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.     

Understanding design patterns — what is the problem?

Design patterns codify proven solutions to recurring design problems. Their proper use within a development context requires that: (i) we understand them; (ii) we ascertain their applicability or relevance to the design problem at hand; and (iii) we apply them faithfully to the problem at hand. We argue that an explicit representation of the design problem solved by a design pattern is key to supporting the three tasks in an integrated fashion. We propose a model‐driven representation of design patterns consisting of triples < MP, MS, T > where MP is a model of the problem solved by the pattern, MS is a model of the solution proposed by the pattern, and T is a model transformation of an instance of the problem into an instance of the solution. Given an object‐oriented design model, we look for model fragments that match MP (call them instances of MP), and when one is found, we apply the transformation T yielding an instance of MS. Easier said than done. Experimentation with an Eclipse Modeling Framework‐based implementation of our approach applied to a number of open‐source software application's raised fundamental questions about: (i) the nature of design patterns in general, and the ones that lend themselves to our approach, and (ii) our understanding and codification of seemingly simple design patterns. In this paper, we present the principles behind our approach, report on the results of applying the approach to the Gang of Four (GoF) design patterns, and discuss the representability of design problems solved by these patterns. Copyright © 2011 John Wiley & Sons, Ltd.     

Improved adaptive neuro-fuzzy inference system

This paper introduces a new type of Adaptive Neuro-fuzzy System, denoted as IANFIS (Improved Adaptive Neuro-fuszzy Inference System). The new structure is realized by the insertion of the error of training of ANFIS in the third layer of this system. The recurrence of the error of training will increase the capability of convergence and the robustness of ANFIS. The proposed IANFIS system is applied to make the identification of nonlinear functions, and the obtained results are compared with these obtained by usual ANFIS to verify the effectiveness of the proposed adaptive neuro-fuzzy system.     

Multi‐objective optimization using metaheuristics: non‐standard algorithms

In recent years, the application of metaheuristic techniques to solve multi‐objective optimization problems has become an active research area. Solving this kind of problems involves obtaining a set of Pareto‐optimal solutions in such a way that the corresponding Pareto front fulfils the requirements of convergence to the true Pareto front and uniform diversity. Most of the studies on metaheuristics for multi‐objective optimization are focused on Evolutionary Algorithms, and some of the state‐of‐the‐art techniques belong this class of algorithms. Our goal in this paper is to study open research lines related to metaheuristics but focusing on less explored areas to provide new perspectives to those researchers interested in multi‐objective optimization. In particular, we focus on non‐evolutionary metaheuristics, hybrid multi‐objective metaheuristics, parallel multi‐objective optimization and multi‐objective optimization under uncertainty. We analyze these issues and discuss open research lines.     

Interface Characteristics and Laboratory Constructability Tests of Novel Fiber-Reinforced Polymer/Concrete Piles

Conventional pile materials such as steel, concrete, and timber are prone to deterioration for many reasons. Fiber-reinforced polymer (FRP) concrete composites represent an alternative construction material for deep foundations that can eliminate many of the performance disadvantages of traditional piling materials. However, FRP composites present several difficulties related to constructability, and the lack of design tools for their implementation as a foundation element. This paper describes the results of an experimental study on frictional FRP/dense sand interface characteristics and the constructability of FRP–concrete composite piles. An innovative toe driving technique is developed to install the empty FRP shells in the soil and self-consolidating concrete is subsequently cast in them. The experimental program involves interface shear tests on small FRP samples and uplift load tests on large-scale model piles. Two different FRP pile materials with different roughness and a reference steel pile are examined. Static uplift load tests are conducted on different piles installed in soil samples subjected to different confining pressures in the pressure chamber. The results showed that the interface friction for FRP materials compared favorably with conventional steel material. It was shown that toe driving is suitable for installation of FRP piles in dense soils.     

A fast and compact elimination method of empty elements from a double‐array structure

A double‐array is a well‐known data structure to implement the trie. However, the space efficiency of the double‐array degrades with the number of key deletions because the double‐array keeps empty elements produced by the key deletion. This paper presents a fast and compact elimination method of empty elements using properties of the trie nodes that have no siblings. The present elimination method is implemented by C language. From simulation results for large sets of keys, the present elimination method is about 30–330 times faster than the conventional elimination method and maintains high space efficiency. Copyright © 2003 John Wiley & Sons, Ltd.     

Compiler Support for Array Distribution on NUMA Shared Memory Multiprocessors

Management of program data to improve data locality and reduce false sharing is critical for scaling performance on NUMA shared memory multiprocessors. We use HPF-like data decomposition directives to partition and place arrays in data-parallel applications on Hector, a shared-memory NUMA multiprocessor. We describe a compiler system for automating the partitioning and placement of arrays. The compiler exploits Hectors shared memory architecture to efficiently implement distributed arrays. Experimental results from a prototype implementation demonstrate the effectiveness of these techniques. They also demonstrate the magnitude of the performance improvement attainable when our compiler-based data management schemes are used instead of operating system data management policies; performance improves by up to a factor of 5.     

Reactions with 5-substituted 4-arylimino-2-thiazolidinones

The reaction of 5-arylidene-4-arylimino-2-thiazolidinones 4 with GRIGNARD reagents effected 1,4-addition to the exocyclic  CC bond with the formation of 5 . Alkylation of the arylidene derivatives 4 with diazomethane or methyl iodide results in the formation of the N-methyl derivatives 6 . Treatment of 6 with phenylmagnesium bromide effects addition of the reagent to the double bond of the lateral chain to yield products, proved to have structure 8 . The 5-arylazo derivatives 9 of 4-arylimino-2-thiazolidinones were obtained by coupling 4 with aromatic diazonium chlorides. Compounds 9 were N-methylated with diazomethane to yield 10 .     

Green Synthesis of Silymarin–Chitosan Nanoparticles as a New Nano Formulation with Enhanced Anti-Fibrotic Effects against Liver Fibrosis

Background: Silymarin (SIL) has long been utilized to treat a variety of liver illnesses, but due to its poor water solubility and low membrane permeability, it has a low oral bioavailability, limiting its therapeutic potential. Aim: Design and evaluate hepatic-targeted delivery of safe biocompatible formulated SIL-loaded chitosan nanoparticles (SCNPs) to enhance SIL’s anti-fibrotic effectiveness in rats with CCl₄-induced liver fibrosis. Methods: The SCNPs and chitosan nanoparticles (CNPs) were prepared by ionotropic gelation technique and are characterized by physicochemical parameters such as particle size, morphology, zeta potential, and in vitro release studies. The therapeutic efficacy of successfully formulated SCNPs and CNPs were subjected to in vivo evaluation studies. Rats were daily administered SIL, SCNPs, and CNPs orally for 30 days. Results: The in vivo study revealed that the synthesized SCNPs demonstrated a significant antifibrotic therapeutic action against CCl₄-induced hepatic injury in rats when compared to treated groups of SIL and CNPs. SCNP-treated rats had a healthy body weight, with normal values for liver weight and liver index, as well as significant improvements in liver functions, inflammatory indicators, antioxidant pathway activation, and lipid peroxidation reduction. The antifibrotic activities of SCNPs were mediated by suppressing the expression of the main fibrosis mediators TGFβR1, COL3A1, and TGFβR2 by boosting the hepatic expression of protective miRNAs; miR-22, miR-29c, and miR-219a, respectively. The anti-fibrotic effects of SCNPs were supported by histopathology and immunohistochemistry (IHC) study. Conclusions: According to the above results, SCNPs might be the best suitable carrier to target liver cells in the treatment of liver fibrosis.     

Selective Recovery of Cadmium,Cobalt, and Nickel from Spent Ni–Cd Batteries Using Adogen® 464 and Mesoporous Silica Derivatives

Spent Ni–Cd batteries are now considered an important source for many valuable metals. The recovery of cadmium, cobalt, and nickel from spent Ni–Cd Batteries has been performed in this study. The optimum leaching process was achieved using 20% H₂SO₄, solid/liquid (S/L) 1/5 at 80 °C for 6 h. The leaching efficiency of Fe, Cd, and Co was nearly 100%, whereas the leaching efficiency of Ni was 95%. The recovery of the concerned elements was attained using successive different separation techniques. Cd(II) ions were extracted by a solvent, namely, Adogen^® 464, and precipitated as CdS with 0.5% Na₂S solution at pH of 1.25 and room temperature. The extraction process corresponded to pseudo-2nd-order. The prepared PTU-MS silica was applied for adsorption of Co(II) ions from aqueous solution, while the desorption process was performed using 0.3 M H₂SO₄. Cobalt was precipitated at pH 9.0 as Co(OH)₂ using NH₄OH. The kinetic and thermodynamic parameters were also investigated. Nickel was directly precipitated at pH 8.25 using a 10% NaOH solution at ambient temperature. FTIR, SEM, and EDX confirm the structure of the products.