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This work presents a process pipeline that addresses the problem of reconstructing surfaces of underwater structures from stereo images and sonar scans collected with a micro-ROV on the islands of Malta and Gozo. Using a limited sensor load, sonar and small GoPro Hero2 cameras, the micro-ROV is able to explore water systems and gather data. As a preprocess to the reconstruction pipeline, a 3D evidence...
This paper presents a new method for constructing 2D maps of enclosed underwater structures using an underwater robot equipped with only a 2D scanning sonar, compass and depth sensor. In particular, no motion model or odometry is used. To accomplish this, a two step offline SLAM method is applied to a set of stationary sonar scans. In the first step, the change in position of the robot between each...
Recognition of the importance of lipid signaling in cellular function has led to rapid progress in the technology of lipid analysis. Measurements of lipid species changes are central to defining the networks of cell signaling (e.g., receptor activation by hormones or drugs) and lipids are involved in many biochemical and pathological processes. During the last several years our laboratory has focused...
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