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...     

Purification,structural data and biological properties of polysaccharide from Prunus amygdalus gum

This work demonstrates the efficiency of almond gum polysaccharides (AGPs) as bioactive compounds. AGPs were first extracted using H₂O₂, in the presence of NaOH, at different times and temperatures. The optimal extraction conditions were 4% H₂O₂ and 2 N NaOH, for 7 h at 50 °C, leading to an extraction yield of 58.2% (w/w). After a purification step, the retained AGPs were characterised using high‐performance liquid chromatography showing a molecular weight of 99.3 kDa. The monosaccharide composition of AGPs were assessed using gas chromatography–mass spectrometry. AGPs were found to be a complex heteropolysaccharide with a repeating unit mainly composed of galactose, arabinose, xylose, mannose, rhamnose, and glucuronic acid with the respective ratios: 45:26:7:10:1:11. The acidic nature of the polysaccharide is due to the presence of glucuronic acid. Total antioxidant activity, free radical‐scavenging activity and reducing power assay of AGPs were investigated. The obtained results showed high antioxidant activities of AGPs. Furthermore, beyond 60 mg mL^?1, AGPs exhibited bacterial growth inhibition for five pathogenic strains: Escherichia coli, Staphylococcus aureus, Enterococcus feacalis, Pseudomonas aeruginosa and Salmonella typhimurium.     

Recovery of Hydroxytyrosol Rich Extract from Two‐Phase Chemlali Olive Pomace by Chemical Treatment

Abstract: A very simple method is proposed to produce hydroxytyrosol, a commercially unavailable compound with well‐known biological properties which justify a potential commercial application. The 2‐phase Chemlali olive pomace is selected as substrate for chemical treatment. Different conditions of chemical treatment, including concentration of acid and alkaline solutions, time and temperature, were assayed. A high amount of hydroxytyrosol (1360 mg/kg of fresh 2‐phase olive pomace) was obtained using water bath after treatment at 80 °C for 90 min with 1 M of H₃PO₄. However, treatment of 2‐phase Chemlali olive pomace using autoclave apparatus could produce a large amount of hydroxytyrosol (1993.60 and 1515.88 mg/kg of fresh alperujo, 1 M acid and basic catalyst, respectively). By taking into consideration practical and economic aspects, acid‐catalyzed treatment was more effective using autoclave conditions, whereas the alkali catalyzed conditions were not very suitable. This study could provide useful information for industry to produce the potentially bioactive compound. Practical Application: The 2‐phase Chemlali olive pomace is selected as substrate for chemical treatment. Treatment of “alperujo” using water bath or autoclave apparatus was carried out. A high amount of hydroxytyrosol was obtained using autoclave apparatus.     

Effect of Titania Additive on Structural and Mechanical Properties of Alumina–Fluorapatite Composites

Mechanical properties of alumina-fluorapatite composites with different titania additive amounts (0, 0.5, 1, 1.4, 2, 3, 4 and 5 wt%) have been investigated between 1200 and 1600℃. The optimum values of densification and mechanical properties of composites have been reached with 1.4 wt% of titania after the sintering process at 1500℃ for 1 h. Thus, the rupture strength of alumina-26.52 wt% Fap-1.4 wt% TiO2 reaches 75 MPa. At higher temperature and beyond 1.4 wt% TiO2 ,the densification and mechanical properties were hindered by the formation of both intergranular porosity and secondary phase. X-ray diffraction (XRD) analysis of alumina-Fap-TiO2 composites shows the formation of aluminium titanate (Al2O3-TiO2:Al2TiO5 ). The 27Al magic angle scanning nuclear magnetic resonance analysis of Al2O3-Fap-TiO2 composites reveals the presence of octahedral and pentahedral aluminium and novel environment relative to tetrahedral aluminium sites.     

Modelling approaches for the estimation of irreducible water saturation and heterogeneities of the commercial Ashtart reservoir from the Gulf of Gabès, Tunisia

Oil production based on reserves in place in the Ashtart oilfield required the precise knowledge of the main reservoir parameters including porosity, permeability and irreducible water saturation. The reservoir series is comprised of Nummulitid but heterogeneous limestones of the El Garia Formation, the petrofacies texture, geometry and petrophysical parameters of which were apprehended using seismic profiles; gamma-ray and sonic lateral logs, as well as cores and cuttings taken in drillwells. The evaluation of residual oil saturation, multiphase flow and oil production techniques from the Ashtart reservoir also depend on variations and zoning of the irreducible water saturation. Estimation of the initial water saturation and hence variations in the capillary pressure in the reservoir, required compilations of porosity data measured on cores, supplemented by additional but computed porosities based on acoustic log diagrams. Furthermore, Gamma Ray, Sonic log, and well to well correlations tied to core results and well cuttings, help recognize the layered lithologies within the El Garia flat lying but stratified, Ypresian in origin reservoir rocks. Abundant permeability and porosity values compiled in the light of seismic sequence and Gamma Ray and Sonic log details, were integrated in an empirical approach using the Leverett J function, to model the irreducible water saturation depending on the capillary pressure distribution in the whole reservoir. Variations of this principal hydraulic parameter in a wide range (S_wir: 12 to 40%) compared to the preceding lithostratigraphic, petrographical and petrophysical results help recognize four main rock pore types in the commercial Ashtart reservoir. These vary from (1) a zone with a rock pore type showing an irreducible water saturation as low as 12%, and a fairly good reservoir character in the lower third part of the lithologic column which is thought to channelize a multiphase fluid flow in the global oilfield, (2) to those zones built-up of rock pore types with higher initial water saturation amounts which in certain cases tend to indicate zones of degraded reservoir. Our study suggests that diagenesis prevalently controls porosity, due to operative dissolutions of the Nummulitid tests/bioclasts, and cementation; moreover, diagenesis exerts effects on permeability by interconnecting intergranular and intratest pore spaces. In contrast, microfracturing enhances permeability of the reservoir. This is notably the case in the fairly permeable central zone in the Ashtart reservoir with excellent petrophysical parameters, but which were found to degrade gradually towards its peripheries.     

Effects of almond gum as texture and sensory quality improver in wheat bread

The aim of this work was to investigate the effect of almond gum as dietary fibre source in enhancing the wheat bread quality. Different amounts of almond gum (2%, 5% and 10% (w/w)) were used in bread formulation. The volume, texture, crust and crumb colour, as well as the sensorial properties, were evaluated and compared to control (without almond gum). The obtained results showed that almond gum addition enhanced significantly the volume of bread. The highest volume was obtained using 2% almond gum concentration with 23.6% increase, compared to control. Using almond gum in bread formulation improved considerably its texture with a notable decrease in hardness by 61.7% and 42.5% when using 2% and 5% almond gum, respectively. The sensory analysis scores showed that the better overall acceptability was found for breads supplemented with 2% almond gum, as compared to control and breads supplemented with 5% or 10% almond gum.     

Experimental analysis,hybridization and exergetic investigation of an absorption refrigeration unit

In this work, an experimental and theoretical investigation of a frozen and hot water production unit with direct gas absorption is developed. Water/ammonia couple is used.A particular interest is given to the system performances evaluation such as exergetic efficiency and total exergy loss. Parameters analyzed are coefficients of performance, irreversibility and exergetic efficiency.Results show that the machine can reach a COP up to 65% and exergetic efficiency up to 18% for a working temperature and a condensation temperature of 120 °C and 18 °C, respectively. These performances decrease for a condensation temperature of 37 °C and 47 °C. Indeed, the engine is less efficient and presents more irreversibility, which is major in the pre-absorber and the absorber.An improvement of the machine cycle is proposed, in order to adapt it to low grade heat sources, using a compressor upstream of the pre-absorber. Performances of the new hybrid cycle are better than those of the real cycle.