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.

Submitted by Divisão de Documentação/BC Biblioteca Central (ddbc@ufam.edu.br) on 2018-03-08T13:43:05Z No. of bitstreams: 2 Dissertação_Josiane A. Reis.pdf: 2107398 bytes, checksum: 8227d0b419e79cd9673a8f0c0f25f611 (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) / Approved for entry into archive by Divisão de Documentação/BC Biblioteca Central (ddbc@ufam.edu.br) on 2018-03-08T13:43:17Z (GMT) No. of bitstreams: 2 Dissertação_Josiane A. Reis.pdf: 2107398 bytes, checksum: 8227d0b419e79cd9673a8f0c0f25f611 (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) / Made available in DSpace on 2018-03-08T13:43:17Z (GMT). No. of bitstreams: 2 Dissertação_Josiane A. Reis.pdf: 2107398 bytes, checksum: 8227d0b419e79cd9673a8f0c0f25f611 (MD5) license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) Previous issue date: 2017-07-31 / FAPEAM - Fundação de Amparo à Pesquisa do Estado do Amazonas / Concerned about sustainability, analytical chemists have developed chemical analysis procedures that aim to minimize the consumption of reagents and samples combined with the reduction of operating costs. Thus, in recent years, Digital Image Based (DIB) methods have often been used as an alternative to quantitative determinations in analytical chemistry, especially in samples of environmental interest, food, beverages and drugs. This work proposes a method based on digital images for the determination of methanol in alcoholic beverages. The proposed system uses a scanner to acquire images generated according to the RGB (Red, Green, Blue) system. The determination of methanol is based on an oxidation reaction of methanol. After the reaction an image is captured and a region of the image is selected for decomposition of the pixels into the values of the RGB components. The analytical curve is obtained by relating the logarithm of the ratio between the white solution standard and the norm of the calibration solutions as a function of the concentrations of these solutions. The methanol content was determined in (mL / 100 mL of anhydrous alcohol) in the samples of cachaça, brandy and liqueur of jambú, cupuaçu and cocoa. In order to illustrate the viability of the proposed method, analyzes were performed on seven beverage samples. The results were compared with those obtained by spectrophotometry and when applying the paired t-test it was found that there was no statistically significant difference between the results obtained with the two methods at a 95% confidence level. / Preocupados com a sustentabilidade os químicos analíticos têm desenvolvido procedimentos de análise química que visam minimizar o consumo de reagentes e amostras aliadas a redução de custos operacionais. Dessa forma, nos últimos anos os métodos Baseados em Imagens Digitais (DIB) têm sido frequentemente usados como uma alternativa para determinações quantitativas em química analítica, principalmente em amostras de interesse ambiental, alimentícios, bebidas e fármacos. Neste trabalho propõe se um método baseado em imagens digitais para determinação de metanol em bebidas alcoólicas. O sistema proposto usa um scanner para aquisição das imagens geradas de acordo com o sistema RGB (Red, Green, Blue). A determinação do metanol é baseada em uma reação de oxidação do metanol. Após a reação uma imagem é capturada e uma região da imagem é selecionada para decomposição dos pixels nos valores das componentes RGB. A curva analítica é obtida relacionando o logaritmo da razão entre a norma da solução do branco e a norma das soluções de calibração em função das concentrações dessas soluções. O teor de metanol foi determinado em (mL/ 100mL de álcool anidro) nas amostras de cachaça, aguardente, licor de jambú, cupuaçu e cacau. A fim de ilustrar a viabilidade do método proposto, foram realizadas analises em sete amostras de bebidas. Os resultados foram comparados com os obtidos por espectrofotometria e ao se aplicar o teste t emparelhado verificou-se que não há estatisticamente diferença significativa entre os resultados obtidos com os dois métodos para um nível de 95% de confiança.

Évaluer quantitativement les mouvements d'un patient lors d'un traitement par radiothérapie est un enjeu majeur. En effet, ces mouvements et ces déformations anatomiques induisent une incertitude balistique conduisant les thérapeutes à augmenter les marges de sécurité, ce qui peut empêcher de délivrer une dose suffisante à la région tumorale. Dans le cadre de cette thèse, nous nous sommes intéressés à l'estimation de ces mouvements dans les images obtenues juste avant le traitement par le scanner à faisceau conique. Pour cela, nous avons utilisé des algorithmes de recalage déformable. Dans un premier temps, nous avons cherché à améliorer la modélisation du mouvement respiratoire. Pour cela, nous nous sommes basés sur un modèle utilisant une segmentation de l'intérieur de la cage thoracique afin d'autoriser le glissement des organes internes contre cette dernière, tout en préservant un champ de déformation cohérent. La segmentation de l'intérieur de la cage thoracique est effectuée automatiquement par un algorithme qui prend en paramètres une segmentation des poumons et de la cage thoracique. Les algorithmes permettant de segmenter ces deux régions se sont avérés peu robustes, ce qui nous a poussé à les améliorer. Une fois ces structures bien segmentées, le modèle de transformation souffre d'un inconvénient majeur empêchant son utilisation dans un algorithme de recalage entre des projections 2D et une image 3D. En effet, il nécessite une segmentation 3D de l'intérieur de la cage thoracique dans les 2 images à recaler, ce qui est impossible à obtenir pour la série de projections 2D. Le modèle proposé dans cette thèse permet de contraindre les déformations à représenter des mouvements physiologiquement plausibles, tout en ne nécessitant qu'une seule segmentation de l'image 3D. Dans un deuxième temps, nous avons implémenté un algorithme de recalage 2D/3D utilisant le modèle de déformation proposé afin d'extraire le mouvement respiratoire des projections 2D de l'imageur à faisceau conique. Cet algorithme a été testé sur des images simulées dont les déformations étaient connues. Les résultats étant concluants, nous avons utilisé un algorithme de reconstruction compensée en mouvement dans le but de produire des images 3D sans flou respiratoire sur des données réelles. L'approche proposée permet d'obtenir une connaissance approfondie de l'anatomie du patient et de son mouvement respiratoire le jour du traitement, ce qui ouvre de nouvelles perspectives comme l'adaptation journalière du traitement, le calcul de dose prenant en compte le mouvement respiratoire et la re-planification de traitement. Cette approche de recalage entre une image 3D et des projections 2D est généralisable à d'autres mouvements et d'autres régions anatomiques. / Motion estimation is a challenge in radiotherapy. It requires security margins to account for the incertitude on the tumor position. In this thesis, we address the problem of estimating the motion directly in the treatment room using the cone-beam projections. Firstly, we proposed a new breathing motion model that takes into account the sliding discontinuity between the rib-cage and the lungs. This method uses a segmentation of the inner part of the rib-cage which is obtained by an algorithm that requires the segmentation of the lungs and the rib-cage. The algorithms segmenting these parts were not robust enough and we proposed methods to improve their robustness. Compared to previous methods using this mask, our motion model is more robust to segmentation inconsistencies because it only requires a single mask instead of two consistent masks. Moreover, in case of 2D/3D registration, the computation of the second mask is usually not possible. The proposed model restricts the transformation to physically plausible motions and rely on a single segmentation. Secondly, we proposed a 2D/3D registration algorithm that uses our breathing model to extract motion from the cone-beam projections obtained just before the treatment. This algorithm was tested on simulated data. Then, we applied it to real data to reconstruct motion compensated images to remove motion blur from cone-beam CT. The proposed approach gives access to the patient motion just before the treatment, which can be used to daily adapt the treatment or to compute 4D dose maps. This approach can be used for other motions in other anatomic regions.

Introduction: Stenotic nares are one of the most important characteristics of brachycephalic obstructive airway syndrome (BOAS), which was first described in 1949. However, although they have been mentioned in most texts about brachycephalic malformations, few studies have attempted to characterize the nasal entrance of dogs morphologically or functionally, and none of them have described it objectively with landmarks. Recently, as the popularity of brachycephalic dogs has exploded worldwide, innumumberable dogs are suffering from BOAS due to structural malformations. In the point of view of animal welfare, stenotic nares should be objectively evaluated to provide evidence of torture breeding. Objectives: The aim of this study was to objectively measure and thus characterize the nasal entrance stenosis of brachycephalic dogs in comparison to non-brachycephalic dogs. To this end, the following objectives were defined: 1. Our aim is to use three-dimensional (3D) soft-tissue morphometry to objectively measure the externally visible part of the nasal entrance of healthy and brachycephalic dogs. 2. Our aim is to define specific soft-tissue landmarks and parameters to objectively characterize the nasal entrance of dogs. 3. Compare 3D high-resolution scanning with computed tomography (CT) using the newly defined parameters. 4. Reexamine the nasal entrance with 3D scan six months after surgical correction of nasal entrance stenosis (Ala-vestibuloplasty). Animals, Material and Methods: Forty-five brachycephalic and 45 non-brachycephalic dogs were included in this study between 2018 and 2020. All the animals were referred to the Ear, Nose, and Throat Unit of the Small Animal Department at the University of Leipzig, either for surgical correction of BOAS or for endoscopic examination. Animals were excluded if their nasal entrance was potentially affected due to disease or previous surgery. All dogs were scanned with a 3D scanner under general anesthesia using a standardized anesthetic protocol before endoscopic intervention. The 3D scans and CT images were later imported into two advanced software (Amira, Thermo Fisher and Facial Analysis Tool) for objective measurement of the nasal entrance. Intra-observer error and ala-vestibuloplasty (AVP) efficacy of the CT images and 3D scans were tested and compared. All the data were normalized using Shapiro–Wilk normality test. All statistical analyses were later performed using Pearson or Spearman test for correlation, paired t-test, or t-test. Paired t-test was used to test whether the mean difference between pairs of measurements was zero. If it was not the same group of animals, t-test was used instead. Results: We defined new specific soft-tissue landmarks to calculate the nasal opening area (NOA) and stenotic angle (SA) to objectively describe the canine nasal entrance. The NOA and SA were significantly smaller in brachycephalic dogs than in non-brachycephalic dogs, and the NOA was significantly correlated with body weight, whereas SA was not. After nasal entrance correction via AVP, the nasal entrances were 295%left and 233%right larger than before surgery in brachycephalic dogs. Intra-observer reliability was tested with excellent significance through NOA measurements. Comparison between the 3D scanner and CT was measured with the NOA, and it did not show a significant difference between the methods. Conclusion: Obtaining the NOA and SA using 3D surface scans seems to be a reliable and reproducible tool for precise objective evaluation of the visible canine nasal entrance. With the measurement of derived NOA and SA, all the brachycephalic dogs in the study were found to have stenotic nares, and all they required AVP to relieve breathing difficulty. The brachycephalic nasal entrances were increased significantly after AVP, the modified nare correction surgery. We consider the results of our study strong evidence that the breeding of brachycephalic dogs is torture breeding. The restriction of nasal breathing due to the extreme reduction of the nasal entrance to a fraction of the size of that of non-brachycephalic dogs is obvious evidence of this.:1 INTRODUCTION - 1 - 1.1 General Introduction - 1 - 1.2 Objectives - 2 - 2 OVERVIEW OF THE LITERATURE - 3 - 2.1 Brachycephalic Obstructive Airway Syndrome (BOAS) - 3 - 2.1.1 General Introduction of BOAS - 3 - 2.1.2 How to Define Brachycephalic Dogs - 3 - 2.1.3 Commonly Affected Breeds - 4 - 2.2 The Canine Nasal Entrance - 4 - 2.2.1 Anatomy of the Canine Nasal Entrance and Stenosis - 4 - 2.2.2 Pathophysiology of Stenotic Nares in Brachycephalic Dogs - 5 - 2.3 Diagnosis of Stenotic Nares - 9 - 2.3.1 Visual Assessment - 9 - 2.3.2 Nostril Ratio - 11 - 2.3.3 Air Volume of the Nasal Entrance - 11 - 2.4 Development of Morphometry in Brachycephalic Dogs - 11 - 2.5 3D Scanners for 3D Model Reconstruction - 12 - 2.6 Landmarks - 14 - 2.6.1 Introduction of Landmarks - 14 - 2.6.2 Development of Landmarks in Human Medicine - 15 - 2.6.3 Development of Landmarks in Veterinary Medicine - 16 - 2.6.4 Cephalometric Analysis Software - 17 - 3 ANIMALS AND METHODS - 19 - 3.1 Animals - 19 - 3.2 Methods - 19 - 3.2.1 3D Scanning Process and Set-ups of Canine Nasal Entrance - 19 - 3.2.2 Cephalomorphometric Software - 20 - 3.2.3 Cephalometric Landmarks - 20 - 3.2.4 Advanced Morphometric Parameters for Nares - 22 - 3.2.5 Efficacy of Ala-Vestibuloplasty (AVP) - 24 - 3.2.6 Comparison between CT and the 3D Scanning Tool - 24 - 3.2.7 Intra-observer Reliability - 25 - 3.2.8 Statistics - 25 - 4 RESULTS - 26 - 4.1 Brachycephalic Dogs and Non-brachycephalic Dogs - 26 - 4.2 The Nasal Opening Area (NOA) - 28 - 4.3 Efficacy of Ala-Vestibulopasty - 30 - 4.4 Stenotic Angle (SA) - 31 - 4.5 Comparison between CT and the 3D Scanning Tool - 32 - 4.6 Intra-observer Reliability - 34 - 5 DISCUSSION - 36 - 5.1 The Nasal Entrance - 36 - 5.2 Method: the 3D Scanner - 37 - 5.3 Method: Comparison between CT and the 3D Scanner - 38 - 5.4 Method: Landmarks and Reproducibility, Intra-observer Reliability - 39 - 5.5 Nasal Opening Area (NOA) and Efficacy of Ala-Vestibuloplasty (AVP) - 42 - 5.6 Stenotic Angle (SA) - 44 - 5.7 Animal Welfare - 45 - 6 SUMMARY - 47 - 7 ZUSAMMENFASSUNG - 49 - 8 REFERENCES - 51 - / Einleitung: Die Naseneingangstenose ist eine der wichtigsten Merkmale des brachyzephalen Syndroms (BOAS), das erstmals 1949 beschrieben wurde. Obwohl diese komplexe Stenose in den meisten Texten über brachyzephale Fehlbildungen erwähnt wird, haben nur wenige Studien versucht, den Naseneingang von Hunden morphologisch oder funktionell zu charakterisieren. Eine objektive Beschreibung mit Landmarken ist bisher nicht bekannt. In den letzten Jahren ist die Popularität brachyzephaler Hunde weltweit explodiert. Unzählige Hunde leiden aufgrund struktureller Fehlbildungen an BOAS. Unter dem Gesichtspunkt des Tierschutzes sollte die einzige, mit bloßem Auge sichtbare Stenose der oberen Atemwege brachyzephaler Hunde, die Stenose des Naseneingangs objektiv bewertet werden können, um Hinweise auf eine Qualzucht zu belegen. Zielsetzung: Ziel dieser Studie war es, den Naseneingang von brachyzephalen Hunden im Vergleich zu nicht-brachyzephalen Hunden objektiv zu messen und damit die Stenose des Naseneingangs zu charakterisieren und eine chirurgische Therapie, die Ala-Vestibuloplastie (AVP), zu evaluieren. Zu diesem Zweck wurden die folgenden Ziele definiert: 1. Anwendung der dreidimensionalen (3D) Weichteilmorphometrie zur objektiven Messung des äußerlich sichtbaren Teils des Naseneingangs von gesunden und brachyzephalen Hunden. 2. Definition spezifischer Weichteil-Landmarken und Parameter zur objektiven Charakterisierung des Naseneingangs von Hunden. 3. Methoden-Vergleich zwischen den hochauflösenden 3D-Scans und der Computertomographie (CT) unter Verwendung der neu definierten Parameter. 4. Kontrolluntersuchung mit 3D-Scan sechs Monate nach der chirurgischen Korrektur der Naseneingangsstenose (Ala-Vestibuloplastik). Tiere und Methoden: 45 brachyzephale und 45 nicht-brachyzephale Hunde wurden zwischen 2018 und 2020 in diese Studie aufgenommen und wurden an die Hals-Nasen-Ohren-Abteilung der Kleintierklinik der Universität Leipzig überwiesen, zur endoskopischen Untersuchung der oberen Atemwege und gegebenenfalls zur chirurgischen Korrektur der BOAS-assozierten Stenosen. Ausgeschlossen wurden Tiere, deren Naseneingang aufgrund von Krankheiten oder einer früheren Operation verändert war. Alle Hunde wurden nach einem standardisierten Anästhesieprotokoll anästhesiert, ein Computertomogramm des Kopfes erstellt und vor dem endoskopischen Eingriff wurde der Kopf mit einem 3D-Scanner gescannt. Die 3D-Scans und CT-Bilder wurden in zwei Softwareprogramme (Amira, Thermo Fisher und Facial Analysis Tool) zur objektiven Messung des Naseneingangs importiert. Zur genauen Charakterisierung wurden neue Landmarken am Naseneingang definiert und zur Berechnung von zwei neuen, abgeleiteten Parametern, der Nasenöffnungsfläche (NOA) und dem stenotischen Winkel (SA) verwendet. Der Intraobserver-Fehler und die Wirksamkeit der Ala-Vestibuloplastie wurden anhand der CT-Bilder und 3D-Scans mit demselben Verfahren geprüft und verglichen. Alle statistischen Analysen wurden später mit dem Pearson-Test oder dem Spearman-Test für die Korrelation, dem gepaarten t-Test oder dem t-Test durchgeführt. Der gepaarte t-Test wurde verwendet, um zu prüfen, ob der Mittelwertunterschied zwischen Paaren von Messungen gleich Null war. Handelte es sich nicht um dieselbe Gruppe von Tieren, wurde stattdessen der t-Test verwendet. Ergebnisse: Mit den neu definierten spezifischen Weichteil-Landmarken und den abgeleiteten Parametern NOA und SA konnte der Naseneingang aller brachyzephalen und nicht-brachyzephalen Hunde objektiv beschrieben werden. NOA und SA waren bei brachyzephalen Hunden signifikant kleiner als bei nicht-brachyzephalen Hunden. NOA korrelierte in beiden Gruppen signifikant mit dem Körpergewicht. Dagegen zeigte SA keine Korrelation mit dem Körpergewicht. Nach der chirurgischen AVP waren die Naseneingänge bei allen brachyzephalen Hunden größer als vor der Operation, mit einer Zunahme der NOA links um 295 % und rechts um 233 %. Die Intraobserver-Zuverlässigkeit wurde durch NOA-Messungen getestet und war hoch signifikant. Zum Methoden-Vergleich zwischen 3D-Scanner und CT wurde die Nasenöffnungsfläche jeweils am gemessen und zeigte keinen signifikanten Unterschied zwischen den Methoden. Schlussfolgerungen: Morphometrische Messungen mit 3D-Oberflächenscans scheinen ein zuverlässiges und reproduzierbares Instrument zur präzisen, objektiven Bewertung des Naseneingangs des Hundes zu sein. Bei der Messung der abgeleiteten Flächen (NOA) und Winkel (SA) wurde bei allen brachyzephalen Hunden dieser Studie eine Naseneingangsstenose festgestellt. Nach der chirurgischen Korrektur der brachyzephalen Naseneingangsstenose, der AVP, waren die Nasenöffnungen deutlich vergrößert. Die Einschränkung der Nasenatmung durch die extreme Verkleinerung des Naseneingangs auf einen Bruchteil der Größe von nicht-brachyzephalen Hunden, betrachten wir als eindeutigen Beweis dafür, dass die Zucht von brachyzephalen Hunden eine Qualzucht ist.:1 INTRODUCTION - 1 - 1.1 General Introduction - 1 - 1.2 Objectives - 2 - 2 OVERVIEW OF THE LITERATURE - 3 - 2.1 Brachycephalic Obstructive Airway Syndrome (BOAS) - 3 - 2.1.1 General Introduction of BOAS - 3 - 2.1.2 How to Define Brachycephalic Dogs - 3 - 2.1.3 Commonly Affected Breeds - 4 - 2.2 The Canine Nasal Entrance - 4 - 2.2.1 Anatomy of the Canine Nasal Entrance and Stenosis - 4 - 2.2.2 Pathophysiology of Stenotic Nares in Brachycephalic Dogs - 5 - 2.3 Diagnosis of Stenotic Nares - 9 - 2.3.1 Visual Assessment - 9 - 2.3.2 Nostril Ratio - 11 - 2.3.3 Air Volume of the Nasal Entrance - 11 - 2.4 Development of Morphometry in Brachycephalic Dogs - 11 - 2.5 3D Scanners for 3D Model Reconstruction - 12 - 2.6 Landmarks - 14 - 2.6.1 Introduction of Landmarks - 14 - 2.6.2 Development of Landmarks in Human Medicine - 15 - 2.6.3 Development of Landmarks in Veterinary Medicine - 16 - 2.6.4 Cephalometric Analysis Software - 17 - 3 ANIMALS AND METHODS - 19 - 3.1 Animals - 19 - 3.2 Methods - 19 - 3.2.1 3D Scanning Process and Set-ups of Canine Nasal Entrance - 19 - 3.2.2 Cephalomorphometric Software - 20 - 3.2.3 Cephalometric Landmarks - 20 - 3.2.4 Advanced Morphometric Parameters for Nares - 22 - 3.2.5 Efficacy of Ala-Vestibuloplasty (AVP) - 24 - 3.2.6 Comparison between CT and the 3D Scanning Tool - 24 - 3.2.7 Intra-observer Reliability - 25 - 3.2.8 Statistics - 25 - 4 RESULTS - 26 - 4.1 Brachycephalic Dogs and Non-brachycephalic Dogs - 26 - 4.2 The Nasal Opening Area (NOA) - 28 - 4.3 Efficacy of Ala-Vestibulopasty - 30 - 4.4 Stenotic Angle (SA) - 31 - 4.5 Comparison between CT and the 3D Scanning Tool - 32 - 4.6 Intra-observer Reliability - 34 - 5 DISCUSSION - 36 - 5.1 The Nasal Entrance - 36 - 5.2 Method: the 3D Scanner - 37 - 5.3 Method: Comparison between CT and the 3D Scanner - 38 - 5.4 Method: Landmarks and Reproducibility, Intra-observer Reliability - 39 - 5.5 Nasal Opening Area (NOA) and Efficacy of Ala-Vestibuloplasty (AVP) - 42 - 5.6 Stenotic Angle (SA) - 44 - 5.7 Animal Welfare - 45 - 6 SUMMARY - 47 - 7 ZUSAMMENFASSUNG - 49 - 8 REFERENCES - 51 -

This dissertation focuses on topics in areas of agricultural and food policy, international trade, agricultural markets and marketing. The dissertation is structured as three papers. The first paper, Chapter 1, evaluates the impact of agricultural trade policies. Imported shrimp, which comprises nearly ninety percent of all United States shrimp consumption, have become the subject of antidumping and countervailing duty investigations in the past decade. I estimate the import demand for shrimp in the United States from 1999-2014, using the Barten’s synthetic model. I test the hypothesis of possible structural breaks in the import demand introduced by various trade policies: antidumping/countervailing duty investigations and impositions, and import refusals due to safety and environmental issues. Results show that these import-restricting policies have significant effects on the import shrimp demand, indicating that the omission of them would lead to biased estimates. Chapter 2, the second paper, examines how the burden of state cigarette tax is divided between producers/retailers and consumers, by using the Nielsen store-level scanner data on cigarette prices from convenience stores over the period 2011–2012. Cigarette taxes were found more than fully passed through to retail prices on average, suggesting consumers pay excess burden and market power exists in the cigarette industry. Utilizing information on the attributes of cigarette products, we demonstrated that tax incidence varied by brand and package size: pass-through rates for premium brands and carton-packaged cigarettes are higher than those for discount brands and cigarettes in packs, respectively, indicating possibilities of different demand elasticities across product tiers. Chapter 3, the third paper, focuses on identifying the demographic characteristics of households buying organic coffee, by examining the factors that influence the probability that a consumer will buy organic coffee, and which factors affect the amount organic coffee purchased. Using nationally representative household level data from 55,470 households over the period of 2011 to 2013 (Nielsen Homescan), and a censored demand model, we find that economic and demographic factors play a crucial role in the household choice of purchasing organic coffee. Furthermore, households are less sensitive to own-price changes in the case of organic coffee versus conventional coffee.

Low-temperature magnetic force microscopy was used to study the phase diagram of a La1/3Pr1/3Ca1/3MnO3 thin film grown on a (110) NdGaO3 (NGO) substrate by pulsed laser deposition. Traditionally, one can observe the phase change at the nanoscale level as the sample is cooled from room temperature through the transition temperature to liquid nitrogen temperatures, but in this case a fixed voltage ranging from 0 V to 31 V was applied before each cooling cycle. From in and ex situ transport measurements, it is observed that the temperature of the peak of the transition increases with applied field; however, the MFM images show that the magnetic transition begins at a lower temperature with the same increase in field. Thus, this dissertation shows that a new voltage control exists for the phase transition in certain manganites. / text

Les modèles virtuels de plantes sont visuellement de plus en plus réalistes dans les applications infographiques. Cependant, dans le contexte de la biologie et l'agronomie, l'acquisition de modèles précis de plantes réelles reste un problème majeur pour la construction de modèles quantitatifs du développement des plantes.Récemment, des scanners laser 3D permettent d'acquérir des images 3D avec pour chaque pixel une profondeur correspondant à la distance entre le scanner et la surface de l'objet visé. Cependant, une plante est généralement un ensemble important de petites surfaces sur lesquelles les méthodes classiques de reconstruction échouent. Dans cette thèse, nous présentons une méthode pour reconstruire des modèles virtuels de plantes à partir de scans laser. Mesurer des plantes avec un scanner laser produit des données avec différents niveaux de précision. Les scans sont généralement denses sur la surface des branches principales mais recouvrent avec peu de points les branches fines. Le cœur de notre méthode est de créer itérativement un squelette de la structure de la plante en fonction de la densité locale de points. Pour cela, une méthode localement adaptative a été développée qui combine une phase de contraction et un algorithme de suivi de points.Nous présentons également une procédure d'évaluation quantitative pour comparer nos reconstructions avec des structures reconstruites par des experts de plantes réelles. Pour cela, nous explorons d'abord l'utilisation d'une distance d'édition entre arborescence. Finalement, nous formalisons la comparaison sous forme d'un problème d'assignation pour trouver le meilleur appariement entre deux structures et quantifier leurs différences.

Depuis son introduction dans les années 1970, le scanner est devenu une technique d’imagerie médicale incontournable grâce à son excellente performance pour le diagnostic de nombreuses pathologies. Toutefois, le scanner est un examen d’imagerie irradiant. Compte-tenu des risques potentiels de cancer radio-induit liés aux faibles doses de rayons X, la réduction de la dose d’irradiation au scanner est primordiale. Dans ce travail, nous avons étudié plusieurs facteurs techniques et comportementaux qui permettent d’optimiser et de réduire la dose d’irradiation au scanner, tout en préservant une excellente performance diagnostique. Du côté des facteurs comportementaux, la sensibilisation des équipes médicales et paramédicales est fondamentale dans une démarche d’optimisation de la dose d’irradiation au scanner. De même, la limitation du nombre de phases d’acquisition et la réduction de la couverture d’acquisition sont deux manières simples pour réduire les doses délivrées. Du côté des facteurs techniques, nous avons montrés que l’utilisation des reconstructions itératives, par rapport aux reconstructions standards en rétroprojection filtrée, permet de réduire de moitié la dose d’irradiation des scanners, à qualité d’image équivalente. L’acquisition en mode volumique pour les scanners avec une faible couverture d’acquisition et l’utilisation de la modulation automatique du milliampérage permettent aussi de réduire et d’optimiser les doses. Enfin, nous nous sommes intéressés à l’optimisation de protocoles de scanner en pratique clinique courante en se focalisant sur les scanners réalisés pour la recherche d’une colique néphrétique et pour les scanners en imagerie ostéo-articulaire. Dans ce dernier domaine, nous avons aussi proposé des protocoles de scanner pour des applications cliniques avancées comme le scanner dynamique des articulations ou le scanner de perfusion tumorale / Since its introduction in the 1970s, computed tomography (CT) has become the technique of reference in medical imaging for many diseases due to its high diagnostic performance. Its main limitation is the radiation dose delivered to the patient. Considering the potential risks of radiation-induced cancer caused even with low dose exposure, dose reduction in CT is essential. In this work, we studied several technical and behavioral factors that allow for CT radiation dose reduction and optimization, without modifying the diagnostic performance. Among the behavioral factors studied, education and awareness of radiologists and radiology technicians are important elements for CT radiation dose reduction. Limiting CT scan coverage and the number of acquisition phases is also a straightforward and effective way to reduce dose exposure. Regarding technical factors, we have shown that iterative reconstruction algorithms can reduce in half the radiation dose in comparison with standard filtered back projection, while maintaining equivalent image quality. The use of wide volume mode for acquisitions with a short coverage and the use of the automatic tube current modulation can also be used to reduce and optimize CT radiation dose. Finally, we provide guidelines to optimize CT radiation dose in some clinical settings such as renal colic and musculoskeletal CT. We also propose practical guidelines for advanced clinical applications of joint dynamic CT and perfusion CT in musculoskeletal disease

<p>Low-cost unmanned aerial vehicles (UAVs) utilizing push-broom hyperspectral scanners are poised to become a popular alternative to conventional remote sensing platforms such as manned aircraft and satellites. In order to employ this emerging technology in fields such as high-throughput phenotyping and precision agriculture, direct georeferencing of hyperspectral data using onboard integrated global navigation satellite systems (GNSS) and inertial navigation systems (INS) is required. Directly deriving the scanner position and orientation requires the spatial and rotational relationship between the coordinate systems of the GNSS/INS unit and hyperspectral scanner to be evaluated. The spatial offset (lever arm) between the scanner and GNSS/INS unit can be measured manually. However, the angular relationship (boresight angles) between the scanner and GNSS/INS coordinate systems, which is more critical for accurate generation of georeferenced products, is difficult to establish. This research presents three alternative calibration approaches to estimate the boresight angles relating hyperspectral push-broom scanner and GNSS/INS coordinate systems. For reliable/practical estimation of the boresight angles, the thesis starts with establishing the optimal/minimal flight and control/tie point configuration through a bias impact analysis starting from the point positioning equation. Then, an approximate calibration procedure utilizing tie points in overlapping scenes is presented after making some assumptions about the flight trajectory and topography of covered terrain. Next, two rigorous approaches are introduced – one using Ground Control Points (GCPs) and one using tie points. The approximate/rigorous approaches are based on enforcing the collinearity and coplanarity of the light rays connecting the perspective centers of the imaging scanner, object point, and the respective image points. To evaluate the accuracy of the proposed approaches, estimated boresight angles are used for ortho-rectification of six hyperspectral UAV datasets acquired over an agricultural field. Qualitative and quantitative evaluations of the results have shown significant improvement in the derived orthophotos to a level equivalent to the Ground Sampling Distance (GSD) of the used scanner (namely, 3-5 cm when flying at 60 m).</p>

Fundação de Amparo à Pesquisa do Estado do Rio de Janeiro / O objetivo principal desse trabalho foi utilizar métodos não destrutivos (END), como a microtomografia com Raio X e técnicas de obtenção e processamento de imagens, para obtenção da porosidade do concreto. Foram utilizados dois métodos. Em um método as imagens foram obtidas por meio de microtomografia por Raio X e no outro foi utilizado um escâner comercial para obtenção das imagens. Essas imagens foram processadas por meio de técnicas de processamento de pixel e morfologia matemática. Os resultados obtidos para a porosidade foram comparados com resultado obtido por meio do método proposto pela NBR 9778 (2005) (Absorção de água, índice de vazios e massa específica em argamassa e concreto endurecido). As imagens microtomográficas das amostras de concreto foram obtidas num sistema Skyscan 1172 com 256 tons de cinza, ajustadas em contraste, binarizadas e filtradas. No outro método foi utilizado um Escâner Comercial com resolução de 2400 dpi para adquirir as imagens, sendo também utilizadas técnicas de processamento de pixel e morfologia matemática para processá-las. Os resultados dos valores da porosidade mostraram compatibilidade entre os dois métodos apresentados e o método proposto pela NBR 9778 (2005). Observou-se que os resultados obtidos por microtomografia foram mais confiáveis, mas o método utilizando o escâner comercial se apresentou como um método aceitável por seus resultados e principalmente por seu baixo custo e facilidade de operação. / The main goal of this research was to use non-destructive methods (ND), like the X Ray microtomography and techniques to acquire and process images, to obtain the concrete porosity. There were presented two methods. In one of the methods the images were acquired through X Ray microtomography and in the other method there were used the commercial scanner to acquire the images. Those images were processed using techniques of pixel processing and mathematical morphology. The results to the porosity were compared with the result obtained through the method proposed by NBR 9778 (2005) (Absorção de água, índice de vazios e massa específica em argamassa e concreto endurecido). The microtomographed images of the concrete samples were obtained using a Skyskan 1172 system with 256 gray levels, adjusted in contrast, binarized and filtered. In the other method there were used a commercial scanner with 2400 dpi of resolution to acquire the images, being also used techniques of pixel processing and mathematical morphology to process them. The results have shown compatibility between the two presented methods and the method presented by NBR 9778 (2005). It was observed that the results obtained by microtomography were more reliable, but the method using the scanner is presented as an acceptable method for their results and especially for its low cost and ease of operation.