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Bakgrund. En gyllene standard för att bestämma noggrannheten för intraorala scannrarexisterar inte. Intraorala scannrars prestanda som ges av olika leverantörer är inte fulltjämförbara. Det finns ett behov att standardisera och ta fram oberoende försöksupplägg för att kunna jämföra intraorala scannrar.Mål. Målet med studien var att beskriva och utvärdera en ny metod för att bestämmanoggrannheten av intraorala scannrar genom ett standardiserat in vitro testförsök och attanvända metoden för att beräkna noggrannheten på en kommersiell intraoral scanner.Material och metod. SP Sveriges tekniska forskningsinstitut definierade dimensionerna avett sfäriskt testobjekt. Sfären besprutades med titanoxid och skannades 12 gånger med enkommersiell intraoral scanner. Scanningarna utvärderades med två metoder. Manuell metod: sfärens diameter uppmättes 12 gånger i ett första mjukvaruprogram för varje scanning genom att justera ett tvärsnittsplan. Automatisk metod: 12 nominella diametrar beräknades från ett andra mjukvaruprogram. Noggrannheten beräknades för varje testmetod och jämfördes.Resultat. Referensmätning: den definierade diameter var 4,9991±0,0001mm. Manuell metod: riktigheten var 25μm och precisionen var 10μm. Medelprecisionen inom scanningar var 4μm. Automatisk metod: Riktigheten var 26μm och precisionen var 11μm. Alla testvärden uppvisade stark statistisk deviation från referensvärdet, men väl inom ett kliniskt acceptabelt intervall.Slutsatser. Inom den här in vitro-studiens begränsningar, kan den beskrivna,standardiserade metoden användas manuellt eller med den automatiska funktionen Fittingsphere för att beräkna noggrannheten för intraorala scannrar. Fler studier på mer komplexa objekt behöver utföras. Dessutom uppvisade den intraorala scannern (TRIOS) hög riktighet och precision, jämförbar eller bättre än traditionella avtrycksmetoder inom tandvården. / AbstractBackground. There is no gold standard for determining the accuracy of intraoral scanners. The performances of intraoral scanners given by different manufacturers are not fully comparable. There is a need for standardized and independent test setups to enable the comparison of intraoral scanners.Objectives. The study’s aims were to describe and evaluate a new method for determining the accuracy of any intraoral scanner by means of a standardized geometrical in vitro test and to use this method for determining the accuracy of a commercial intraoral scanner.Material and methods. The Technical Research Institute of Sweden defined the dimensions of a spherical test object. The sphere was spray-coated with TiO2 and scanned 12 times with a commercial intraoral scanner. The scans where evaluated using two methods. Manual method: The diameter of the sphere was measured 12 times for each scan in a software application by adjusting a cross-sectional plane. Automatic method: 12 nominal diameters were obtained with a software application. The accuracy was calculated for each test method and compared. Results. Reference measurement: The defined diameter was 4.9991±0.0001mm. Manual method: Trueness was 25 µm and precision was 10 µm. Mean precision within scans was 4 µm. Automatic method: Trueness was 26 µm and precision was 11 µm. All test values showed sharp significant deviations from the reference value but were well within range of clinical acceptance.Conclusions. Within the limitations of this in vitro study, the standardized in vitro test described can be used manually or with the automatic function Fitting Sphere for determining the accuracy of intraoral scanners. Further studies need to be performed on more complex objects. The commercial intraoral scanner (TRIOS) demonstrates a high level of trueness and precision which is comparable with or better than that shown with traditional impression methods.

There is a common theme at play in our talk of data generally, of digital earth data more specifically, and of environmental monitoring most specifically: more data leads to more action and, ultimately, to societal good. This data-to-action framework is troubled. Its taken-for-grantedness prevents us from attending to the processes between data and action. It also dampens our drive to investigate the contexts of that data, that action, and that envisioned societal good. In this dissertation, I deconstruct this data-to-action model in the context of Landsat, the United States' first natural resource management satellite. First, I talk about the ways in which Landsat's data and instrumentation hold conflicting narratives and values within them. Therefore, Landsat data does not automatically or easily yield action toward environmental preservation, or toward any unified societal good. Furthermore, I point out a parallel dynamic in STS, where critique is somewhat analogous to data. We want our critiques to yield action, and to guide us toward a more just technoscience. However, critiques—like data—require intentional, reconstructive interventions toward change. Here is an opportunity for a diffractive intervention: one in which we read STS and remote sensing through each other, to create space for interdisciplinary dialogue around environmental preservation. A focus on this shared goal, I argue, is imperative. At stake are issues of environmental degradation, dwindling resources, and climate change. I conclude with beginnings rather than endings: with suggestions for how we might begin to create infrastructure that attends to that forgotten space between data, critique, action, and change. / Doctor of Philosophy / I have identified a problem I call the data-to-action paradigm. When we scroll around on Facebook and find articles –– citing pages and pages of statistics –– on our rapidly melting glaciers and increasingly unpredictable weather patterns, we are existing within this paradigm. We have been offered evidence of looming, catastrophic change, but no suggestions on what to do about it. This is not only happening with climatological data and large-scale environmental systems modelling. Rather, this is a general problem across the field of Earth Remote Sensing. The origins of this data-to-action paradigm, I argue, can be found in old and new rhetoric about Landsat, the United States’ first natural resource management satellite. This rhetoric often says that Landsat — and other natural resource management satellites’ — data is a way toward societal good. The more data we have, the more good will proliferate in the world. However, we haven’t been specific about what that good might look like, and what kinds of actions we might take toward that good using this data. This is because, I argue, Earth systems science is politically complicated, with many different conceptions of societal good. In order to be more specific about how we might use this data toward some kind of good we must (1) explore the history of environmental data, and figure out where this rhetoric comes from (which I I do in this dissertation), and (2) encourage interdisciplinary collaborations between Earth Remote Sensing scientists, social scientists, and humanists, to more specifically flesh out connections between digital Earth data, its analyses, and subsequent civic action on such data.

Submitted by William Justo Figueiro (williamjf) on 2015-07-09T22:32:57Z No. of bitstreams: 1 27b.pdf: 4120563 bytes, checksum: 28666d8a39aa4371e2cad8353a3b6fc2 (MD5) / Made available in DSpace on 2015-07-09T22:32:57Z (GMT). No. of bitstreams: 1 27b.pdf: 4120563 bytes, checksum: 28666d8a39aa4371e2cad8353a3b6fc2 (MD5) Previous issue date: 2012-08-01 / Petrobras - Petróleo Brasileiro S. A. / UNISINOS - Universidade do Vale do Rio dos Sinos / O presente estudo visou o desenvolvimento e aplicação de uma metodologia para a detecção e classificação de diferentes respostas espectrais em nuvens de pontos obtidas a partir de escâner a laser terrestre (Laser Scanner Terrestre) com o intuito de identificar a presença de diferentes rochas em afloramentos e a geração de um Modelo Digital de Afloramento. A ferramenta para a classificação de padrões espectrais, denominada K-Clouds, foi desenvolvida com base em análise de agrupamentos (clusters), que a partir de uma indicação do número de classes fornecido pelo usuário através da análise de um histograma dos dados, realiza a classificação da nuvem de pontos. Os dados classificados podem então ser interpretados por geólogos para uma melhor compreensão e identificação das rochas presentes no afloramento. Além da detecção de diferentes rochas, verificouse que é possível detectar pequenas alterações nas características físico-químicas das mesmas, como aquelas causadas por intemperismo e variação composicional. / The present study aimed to develop and implement a method for detection and classification of spectral signatures in point clouds obtained from Terrestrial Laser Scanner in order to identify the presence of different rocks in outcrops and to generate a Digital Outcrop Model. To achieve this objective, a software based on cluster analysis was created, named K-Clouds. This software was developed through a partnership between UNISINOS and the company V3D. This tool was designed to, beginning with an analysis and interpretation of a histogram from a point cloud of the outcrop and subsequently indication of a number of classes provided by the user, process the intensity return values. This classified information can then be interpreted by geologists, to provide a better understanding and identification from the existing rocks in the outcrop. Beyond the detection of different rocks, this work was able to detect small changes in the physical-chemical characteristics of the rocks, as they were caused by weathering or compositional changes.

Nous avons développé un système intégré permettant l'acquisition simultanée de la forme 3D ainsi que de la réflectance des surfaces des objets scannés. Nous appelons ce système un scanner 3D multispectral du fait qu’il combine, dans un couple stéréoscopique, une caméra multispectrale et un système projecteur de lumière structurée. Nous voyons plusieurs possibilités d’application pour un tel système mais nous mettons en avant des applications dans le domaine de l’archivage et la diffusion numériques des objets du patrimoine. Dans le manuscrit, nous présentons d’abord ce système ainsi que tous les calibrages et traitements nécessaires à sa mise en oeuvre. Ensuite, une fois que le système est fonctionnel, les données qui en sont générées sont riches d’informations, hétérogènes (maillage + réflectances, etc.) et surtout occupent beaucoup de place. Ce fait rend problématiques le stockage et la transmission, notamment pour des applications en ligne de type musée virtuel. Pour cette raison, nous étudions les différentes possibilités de représentation et de codage des données acquises par ce système pour en adopter la plus pertinente. Puis nous examinons les stratégies les plus appropriées à la compression de telles données, sans toutefois perdre la généralité sur d’autres données (type satellitaire). Nous réalisons un benchmark des stratégies de compression en proposant un cadre d’évaluation et des améliorations sur les stratégies classiques existantes. Cette première étude nous permettra de proposer une approche adaptative qui se révélera plus efficace pour la compression et notamment dans le cadre de la stratégie que nous appelons Full-3D. / We have developed an integrated system permitting the simultaneous acquisition of the 3D shape and the spectral spectral reflectance of scanned object surfaces. We call this system a 3D multispectral scanner because it combines within a stereopair, a multispectral video camera and a structured light projector. We see several application possibilities for a such acquisition system but we want to highlight applications in the field of digital archiving and broadcasting for heritage objects. In the manuscript we first introduce the acquisition system and its necessary calibrations and treatments needed for his use. Then, once the acquisition system is functional, data that are generated are rich in information, heterogeneous (mesh + reflectance, etc.) and in particular require lots of memory space. This fact makes data storage and transmission problematic, especially for applications like on line virtual museum. For this reason we study the different possibilities of representation and coding of data acquired by this system to adopt the most appropriate one. Then we examinate the most appropriate strategies to compress such data, without lost the generality on other data (satellite type). We perform a benchmark of compression strategies by providing an evaluation framework and improvements on existing conventional strategies. This first study will allow us to propose an adaptive approach that will be most effective for compression and particularly in the context of the compression strategy that we call Full-3D.

Ziel der vorliegenden Arbeit war die Entwicklung einer SNP-Genotypisierungsmethode mit auf Mikroarrays immobilisierten PCR-Produkten. Für die Analyse wurde ein faseroptischer Affinitätssensor bzw. ein Durchfluss-Biochip-Scanner mit integrierter Fluoreszenzdetektion verwendet. An den immobilisierten Analyten (PCR-Produkten) wurde eine Fluoreszenzoligonukleotidsonde hybridisiert und anschließend die Dissoziation der Sonde im Fluss verfolgt. Die Diskriminierung von Wildtyp- und Mutanten-DNA erfolgte durch die kinetische Auswertung der Dissoziationskurven sowie durch die Analyse der Fluoreszenzintensität. <br> <br> Die Versuche am faseroptischen Affinitätssensor zeigten, dass DNA-DNA-Hybride sowohl von Oligonukleotiden als auch von PCR-Produkten ein typisches Dissoziationsverhalten aufweisen, wobei fehlgepaarte Hybride eine signifikant schnellere Dissoziation zeigen als perfekt passende Hybride. Dieser Geschwindigkeitsunterschied lässt sich durch den Vergleich der jeweiligen kinetischen Geschwindigkeitskonstanten kD quantitativ erfassen. </p> <p>Da die Kopplung des Analyten an der Chipoberfläche sowie die Hybridisierungs- und Dissoziationsparameter essentiell für die Methodenentwicklung war, wurden die Parameter für ein optimales Spotting und die Immobilisierung von PCR-Produkten ermittelt. Getestet wurden die affine Kopplung von biotinylierten PCR-Produkten an Streptavidin-, Avidin- und NeutrAvidin-Oberflächen sowie die kovalente Bindung von phosphorylierten Amplifikaten mit der EDC/Methylimidazol-Methode. Die besten Ergebnisse sowohl in Spotform und -homogenität als auch im Signal/Rausch-Verhältnis wurden an NeutrAvidin-Oberflächen erreicht. </p> <p>Für die Etablierung der Mikroarray-Genotypisierungsmethode durch kinetische Analyse nach einem Hybridisierungsexperiment wurden Sondenlänge, Puffersystem, Spotting-Konzentration des Analyten sowie Temperatur optimiert. Das Analysensystem erlaubte es, PCR-Produkte mit einer Konzentration von 250 ng/µl in einem HEPES-EDTA-NaCl-Puffer auf mit NeutrAvidin beschichtete Glasträger zu spotten. In den anschließenden Hybridisierungs- und Dissoziationsexperimenten bei 30 °C konnte die Diskriminierung von homocygoter Wildtyp- und homocygoter Mutanten- sowie heterocygoter DNA am Beispiel von Oligonukleotid-Hybriden erreicht werden. </p> <p>In einer Gruppe von 24 homocygoten Patienten wurde ein Polymorphismus im SULT1A1-Gen analysiert. Sowohl durch kinetische Auswertung als auch mit der Analyse der Fluoreszenzintensität wurde der Genotyp der Proben identifiziert. Die Ergebnisse wurden mit dem Referenzverfahren, der Restriktionschnittstellenanalyse (PCR-RFLP) validiert. Lediglich ein Genotyp wurde falsch bestimmt, die Genauigkeit lag bei 96%. </p> <p>In einer Gruppe von 44 Patienten wurde der Genotyp eines SNP in der Adiponectin-Promotor-Region untersucht. Nach Vergleich der Analysenergebnisse mit denen eines Referenzverfahrens konnten lediglich 14 der untersuchten Genotypen bestätigt werden. Ursache für die unzureichende Genauigkeit der Methode war vor allem das schlechte Signal/Rausch-Verhältnis.</p> <p> Zusammenfassend kann gesagt werden, dass das in dieser Arbeit entwickelte Analysesystem für die Genotypisierung von Einzelpunktmutationen geeignet ist, homocygote Patientenproben zuverlässig zu analysieren. Prinzipiell ist das auch bei heterocygoter DNA möglich. Da nach aktuellem Kenntnisstand eine SNP-Analysemethode an immobilisierten PCR-Produkten noch nicht veröffentlicht wurde, stellt das hier entwickelte Verfahren eine Alternative zu bisher bekannten Mikroarray-Verfahren dar. Als besonders vorteilhaft erweist sich der reverse Ansatz der Methode. </p> <p>Der hier vorgestellte Ansatz ist eine kostengünstigere und weniger hoch dimensionierte Lösung für Fragestellungen beispielsweise in der Ernährungswissenschaft, bei denen meist eine mittlere Anzahl Patienten auf nur einige wenige SNPs zu untersuchen ist. Wenn es gelingt, durch die Weiterentwicklung der Hardware bzw. weiterer Optimierung, eine Verbesserung des Signal/Rausch-Verhältnisses und damit die Diskriminierung von heterocygoter DNA zu erreichen, kann diese Methode zukünftig bei der Analyse von mittelgroßen Patientengruppen alternativ zu anderen Genotypisierungsmethoden verwendet werden. / The aim of this thesis was the development of a SNP genotyping method involving PCR products immobilised on microarrays. For the analysis a fibre optic affinity biosensor and a flow-through biochip scanner were used. Fluorescent probes were hybridized with the immobilised PCR products. In order to start the dissociation process the surface was rinsed with buffer and the fluorescence intensity was measured. <br><br> Two different cases were studied: First, the full-matched DNA hybrid (wildtyp single strand with complementary wildtype single strand), second the mis-matched hybrid (wildtype single strand and mutant single strand). After determinating the reaction rates (kD) as kinetic parameter the kD values of both cases were compared. The experiments showed a significant difference in the kD value of the full- and the mis-match hybrids. Therefore, mutant and wildtype DNA were discriminated by kinetic analysis of the dissociation process and analysis of the fluorescence intensity. <br><br> To set up the complete analysis process the reaction parameters like coupling of the PCR products had to be optimised. Both affininty coupled (streptavidin, neutravidin, avidin - biotin) and covalent methods (EDC/methylimidazol) were carried out. Best results in spot homogeinity and spot appearance were obtained with coupling of biotinylated PCR products on neutravidin coated chip surfaces. Additionally, the length of the probe, the spotting concentration, the spotting buffer and the reaction temperature were optimised. In the optimised analysis PCR products (250 µg/µl) were spotted onto neutravidin coated surfaces. The hybridisation <br><br> and dissociation processes were carried out at 30°C. A HEPES-EDTA-NaCl buffer was used for spotting, diluting of the fluorescent probe and rinsing the microarray surface. A fluorescent probe was used with 13 nucleotides in length. The mis- or full-matching base indicating the polymorphism was located in the center position of the probe. <br><br> The analysis system was tested with the genomic DNA of a group of 24 homocygote individuals with a SNP in the SULT1A1 gene region. The hybridisation and dissociation processes were carried out and the reaction rates were determinated. Subsequently after the analysis in the flow-through biochip scanner the fluorescence intensity of the <br><br> spots were measured. The results showed very good comparability with results of a PCR-RFLP analysis (one false genotype). Additionally, a group of 44 heterocygote DNA samples with one SNP in the adiponectin promotor region were also genotyped. Compared to a reference method only 14 genotypes were correctly determined. This was mostly due to a low signal-noise-ratio and needs to be further investigated. <br><br> Besides the problem in analysing heterocygote DNA samples the developed analysis system is very useful for genotyping SNP in homocygote DNA samples. The successful analysis of heterocygote sample is principally possible and with further investigations/optimisation, a better analysis should be possible. <br><br> The most important advantage of the developed method is the reverse approach of binding PCR products at the surface instead of oligonucleotides. This allows the parallel genotyping of several individuals. Other advantages include low costs and medium sized dimensions in terms of throughput.

La robotique aérienne est un domaine de recherche qui a connu un grand succès commercial au cours des dernières années suite au développement de plates-formes aéroportées de petite taille hautement efficaces et abordables, couramment appelées mini-drones. Cela a ouvert la voie à de nouvelles applications dans les tâches de surveillance et d'inspection. Ces dernières années, cela a été un sujet de recherche clé dans l'industrie de l'énergie, où les lignes de transmission sont sujettes à la détérioration due aux conditions atmosphériques et nécessitent des programmes de surveillance étendus. Les mini-drones ont le potentiel d'automatiser entièrement le processus d'inspection, réduisant ainsi davantage les coûts et les temps d'inspection. Dans ce contexte, cette thèse aborde les inspections autonomes de tours électriques avec des MAV. A savoir, la localisation, la première étape d'une longue série de tâches vers la réalisation de capacités totalement autonomes, est le sujet principal de ce travail. Nous explorons comment les scanners laser 2D peuvent être couplés avec des capteurs couramment disponibles pour la pose à 6 degrés de liberté d'un mini-drone en temps réel avec les capacités perceptives et de traitement limites au bord de la plate-forme. Cette thèse tel que les algorithmes classiques de scan matching, comme l'algorithme Iterative Closest Point (ICP), la fusion de données et le contrôle par retour d'état. Des validations basées sur des vols expérimentaux et des simulations étendues sont présentées. / Aerial robotics is a prominent field of research that has seen great commercial success during the last years due to the development of highly efficient and affordable small-sized airborne platforms, commonly referred to as mini-drones. This has opened the way to promising new applications in surveillance and inspection tasks. In recent years, this has been a key subject of research in the power industry, where power utilities are subject to deterioration due to atmospheric conditions and require extensive monitoring programs. Mini-drones have the potential of fully automating the inspection process, further reducing costs and inspection times. In this context, this thesis addresses autonomous electric tower inspections with mini-drones. Namely, self-localization, the first step in a long series of tasks towards achieving fully autonomous capabilities, is the main focus of this work. We explore how 2D laser scanners can be coupled with commonly available sensors to estimate a mini-drone's 6 degree of freedom pose in real-time, using uniquely on-board sensing and processing capabilities. This thesis develops topics from classic scan matching algorithms, such as the iterative closest point (ICP) algorithm and proposed adaptations to the electric tower scene, to sensor fusion and feed-back control. Validations based on experimental flights and extensive simulations are presented.