Stereo Light Probe

In this paper we present a practical, simple and robust method to acquire the spatially‐varying illumination of a real‐world scene. The basic idea of the proposed method is to acquire the radiance distribution of the scene using high‐dynamic range images of two reflective balls. The use of two light probes instead of a single one allows to estimate, not only the direction and intensity of the light sources, but also the actual position in space of the light sources. To robustly achieve this goal we first rectify the two input spherical images, then, using a region‐based stereo matching algorithm, we establish correspondences and compute the position of each light. The radiance distribution so obtained can be used for augmented reality applications, photo‐realistic rendering and accurate reflectance properties estimation. The accuracy and the effectiveness of the method have been tested by measuring the computed light position and rendering synthetic version of a real object in the same scene. The comparison with standard method that uses a simple spherical lighting environment is also shown.     

Shape from defocus via diffusion

Defocus can be modeled as a diffusion process and represented mathematically using the heat equation, where image blur corresponds to the diffusion of heat. This analogy can be extended to non-planar scenes by allowing a space-varying diffusion coefficient. The inverse problem of reconstructing 3-D structure from blurred images corresponds to an "inverse diffusion" that is notoriously ill-posed. We show how to bypass this problem by using the notion of relative blur. Given two images, within each neighborhood, the amount of diffusion necessary to transform the sharper image into the blurrier one depends on the depth of the scene. This can be used to devise a global algorithm to estimate the depth profile of the scene without recovering the deblurred image, using only forward diffusion.     

A bio-inspired predictive sensory-motor coordination scheme for robot reaching and preshaping

This paper presents a sensory-motor coordination scheme for a robot hand-arm-head system that provides the robot with the capability to reach an object while pre-shaping the fingers to the required grasp configuration and while predicting the tactile image that will be perceived after grasping. A model for sensory-motor coordination derived from studies in humans inspired the development of this scheme. A peculiar feature of this model is the prediction of the tactile image. The implementation of the proposed scheme is based on a neuro-fuzzy module that, after a learning phase, starting from visual data, calculates the position and orientation of the hand for reaching, selects the best-suited hand configuration, and predicts the tactile feedback. The implementation of the scheme on a humanoid robot allowed experimental validation of its effectiveness in robotics and provided perspectives on applications of sensory predictions in robot motor control.     

High power GaN‐HEMT SPDT switches for microwave applications

In this article, the design, fabrication, and on‐wafer test of X‐Band and 2–18 GHz wideband high‐power SPDT MMIC switches in AlGaN/GaN technology are presented. The switches have demonstrated state‐of‐the‐art performance and RF fabrication yield better than 65%. Linear and power measurements for different control voltages have been reported and an explanation of the dependence of the power performances on the control voltage is given. In particular, the X‐band switch exhibits a 0.4 dB compression level at 10 GHz when driven by a 38 dBm input signal. The wideband switch shows a compression level of 1 dB at an input drive higher than 38 dBm across the entire bandwidth. © 2009 Wiley Periodicals, Inc. Int J RF and Microwave CAE, 2009.     

System for measuring the coordinates of tire surfaces in transient conditions when rolling over obstacles: description of the system and performance analysis

This paper describes the development of a system for measuring surface coordinates (commonly known as "shape measurements") which is able to give the temporal evolution of the position of the tire sidewall in transient conditions (such as during braking, when there are potholes or when the road surface is uneven) which may or may not be reproducible. The system is based on the well-known technique of projecting and observing structured light using a digital camera with an optical axis which is slanted with respect to the axis of the projector. The transient nature of the phenomenon has led to the development of specific innovative solutions as regards image processing algorithms. This paper briefly describes the components which make up the measuring system and presents the results of the measurements carried out on the drum bench. It then analyses the performance of the measuring system and the sources of uncertainty which led to the development of the system for a specific dynamic application: impact with an obstacle (cleat test). The measuring system guaranteed a measurement uncertainty of 0.28 mm along the Z axis (the axial direction of the tire) with a measurement range of 250(X) x 80(Y) x 25(Z) mm(3), with the tire rolling at a speed of up to 30 km/h.     

Computer simulations of signal transduction mechanism in {alpha}1B-adrenergic and m3-muscarinic receptors

Molecular dynamices simulations of the hamster _1Badrenergicand the rat m3-muscarinic seven-helix bundle receptor modelshave been carried out. The free, agonist-bound and antagonist-boundforms have been considered. Moreover, three mutant forms ofthe m3-muscarinic recep-tor (N507A, N507D and N507S) have alsobeen simulated; among these, the N507S mutant shows a constitutiveactivity. A comparative structural/dynamics analysis has beenperformed to elucidate (i) the perturbations induced by thefunctionally different ligands upon binding to their targetreceptor, (ii) the features of the three single-point mutantswith respect to the receptor wild type and (iii) the propertiesshared by the agonist-boundforms of the _1B-adrenergic receptorand the m3-muscarinic receptor and by the constitutively activemutant N507S. The consistency obtained between the structuralrearrangement of the transmembrane seven-helix bundle modelsconsidered, and the experimental pharmacological efficaciesof the ligands and of the mutants, constitute an important validationof the 3-D models obtained and allow the inference of the mechanismof ligand- or mutation-induced receptor activation at the molecularlevel.