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

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

Educación, corporalidad y nueva morfología del trabajo.Los Calls Centers ¿escuelas de trabajo?

El objetivo de este artículo es explorar la relación entre educación y trabajo a partir del análisis de un programa educativo que lleva adelante una de las principales empresas de Call Center en la ciudad de Córdoba, Argentina, como parte de su política de responsabilidad social empresaria. La dimensión de lo corporal emerge desde la perspectiva que se plantea como un eje transversal que permite poner en relación educación y trabajo, con los complejos procesos de re-estructuración social. Del análisis realizado, se observa que a pesar de las transformaciones acaecidas, principalmente como producto de la aplicación de las políticas neoliberales en la Argentina, la educación aún conserva un papel importante como configurador de corporalidad; y al mismo tiempo, encarna un engranaje más de los nuevos mecanismos de explotación. La educación por capacidades, como una de las tendencias sintomática observada, opera dentro y fuera del sistema formal de educación (en la empresa, en la casa, en las cargas extracurriculares?), configurando la empleabilidad como disposicionalidad reinante en aquellos-que-viven-del-trabajo.This paper aims to explore the relationship between education and work based on the analysis of an educa- tional program that is carried out by one of the leading Calls Centers in the city of Córdoba, Argentina, as part of its pol- icy of “corporate social responsibility". The dimension of “body” emerges here as a crosscutting issue that allows to link education and work, with the complex processes of social restructuring. From this analysis, it appears that despite the transformations, mainly as a result of the implementation of neoliberal policies in Argentina, education still has an impor- tant role in shaping corporeality; and at the same time, expresses a cog in the new exploitation mechanisms. The educa- tion by capabilities, as one of the observed symptomatic trends, operates within and outside the formal educational sys- tem (at the company, at home, in "extracurricular activities") setting the employability as reigning inclination in those- who-live-from-job.Fil: Lisdero, Pedro Matías. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico - CONICET - Córdoba. Centro de Investigaciones y Estudio sobre Cultura y Sociedad; Argentina;Fil: Quattrini, Diego. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico - CONICET - Mendoza. Instituto de Ciencias Humanas, Sociales y Ambientales; Argentina

An Autonomous Surface Vehicle for Long Term Operations

Environmental monitoring of marine environments presents several challenges: the harshness of the environment, the often remote location, and most importantly, the vast area it covers. Manual operations are time consuming, often dangerous, and labor intensive. Operations from oceanographic vessels are costly and limited to open seas and generally deeper bodies of water. In addition, with lake, river, and ocean shoreline being a finite resource, waterfront property presents an ever increasing valued commodity, requiring exploration and continued monitoring of remote waterways. In order to efficiently explore and monitor currently known marine environments as well as reach and explore remote areas of interest, we present a design of an autonomous surface vehicle (ASV) with the power to cover large areas, the payload capacity to carry sufficient power and sensor equipment, and enough fuel to remain on task for extended periods. An analysis of the design and a discussion on lessons learned during deployments is presented in this paper.Comment: In proceedings of MTS/IEEE OCEANS, 2018, Charlesto