Stereo Visual Odometry for Indoor Localization of Ship Model

Typically, ships are designed for open sea navigation and thus research of autonomous ships is mostly done for that particular area. This paper explores the possibility of using low-cost sensors for localization inside the small navigation area. The localization system is based on the technology used for developing autonomous cars. The main part of the system is visual odometry using stereo cameras fused with Inertial Measurement Unit (IMU) data coupled with Kalman and particle filters to get decimetre level accuracy inside a basin for different surface conditions. The visual odometry uses cropped frames for stereo cameras and Good features to track algorithm for extracting features to get depths for each feature that is used for estimation of ship model movement. Experimental results showed that the proposed system could localize itself within a decimetre accuracy implying that there is a real possibility for ships in using visual odometry for autonomous navigation on narrow waterways, which can have a significant impact on future transportation

Validacija ICP-MS metode za određivanje metala u tragovima prema ICH Q3D smjernicama u fosamprenavir kalciju

Fosamprenavir calcium is an active pharmaceutical ingredient (API) in which trace elements must be monitored by ICH Q3D Guideline. It delivers appropriate method to ensure the quality of the product and its safe use. Elemental impurities in API are separated in three classes based on their toxicity and probability of their occurrence in the product. ICP-MS has proven to be a suitable technique with the appropriate sample preparation method. Due to the presence of oxidising agents in the sample preparation, determination of osmium is problematic. In the presence of oxidising nitric acid, a highly volatile and toxic osmium tetraoxide is formed. Due to its high volatility, the recovery of osmium has reached the value of 287 %, which exceeds recovery limit (70–150 %). However, osmium can be stabilised by complexation with thiourea in the hydrochloric acid solution (recovery = 87 %). In that way, the loss of osmium is reduced and good results are achieved in terms of usability, accuracy, and precision. A method with addition of thiourea has been successfully validated through main validation parameters: linearity, quantitation limit, selectivity, accuracy, precision (which included repeatability and intralaboratory reproducibility), and robustness. Each of these validation parameters met the acceptance criteria, and therefore it was concluded that the method is suitable for the determination of trace elements in fosamprenavir calcium by ICP-MS. This work is licensed under a Creative Commons Attribution 4.0 International License.Fosamprenavir kalcij je aktivna farmaceutska tvar (API) u kojoj se elementi u tragovima moraju nadzirati prema ICH Q3D smjernicama. ICH Q3D smjernice donose odgovarajuću metodu za osiguravanje kvalitete proizvoda i njegove sigurne uporabe. Elementarne nečistoće u API-ju razdvajaju se u tri razreda na temelju njihove toksičnosti i vjerojatnosti da se pojave u proizvodu. ICP-MS se pokazala kao prikladna tehnika ako se primijeni odgovarajuća metoda pripreme uzoraka. Zbog prisutnosti oksidirajućih sredstava u pripremi uzoraka problem se javlja kod određivanja osmija. Osmij u prisutnosti oksidirajuće dušične kiseline daje visoko hlapljiv i toksičan osmij tetraoksid. Zbog visoke hlapljivosti, iskorištenje osmija iznosi 287 %, što premašuje zadanu granicu iskorištenja (70 – 150 %). Međutim, osmij se može stabilizirati kompleksiranjem s tioureom u otopini klorovodične kiseline (povrat od 87 %). Na taj se način smanjuje njegov gubitak, a postižu se dobri rezultati u pogledu točnosti, preciznosti i robusnosti metode. Ovo djelo je dano na korištenje pod licencom Creative Commons Imenovanje 4.0 međunarodna

Navigacijski sustav modela broda temeljen na računalnom vidu

The subject of the bachelor thesis is sensory support for a navigation system. The final goal is the development of an algorithm on around stereo cameras to accurately estimate the internal velocities and orientation of the ship model. Except for the stereo camera, on the ship model is installed accelerometer, gyroscope, and magnetometer. To improve the accuracy of estimation, sensors are fused using Kalman and particle filter. Sensors are placed on the ship model, and the system is tested in a basin. Experiments were done in calm water conditions and wavy water conditions. Accuracy validation of estimations are done using an optical camera placed above the basin.Predmet završnog rada je senzorska podrška sustava za navigaciju. Krajnji cilj rada je razvoj algoritma za točno estimiranje inercijalne brzine i orijentacije brodskog modela koristeći stereo-kamere. Osim stereo-kamera, model plovila je opremljen akcelerometrom, žiroskopom i elektroničkim kompasom. Kako bi se poboljšala točnost estimacije, osjetnici su međusobno upareni korištenjem Kalmanovog i čestičnog filtra. Osjetnici su smješteni na brodski model, potom je sustav testiran u bazenu. Eksperimenti su provedeni pri mirnom i valovitom stanju vode u bazenu. Optičkom kamerom smještenom iznad bazena izvršeno je potvrđivanje točnosti estimiranih veličina

Navigacijski sustav modela broda temeljen na računalnom vidu

The subject of the bachelor thesis is sensory support for a navigation system. The final goal is the development of an algorithm on around stereo cameras to accurately estimate the internal velocities and orientation of the ship model. Except for the stereo camera, on the ship model is installed accelerometer, gyroscope, and magnetometer. To improve the accuracy of estimation, sensors are fused using Kalman and particle filter. Sensors are placed on the ship model, and the system is tested in a basin. Experiments were done in calm water conditions and wavy water conditions. Accuracy validation of estimations are done using an optical camera placed above the basin.Predmet završnog rada je senzorska podrška sustava za navigaciju. Krajnji cilj rada je razvoj algoritma za točno estimiranje inercijalne brzine i orijentacije brodskog modela koristeći stereo-kamere. Osim stereo-kamera, model plovila je opremljen akcelerometrom, žiroskopom i elektroničkim kompasom. Kako bi se poboljšala točnost estimacije, osjetnici su međusobno upareni korištenjem Kalmanovog i čestičnog filtra. Osjetnici su smješteni na brodski model, potom je sustav testiran u bazenu. Eksperimenti su provedeni pri mirnom i valovitom stanju vode u bazenu. Optičkom kamerom smještenom iznad bazena izvršeno je potvrđivanje točnosti estimiranih veličina

Navigacijski sustav modela broda temeljen na računalnom vidu

The subject of the bachelor thesis is sensory support for a navigation system. The final goal is the development of an algorithm on around stereo cameras to accurately estimate the internal velocities and orientation of the ship model. Except for the stereo camera, on the ship model is installed accelerometer, gyroscope, and magnetometer. To improve the accuracy of estimation, sensors are fused using Kalman and particle filter. Sensors are placed on the ship model, and the system is tested in a basin. Experiments were done in calm water conditions and wavy water conditions. Accuracy validation of estimations are done using an optical camera placed above the basin.Predmet završnog rada je senzorska podrška sustava za navigaciju. Krajnji cilj rada je razvoj algoritma za točno estimiranje inercijalne brzine i orijentacije brodskog modela koristeći stereo-kamere. Osim stereo-kamera, model plovila je opremljen akcelerometrom, žiroskopom i elektroničkim kompasom. Kako bi se poboljšala točnost estimacije, osjetnici su međusobno upareni korištenjem Kalmanovog i čestičnog filtra. Osjetnici su smješteni na brodski model, potom je sustav testiran u bazenu. Eksperimenti su provedeni pri mirnom i valovitom stanju vode u bazenu. Optičkom kamerom smještenom iznad bazena izvršeno je potvrđivanje točnosti estimiranih veličina

Corpus of Croatian news portals ENGRI

Korpus hrvatskih internetskih portala prikupljen je u svrhu provedbe znanstveno-istraživačkog projeka Hrvatske zaklade za znanst ("Engleske riječi u hrvatskome jeziku: identifikacija, afektivno-semantičko normiranje i ispitivanje kognitivne obrade bihevioralnim i neuroznanstvenim mnetodama"). Metodom pretraživanja mrežnih izvora i povlačenja podataka (engl. web crawling , usp. Fletcher, 2011). Pohranjuje tekstove s najpopularnijih mrežnih stranica u Hrvatskoj (2014.-2020. g). Prema podacima objavljenima na http://www.digitalnewsreport.org (pristupljeno u travnju 2019.), najpopularnije mrežne stranice i/ili portali u Republici Hrvatskoj su: Telegram, 24sata, Direktno, Dnevno, Net Hr, Hrt, Index_Hr, Jutarnji, Novilist, Rtl, SlobodnaDalmacija, Večernji . Među popularnim mrežnim stranicama su također Tportal, Dnevnik i Local Radio news online. Prva dva nisu dijelom korpusne građe zbog toga što zahtijevaju složeniji pristup skidanju podataka, dok posljednji nije dostupan pod navedenim imenom. Ovime se želi prikupljenu građu učiniti javno dostupnom za korištenje drugim istraživačimaThe Corpus of Croatian news portals ENGRI was compiled for the purpose of scientific research project titled "English words in Croatian: identification, affective-semantic norming and investigation into cognitive processing via behavioural and neuroscientific methods", financed by the Croatian science foundation. Web browsing and web crawling (cf. Fletcher, 2011) will be used to select and store texts from the most popular webpages in Croatia in the period from 2014 to 2020. According to Reuters Institute Digital News Report for 2018 (retrieved from http://www.digitalnewsreport.org in April, 2019), the twelve most popular webpages/portals in the Republic of Croatia are: Telegram, 24sata, Direktno, Dnevno, Net Hr, Hrt, Index_Hr, Jutarnji, Novilist, Rtl, SlobodnaDalmacija, Večernji. Tportal, Dnevnik and Local Radio news online are also among the popular webpages. The first two web sources will not be included due to the complexity of data extraction procedures required, while the last one is not available under the above-mentioned name. The intention was to make to corpus publicly available.Koristila se metoda pretraživanja mrežnih izvora i povlačenja podataka (engl. web crawling) kako bi se pohranili tekstovi s najpopularnijih mrežnih stranica u Hrvatskoj u razdoblju 2014.-2020. Prema izvoru http://www.digitalnewsreport.org (pristupljeno u travnju 2019.) to su: Telegram, 24sata, Direktno, Dnevno, Net Hr, Hrt, Index_Hr, Jutarnji, Novilist, Rtl SlobodnaDalmacija, Večernji . Među popularnim mrežnim stranicama su također Tportal, Dnevnik i Local Radio news online. Prva dva nisu dijelom korpusne građe zbog složenijeg pristupa skidanju podataka, dok posljednji nije dostupan pod navedenim imenom. Korisne informacije iz HTML-a (poput datuma objave članka, njegovog URL-a, naslova, itd.), te sam tekst članka s pripadajućim oznakama (tagovima) i kategorijama raščlanjen je uz pomoć Python paketa „beautifulsoup “. Dobiveni podaci pohranjeni su u relacijsku bazu podataka mysql

Corpus of Croatian news portals ENGRI

Korpus hrvatskih internetskih portala prikupljen je u svrhu provedbe znanstveno-istraživačkog projeka Hrvatske zaklade za znanst ("Engleske riječi u hrvatskome jeziku: identifikacija, afektivno-semantičko normiranje i ispitivanje kognitivne obrade bihevioralnim i neuroznanstvenim mnetodama"). Metodom pretraživanja mrežnih izvora i povlačenja podataka (engl. web crawling , usp. Fletcher, 2011). Pohranjuje tekstove s najpopularnijih mrežnih stranica u Hrvatskoj (2014.-2020. g). Prema podacima objavljenima na http://www.digitalnewsreport.org (pristupljeno u travnju 2019.), najpopularnije mrežne stranice i/ili portali u Republici Hrvatskoj su: Telegram, 24sata, Direktno, Dnevno, Net Hr, Hrt, Index_Hr, Jutarnji, Novilist, Rtl, SlobodnaDalmacija, Večernji . Među popularnim mrežnim stranicama su također Tportal, Dnevnik i Local Radio news online. Prva dva nisu dijelom korpusne građe zbog toga što zahtijevaju složeniji pristup skidanju podataka, dok posljednji nije dostupan pod navedenim imenom. Ovime se želi prikupljenu građu učiniti javno dostupnom za korištenje drugim istraživačimaThe Corpus of Croatian news portals ENGRI was compiled for the purpose of scientific research project titled "English words in Croatian: identification, affective-semantic norming and investigation into cognitive processing via behavioural and neuroscientific methods", financed by the Croatian science foundation. Web browsing and web crawling (cf. Fletcher, 2011) will be used to select and store texts from the most popular webpages in Croatia in the period from 2014 to 2020. According to Reuters Institute Digital News Report for 2018 (retrieved from http://www.digitalnewsreport.org in April, 2019), the twelve most popular webpages/portals in the Republic of Croatia are: Telegram, 24sata, Direktno, Dnevno, Net Hr, Hrt, Index_Hr, Jutarnji, Novilist, Rtl, SlobodnaDalmacija, Večernji. Tportal, Dnevnik and Local Radio news online are also among the popular webpages. The first two web sources will not be included due to the complexity of data extraction procedures required, while the last one is not available under the above-mentioned name. The intention was to make to corpus publicly available.Koristila se metoda pretraživanja mrežnih izvora i povlačenja podataka (engl. web crawling) kako bi se pohranili tekstovi s najpopularnijih mrežnih stranica u Hrvatskoj u razdoblju 2014.-2020. Prema izvoru http://www.digitalnewsreport.org (pristupljeno u travnju 2019.) to su: Telegram, 24sata, Direktno, Dnevno, Net Hr, Hrt, Index_Hr, Jutarnji, Novilist, Rtl SlobodnaDalmacija, Večernji . Među popularnim mrežnim stranicama su također Tportal, Dnevnik i Local Radio news online. Prva dva nisu dijelom korpusne građe zbog složenijeg pristupa skidanju podataka, dok posljednji nije dostupan pod navedenim imenom. Korisne informacije iz HTML-a (poput datuma objave članka, njegovog URL-a, naslova, itd.), te sam tekst članka s pripadajućim oznakama (tagovima) i kategorijama raščlanjen je uz pomoć Python paketa „beautifulsoup “. Dobiveni podaci pohranjeni su u relacijsku bazu podataka mysql

Corpus of Croatian news portals ENGRI (2014-2018)

The corpus consists of texts collected from the most popular (based on the Reuters Institute Digital News Report for 2018, retrieved from http://www.digitalnewsreport.org in April, 2019) news portals in Croatia in the period from 2014 to 2018: Direktno, Dnevno, Net Hr, Hrt, Index_Hr, Jutarnji, Novilist, Rtl, SlobodnaDalmacija, Večernji, Tportal, Dnevnik. Web browsing and web crawling were used to select and store the texts with their useful HTML information (publication date of the article, its URL, and title). The linguistic processing of the corpus was performed with the CLASSLA package (https://pypi.org/project/classla/) on the levels of tokenization, sentence splitting, morphosyntactic tagging, lemmatization, dependency parsing and named entity recognition. This corpus is a linguistically-processed version of the original corpus published at https://repository.pfri.uniri.hr/islandora/object/pfri%3A2156 and is distributed in the CoNLL-U format (https://universaldependencies.org/format.html)

Extracellular Vesicles from Human Cerebrospinal Fluid Are Effectively Separated by Sepharose CL-6B—Comparison of Four Gravity-Flow Size Exclusion Chromatography Methods

Extracellular vesicles (EVs) are a versatile group of cell-secreted membranous nanoparticles present in body fluids. They have an exceptional diagnostic potential due to their molecular content matching the originating cells and accessibility from body fluids. However, methods for EV isolation are still in development, with size exclusion chromatography (SEC) emerging as a preferred method. Here we compared four types of SEC to isolate EVs from the CSF of patients with severe traumatic brain injury. A pool of nine CSF samples was separated by SEC columns packed with Sepharose CL-6B, Sephacryl S-400 or Superose 6PG and a ready-to-use qEV10/70 nm column. A total of 46 fractions were collected and analysed by slot-blot followed by Ponceau staining. Immunodetection was performed for albumin, EV markers CD9, CD81, and lipoprotein markers ApoE and ApoAI. The size and concentration of nanoparticles in fractions were determined by tunable resistive pulse sensing and EVs were visualised by transmission electron microscopy. We show that all four SEC techniques enabled separation of CSF into nanoparticle- and free protein-enriched fractions. Sepharose CL-6B resulted in a significantly higher number of separated EVs while lipoproteins were eluted together with free proteins. Our data indicate that Sepharose CL-6B is suitable for isolation of EVs from CSF and their separation from lipoproteins

Water for all : proceedings 8th International Conference Water for all

The 8th International Conference WATER FOR ALL was held on the 21th and 22th March 2019 in Osijek, on Faculty of Civil Engineering and Architecture Osijek on the occasion of World Water Day and with the aim of gathering and exchanging experiences of scientists and experts in the field of water management, environmental protection and preservation of water resources. The Conference included plenary lectures, oral lectures, poster presentations, and the presentations of sponsoring companies. 8th International Conference WATER FOR ALL was organized by the Josip Juraj Strossmayer University of Osijek, Faculty of Food Technology Osijek and Faculty of Civil Engineering and Architecture Osijek, Croatian Chamber of Economy, Croatian Water - VGO, Croatian Chamber of Health Professionals, Croatian Water Pollution Control Society, Faculty of Agrobiotechnical Sciences Osijek, Department of Biology of the Josip Juraj Strossmayer University of Osijek, Department of Chemistry of the Josip Juraj Strossmayer University of Osijek, University of Bihać, Faculty of Agriculture and Food Technology University of Mostar, Faculty of Health Studies University of Sarajevo, Faculty of Food Technology and Biotechnology University of Zagreb, Faculty of Technology University of Tuzla, Faculty of Technology and Metallurgy University of Skopje, Faculty of Health Sciences University of Ljubljana, Nature Park “Kopački rit”, Public Institution for nature protection in Osijek- Baranja County, Public Health Institute of the Osijek-Baranja County, Health Center Osijek, Vodovod-Osijek d.o.o. and Alumni Association of former students and friends of the Faculty of Food Technology Osijek - TehnOS. The international co- organizers of the Conference were International Federation of Environmental Health (IFEH), European Hygienic Engineering & Design Group (EHEDG) and Danube Parks. The theme of World Water Day 2019 and 8th International Conference WATER FOR ALL was "Water for all – Leaving no one behind!". At the 8th International Conference WATER FOR ALL participated 359 authors from 10 countries (Croatia, Bosnia and Herzegovina, Serbia, Montenegro, Slovenia, Republic of Kosovo, Turkey, Norway, Mexico and Brazil) with presentation of in total 112 paper, from which of them 41 were presented orally, and were presented 71 as poster presentation. Abstract of the mentioned papers were published in the Book of Abstracts of the 8th International Conference WATER FOR ALL. The Scientific Committee of 8th International Conference WATER FOR ALL received 35 full papers for publication and 17 of them became the part of the this Proceedings, while 18 papers were accepted and publicated in following international scientific journals: Electronic Journal of the Faculty of Civil Engineering Osijek - e-GFOS, Croatian Journal of Food Science and Technology, Technologica Acta, The Holistic Approach to Environment and Environmental Engineering - Inženjerstvo Okoliša. Special contributions to the quality of this Proceedings of the 8th International Conference WATER FOR ALL were given by 49 reviewers, mostly university professors and professionals, from 10 countries and over twenty international universities, faculties and institutions. On behalf of the Organizing and Scientific Committee of the 8th International Conference WATER FOR ALL we cordially thank all the authors, participants, reviewers and sponsors for their contribution to the quality of the 8th International Conference WATER FOR ALL