Precise localization for aerial inspection using augmented reality markers

The final publication is available at link.springer.comThis chapter is devoted to explaining a method for precise localization using augmented reality markers. This method can achieve precision of less of 5 mm in position at a distance of 0.7 m, using a visual mark of 17 mm × 17 mm, and it can be used by controller when the aerial robot is doing a manipulation task. The localization method is based on optimizing the alignment of deformable contours from textureless images working from the raw vertexes of the observed contour. The algorithm optimizes the alignment of the XOR area computed by means of computer graphics clipping techniques. The method can run at 25 frames per second.Peer ReviewedPostprint (author's final draft

Planar PØP: feature-less pose estimation with applications in UAV localization

© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.We present a featureless pose estimation method that, in contrast to current Perspective-n-Point (PnP) approaches, it does not require n point correspondences to obtain the camera pose, allowing for pose estimation from natural shapes that do not necessarily have distinguished features like corners or intersecting edges. Instead of using n correspondences (e.g. extracted with a feature detector) we will use the raw polygonal representation of the observed shape and directly estimate the pose in the pose-space of the camera. This method compared with a general PnP method, does not require n point correspondences neither a priori knowledge of the object model (except the scale), which is registered with a picture taken from a known robot pose. Moreover, we achieve higher precision because all the information of the shape contour is used to minimize the area between the projected and the observed shape contours. To emphasize the non-use of n point correspondences between the projected template and observed contour shape, we call the method Planar PØP. The method is shown both in simulation and in a real application consisting on a UAV localization where comparisons with a precise ground-truth are provided.Peer ReviewedPostprint (author's final draft

Revisión taxonómica de Helix zapateri Hidalgo, 1870 (Pulmonata, Trissexodontidae) y su nuevo estatus en la malacofauna ibérica

Alberto Martínez Ortí: [email protected]ón taxonómica de Helix zapateri Hidalgo, 1870 (Pulmonata, Trissexodontidae) y su nuevo estatus en la malacofauna ibérica.— Se realiza la revisión taxonómica y se discute la nueva asignación genérica del taxon ibérico Helix zapateri, mediante la comparación de caracteres conquiológicos con las especies más similares, Hatumia pseudogasulli y Gasullia gasulli, ambas trissexodóntidos. Los estudios conquiológicos nos permiten concluir que Helix zapateri debe ser considerada como una especie válida y designarse como Hatumia zapateri, y que Hatumia pseudogasulli corresponde a un sinónimo posterior de H. zapateri.Taxonomical revision of Helix zapateri Hidalgo, 1870 (Pulmonata, Trissexodontidae) and its new status in the Iberian malacofauna.— A taxonomic revision is made and the new generic assignation of the Iberian taxon Helix zapateri is discussed; its conchological features are compared with the most similar species, Hatumia pseudogasulli and Gasullia gasulli, both trissexodontids. Conchological studies allow us to conclude that Helix zapateri should be considered as a valid species and designated Hatumia zapateri, while H. pseudogasulli is a junior synonym of H. zapateri

Modelo para evaluar la factibilidad de reutilización de aguas lluvias en edificaciones de diferentes usos y según la intensidad de lluvia de la zona

Trabajo de investigaciónSe generó un modelo, en el cual ingresando unos datos básicos de los proyectos, se pueda tener un análisis rápido, preliminar y acertado de los costos que puede llegar a tener la implementación de un sistema de tratamiento, reutilización de aguas lluvias y el tiempo de retorno de la inversión.INTRODUCCIÓN 1. GENERALIDADES DE TRABAJO DE GRADO 2. MARCOS DE REFERENCIA 3. METODOLOGIA 4. ELABORACION DEL MODELO 5. APLICACIONES DEL MODELO 6. ANALISIS DE RESULTADOS 7. CONCLUSIONES Y RECOMENDACIONES BIBLIOGRAFÍA ANEXOSEspecializaciónEspecialista en Recursos Hídrico

Community Assets for Health Model and Assessment Scale: A Delphi-Based Analysis and Expert Validation

The salutogenesis theory of Aaron Antonovsky and the Health Assets Model of Morgan and Ziglio have given rise to a notable interest in defining the resources available to individuals and the community to maintain or improve their health and well-being. The present study began by identifying the universal dimensions of Community Assets for Health, and then analyzed and validated an assessment scale following the Delphi method. A high degree of consensus was achieved among 13 experts from different disciplines. The results of the content analysis and statistical analysis led to a reconfiguring of an instrument that is so far unique in its approach. It is composed of 103 items across 14 dimensions (utility, intention, previous use, affordability, proximity, walkability, connectivity, intelligibility, identity, design, safety, diversity, public dimension, and sustainability)

Moisture Evaporation from Granular Biopesticides Containing Quiescent Entomopathogenic Nematodes

The moisture evaporation process from granular biopesticides (GBs) containing entomopathogenic nematodes (EPNs) has influence in the shelf-life of these biological products, but the approach to design GBs with desired transport properties lacks of theoretical support to get closer in a better way to formulations design of long-term storage. In this chapter we review the state of art in theoretical studies about the physics of the moisture evaporation to elucidate what are the mechanisms of drying of GBs. We found that several external and internal factors influence the transport process of moisture exchange among others phenomenon that happened in a porous media such as GBs; consequently, complex and highly dynamic interactions between medium properties, transport processes, and boundary conditions result in a wide range of evaporation behaviors. The theory of drying process in two stages for porous materials with high moisture content seems to be a good starting point to explore further the drying of GBs at different scales and mechanistic and correlative models of evaporation are available to analyze the desiccation in different stages of the elaboration process, which is also of interest in the subject area of science and technology of the formulation of EPNs

Gravimetric determination of the continental oceanic boundary of the Argentine continental margin (from 36°S to 50°S)

This paper presents the gravimetric analysis together with seismic data as an integral application in order to identify the continental?oceanic crust boundary (COB) of the Argentine continental margin from 36◦S to 50◦S in a continuous way. The gravimetric and seismic data are made up of large grids of data obtained from satellite altimetry and marine research. The methodology consists of three distinct methods: (i) the application of enhancement techniques to gravimetric anomalies, (ii) the calculation of crustal thinning from 3-D gravity inversion modelling of the crust?mantle discontinuity and (iii) 2-D gravimetric modelling supported by multichannel reflection and refraction seismic profiles. In the first method, the analytic signal, Theta map, and tilt angle and its horizontal derivative were applied. In the second method, crustal thickness was obtained as the difference in the depths of the crystalline basement and the crust?mantle discontinuity; the latter was obtained via gravimetric inversion. Finally, 2-D modelling was performed from free-air anomalies in two representative sections by considering as restriction surfaces those coming from the interpretation of seismic data. The results of the joint application of enhancement techniques and 2-D and 3-D modelling have enabled continuous interpretation of the COB. In this study, the COB was determined continuously from the integration of 2-D profiles of the enhancement techniques, taking account of crustal thickness and performing 2-D gravimetric modelling. The modelling technique was complemented by regional studies integrated with multichannel seismic reflection and seismic refraction lines, resulting in consistent enhancement techniques.Fil: Arecco, Maria Alejandra. Universidad de Buenos Aires. Facultad de Ingeniería; ArgentinaFil: Ruiz, Francisco. Universidad Nacional de San Juan. Facultad de Ciencias Exactas, Físicas y Naturales. Instituto Geofísico Sismológico Volponi; ArgentinaFil: Pizarro, Guillermo. Universidad Nacional de San Juan. Facultad de Ciencias Exactas, Físicas y Naturales. Instituto Geofísico Sismológico Volponi; ArgentinaFil: Gimenez, Mario Ernesto. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ciencias Exactas, Físicas y Naturales. Instituto Geofísico Sismológico Volponi; ArgentinaFil: Martínez, Myriam Patricia. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de San Juan. Facultad de Ciencias Exactas, Físicas y Naturales. Instituto Geofísico Sismológico Volponi; ArgentinaFil: Ramos, Victor Alberto. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Estudios Andinos "Don Pablo Groeber". Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Estudios Andinos "Don Pablo Groeber"; Argentin

Hybrid layers of etch-and-rinse versus self-etching adhesive systems

Objective: To evaluate the effectiveness in the formation of resin tags, adhesive lateral branches and hybrid layers of five adhesive systems, when bonding to dentine. Material and Methods: Flat dentin surfaces from 25 molars were bonded with several adhesive systems according to the manufacturers? instructions. Composite build-ups were constructed incrementally with Tetric Ceram. The Specimens were sectioned parallel to the long axis. One section was treated with phosphoric acid and sodium hypochlorite in order to reveal the hybrid layer formation. The other section was stored in 30% hydrochloric acid to detect resin tags and adhesive lateral branch formation. Results: The two etch-and-rinse self-priming adhesives exhibited thicker hybrid layers than those found in self-etching adhesive systems. The all-in-one adhesive showed droplet formation between the adhesive and the resin composite. The resin tags formed with the etch-and-rinse adhesives were much longer than those found with the self-etching adhesives. Lateral branch formation was observed in etch-and-rinse adhesives and in one of the self-etch adhesives Clearfil SE Bond (SEB). Conclusion: The formed hybrid layer obtained with the two-step selfetching adhesives and the etch-and-rinse systems were continuous and uniform in thickness. Droplets within the all-in-one adhesive layer may occur as a result of water absorption from dentin through osmosis, and may interfere with proper resin polymerization. Resin tags obtained with SEB and the etch-and-rinse adhesive systems showed lateral branches, which is a sign of proper resin infiltration

MIRACLE evaluation of results for ImageCLEF 2003

ImageCLEF is a new pilot experiment introduced in CLEF 2003. It is devoted to the cross language retrieval of images using textual descriptions related to images contents. This paper presents MIRACLE research team experiments and results obtained for this track

Evaluation of MIRACLE approach results for CLEF 2003

This paper describes MIRACLE (Multilingual Information RetrievAl for the CLEf campaign) approach and results for the mono, bi and multilingual Cross Language Evaluation Forum tasks. The approach is based on the combination of linguistic and statistic techniques to perform indexing and retrieval tasks