Point-to-hyperplane ICP: fusing different metric measurements for pose estimation

The objective of this article is to provide a generalized framework of a novel method that investigates the problem of combining and fusing different types of measurements for pose estimation. The proposed method allows to jointly minimize the different metric errors as a single measurement vector in n-dimensions without requiring a scaling factor to tune their importance. This paper is an extended version of previous works that introduced the Point-to-hyperplane Iterative Closest Point (ICP) approach. In this approach, an increased convergence domain and a faster alignment were demonstrated by considering a four-dimensional measurement vector (3D Euclidean points + Intensity). The method has the advantages of the classic point-to-plane ICP method, but extends this to higher dimensions. For demonstration purposes, this paper will focus on a RGB-D sensor that provides colour and depth measurements simultaneously and an optimal error in higher dimensions will be minimized from this. Results on both, simulated and real environments will be provided and the performance of the proposed method will be carried on real-time visual SLAM.     

Short-Term Land use Planning and Optimal Subsidies

Networks and Spatial Economics - Urban planning is a complex problem which includes choosing a social objective for a city, finding the associated optimal allocation of agents and identifying...     

Dissolved trace element concentrations in the East River-Long Island Sound system: relative importance of autochthonous versus allochthonous sources

Dissolved trace metal (Ag, Cd, Cu, Fe, Ni, Pb, and Zn), inorganic nutrient (NO3, NH4, PO4, H4SiO4), and DOC concentrations were measured at 43 stations during low (July 2000) and high (April 2001) river discharge conditions in surface waters of Long Island Sound (LIS). To evaluate the impact of fluvial sources to the total metal budget of the sound, samples were collected from major tributaries discharging into LIS (Thames, Quinnipiac, Housatonic, Connecticut, and East Rivers). To compare LIS with other coastal embayments, samples were also collected from five LIS coastal embayments (Manhassett Bay, Huntington Harbor, Oyster Bay, Hempstead Harbor, and Port Jefferson Harbor), which are monitored by the U.S. National Status and Trends Program. Metal and nutrient distributions identified two biogeochemical regimes within LIS: an area of relatively high nutrient and metal concentrations in the East River/Narrows region in western LIS and an area in the eastern region of the sound that had comparatively lower concentrations. Mass balance estimates indicated that, during low flow conditions, the East River was the dominant allochthonous source of most trace metals (Ag, Cd, Cu, Ni, Zn) and inorganic nutrients (NO3 and PO4); during high flow conditions, the most influential source of these constituents was the Connecticut River. Mass balance estimates also evidenced a large autochthonous source of Cu, Ni, and Zn, as their spatial distributions displayed elevated concentrations away from point sources such as the East River. Principal component analysis suggested that metal and nutrient distributions in the LIS system were influenced by different seasonal processes: remobilization from contaminated sediments, anthropogenic inputs from sewage discharges and phytoplankton scavenging during the spring freshet, and benthic remobilization during summer conditions.     

Characteristics of an environmental strain, Enterococcus faecalis CECT7121, and its effects as additive on craft dry-fermented sausages

Lactic acid bacteria are the most adequate microorganisms for natural preservation of food. In the present work, the strain of Enterococcus faecalis CECT7121 was employed in the manufacture of craft dry-fermented sausages and its performance as a biopreservative was analysed. This strain is devoid of the genes for haemolysin and gelatinase and does not produce biogenic amines. It is sensitive to almost all the antibiotics tested and opsonophagocytic assays showed that it is devoid of a capsule. This strain had a high LD50 (10(11)CFU ml(-1)) in mice. No statistical differences were found between control and sausages inoculated with E. faecalis CECT7121 regarding the production of lactic acid, pH variation over time, reaching a minimum pH value of 5.1, and sensory analysis in both series. Sausages inoculated with E. faecalis CECT7121 had lower viable counts of Enterobacteriaceae, Staphylococcus aureus and other Gram-positive cocci at the end of fermentation and 7 days and no viable enterobacteria and S. aureus were recovered at the end of drying. E. faecalis CECT7121 did not affect the growth of Lactobacillus spp. but it displaced the autochthonous populations of enterococci. E. faecalis CECT7121 was recovered in each time point as assessed by its inhibitory activity on Listeria monocytogenes and S. aureus. These results would indicate that the addition of E. faecalis CECT7121 during the manufacture of craft dry-fermented sausages offers an interesting alternative for biopreservation.     

Ether alcohol sulfates. The effect of oxypropylation and oxybutylation on surface active properties

The reaction of 1,2-butylene oxide with fatty alcohols of 12 to 18 carbon atoms was investigated and products were compared with those from the propylene oxide reaction. A 60% yield of the first derivative was obtained for the butylene oxide reaction compared with a maximum yield of 50% for the propylene oxide reaction. First and second derivatives were fractionally distilled from the reaction mixtures and characterized as pure ether alcohols and their acetates. Sulfation of the pure ether alcohols permitted some interesting comparisons of the effect of structural change on surface active properties. Oxybutylation gave slightly greater solubility increases than oxypropylation and both reactions were more effective than oxyethylation. Dioxyalkylated products had lower Krafft points than monooxyalkylated products. A low degree of oxyalkylation had only minor effects on the detergency of alcohol sulfates but polyoxybutylation caused significant reductions in foam height for the 16 and 18 carbon alcohol sulfates. Critical micelle concentration was reduced both by increasing degree of oxyalkylation and molecular weight of epoxide. All of the ether alcohol sulfates were effective lime soap dispersing agents. Presented at the AOCS Meeting in Philadelphia, October 1966. E. Utiliz. Res. Dev. Div., ARS, USDA.     

Phenomenon of phase inversion in high impact polystyrene: Physico‐chemical,rheological and morphological study in the presence of chain transfer agent and using different tapered block copolymers as the precursor rubber

Different high impact polystyrenes were synthesized using styrene/butadiene copolymers (SB) with PS/PB composition: 30/70 and 20/80 as the precursor rubber, benzoyl peroxide (BPO) as the initiator, and ter‐dodecyl mercaptane (TDM) as the chain transfer agent. During the polymerization, several samples were taken and analyzed under different techniques to evaluate the phase inversion (PI) phenomenon. The PI was determined through transmission electron microscopy (TEM) and through dynamic oscillatory behavior, where the PI takes places when the relaxation process presents the lower value of activation energy. Finally, the Choi and Schowalter emulsion model was employed to elucidate the PI, and relevant information was revealed about the interfacial tension in the PI. POLYM. ENG. SCI., 2009. © 2009 Society of Plastics Engineers     

On the nature of catalyst promotion by manganese in CO hydrogenation to oxygenates over RhMn/NaY

CO hydrogenation over Mn promoted Rh/NaY catalysts was studied at 10 bar and 250°C. Significant selectivity to oxygenates, mainly ethanol and ethyl acetate, was obtained after neutralizing the protons that are formed during reduction of Rh ions. Layered bed experiments show that protons act as sites catalyzing secondary reactions. Protons also convert Mn(OH)₂ to Mn²⁺ ions; the catalysts with highest selectivity to oxygenates contain MnO particles and Rh clusters. The results suggest chemical interaction of adsorbates on Rh_n clusters with those on MnO.     

Volatile Emissions Triggered by Multiple Herbivore Damage: Beet Armyworm and Whitefly Feeding on Cotton Plants

Plants are commonly attacked by more than one species of herbivore, potentially causing the induction of multiple, and possibly competing, plant defense systems. In the present paper, we determined the interaction between feeding by the phloem feeder silverleaf whitefly (SWF), Bemisia tabaci Gennadius (B-biotype = B. argentifolii Bellows and Perring), and the leaf-chewing beet armyworm (BAW), Spodoptera exigua Hübner, with regard to the induction of volatile compounds from cotton plants. Compared to undamaged control plants, infestation with SWF did not induce volatile emissions or affect the number and density of pigment glands that store volatile and nonvolatile terpenoid compounds, whereas infestation by BAW strongly induced plant volatile emission. When challenged by the two insect herbivores simultaneously, volatile emission was significantly less than for plants infested with only BAW. Our results suggest that tritrophic level interactions between cotton, BAW, and natural enemies of BAW, that are known to be mediated by plant volatile emissions, may be perturbed by simultaneous infestation by SWF. Possible mechanisms by which the presence of whiteflies may attenuate volatile emissions from caterpillar-damaged cotton plants are discussed.     

Silica Gel- and MCM-41-Supported MoS2 Catalysts for HDS Reactions

MCM-41- and silica gel-supported MoS₂ catalysts were prepared. MCM-41 was synthesized and impregnated with precursor, then activated to obtain the active phase. The sol–gel method was used for providing the SiO₂ support as well as for including the catalyst precursors in one single step of preparation. Such catalysts have applications particularly in hydrodesulfurization (HDS) and hydrodenitrogenation (HDN) processes. A comparison of the activities of the catalysts was made. The catalytic activity results showed the method of preparation used in this study was successful in producing very efficient catalysts for the HDS of dibenzothiophene (DBT).A higher selectivity for direct C–S bond cleavage was observed for the MoS₂ catalyst supported on SiO₂ by the sol–gel method. X-ray diffraction studies showed that the catalysts were poorly crystallized with a very weak intensity of the (002) line of 2H-MoS₂.