Map management for robust long-term visual localization of an autonomous shuttle in changing conditions

Multimedia Tools and Applications - Changes in appearance present a tremendous problem for the visual localization of an autonomous vehicle in outdoor environments. Data association between the...     

Measuring interdiffusion at an interface between two elastomers with tapping-mode and contact-resonance atomic force microscopy imaging

Despite the common use of tapping-mode atomic force microscopy to image composites or polymer blends, very few studies have focused on the measurement of the interdiffusion at an interface between two polymers in contact. In this study, we show how to assess the interphase between two polymers with two methods. First, stable and robust tapping conditions are established, and the problem of the phase contrast is discussed. Second, a contact-resonance method is presented: the tip in contact with the sample is electrostatically excited at its resonance frequency by a self-controlled oscillator. The gain and frequency images allow us to measure the interdiffusion width. Both methods (using high and weak mechanical solicitation) give the same assessment of the interdiffusion width. © 2008 Wiley Periodicals, Inc. J Appl Polym Sci, 2008     

Slip Length Measurements Using µPIV and TIRF-Based Velocimetry

The goal of this paper is to review progress (mostly recent) made in micro and nanovelocimetry, focusing on two techniques: µPIV (microparticle image velocimetry) and nanoPTV (nanoparticle tracking velocimetry). The paper focuses on the measurement of slippage (taken as a benchmark for these techniques), concentrating on work done in our group. We review the developments of µPIV that led, in the last ten years, to the achievement of 100 nm accuracy in the measurement of slip lengths. Later, this approach was complemented by nanoPTV, which recently obtained ±5 nm precision. Here, we also mention recent application of these techniques toward better characterization of microgel and polymer flows. As a whole, the two techniques have conveyed valuable information on flow behavior within and close to the boundaries of microchannels, on the importance of wetting, and on the role of surface heterogeneities. µPIV is commercially available but nanoPTV is not mature. Interesting instrumental developments are expected in the future for the latter technique.     

A study of various cholesteryl alkanoates by a semi-empirical quantum calculation

In order to study electronic and structural properties of a family of cholesterol esters, the cholesteryl alkanoates, we have performed a semi-empirical quantum calculation. From some previous works, we have generalized the existence of three types of configuration obtained for the cholesteryl acetate to 14 other cholesteryl alkanoates and we have undertaken the calculation of the molecular energy for all studied cholesteryl alkanoates. The influence of the alkyl chain length on these energies has been studied. Moreover, in order to know the influence of the extension of the alkyl chain on the rotation of the carbonyl group, we have determined the O₂₈–C₂₈–O₃–C₃ rotational energy barrier for only 8 cholesteryl alkanoates.     

Fate and effects of Camembert cheese micro-organisms in the human colonic microbiota of healthy volunteers after regular Camembert consumption

The objective of this study was to determine i) if Camembert cheese micro-organisms could be detected in fecal samples after regular consumption by human subjects and ii) the consequence of this consumption on global metabolic activities of the host colonic microbiota. An open human protocol was designed where 12 healthy volunteers were included: a 2-week period of fermented products exclusion followed by a 4-weeks Camembert ingestion period where 2x40 g/day of Camembert cheese was consumed. Stools were collected from the volunteers before consumption, twice during the ingestion period (2nd and 4th week) and once after a wash out period of 2 weeks. During the consumption of Camembert cheese, high levels of Lactococcus lactis and Leuconostoc mesenteroides were measured in fecal samples using real-time quantitative PCR, reaching median values of 8.2 and 7.5 Log(10) genome equivalents/g of stool. For Ln. mesenteroides, persistence was observed 15 days after the end of Camembert consumption. The survival of Geotrichum candidum was also assessed and the fecal concentration reached a median level of 7.1 Log(10) CFU/g in stools. Except a decreasing trend of the nitrate reductase activity, no significant modification was shown in the metabolic activities during this study.     

A new class of organosilane-modified polycarboxylate superplasticizers with low sulfate sensitivity

It is well-established that a competitive adsorption exists between polycarboxylate superplasticizers (SP) and sulfate ions solubilized in the interstitial solution of cement paste, which may cause a loss of the dispersing properties. This has been explained by competitive weak ionic interactions between functional carboxyl groups and sulfate ions with cement grains. In this study, SPs including trialkoxysilane functional groups have been synthesized. Adsorption and dispersing properties of these SPs were evaluated in the presence of different concentrations of Na₂SO₄ added in aqueous solution. It appeared that a partial substitution of carboxyl groups by trialkoxysilane in the polymer makes them more resistant to sulfate ions. We suggested that the high adsorption capacity of these SPs results from the formation of strong bonds between hydroxysilane groups and calcium silicate hydrate phases. The improved compatibility of these new silylated SPs has been demonstrated through the formulation of two different concrete equivalent mortars.     

Analysis of the sex chromosomal equipment in spermatozoa of a 47,XYY male using two-colour fluorescence in-situ hybridization

The sex chromosomes in spermatozoa of a 47,XYY fertile male were analysed simultaneously by dual fluorescence in-situ hybridization (FISH), with two probes (pHY2.1 and pXBR). Of the 100000 cells analysed, 95179 spermatozoa (95.18%) exhibited one or more hybridization signals. Of the hybridized nuclei, 85.37% showed a normal sex chromosome constitution (37.37% X-bearing cells and 48.00% Y-bearing cells), with an X:Y ratio of 0.78:1. A total of 14.63% of the hybridized nuclei exhibited sex chromosome aneuploidy with a majority of XY- and YY-bearing spermatozoa (9.37 and 4.65% respectively). Even if the majority of spermatozoa have chromosomal haploidy, a large proportion of them exhibits numerical errors for the sex chromosomes. These observations raise questions about the commonly-admitted notions concerning the absence of chromosomal risk for XYY male offspring.     

Multi-class Transductive Learning Based on ℓ 1 Relaxations of Cheeger Cut and Mumford-Shah-Potts Model

Recent advances in ? ¹ optimization for imaging problems provide promising tools to solve the fundamental high-dimensional data classification in machine learning. In this paper, we extend the main result of Szlam and Bresson (Proceedings of the 27th International Conference on Machine Learning, pp. 1039–1046, 2010), which introduced an exact ? ¹ relaxation of the Cheeger ratio cut problem for unsupervised data classification. The proposed extension deals with the multi-class transductive learning problem, which consists in learning several classes with a set of labels for each class. Learning several classes (i.e. more than two classes) simultaneously is generally a challenging problem, but the proposed method builds on strong results introduced in imaging to overcome the multi-class issue. Besides, the proposed multi-class transductive learning algorithms also benefit from recent fast ? ¹ solvers, specifically designed for the total variation norm, which plays a central role in our approach. Finally, experiments demonstrate that the proposed ? ¹ relaxation algorithms are more accurate and robust than standard ? ² relaxation methods s.a. spectral clustering, particularly when considering a very small number of labels for each class to be classified. For instance, the mean error of classification for the benchmark MNIST dataset of 60,000 data in $\mathbb{R}^{784}$ using the proposed ? ¹ relaxation of the multi-class Cheeger cut is 2.4 % when only one label is considered for each class, while the error of classification for the ? ² relaxation method of spectral clustering is 24.7 %.     

Chirp measurement of multimode q-switched laser diode pulses by use of a streak camera and a grating monochromator

We discuss spectrotemporal measurements of laser diode pulses performed with a streak camera and a grating monochromator to yield a precise evaluation of chirping effects in Q-switched multimode emissions. We experimentally illustrate several causes of errors, depending on the grating size and period as well as on the adjustment of the collimating lens at the monochromator output. An analytical formula is derived that allows us to relate the chirp amplitude to the inclination of the modal structures in the streak image. Two configurations are proposed for a practical determination of the chirp amplitude in multimode emissions. Illustrations are provided with Q-switched AlGaAs laser diodes that exhibit chirp amplitudes larger than the mode spacing.