Real-time Model-based Image Color Correction for Underwater Robots

Recently, a new underwater imaging formation model presented that the coefficients related to the direct and backscatter transmission signals are dependent on the type of water, camera specifications, water depth, and imaging range. This paper proposes an underwater color correction method that integrates this new model on an underwater robot, using information from a pressure depth sensor for water depth and a visual odometry system for estimating scene distance. Experiments were performed with and without a color chart over coral reefs and a shipwreck in the Caribbean. We demonstrate the performance of our proposed method by comparing it with other statistic-, physic-, and learning-based color correction methods. Applications for our proposed method include improved 3D reconstruction and more robust underwater robot navigation.Comment: Accepted at the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS

An Underwater SLAM System using Sonar, Visual, Inertial, and Depth Sensor

This paper presents a novel tightly-coupled keyframe-based Simultaneous Localization and Mapping (SLAM) system with loop-closing and relocalization capabilities targeted for the underwater domain. Our previous work, SVIn, augmented the state-of-the-art visual-inertial state estimation package OKVIS to accommodate acoustic data from sonar in a non-linear optimization-based framework. This paper addresses drift and loss of localization -- one of the main problems affecting other packages in underwater domain -- by providing the following main contributions: a robust initialization method to refine scale using depth measurements, a fast preprocessing step to enhance the image quality, and a real-time loop-closing and relocalization method using bag of words (BoW). An additional contribution is the addition of depth measurements from a pressure sensor to the tightly-coupled optimization formulation. Experimental results on datasets collected with a custom-made underwater sensor suite and an autonomous underwater vehicle from challenging underwater environments with poor visibility demonstrate performance never achieved before in terms of accuracy and robustness

ANALISI PROTEOMICA DEI MITOCONDRI IN UN CASO DI SINDROME DI FATICA CRONICA

La sindrome della fatica cronica è una malattia caratterizzata da una stanchezza persistente e non spiegabile che si accompagna a grave compromissione dell'attività quotidiana. L'eziologia e la fisiopatogenesi non sono molto conosciute. La diagnosi viene fatta sulla storia del paziente escludendo altre cause mediche

Creating An Equity Based Genetics Unit Using Culturally Relevant Pedagogy And The Next Generation Science Standards

Research has shown that BIPOC (Black, Indigineous, People of Color) students often feel disconnected from science learning. Teacher bias, the way “achievement” is viewed, a lack of role models, and the traditional way in which science is taught has contributed to a lack of engagement among BIPOC students and thus a disproportionate amount of these students not entering into STEM fields as careers. Changing this narrative will involve reframing the way that science is taught and the way in which curriculum is created, and increasing interest in the sciences needs to start with creating a more equitable science curriculum for all students. The curriculum designed for this project focuses on using Dr. Gloria Ladson-Billings theoretical model of Culturally Relevant Pedagogy and the Next Generation Science Standards to create a genetics unit that promotes cultural competence and critical consciousness and allows students to see connections to science with themselves and their communities. The project involved creating a storyline based curriculum that engages students in meaningful discussions about the history and influence that race has had on scientific history and science today. The curriculum will be used in a Biology classroom and the lessons are designed to be adaptable so as to allow for student voice and choice to influence the direction in which the storyline goes. The goal of this project is to create a more equitable science curriculum in order to help students develop into a generation of students who are critically thinking, science-minded, anti-racist agents of change

Monte--Carlo Thermodynamic Bethe Ansatz

We introduce a Monte--Carlo simulation approach to thermodynamic Bethe ansatz (TBA). We exemplify the method on one particle integrable models, which include a free boson and a free fermions systems along with the scaling Lee--Yang model (SLYM). It is confirmed that the central charges and energies are correct to a very good precision, typically 0.1% or so. The advantage of the method is that it enables the calculation of all the dimensions and even the particular partition function.Comment: 22 pages. Added a footnote and realizations for the minimal models. Fortran program, mont-s.f90, available from the source lin

DEVELOPMENT OF NEW SYSTEMS OF BIO-PRESERVATION FOR THE SAFETY AND SHELF-LIFE OF FOOD

This PhD thesis deals with the selection and characterization of Lactic Acid Bacteria strains to be applied in different stages of supply chain of bakery and cereal production, in order to set up bio-control strategies, against the cereal-related fungal contaminants. We studied and highlighted some interesting functional and nutritional features of Lactobacillus plantarum CE84, which can be exploited as new starter for food fermentations, in bakery and/or cereal sector, delaying or inhibiting fungal contaminants. Moreover, we demonstrated that could be possible to prolong the mould-free shelf life of the bread, using selected hetero-fermentative Lactobacillus strains in sourdough preparation with wheat flour and sucrose. Further studies will allow to verify the possible application of these strategies for improving food quality and safety