Globally Optimal Point Set Registration by Joint Symmetry Plane Fitting

The present work proposes a solution to the challenging problem of registering two partial point sets of the same object with very limited overlap. We leverage the fact that most objects found in man-made environments contain a plane of symmetry. By reflecting the points of each set with respect to the plane of symmetry, we can largely increase the overlap between the sets and therefore boost the registration process. However, prior knowledge about the plane of symmetry is generally unavailable or at least very hard to find, especially with limited partial views. Finding this plane could strongly benefit from a prior alignment of the partial point sets. We solve this chicken-and-egg problem by jointly optimizing the relative pose and symmetry plane parameters. We present a globally optimal solver by employing the branch-and-bound paradigm and thereby demonstrate that joint symmetry plane fitting leads to a great improvement over the current state of the art in globally optimal point set registration for common objects. We conclude with an interesting application of our method to dense 3D reconstruction of scenes with repetitive objects.

     

A code tagging approach to software product line development

Software product line engineering seeks to systematise reuse when developing families of similar software systems so as to minimise development time, cost and defects. To realise variability at the code level, product line methods classically advocate usage of inheritance, components, frameworks, aspects or generative techniques. However, these might require unaffordable paradigm shifts for developers if the software was not thought at the outset as a product line. Furthermore, these techniques can be conflicting with a company’s coding practices or external regulations. These concerns were the motivation for the industry–university collaboration described in this paper in which we developed a minimally intrusive coding technique based on tags. The approach was complemented with traceability from code to feature diagrams which were exploited for automated configuration. It is supported by a toolchain and is now in use in the partner company for the development of flight-grade satellite communication software libraries.     

What can you verify and enforce at runtime?

The underlying property, its definition, and representation play a major role when monitoring a system. Having a suitable and convenient framework to express properties is thus a concern for runtime analysis. It is desirable to delineate in this framework the sets of properties for which runtime analysis approaches can be applied to. This paper presents a unified view of runtime verification and enforcement of properties in the Safety-Progress classification. First, we extend the Safety-Progress classification of properties in a runtime context. Second, we characterize the set of properties which can be verified (monitorable properties) and enforced (enforceable properties) at runtime. We propose in particular an alternative definition of ??property monitoring?? to the one classically used in this context. Finally, for the delineated sets of properties, we define specialized verification and enforcement monitors.     

High-field magnetostriction in the pseudo-metamagnetic heavy-fermion system CeRu2Si2

Low-temperature magnetostriction experiments have been performed on CeRu₂Si₂ single crystals in magnetic fields up to 15T. WhenH is applied parallel to the tetragonalc-axis, a very large expansion is observed in all lattice directions. A pronounced anomaly occurs at a field close to the metamagnetic threshold. The results are discussed with use of thermodynamic relations and support a very simple scaling behavior for the pressure dependence of the magnetization.Laboratoire associé à l'Université Scientifique, Technologique et Médicale de Grenoble.     

Thermal expansion of helium filled Aerogel at the lambda point

Under reasonable assumptions, we show that He-filled Aerogels should exhibit a strong negative thermal expansion at the point : =–10^–3/K. We observed an expansion smaller than 10^–6/K across the transition. This very strong discrepancy can be related either to (i) specific elastic properties of the gels, (ii) the dependance of T on the pore size is drastically different of what could be expected.     

The Esterase PfeE,the Achilles’ Heel in the Battle for Iron between Pseudomonas aeruginosa and Escherichia coli

Bacteria access iron, a key nutrient, by producing siderophores or using siderophores produced by other microorganisms. The pathogen Pseudomonas aeruginosa produces two siderophores but is also able to pirate enterobactin (ENT), the siderophore produced by Escherichia coli. ENT-Fe complexes are imported across the outer membrane of P. aeruginosa by the two outer membrane transporters PfeA and PirA. Iron is released from ENT in the P. aeruginosa periplasm by hydrolysis of ENT by the esterase PfeE. We show here that pfeE gene deletion renders P. aeruginosa unable to grow in the presence of ENT because it is unable to access iron via this siderophore. Two-species co-cultures under iron-restricted conditions show that P. aeruginosa strongly represses the growth of E. coli as long it is able to produce its own siderophores. Both strains are present in similar proportions in the culture as long as the siderophore-deficient P. aeruginosa strain is able to use ENT produced by E. coli to access iron. If pfeE is deleted, E. coli has the upper hand in the culture and P. aeruginosa growth is repressed. Overall, these data show that PfeE is the Achilles’ heel of P. aeruginosa in communities with bacteria producing ENT.     

PGRP-LB: An Inside View into the Mechanism of the Amidase Reaction

Peptidoglycan recognition proteins (PGRPs) are ubiquitous among animals and play pivotal functions in insect immunity. Non-catalytic PGRPs are involved in the activation of immune pathways by binding to the peptidoglycan (PGN), whereas amidase PGRPs are capable of cleaving the PGN into non-immunogenic compounds. Drosophila PGRP-LB belongs to the amidase PGRPs and downregulates the immune deficiency (IMD) pathway by cleaving meso-2,6-diaminopimelic (meso-DAP or DAP)-type PGN. While the recognition process is well analyzed for the non-catalytic PGRPs, little is known about the enzymatic mechanism for the amidase PGRPs, despite their essential function in immune homeostasis. Here, we analyzed the specific activity of different isoforms of Drosophila PGRP-LB towards various PGN substrates to understand their specificity and role in Drosophila immunity. We show that these isoforms have similar activity towards the different compounds. To analyze the mechanism of the amidase activity, we performed site directed mutagenesis and solved the X-ray structures of wild-type Drosophila PGRP-LB and its mutants, with one of these structures presenting a protein complexed with the tracheal cytotoxin (TCT), a muropeptide derived from the PGN. Only the Y78F mutation abolished the PGN cleavage while other mutations reduced the activity solely. Together, our findings suggest the dynamic role of the residue Y78 in the amidase mechanism by nucleophilic attack through a water molecule to the carbonyl group of the amide function destabilized by Zn²⁺.     

Characterization of the Functional Cross-Talk between Surface GABAA and Dopamine D5 Receptors

The γ-aminobutyric acid type A receptor (GABA_AR) plays a major role in fast inhibitory synaptic transmission and is highly regulated by the neuromodulator dopamine. In this aspect, most of the attention has been focused on the classical intracellular signaling cascades following dopamine G-protein-coupled receptor activation. Interestingly, the GABA_AR and dopamine D5 receptor (D5R) have been shown to physically interact in the hippocampus, but whether a functional cross-talk occurs is still debated. In the present study, we use a combination of imaging and single nanoparticle tracking in live hippocampal neurons to provide evidence that GABA_ARs and D5Rs form dynamic surface clusters. Disrupting the GABA_AR–D5R interaction with a competing peptide leads to an increase in the diffusion coefficient and the explored area of both receptors, and a drop in immobile synaptic GABA_ARs. By means of patch-clamp recordings, we show that this fast lateral redistribution of surface GABA_ARs correlates with a robust depression in the evoked GABAergic currents. Strikingly, it also shifts in time the expression of long-term potentiation at glutamatergic synapses. Together, our data both set the plasma membrane as the primary stage of a functional interplay between GABA_AR and D5R, and uncover a non-canonical role in regulating synaptic transmission.