3D model based tracking for omnidirectional vision: A new spherical approach

The current work addresses the problem of 3D model tracking in the context of monocular and stereo omnidirectional vision in order to estimate the camera pose. To this end, we track 3D objects modeled by line segments because the straight line feature is often used to model the environment. Indeed, we are interested in mobile robot navigation using omnidirectional vision in structured environments. In the case of omnidirectional vision, 3D straight lines are projected as conics in omnidirectional images. Under certain conditions, these conics may have singularities.In this paper, we present two contributions. We, first, propose a new spherical formulation of the pose estimation withdrawing singularities, using an object model composed of lines. The theoretical formulation and the validation on synthetic images thus show that the new formulation clearly outperforms the former image plane one. The second contribution is the extension of the spherical representation to the stereovision case. We consider in the paper a sensor which combines a camera and four mirrors. Results in various situations show the robustness to illumination changes and local mistracking. As a final result, the proposed new stereo spherical formulation allows us to localize online a robot indoor and outdoor whereas the classical formulation fails.     

Synthetic Melanin Acts as Efficient Peptide Carrier in Cancer Vaccine Strategy

We previously reported that a novel peptide vaccine platform, based on synthetic melanin nanoaggregates, triggers strong cytotoxic immune responses and significantly suppresses tumor growth in mice. However, the mechanisms underlying such an efficacy remained poorly described. Herein, we investigated the role of dendritic cells (DCs) in presenting the antigen embedded in the vaccine formulation, as well as the potential stimulatory effect of melanin upon these cells, in vitro by coculture experiments and ELISA/flow cytometry analysis. The vaccine efficiency was evaluated in FLT3-L^−/− mice constitutively deficient in DC1, DC2, and pDCs, in Zbtb46^DTR chimera mice deficient in DC1 and DC2, and in Langerin^DTR mice deficient in dermal DC1 and Langerhans cells. We concluded that DCs, and especially migratory conventional type 1 dendritic cells, seem crucial for mounting the immune response after melanin-based vaccination. We also assessed the protective effect of L-DOPA melanin on peptides from enzymatic digestion, as well as the biodistribution of melanin–peptide nanoaggregates, after subcutaneous injection using [¹⁸F]MEL050 PET imaging in mice. L-DOPA melanin proved to act as an efficient carrier for peptides by fully protecting them from enzymatic degradation. L-DOPA melanin did not display any direct stimulatory effects on dendritic cells in vitro. Using PET imaging, we detected melanin–peptide nanoaggregates up to three weeks after subcutaneous injections within the secondary lymphoid tissues, which could explain the sustained immune response observed (up to 4 months) with this vaccine technology.     

Multi-angle remote sensing of forest light use efficiency by observing PRI variation with canopy shadow fraction

We show that observed co-variations at sub-hourly time scales between the photochemical reflectance index (PRI) and canopy light use efficiency (LUE) over a Douglas-fir forest result directly from sub-hourly leaf reflectance changes in a 531 nm spectral window roughly 50 nm wide. We conclude then, that over a forest stand we are observing the direct effects of photosynthetic down-regulation on leaf-level reflectance at 531 nm. Key to our conclusion is our ability to simultaneously measure the LUE and reflectance of the Douglas-fir stand as a function of shadow fraction from the “hot spot” to the "dark spot"dark spot” and a new finding herein, based on radiative transfer theory, that the magnitude of a normalized reflectance difference index (NDRI) such as PRI can vary with shadow fraction only in case the reflectance of the shaded and sunlit leaves differ in at least one of the NDRI bands.Our spectrometer measurements over a nearly 6 month period show that at a forest stand scale, only two NDRIs (both containing a band near 570 nm) vary with shadow fraction and are correlated with LUE; an NDRI with a band centered at 531 nm roughly 50 nm wide, and another near 705 nm. Therefore, we are able to conclude that only these two bands' reflectance differ between the sunlit and the shaded elements of the canopy. Their reflectance changes on time scales of a few minutes or less. Our observations also show that the reflectance changes at 531 nm are more highly correlated with variations in canopy light use efficiency when only sunlit canopy elements are viewed (the hot spot), than when only shaded elements (the dark spot) are viewed. Taken together then, these results demonstrate that the observed sub-hourly changes in foliage reflectance at 531 nm and 705 nm can only result from corresponding variations in photosynthetic rates.The importance of our results are as follows: (1) We show that variations in PRI with LUE are a direct result of rapid changes in foliage reflectance at 531 nm resulting from photosynthetic down-regulation, and can be observed at forest scales. (2) Our findings also suggest a new sensor and methodology for the direct retrieval from space of changes in forest LUE by measuring PRI as a function of shadow fraction using a multi-angle spectrometer simultaneously retrieving both shadow fraction and PRI.     

Experimental Evidence for Seed Metabolic Allometry in Barrel Medic (Medicago truncatula Gaertn.)

Seed size is often considered to be an important trait for seed quality, i.e., vigour and germination performance. It is believed that seed size reflects the quantity of reserve material and thus the C and N sources available for post-germinative processes. However, mechanisms linking seed size and quality are poorly documented. In particular, specific metabolic changes when seed size varies are not well-known. To gain insight into this aspect, we examined seed size and composition across different accessions of barrel medic (Medicago truncatula Gaertn.) from the genetic core collection. We conducted multi-elemental analyses and isotope measurements, as well as exact mass GC–MS metabolomics. There was a systematic increase in N content (+0.17% N mg⁻¹) and a decrease in H content (–0.14% H mg⁻¹) with seed size, reflecting lower lipid and higher S-poor protein quantity. There was also a decrease in ²H natural abundance (δ²H), due to the lower prevalence of ²H-enriched lipid hydrogen atoms that underwent isotopic exchange with water during seed development. Metabolomics showed that seed size correlates with free amino acid and hexoses content, and anticorrelates with amino acid degradation products, disaccharides, malic acid and free fatty acids. All accessions followed the same trend, with insignificant differences in metabolic properties between them. Our results show that there is no general, proportional increase in metabolite pools with seed size. Seed size appears to be determined by metabolic balance (between sugar and amino acid degradation vs. utilisation for storage), which is in turn likely determined by phloem source metabolite delivery during seed development.     

Modified Fluoroquinolones as Antimicrobial Compounds Targeting Chlamydia trachomatis

Chlamydia trachomatis causes the most common sexually transmitted bacterial infection and trachoma, an eye infection. Untreated infections can lead to sequelae, such as infertility and ectopic pregnancy in women and blindness. We previously enhanced the antichlamydial activity of the fluoroquinolone ciprofloxacin by grafting a metal chelating moiety onto it. In the present study, we pursued this pharmacomodulation and obtained nanomolar active molecules (EC₅₀) against this pathogen. This gain in activity prompted us to evaluate the antibacterial activity of this family of molecules against other pathogenic bacteria, such as Neisseria gonorrhoeae and bacteria from the ESKAPE group. The results show that the novel molecules have selectively improved activity against C. trachomatis and demonstrate how the antichlamydial effect of fluoroquinolones can be enhanced.     

Methane calibration burner and C‐factor determination with cone calorimeter – validation of the standardized calibration protocol

The cone calorimeter is one of the major fire tests. In its reference standard ISO 5660‐1, the apparatus (and especially a characteristic of its orifice plate mass flow meter, called C‐Factor) is calibrated using a methane burner set at 5 kW. However, measurements performed in end‐use are in the range 1–10 kW. In addition, standard proposes to check linearity at 1 and 3 kW, which means in the lowest part of the range. This communication establishes the validation of the linearity on the whole range and determines the optimal condition for C‐factor determination. It justifies the technical choices of the standard. Copyright © 2014 John Wiley & Sons, Ltd.     

Experimenting with the partnership ability φ-index on a million computer scientists

Schubert introduced the partnership ability φ-index relying on a researcher’s number of co-authors and collaboration rate. As a Hirsch-type index, φ was expected to be consistent with Schubert–Glänzel’s model of h-index. Schubert demonstrated this relationship with the 34 awardees of the Hevesy medal in the field of nuclear and radiochemistry (r ² = 0.8484). In this paper, we upscale this study by testing the φ-index on a million researchers in computer science. We found that the Schubert–Glänzel’s model correlates with the million empirical φ values (r ² = 0.8695). In addition, machine learning through symbolic regression produces models whose accuracy does not exceed a 6.1 % gain (r ² = 0.9227). These results suggest that the Schubert–Glänzel’s model of φ-index is accurate and robust on the domain-wide bibliographic dataset of computer science.     

Physiological compliance for social gaming analysis: Cooperative versus competitive play

We report the results of an empirical study demonstrating the value of using physiological compliance as a measure of social presence during digital game playing. The physiological activity (facial EMG, electrodermal activity, cardiac activity and respiration) of 21 dyads were acquired synchronously while they were playing a digital game either cooperatively or competitively and either at home or in the laboratory. Physiological compliance was defined as the correlation between the physiological signals of the dyad members. The results of this study confirm that physiological compliance is higher in a conflicting situation than when playing cooperatively. Importantly, the results also demonstrate that physiological compliance is related to self-reported social presence. This suggests that physiological compliance is not limited to negative situations but rather increases due to rich interactions. Only minor differences in physiological compliance were observed between home play and laboratory play, suggesting the ecological validity of laboratory measures. Finally, we propose that compliance measures can be considered as objective indices of social presence in digital gaming.