モービルマッピングシステムと航空測量を用いた都市空間高精度３次元モデリング

学位の種別: 課程博士審査委員会委員 : （主査）東京大学教授 瀬崎 薫, 東京大学教授 江崎 浩, 東京大学教授 苗村 健, 東京大学教授 柴崎 亮介, 東京大学准教授 上條 俊介, 国際電気通信基礎技術研究所 浅見 徹University of Tokyo(東京大学

Effects of Pirimicarb carbamate insecticide alone and in combination with lead (Pb) on biochemical parameters of soft tissues in freshwater snail, Galba truncatula

In this study, potential effects of Pirimicarb and lead (Pb) were investigated on biochemical parameters in tissues of freshwater snails, Galba truncatula. During an 8-day experiment, snails were exposed to sub-lethal concentrations of Pirimicarb (0.5 and 1 mg/L) and/or lead acetate (0.1 and 0.2 mg/L). Biochemical analyses of tissues to Photometric method in snails indicate that snails treated with Pirimicarb, Pb, or both Pirimicarb and Pb increased malondialdehyde (MDA) and catalase (CAT) and decreased gamma-glutamyl transferase (GGT) levels, compared to the control group. Alanine transferase (ALT), lactate dehydrogenase (LDH), and alkaline phosphatase (ALP) activity were increased in combined treatments of Pirimicarb and Pb. Total antioxidant (TAO) level increased in snails exposed to both Pirimicarb and Pb, while it decreased in snails treated with either Pb or Pirimicarb. Cholesterol level increased in most experimental groups. Aspartate aminotransferase (AST) was showed no significant changes in groups treated with 0.1 and 0.2 mg/L of Pb compared to the control; however, AST enhanced in other treatments. In groups exposed to 0.5 and 1 mg/L of Pirimicarb, the inhibition of acetylcholinesterase (AChE) was not significant, although a significant reduction was found in AChE level in other treatments. The results indicated that cytotoxicity of Pirimicarb alone and in combination with Pb depended on their concentrations. Higher concentrations of Pb induced significant changes in some biochemical parameters. Moreover, increased Pb level in water intensifies toxic effects of Pirimicarb in snails. Pirimicarb or/and Pb, in sub-lethal concentrations, induced oxidative damages in soft tissue of snails. Finally, these data support the hypothesis that changes in biochemical parameters were induced by exposure to Pirimicarb or/and Pb

Towards High-Definition 3D Urban Mapping: Road Feature-Based Registration of Mobile Mapping Systems and Aerial Imagery

Various applications have utilized a mobile mapping system (MMS) as the main 3D urban remote sensing platform. However, the accuracy and precision of the three-dimensional data acquired by an MMS is highly dependent on the performance of the vehicle’s self-localization, which is generally performed by high-end global navigation satellite system (GNSS)/inertial measurement unit (IMU) integration. However, GNSS/IMU positioning quality degrades significantly in dense urban areas with high-rise buildings, which block and reflect the satellite signals. Traditional landmark updating methods, which improve MMS accuracy by measuring ground control points (GCPs) and manually identifying those points in the data, are both labor-intensive and time-consuming. In this paper, we propose a novel and comprehensive framework for automatically georeferencing MMS data by capitalizing on road features extracted from high-resolution aerial surveillance data. The proposed framework has three key steps: (1) extracting road features from the MMS and aerial data; (2) obtaining Gaussian mixture models from the extracted aerial road features; and (3) performing registration of the MMS data to the aerial map using a dynamic sliding window and the normal distribution transform (NDT). The accuracy of the proposed framework is verified using field data, demonstrating that it is a reliable solution for high-precision urban mapping

Estimating Autonomous Vehicle Localization Error Using 2D Geographic Information

Accurately and precisely knowing the location of the vehicle is a critical requirement for safe and successful autonomous driving. Recent studies suggest that error for map-based localization methods are tightly coupled with the surrounding environment. Considering this relationship, it is therefore possible to estimate localization error by quantifying the representation and layout of real-world phenomena. To date, existing work on estimating localization error have been limited to using self-collected 3D point cloud maps. This paper investigates the use of pre-existing 2D geographic information datasets as a proxy to estimate autonomous vehicle localization error. Seven map evaluation factors were defined for 2D geographic information in a vector format, and random forest regression was used to estimate localization error for five experiment paths in Shinjuku, Tokyo. In the best model, the results show that it is possible to estimate autonomous vehicle localization error with 69.8% of predictions within 2.5 cm and 87.4% within 5 cm

Autonomous vehicle self-localization based on abstract map and multi-channel LiDAR in urban area

Accurate vehicle self-localization is significant for autonomous driving. The localization techniques based on Global Navigation Satellite System (GNSS) cannot achieve the required accuracy in urban canyons. On the other hand, simultaneous localization and mapping (SLAM) methods suffer from the error accumulation problem. State-of-the-art localization approaches adopt 3D Light Detection and Ranging (Lidar) to observe the surrounding environment and match the observation with a priori known 3D point cloud map for estimating the position of the vehicle within the map. However, storing the massive point cloud needs immense storage on the vehicle, or it should be stored on servers, which makes the simultaneous downloading of the map by multiple vehicles another challenge. In this study, rather than employing the point cloud directly as the prior map, we focus on the abstract map of buildings, which is easy to extract, and at the same time apparently observable by Lidar. More especially, we proposed vehicle localization methods based on two different abstract map formats representing urban areas. The first format is the multilayer 2D vector map of building footprints, which represents the building boundaries using vectors (lines). The second format is the planar surface map of buildings and ground. These map formats share the same idea that the uncertainty (deviation) of each vector or planar surface is calculated and included in the map. Later in the localization phase, the observed data from Lidar is matched with the abstract map to obtain the precise location of the vehicle. Experiments conducted in a dense urban area of Tokyo show that even though we significantly shrank the map size, we could preserve the mean error of the localization. Keywords: Self-localization, Abstract map, Lidar, Velodyne, Planar surface map, Vector map, Urban are

A Hybrid Approach Using ISM For Leveling Agile Criteria And Fuzzy AHP To Determine The Relative Weights Of Evaluation Criteria And Fuzzy TOPSIS To Rank The Alternatives

In today’s organizations, performance measurement comes more to the foreground with the advancement in the high technology. Supplier selection is an important issue in supply chain management. In recent years, determining the best supplier in the supply chain has become a key strategic consideration. However, these decisions usually involve several objectives or criteria, and it is often necessary to compromise among possibly conflicting factors. Thus, the multiple criteria decision making (MCDM) becomes a useful approach to solve this kind of problem. In order to use the conceptual framework for measuring performance supplier, a methodology that takes into account both quantitative and qualitative factors and the interrelations between them should be utilized. for leveling an integrated approach of analytic hierarchy process AHP and fuzzy TOPSIS method is proposed to obtain final ranking. The interactions among the criteria are also analyzed before arriving at a decision for the selection of supplier from among six alternatives. Linguistic values are used to assess the ratings and weights for criterion. These linguistic ratings can be expressed in triangular fuzzy numbers. Then, a hierarchy multiple criteria decision-making (MCDM) model based on fuzzy-sets theory including FAHP and FTOPSIS are applied. There are two approaches for aggregating values including relative importance of evaluation criteria with respect to the overall objective and rating of alternatives with respect to each criterion in fuzzy group TOPSIS: First aggregation and Last aggregation. In first aggregation approach weight of each criterion and rating of alternatives with respect to each criterion gained from decision makers are aggregated at first and TOPSIS method then apply to these aggregate values. In last aggregation approach weight of each criterion and rating of alternatives with respect to each criterion gained from decision makers are used in TOPSIS method directly. In this paper use the first method and gained weight of each criterion from AHP. This research has been conducted on manufacturing industry. However the results can also be used for other types of organizations managers that are located in a competitive environment

Bioaccumulation of Lead in the Tissues of Japanese Quails and Its Effects on Blood Biochemical Factors

Background: Lead is the oldest known toxic metal, physiologically and biologically harmful to living creatures. This study aimed to evaluate the lead accumulation in the liver and breast muscles of Japanese quail (Coturnix japonica) and to compare concentrations in both sexes and its effect on blood biochemical factors. Methods: Twenty-four young farm Japanese quails (25 day old) prepared from local breeders in December 2014 and randomly divided into control and treatment group. Treatment group were exposed to 0.4 mg per kg diet of “Lead Acetate” for 21 days. We studied the effects of lead on survival and blood biochemical factors. The lead accumulation in the liver and breast muscles of Japanese quail was determined using atomic absorption. Results: Exposure to lead caused a significant increase in the activity of enzymes (AST), (ALT), (LDH), glucose, creatinine and uric acid in poultry treated with lead compared with the control group (P<0.05). In addition, significant decrease in the activity of ALP, AChE, total protein, albumin, globulin, and triglycerides was found (P<0.05). The treated group had no significant change in the activity of CPK and cholesterol. Lead accumulation was more in the liver rather than the breast muscle. There was no significant difference between males and females as for concentration of lead in muscle and liver of quail. Conclusion: Quail have capabilities to accumulate lead in their tissues. In addition, it can lead to apparent changes in enzymes and blood biochemical factors, which show adverse effects of heavy metals on the immune and physiological system of birds