An EM approach to mineral analysis using natural gamma rays

We describe here a method for the analysis of materials on a conveyor belt using the natural gamma spectra collected with a BGO (Bismuth Germanate) gamma ray detector. This detector collects gamma ray emissions from the Potassium (K), Uranium (U), and Thorium (Th) atoms in the materials. Based on these data, and using a Poisson model for the data generation, a statistical model is proposed and an approximate maximum likelihood (ML) technique based on the expectation-maximization (EM) algorithm is then used to estimate the amount of each of the three elements in the material. The statistical model is further refined to incorporate parameters of drift in the detector and an estimation technique for this is developed and tested against real data. The Cramér–Rao lower bounds for the estimators are calculated.     

Shaping stable periodic motions of inertia wheel pendulum: theory and experiment

We consider an underactuated two‐link robot called the inertia wheel pendulum. The system consists of a free planar rotational pendulum and a symmetric disk attached to its end, which is directly controlled by a DC‐motor. The goal is to create stable oscillations of the pendulum, which is not directly actuated. We exploit a recently proposed feedback‐control design strategy based on motion planning via virtual holonomic constraints. This strategy is shown to be useful for design of regulators for achieving orbitally exponentially stable oscillatory motions. The main contribution is a step‐by‐step procedure on how to achieve oscillations with pre‐specified amplitude from a given range and an arbitrary independently chosen period. The theoretical results are verified via experiments with a real hardware setup. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Multimodal focus attention and stress detection and feedback in an augmented driver simulator

This paper presents a driver simulator, which takes into account the information about the user’s state of mind (level of attention, fatigue state, stress state). The user’s state of mind analysis is based on video data and biological signals. Facial movements such as eyes blinking, yawning, head rotations, etc., are detected on video data: they are used in order to evaluate the fatigue and the attention level of the driver. The user’s electrocardiogram and galvanic skin response are recorded and analyzed in order to evaluate the stress level of the driver. A driver simulator software is modified so that the system is able to appropriately react to these critical situations of fatigue and stress: some audio and visual messages are sent to the driver, wheel vibrations are generated and the driver is supposed to react to the alert messages. A multi-threaded system is proposed to support multi-messages sent by the different modalities. Strategies for data fusion and fission are also provided. Some of these components are integrated within the first prototype of OpenInterface: the multimodal similar platform.     

Questionnaire-based variability modeling for system configuration

Variability management is a recurrent issue in systems engineering. It arises for example in enterprise systems, where modules are configured and composed to meet the requirements of individual customers based on modifications to a reference model. It also manifests itself in the context of software product families, where variants of a system are built from a common code base. This paper proposes an approach to capture system variability based on questionnaire models that include order dependencies and domain constraints. The paper presents analysis techniques to detect circular dependencies and contradictory constraints in questionnaire models, as well as techniques to incrementally prevent invalid configurations by restricting the space of allowed answers to a question based on previous answers. The approach has been implemented as a toolset and has been used in practice to capture configurable process models for film post-production.

Fibroblast protein profile analysis highlights the role of oxidative stress and vitamin K recycling in the pathogenesis of pseudoxanthoma elasticum

Pseudoxanthoma elasticum (PXE) is a genetic disorder associated to mutations in the ABCC6 gene; however, the pathogenetic mechanisms leading to elastic fibre calcifications and to clinical manifestations are still unknown. Dermal fibroblasts, directly involved in the production of the extracellular milieu, have been isolated from healthy subjects and from patients affected by PXE, cultured in vitro and characterized for their ability to produce reactive oxygen species, for structural and functional properties of their cell membranes, for changes in their protein profile. Data demonstrate that oxidative stress has profound and endurable consequences on PXE fibroblast phenotype being responsible for: reduced levels of global DNA methylation, increased amount of carbonylated proteins and of lipid peroxidation products, altered structural properties of cell membranes, modified protein expression. Data shed new light on the pathogenetic pathways in PXE, by identifying a network of proteins affecting elastic fibre calcification through inefficient vitamin K recycling, and highlight the role of differentially expressed proteins as targets for validating the efficacy of future therapeutic strategies aiming to delay and/or revert the pathologic phenotype of PXE fibroblasts. Moreover, data open new perspectives for investigating PXE-like phenotypes in the absence of ABCC6 mutations.     

Relaxation of the mouse pubic symphysis during late pregnancy is not accompanied by the influx of granulocytes

In some animals, such as mice and guinea pigs, a hormonally controlled mechanism increases the flexibility of the pubic symphysis and enhances the cervical remodeling necessary for safe delivery. Cervical ripening during pregnancy is associated with a paradoxical influx of leukocytes. However, the changes in cell metabolism during relaxation of the mouse pubic symphysis for delivery have not been extensively studied. In this work, we used light microscopy and transmission and scanning electron microcopy, as well as immunohistochemistry and Western blotting for MMP-8, to investigate the involvement of granulocytes or resident stromal cells in the relaxation of the virgin pubic symphysis during late pregnancy (days 18 and 19, before delivery) in vivo and in explanted joints. MMP-8 was studied because this collagenase is a hallmark for cervical ripening associated with the influx of granulocytes during late pregnancy. Extensive dissolution and disorganization of the extracellular matrix was seen around fibroblastic-like cells in late pregnancy. In contrast to the cervix (positive control), morphological and immunohistochemical analyses revealed that there was no characteristic cellular inflammatory response in the interpubic tissue. Staining for MMP-8 was observed in chondroid and fibroblastic-like cells of virgin and relaxed interpubic ligament, respectively. However, no granulocytes were seen during the extensive remodeling of the pubic joint in late pregnancy. These results indicate that constitutive stromal cells may have an important role in tissue relaxation during remodeling of the pubic symphysis in pregnancy.     

On the stochastic timed Pétri nets model and its application to the DQDB protocol

The goal of this paper is twofold : at first, to present the stochastic timed Pétri nets model by emphasizing its ability to express the main characteristics of real time distributed systems (parallelism, synchronization by message exchange, time attributes and in particular time constraints) and to allow both qualitative and quantitative analysis (concept of randomized states graph); second, to show a modeling methodology based on this model that allows a rigorous modeling of theDqdb protocol (Qa access, bwb mechanism role,Pa access influence). A new contribution to theQa mechanism has been done (1).     

Real-time digital control of optical interferometers by the mechanical-modulation technique

We discuss the application of digital systems to the automatic control of dual-wave optical interferometers. We show that, if the mechanical-modulation technique is used for error-signal extraction, digital techniques can be used both for error-signal extraction and for control-signal generation. Therefore, apart from two front/end amplifiers that are necessary to match the dynamics of the detectors and actuators to the dynamics of the analog-to-digital converters and digital-to-analog converters, no other analog devices are required. In particular, the mechanical-modulation technique requires the synchronous demodulation of the photodiode output signal. Hence we need to implement a digital lock-in amplifier whose algorithm is described here. Finally, we describe one of the possible applications of this digital control procedure, such as the control of a classic Mach-Zehnder interferometer in air.     

A Soft,Fast and Versatile Electrohydraulic Gripper with Capacitive Object Size Detection

Soft robotic grippers achieve increased versatility and reduced complexity through intelligence embodied in their flexible and conformal structures. The most widely used soft grippers are pneumatically driven; they are simple and effective but require bulky air compressors that limit their application space and external sensors or computationally expensive vision systems for pick verification. In this study, a multi-material architecture for self-sensing electrohydraulic bending actuators is presented that enables a new class of highly versatile and reconfigurable soft grippers that are electrically driven and feature capacitive pick verification and object size detection. These electrohydraulic grippers are fast (step input results in finger closure in 50 ms), draw low power (6.5 mW per finger to hold grasp), and can pick a wide variety of objects with simple binary electrical control. Integrated high-voltage driving electronics are presented that greatly increase the application space of the grippers and make them readily compatible with commercially available robotic arms.     

Sub‐Micron Polymeric Stomatocytes as Promising Templates for Confined Crystallization and Diffraction Experiments

The possibility of using sub‐micrometer polymeric stomatocytes is investigated to effectuate confined crystallization of inorganic compounds. These bowl‐shaped polymeric compartments facilitate confined crystallization while their glassy surfaces provide their crystalline cargos with convenient shielding from the electron beam's harsh effects during transmission electron microscopy experiments. Stomatocytes host the growth of a single nanocrystal per nanocavity, and the electron diffraction experiments reveal that their glassy membranes do not interfere with the diffraction patterns obtained from their crystalline cargos. Therefore, it is expected that the encapsulation and crystallization within these compartments can be considered as a promising template (nanovials) that hold and protect nanocrystals and protein clusters from the direct radiation damage before data acquisition, while they are examined by modern crystallography methodologies such as serial femtosecond crystallography.