar una imagen que contiene solo los bordes extraídos, validando el algoritmo en imágenes de la liga humanoide. Luego se analizan los resultados obtenidos evidenciando el buen desempeño del algoritmo, considerando que el tiempo de procesamiento de la propuesta es tan solo el 35% más del tiempo necesario en métodos tradicionales, mientras que los bordes extraídos son unos 52% menos susceptibles al ruido.At this paper we shown the development of an algorithm to perform edges extraction based on fuzzy logic theory. This method allows recognizing landmarks on the game field for Humanoid League of RoboCup. The proposed algorithm describes the creation of a fuzzy inference system that permit evaluate the existent relationship between image pixels, finding variations on grey levels of related neighbor pixels. Subsequently, it shows an implementation of OTSU method to binarize an image that was obtained from fuzzy process and so generate an imagecontaining only extracted edges, validating the algorithm with Humanoid League images. Later, we analyze obtained results that evidence a good performance of algorithm, considering that this proposal only takes an extra 35% processing time that will be required by traditional methods, whereas extracted edges are 52% less noise susceptible

Oxic and Anoxic Organic Polymer Degradation Potential of Endophytic Fungi From the Marine Macroalga, Ecklonia radiata

Cellulose and chitin are the most abundant polymeric, organic carbon source globally. Thus, microbes degrading these polymers significantly influence global carbon cycling and greenhouse gas production. Fungi are recognized as important for cellulose decomposition in terrestrial environments, but are far less studied in marine environments, where bacterial organic matter degradation pathways tend to receive more attention. In this study, we investigated the potential of fungi to degrade kelp detritus, which is a major source of cellulose in marine systems. Given that kelp detritus can be transported considerable distances in the marine environment, we were specifically interested in the capability of endophytic fungi, which are transported with detritus, to ultimately contribute to kelp detritus degradation. We isolated 10 species and two strains of endophytic fungi from the kelp Ecklonia radiata. We then used a dye decolorization assay to assess their ability to degrade organic polymers (lignin, cellulose, and hemicellulose) under both oxic and anoxic conditions and compared their degradation ability with common terrestrial fungi. Under oxic conditions, there was evidence that Ascomycota isolates produced cellulose-degrading extracellular enzymes (associated with manganese peroxidase and sulfur-containing lignin peroxidase), while Mucoromycota isolates appeared to produce both lignin and cellulose-degrading extracellular enzymes, and all Basidiomycota isolates produced lignin-degrading enzymes (associated with laccase and lignin peroxidase). Under anoxic conditions, only three kelp endophytes degraded cellulose. We concluded that kelp fungal endophytes can contribute to cellulose degradation in both oxic and anoxic environments. Thus, endophytic kelp fungi may play a significant role in marine carbon cycling via polymeric organic matter degradation.German Research Foundation/[GR1540/30-1]/DFG/AlemaniaUCR::Vicerrectoría de Docencia::Ciencias Básicas::Facultad de Ciencias::Escuela de Biologí

Revealing the structure of the lensed quasar Q 0957+561 III. Constraints on the size of the broad-line region

Our aim is to examine the size, kinematics, and geometry of the broad-line region (BLR) in the double-lensed quasar Q 0957+561 by analyzing the impact of microlensing on various rest-frame ultraviolet broad-emission lines (BELs). We explore the influence of intrinsic variability and microlensing on the C IV, C III], and Mg II emission lines through multiple spectroscopic observations taken between April 1999 and January 2017. By utilizing the line cores as a reference for no microlensing and correcting for the long time delay between the images, we estimate the sizes of the regions emitting the broad-line wings using a Bayesian approach. Our study of the microlensing amplitudes between the lensed images of the quasar Q 0957+561 reveals differing sizes of the regions emitting the three prominent BELs C IV, C III], and Mg II. The strength of the differential microlensing indicates that the high-ionization line C IV arises from a compact inner region of the BLR with a half-light radius of $R_{1/2} \gtrsim 16.0$ lt-days, which represents a lower limit on the overall size of the BLR and is comparable to the size of the region emitting the r-band continuum in this system. A somewhat larger size of $R_{1/2}\gtrsim 44$ lt-days is obtained for the semi-forbidden line C III]. Microlensing has a weak impact on the lower-ionization line Mg II, which is emitted from a region with a half-light radius of $R_{1/2} \gtrsim 50$ lt-days. These findings suggest that the BEL regions may have distinct geometries and kinematics, with the more extended ones being spherically symmetric, and the most compact ones being nonspherical, with motions likely confined to a plane

GAPS-megacities: A new global platform for investigating persistent organic pollutants and chemicals of emerging concern in urban air

A pilot study was initiated in 2018 under the Global Atmospheric Passive Sampling (GAPS) Network named GAPS-Megacities. This study included 20 megacities/major cities across the globe with the goal of better understanding and comparing ambient air levels of persistent organic pollutants and other chemicals of emerging concern, to which humans residing in large cities are exposed. The first results from the initial period of sampling are reported for 19 cities for several classes of flame retardants (FRs) including organophosphate esters (OPEs), polybrominated diphenyl ethers (PBDEs), and halogenated flame retardants (HFRs) including new flame retardants (NFRs), tetrabromobisphenol A (TBBPA) and hexabromocyclododecane (HBCDD). The two cities, New York (USA) and London (UK) stood out with ∼3.5 to 30 times higher total FR concentrations as compared to other major cities, with total concentrations of OPEs of 15,100 and 14,100 pg/m, respectively. Atmospheric concentrations of OPEs significantly dominated the FR profile at all sites, with total concentrations in air that were 2–5 orders of magnitude higher compared to other targeted chemical classes. A moderately strong and significant correlation (r = 0.625, p < 0.001) was observed for Gross Domestic Product index of the cities with total OPEs levels. Although large differences in FR levels were observed between some cities, when averaged across the five United Nations regions, the FR classes were more evenly distributed and varied by less than a factor of five. Results for Toronto, which is a ‘reference city’ for this study, agreed well with a more in-depth investigation of the level of FRs over different seasons and across eight sites representing different urban source sectors (e.g. traffic, industrial, residential and background). Future sampling periods under this project will investigate trace metals and other contaminant classes, linkages to toxicology, non-targeted analysis, and eventually temporal trends. The study provides a unique urban platform for evaluating global exposome.A global study across 20 megacities/major cities reporting urban air concentrations of flame retardants and plasticizers.Authors thank the United Nations Environment Programme (UNEP) and the Chemicals Management Plan (CMP) for financial support. The worldwide implementation of the Global Monitoring Plan is made possible thanks to the generous contributions to the Stockholm Convention Voluntary Trust Fund from the Governments of Japan, Norway, Sweden, and through the European Commission’s Thematic Programme for Environment andSustainable Management of Natural Resources, including Energy (ENRTP). Further, the contribution of the projects to support POPs monitoring activities in regions, funded through the Global Environment Facility (GEF) and the Strategic Approach to International Chemicals Management (SAICM), is greatly acknowledged. Monitoring activities and data collection and analysis are implemented in the five UN regions in cooperation with strategic partners and through the involvement of Regional Organization Groups and Global Coordination Group. We also thank Yasuyuki Shibata and Yoshikatsu Takazawa (Tokyo, Japan); Juan Mu~noz-Arnanz (Madrid, Spain) and Dilek €Ozkan and Sinan Kızıltug (_Istanbul, Turkey) for their help and assistance in the sampling campaign

GAPS-megacities: A new global platform for investigating persistent organic pollutants and chemicals of emerging concern in urban air

A pilot study was initiated in 2018 under the Global Atmospheric Passive Sampling (GAPS) Network named GAPS-Megacities. This study included 20 megacities/major cities across the globe with the goal of better understanding and comparing ambient air levels of persistent organic pollutants and other chemicals of emerging concern, to which humans residing in large cities are exposed. The first results from the initial period of sampling are reported for 19 cities for several classes of flame retardants (FRs) including organophosphate esters (OPEs), polybrominated diphenyl ethers (PBDEs), and halogenated flame retardants (HFRs) including new flame retardants (NFRs), tetrabromobisphenol A (TBBPA) and hexabromocyclododecane (HBCDD). The two cities, New York (USA) and London (UK) stood out with ∼3.5 to 30 times higher total FR concentrations as compared to other major cities, with total concentrations of OPEs of 15,100 and 14,100 pg/m3, respectively. Atmospheric concentrations of OPEs significantly dominated the FR profile at all sites, with total concentrations in air that were 2-5 orders of magnitude higher compared to other targeted chemical classes. A moderately strong and significant correlation (r = 0.625, p < 0.001) was observed for Gross Domestic Product index of the cities with total OPEs levels. Although large differences in FR levels were observed between some cities, when averaged across the five United Nations regions, the FR classes were more evenly distributed and varied by less than a factor of five. Results for Toronto, which is a "reference city" for this study, agreed well with a more in-depth investigation of the level of FRs over different seasons and across eight sites representing different urban source sectors (e.g. traffic, industrial, residential and background). Future sampling periods under this project will investigate trace metals and other contaminant classes, linkages to toxicology, non-targeted analysis, and eventually temporal trends. The study provides a unique urban platform for evaluating global exposome.Fil: Saini, Amandeep. Environment and Climate Change; CanadáFil: Harner, Tom. Environment and Climate Change; CanadáFil: Chinnadhurai, Sita. Environment and Climate Change; CanadáFil: Schuster, Jasmin K.. Environment and Climate Change; CanadáFil: Yates, Alan. Environment and Climate Change; CanadáFil: Sweetman, Andrew. Lancaster Environment Centre; Reino UnidoFil: Aristizabal Zuluaga, Beatriz H.. Universidad Nacional de Colombia; ColombiaFil: Jiménez, Begoña. Consejo Superior de Investigaciones Científicas; EspañaFil: Manzano, Carlos A.. Universidad de Chile; ChileFil: Gaga, Eftade O.. Eskisehir Technical University; TurquíaFil: Stevenson, Gavin. National Measurement Institute; AustraliaFil: Falandysz, Jerzy. Uniwersytet Gdanski; PoloniaFil: Ma, Jianmin. Peking University; ChinaFil: Miglioranza, Karina Silvia Beatriz. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Mar del Plata. Instituto de Investigaciones Marinas y Costeras. Universidad Nacional de Mar del Plata. Facultad de Ciencias Exactas y Naturales. Instituto de Investigaciones Marinas y Costeras; ArgentinaFil: Kannan, Kurunthachalam. Nyu Grossman School Of Medicine; Estados UnidosFil: Tominaga, Maria. Sao Paulo State Environmental Company; BrasilFil: Jariyasopit, Narumol. No especifíca;Fil: Rojas, Nestor Y.. Universidad Nacional de Colombia; ColombiaFil: Amador-Muñoz, Omar. Universidad Nacional Autónoma de México; MéxicoFil: Sinha, Ravindra. Patna University; IndiaFil: Alani, Rose. University of Lagos; NigeriaFil: Suresh, R.. No especifíca;Fil: Nishino, Takahiro. Tokyo Metropolitan Research Institute for Environmental Protection; JapónFil: Shoeib, Tamer. American University In Cairo; Egipt

Spatial and temporal variation of fish assemblage associated with aquatic macrophyte patches in the littoral zone of the Ayapel Swamp Complex, Colombia

ABSTRACT: Aim: The purpose of the present study was to examine spatial and temporal variation in fish assemblage structure associated with aquatic macrophytes in the littoral zone of the ASC. Methods: Specimens were caught between January 2008 and February 2009, over four limnimetric moments, using both cast net and seine net. Data on the temperature, electrical conductivity, pH and dissolved oxygen was recorded for the characterization of the water mass in the sites. Results: A total of 34,151 specimens from 44 species were collected. The most abundant species were Eigenmannia virescens, Astyanax caucanus, Astyanax fasciatus, Roeboides dayi and Cyphocharax magdalenae, which together accounted for more than 75% of the sample. Temporal and spatial comparisons showed variation in the environmental conditions and highlighted the existence of heterogeneous abiotic conditions (p0.05) regarding the fish assemblage structure. The multivariate analysis showed no significant relationship between existing environmental conditions and the fish assemblage (p=0.04). The analysis also showed the absence of a relationship between the fish assemblage and environmental variables with respect to the flood pulse and sampling sites (p>0.05). Conclusion: The uniformity of the fish communities that inhabit aquatic macrophyte patches in the littoral region of the ASC may be related to the availability of suitable habitat in structural terms, that probably supports a more abundant and varied wildlife

Latin American consumption of major food groups: Results from the ELANS study

Background The Latin American (LA) region is still facing an ongoing epidemiological transition and shows a complex public health scenario regarding non-communicable diseases (NCDs). A healthy diet and consumption of specific food groups may decrease the risk of NCDs, however there is a lack of dietary intake data in LA countries. Objective Provide updated data on the dietary intake of key science-based selected food groups related to NCDs risk in LA countries. Design ELANS (Latin American Study of Nutrition and Health) is a multicenter cross-sectional study assessing food consumption from an urban sample between15 to 65 years old from 8 LA countries (Argentina, Brazil, Chile, Colombia, Costa Rica, Ecuador, Peru, and Venezuela). Two 24-HR were obtained from 9, 218 individuals. The daily intake of 10 food groups related to NCDs risk (fruits; vegetables; legumes/beans; nuts and seeds; whole grains products; fish and seafood; yogurt; red meat; processed meats; sugar-sweetened beverages (ready-to-drink and homemade)) were assessed and compared to global recommendations. Results Only 7.2% of the overall sample reached WHO's recommendation for fruits and vegetables consumption (400 grams per day). Regarding the dietary patterns related to a reduced risk of NCDs, among the overall sample legumes and fruits were the food groups with closer intake to the recommendation, although much lower than expected (13.1% and 11.5%, respectively). Less than 3.5% of the sample met the optimal consumption level of vegetables, nuts, whole grains, fish and yogurt. Largest country-dependent differences in average daily consumption were found for legumes, nuts, fish, and yogurt. Mean consumption of SSB showed large differences between countries. Conclusion Diet intake quality is deficient for nutrient-dense food groups, suggesting a higher risk for NCDs in the urban LA region in upcoming decades. These data provide relevant and up-to-date information to take urgent public health actions to improve consumption of critically foods in order to prevent NCDs. Copyright

2D characterization of near-surface V P/V S: surface-wave dispersion inversion versus refraction tomography

International audienceThe joint study of pressure (P-) and shear (S-) wave velocities (Vp and Vs ), as well as their ratio (Vp /Vs), has been used for many years at large scales but remains marginal in near-surface applications. For these applications, and are generally retrieved with seismic refraction tomography combining P and SH (shear-horizontal) waves, thus requiring two separate acquisitions. Surface-wave prospecting methods are proposed here as an alternative to SH-wave tomography in order to retrieve pseudo-2D Vs sections from typical P-wave shot gathers and assess the applicability of combined P-wave refraction tomography and surface-wave dispersion analysis to estimate Vp/Vs ratio. We carried out a simultaneous P- and surface-wave survey on a well-characterized granite-micaschists contact at Ploemeur hydrological observatory (France), supplemented with an SH-wave acquisition along the same line in order to compare Vs results obtained from SH-wave refraction tomography and surface-wave profiling. Travel-time tomography was performed with P- and SH- wave first arrivals observed along the line to retrieve Vtomo p and Vtomo s models. Windowing and stacking techniques were then used to extract evenly spaced dispersion data from P-wave shot gathers along the line. Successive 1D Monte Carlo inversions of these dispersion data were performed using fixed Vp values extracted from Vtomo p the model and no lateral constraints between two adjacent 1D inversions. The resulting 1D Vsw s models were then assembled to create a pseudo-2D Vsw s section, which appears to be correctly matching the general features observed on the section. If the pseudo-section is characterized by strong velocity incertainties in the deepest layers, it provides a more detailed description of the lateral variations in the shallow layers. Theoretical dispersion curves were also computed along the line with both and models. While the dispersion curves computed from models provide results consistent with the coherent maxima observed on dispersion images, dispersion curves computed from models are generally not fitting the observed propagation modes at low frequency. Surface-wave analysis could therefore improve models both in terms of reliability and ability to describe lateral variations. Finally, we were able to compute / sections from both and models. The two sections present similar features, but the section obtained from shows a higher lateral resolution and is consistent with the features observed on electrical resistivity tomography, thus validating our approach for retrieving Vp/Vs ratio from combined P-wave tomography and surface-wave profiling