Background subtraction model based on color and depth cues

Background subtraction consists of segmenting objects in movement in a video captured by a static camera. This is typically performed using color information, but it leads to wrong estimations due to perspective and illumination issues. We show that multimodal approaches based on the integrated use of color and depth cues produce more accurate and robust results than using either data source independently. Depth is less affected by issues such as shadows or foreground objects similar to background. However, objects close to the background may not be detected when using only range information, being color information complementary in those cases. We propose an extension of a well-known background subtraction technique which fuses range and color information, as well as a post-processing mask fusion stage to get the best of each feature. We have evaluated the method proposed using a well-defined dataset and different disparity estimation algorithms, showing the benefits of our method for fusion color and depth cues.     

Wind Estimation for Accurate Airplane Path Following Applications

This paper explores the flight of small fixed-wing Unmanned Aerial Vehicle (UAV) in a non-steady environment. The vulnerability of light airplanes to wind is analyzed and the effect of such perturbations on airplane performance is incorporated in the equations of motion. A straightforward wind computation approach, which relies on the difference between the predicted motion of the aircraft and the real motion measured by sensors, is presented in order to be used for a path following application. The analysis takes into account the effect of the noise in sensors measurements and in estimates of orientation and airspeed components. One approach to reducing noise in wind estimates is proposed based on on-line adaptation techniques. Parameter estimation with minimum-order design is obtained using tuning functions. Simulations are carried out representing real flight scenarios in which the wind field is not constant and the sensor measurements are imperfect.     

Calmodulin Supports TRPA1 Channel Association with Opioid Receptors and Glutamate NMDA Receptors in the Nervous Tissue

Transient receptor potential ankyrin member 1 (TRPA1) belongs to the family of thermo TRP cation channels that detect harmful temperatures, acids and numerous chemical pollutants. TRPA1 is expressed in nervous tissue, where it participates in the genesis of nociceptive signals in response to noxious stimuli and mediates mechanical hyperalgesia and allodynia associated with different neuropathies. The glutamate N-methyl-d-aspartate receptor (NMDAR), which plays a relevant role in allodynia to mechanical stimuli, is connected via histidine triad nucleotide-binding protein 1 (HINT1) and type 1 sigma receptor (σ1R) to mu-opioid receptors (MORs), which mediate the most potent pain relief. Notably, neuropathic pain causes a reduction in MOR antinociceptive efficacy, which can be reversed by blocking spinal NMDARs and TRPA1 channels. Thus, we studied whether TRPA1 channels form complexes with MORs and NMDARs that may be implicated in the aforementioned nociceptive signals. Our data suggest that TRPA1 channels functionally associate with MORs, delta opioid receptors and NMDARs in the dorsal root ganglia, the spinal cord and brain areas. These associations were altered in response to pharmacological interventions and the induction of inflammatory and also neuropathic pain. The MOR-TRPA1 and NMDAR-TRPA1 associations do not require HINT1 or σ1R but appear to be mediated by calcium-activated calmodulin. Thus, TRPA1 channels may associate with NMDARs to promote ascending acute and chronic pain signals and to control MOR antinociception.     

Characterization of poly(diethoxyphosphazene) by size exclusion chromatography and viscometry

Two samples of poly(diethoxyphosphazene) (PDEP) having very different molecular weights have been studied by viscometry and size exclusion chromatography in THF solution. The results obtained, together with light scattering data of these samples, allow the calculation of the Mark-Houwink constants a=0.65 and K=2.5 10^-4 in THF at 25°C. The method of calculation employed takes into account the great polydispersity of the samples. The characteristic ratio of the unperturbed dimensions was also calculated giving C_n = r²_o/n² 18, a value slightly higher than those previously reported for poly(dihexoxyphosphazene), C_n13 and poly (dichlorophosphazene), C_n13.5.     

Contribution of a disulfide bridge to the stability of 1,3-1,4-P-D-glucan 4-glucanohydrolase from Bacillus licheniformis

Bacillus 1,3-1,4-ß-glucanases possess a highly conserveddisulfide bridge connecting a ß-strand with a solventexposedloop lying on top of the extended binding site cleft The contributionof the disulfide bond and of both individual cysteines (Cys61and Cys90) in the Bacillus licheniformis enzyme to stabilityand activity has been evaluated by protein engineering methods.Reduction of the disulfide bond has no effect on kinetic parameters,has only a minor effect on the activity-temperature profileat high temperatures, and destabilizes the protein by less than0.7 kcal/mol as measured by equilibrium urea denatu ration at37°C. Replacing either of the Cys residues with Ala destabilizesthe protein and lowers the specific activity. C90A retains 70%of wild-type (wt) activity (in terms of Vmax), whereas C61Aand the double mutant C61A–C90A have 10% of wt V_max. Alarger change in free energy of unfolding is seen by equilibriumurea denaturation for the C61A mutation (loop residue, 3.2 kcal/molrelative to reduced wt) as compared with the C90A mutation (ß-strandresidue, 1.8 kcal/mol relative to reduced wt), while the doublemutant C61A–C90A is 0.8 kcal/mol less stable than thesingle C61A mutant. The effects on stability are interpretedas a result of the change in hydrophobic packing that occursupon removal of the sulfur atoms in the Cys to Ala mutations     

EXPERIMENTAL STUDIES OF NUCLEATION PHENOMENA WITHIN THERMAL BOUNDARY LAYERS—INFLUENCE ON CHEMICAL VAPOR DEPOSITION RATE PROCESSES

In carrying out partial vapor condensations using actively cooled surfaces it is known that 'mist' formation can occur within thermal boundary layers (Rosner and Epstein, 1968), dramatically modifying total deposition fluxes. Using a combination of flash-evaporation (Rosner and Liang, 1986) and laser probing techniques, we report new experimental results on binary alkali salt (K₂SO₄ + Na₂SO₄) deposition from combustion gases showing that the deposition rate of potassium sulfate first increases with the addition of sodium sulfate until the concentration of Na₂SO₄ reaches a (target surface temperature dependent) 'threshold' value. Further increases in the concentration of Na₂SO₄ dramatically decrease the total deposition rate of K₂SO₄, implying that potassium sulfate-containing microdroplets are formed within the thermal boundary layer, which, despite their thermophoretic drift toward the target, are not collected as effectively as the 'parent' K₂SO₄-vapor species. Laser light scattering measurements clearly reveal that suspended particles exist near the deposition surface under these conditions. Our experimental results on mass transfer rate and light scattering are consistent with those predicted using laminar boundary layer theory (Castillo and Rosner, 1989b) coupling both binary salt vapor deposition with particle vapor scavenging and deposition. Comparisons of our observed mist onset conditions (implying critical supersaturations near unity) with those expected using homogeneous nucleation theory suggest that the binary alkali sulfate mist nucleation mechanism is, instead, heterogeneous, even in our relatively 'clean' combustion products. Because of the; well-known vapor pressure reduction phenomenon associated here with the formation of non-ideal solutions, binary systems are shown to provide convenient 'vehicles' to investigate BL mist formation onset conditions and CVD-rate consequences without requiring the more extreme surface coolings characteristic of unary condensible vapor systems. An understanding of this dramatic phenomenon, obtained via such laboratory experiments and calculations, will allow its inclusion in future deposition rate calculations of engineering importance.     

Mobile digcovery: discovering and interacting with the world through the Internet of things

The application of Internet-enabled devices in the real world for the development of Smart Cities, environmental monitoring, bus tracking, and parking requires scalability, extensibility, and integration of emerging resources to reach a suitable ecosystem for data acquisition and interaction with citizens. Internet of things needs to offer efficient support for global communications and access to services and information. It needs to enable homogeneous and seamless machine-to-machine communication for different solutions and applications. This work presents an homogeneous and suitable mechanism for global resource discovery, device access for deployed smart objects in different scenarios, and sensors and devices from end users (participative sensing). The integration of legacy and sensors already available from smart buildings and smart objects is presented. For this purpose, a resolution infrastructure called “digcovery” is defined for maximizing efficiency and sustainability of deployments. Digcovery architecture offers the framework to allow users to register/include their own sensors into a common infrastructure and access/discover the available resources through mobile digcovery. Mobile digcovery exploits the context-awareness, geo-location, and identification technologies available in mobile platforms such as smartphones to discover, interact, and access the resources through its ElasticSearch engine.     

Enantiospecific synthesis of (R)-1,7-dioxaspiro [5.5]undecane [major component of olive fruit fly (Dacus Oleae) sex pheromone] from d-Fructose

The synthesis of the title compound13 has been carried out through the preparation of its precursor, (3R,4R,5S,6R)-3,4,5-trihydroxy-1,7-dioxaspiro[5.5]undecane (6), obtained fromd-fructose using Wittig's methodology, reduction, and spiroketalation. Compound6 was transformed into13 by a Barton deoxygenation at C-5 followed by a Corey dideoxygenation at C-3,4 of the appropriately protected derivatives.Enantiospecific synthesis of spiroacetals. Part II. For Part I, see Izquierdo and Plaza (1990).     

Update on the pharmacology of Spirulina (Arthrospira), an unconventional food

Spirulina (Arthrospira), a filamentous, unicellular alga, is a cyanobacterium grown in certain countries as food for human and animal consumption. It is also used to derive additives in pharmaceuticals and foods. This alga is a rich source of proteins, vitamins, amino acids, minerals, and other nutrients. Its main use, therefore, is as a food supplement. Over the last few years, however, it has been found to have many additional pharmacological properties. Thus, it has been experimentally proven, in vivo and in vitro that it is effective to treat certain allergies, anemia, cancer, hepatotoxicity, viral and cardiovascular diseases, hyperglycemia, hyperlipidemia, immunodeficiency, and inflammatory processes, among others. Several of these activities are attributed to Spirulina itself or to some of its components including fatty acids omega-3 or omega-6, beta-carotene, alpha-tocopherol, phycocyanin, phenol compounds, and a recently isolated complex, Ca-Spirulan (Ca-SP). This paper aims to update and critically review the results published over the last few years with regards to these properties. The conclusion is that even if this cyanobacterium has been one of the most extensively studied from the chemical, pharmacological and toxicological points of view, it is still necessary to expand the research in order to have more consistent data for its possible use in human beings.     

Chemical Composition Determination at the Bottom Region of a Recovery Boiler Furnace by Direct Minimization of Gibbs Free Energy

An optimization strategy has been applied to describe the chemical composition at the furnace bottom in the Kraft recovery boiler of a pulp production process. The concentrations of each involved chemical species were calculated through an optimization approach, minimizing the Gibbs free energy of the system. Various systems were proposed and tested, assuming different chemical species and phases number. Because serious initialization problems were found at this stage for some of the proposed systems, an optimization heuristic method (PSO) was used for the first approach to the problem. Once the appropriate phases number and chemical species in the system were determined, the initialization problems disappeared and the use of a deterministic optimization method (SQP) became viable. The proposed approach has shown to be satisfactory to reproduce industrial data and also data reported in the open scientific literature.