Visual Navigation for Mobile Robots: A Survey

Mobile robot vision-based navigation has been the source of countless research contributions, from the domains of both vision and control. Vision is becoming more and more common in applications such as localization, automatic map construction, autonomous navigation, path following, inspection, monitoring or risky situation detection. This survey presents those pieces of work, from the nineties until nowadays, which constitute a wide progress in visual navigation techniques for land, aerial and autonomous underwater vehicles. The paper deals with two major approaches: map-based navigation and mapless navigation. Map-based navigation has been in turn subdivided in metric map-based navigation and topological map-based navigation. Our outline to mapless navigation includes reactive techniques based on qualitative characteristics extraction, appearance-based localization, optical flow, features tracking, plane ground detection/tracking, etc... The recent concept of visual sonar has also been revised. This work is partially supported by DPI 2005-09001-C03-02 and FEDER funding.     

Ferritin Protein Regulates the Degradation of Iron Oxide Nanoparticles

Proteins implicated in iron homeostasis are assumed to be also involved in the cellular processing of iron oxide nanoparticles. In this work, the role of an endogenous iron storage protein—namely the ferritin—is examined in the remediation and biodegradation of magnetic iron oxide nanoparticles. Previous in vivo studies suggest the intracellular transfer of the iron ions released during the degradation of nanoparticles to endogenous protein cages within lysosomal compartments. Here, the capacity of ferritin cages to accommodate and store the degradation products of nanoparticles is investigated in vitro in the physiological acidic environment of the lysosomes. Moreover, it is questioned whether ferritin proteins can play an active role in the degradation of the nanoparticles. The magnetic, colloidal, and structural follow‐up of iron oxide nanoparticles and proteins in lysosome‐like medium confirms the efficient remediation of potentially harmful iron ions generated by nanoparticles within ferritins. The presence of ferritins, however, delays the degradation of particles due to a complex colloidal behavior of the mixture in acidic medium. This study exemplifies the important implications of intracellular proteins in processes of degradation and metabolization of iron oxide nanoparticles.     

Analysis of Non-Equilibrium Fluctuations In A Ternary Liquid Mixture

From the benchmark values of the diffusion and thermodiffusion coefficients of the tetralin, isobutylbenzene and n-dodecane ternary mixture, and the published optical contrast factors, we have evaluated the theoretical amplitudes of the two composition modes of the refractive-index fluctuations. Shadowgraph experiments have been performed on ground, where the current theory is expected to be correct only for large wave vectors. Two decay times have been observed experimentally. The fastest one being related to the thermal diffusivity of the mixture, while the slower one to mass diffusion. Hence, it has not been possible to distinguish the two eigenvalues of the mass diffusion matrix, a problem also encountered in traditional light-scattering with ternary mixtures of similar-size molecules. Thus, to compare the measured Intermediate Scattering Function with theory, we fix the amplitudes and decay rates to the benchmark values, use the wave number as a fitting parameter, and compare it to the experimental wave number. The good agreement between theory and experiments for the larger wave numbers validates the theory developed for the microgravity conditions.     

Managing sequential ambidexterity in the electronics industry: roles of temporal switching capability and contingent factors

Researchers on organisational ambidexterity have proposed several solutions to address the potential conflicts between exploration activities and exploitation activities. Unlike simultaneous ambidexterity, sequential ambidexterity – defined as temporal switching between exploration and exploitation – has not been examined fully, and the conditions under which this temporal switching can be successful are unclear. This paper proposes the concept of temporal switching capability to better understand the process by which sequential ambidexterity is executed. In addition, we hypothesise that performance effects are contingent upon firm-specific factors: a firm’s business strategy and absorptive capacity. Utilising three sources of data – a secondary database, annual reports and a survey administered to 145 firms in the electronics industry with 10-year observations – we find support for our hypotheses. The results show that the temporal switching capability positively relates to new product performance and that business strategy type and absorptive capacity have moderating effects. The results are meaningful in both theory and practice.     

Proteomics in chronic kidney disease: The issues clinical nephrologists need an answer for

A growing number of patients are recognised to have chronic kidney disease (CKD). However, only a minority will progress to end-stage renal disease requiring dialysis or transplantation. Currently available diagnostic and staging tools frequently fail to identify those at higher risk of progression or death. Furthermore within specific disease entities there are shortcomings in the prediction of the need for therapeutic interventions or the response to different forms of therapy. Kidney and urine proteomic biomarkers are considered as promising diagnostic tools to predict CKD progression early in diabetic nephropathy, facilitating timely and selective intervention that may reduce the related health-care expenditures. However, independent groups have not validated these findings and the technique is not currently available for routine clinical care. Furthermore, there are gaps in our understanding of predictors of progression or need for therapy in non-diabetic CKD. Presumably, a combination of tissue and urine biomarkers will be more informative than individual markers. This review identifies clinical questions in need of an answer, summarises current information on proteomic biomarkers and CKD, and describes the European Kidney and Urine Proteomics initiative that has been launched to carry out a clinical study aimed at identifying urinary proteomic biomarkers distinguishing between fast and slow progressors among patients with biopsy-proven primary glomerulopathies.     

SOA adoption in business networks: do service-oriented architectures really advance inter-organizational integration?

The emergence of the Internet as a global communication infrastructure has dramatically reduced interaction costs within and across organizations, with significant impact on inter-organizational relationships, vertical industry structures, and markets. More recently, service-oriented architectures (SOA) and Web services have introduced the next paradigm shift and foster the idea of dynamic business networks with quick connect and disconnect relationships. However, little research has systematically analyzed how companies leverage SOA to improve their inter-organizational relationships and reshape their business networks. In addition, the mature research stream on inter-organizational information systems (IOS) has not yet sufficiently considered SOA. In order to close this gap, our research seeks to improve the fundamental understanding of how SOA is applied in business networks and how it differs from prior forms of IOS. Using an exploratory research approach, we investigate 33 SOA cases to identify focus areas and patterns of SOA adoption in business networks. Our case analysis builds on a multi-dimensional classification scheme which we derived from prior literature. While our empirical findings do not confirm all promising propositions related to SOA, they underline the specific contribution of SOA compared to prior forms of IOS. We conclude by suggesting five clusters of SOA adoption in the inter-organizational domain, each of those introducing new aspects in the coordination of distributed business networks.     

Solving subgraph isomorphism problems with constraint programming

The subgraph isomorphism problem consists in deciding if there exists a copy of a pattern graph in a target graph. We introduce in this paper a global constraint and an associated filtering algorithm to solve this problem within the context of constraint programming. The main idea of the filtering algorithm is to label every node with respect to its relationships with other nodes of the graph, and to define a partial order on these labels in order to express compatibility of labels for subgraph isomorphism. This partial order over labels is used to filter domains. Labelings can also be strengthened by adding information from the labels of neighbors. Such a strengthening can be applied iteratively until a fixpoint is reached. Practical experiments illustrate that our new filtering approach is more effective on difficult instances of scale free graphs than state-of-the-art algorithms and other constraint programming approaches.     

Network interfaces for programmable NICs and multicore platforms

The availability of multicore processors and programmable NICs, such as TOEs (TCP/IP Offloading Engines), provides new opportunities for designing efficient network interfaces to cope with the gap between the improvement rates of link bandwidths and microprocessor performance. This gap poses important challenges related with the high computational requirements associated to the traffic volumes and wider functionality that the network interface has to support. This way, taking into account the rate of link bandwidth improvement and the ever changing and increasing application demands, efficient network interface architectures require scalability and flexibility. An opportunity to reach these goals comes from the exploitation of the parallelism in the communication path by distributing the protocol processing work across processors which are available in the computer, i.e. multicore microprocessors and programmable NICs.Thus, after a brief review of the different solutions that have been previously proposed for speeding up network interfaces, this paper analyzes the onloading and offloading alternatives. Both strategies try to release host CPU cycles by taking advantage of the communication workload execution in other processors present in the node. Nevertheless, whereas onloading uses another general-purpose processor, either included in a chip multiprocessor (CMP) or in a symmetric multiprocessor (SMP), offloading takes advantage of processors in programmable network interface cards (NICs). From our experiments, implemented by using a full-system simulator, we provide a fair and more complete comparison between onloading and offloading. Thus, it is shown that the relative improvement on peak throughput offered by offloading and onloading depends on the rate of application workload to communication overhead, the message sizes, and on the characteristics of the system architecture, more specifically the bandwidth of the buses and the way the NIC is connected to the system processor and memory. In our implementations, offloading provides lower latencies than onloading, although the CPU utilization and interrupts are lower for onloading. Taking into account the conclusions of our experimental results, we propose a hybrid network interface that can take advantage of both, programmable NICs and multicore processors.