A review on egomotion by means of differential epipolar geometry applied to the movement of a mobile robot

The estimation of camera egomotion is an old problem in computer vision. Since the 1980s, many approaches based on both the discrete and the differential epipolar constraint have been proposed. The discrete case is used mainly in self-calibrated stereoscopic systems, whereas the differential case deals with a single moving camera. This article surveys several methods for 3D motion estimation unifying the mathematics convention which are then adapted to the common case of a mobile robot moving on a plane. Experimental results are given on synthetic data covering more than 0.5 million estimations. These surveyed algorithms have been programmed and are available on the Internet.     

Uniform Distribution, Distance and Expectation Problems for Geometric Features Processing

Complex geometric features such as oriented points, lines or 3D frames are increasingly used in image processing and computer vision. However, processing these geometric features is far more difficult than processing points, and a number of paradoxes can arise. We establish in this article the basic mathematical framework required to avoid them and analyze more specifically three basic problems: (1) what is a random distribution of features, (2) how to define a distance between features, (3) and what is the “mean feature” of a number of feature measurements? We insist on the importance of an invariance hypothesis for these definitions relative to a group of transformations that models the different possible data acquisitions. We develop general methods to solve these three problems and illustrate them with 3D frame features under rigid transformations. The first problem has a direct application in the computation of the prior probability of a false match in classical model-based object recognition algorithms. We also present experimental results of the two other problems for the statistical analysis of anatomical features automatically extracted from 24 three-dimensional images of a single patient's head. These experiments successfully confirm the importance of the rigorous requirements presented in this article.     

Distributed machining control and monitoring using smart sensors/actuators

The study of smart sensors and actuators led, during the past few years, to the development of facilities which improve traditional sensors and actuators in a necessary way to automate production systems. In another context, many studies have been carried out aimed at defining a decisional structure for production activity control and the increasing need of reactivity leads to the autonomization of decisional levels close to the operational system. We study in this paper the natural convergence between these two approaches and we propose an integration architecture, dealing with machine tool and machining control, that enables the exploitation of distributed smart sensors and actuators in the decisional system.     

Improving retrieval accuracy of Hierarchical Cellular Trees for generic metric spaces

Metric Access Methods (MAMs) are indexing techniques which allow working in generic metric spaces. Therefore, MAMs are specially useful for Content-Based Image Retrieval systems based on features which use non L _p norms as similarity measures. MAMs naturally allow the design of image browsers due to their inherent hierarchical structure. The Hierarchical Cellular Tree (HCT), a MAM-based indexing technique, provides the starting point of our work. In this paper, we describe some limitations detected in the original formulation of the HCT and propose some modifications to both the index building and the search algorithm. First, the covering radius, which is defined as the distance from the representative to the furthest element in a node, may not cover all the elements belonging to the node’s subtree. Therefore, we propose to redefine the covering radius as the distance from the representative to the furthest element in the node’s subtree. This new definition is essential to guarantee a correct construction of the HCT. Second, the proposed Progressive Query retrieval scheme can be redesigned to perform the nearest neighbor operation in a more efficient way. We propose a new retrieval scheme which takes advantage of the benefits of the search algorithm used in the index building. Furthermore, while the evaluation of the HCT in the original work was only subjective, we propose an objective evaluation based on two aspects which are crucial in any approximate search algorithm: the retrieval time and the retrieval accuracy. Finally, we illustrate the usefulness of the proposal by presenting some actual applications.     

Metallic Conductive Nanowires Elaborated by PVD Metal Deposition on Suspended DNA Bundles

Metallic conductive nanowires (NWs) with DNA bundle core are achieved, thanks to an original process relying on double‐stranded DNA alignment and physical vapor deposition (PVD) metallization steps involving a silicon substrate. First, bundles of DNA are suspended with a repeatable process between 2 µm high parallel electrodes with separating gaps ranging from 800 nm to 2 µm. The process consists in the drop deposition of a DNA lambda‐phage solution on the electrodes followed by a naturally evaporation step. The deposition process is controlled by the DNA concentration within the buffer solution, the drop volume, and the electrode hydrophobicity. The suspended bundles are finally metallized with various thicknesses of titanium and gold by a PVD e‐beam evaporation process. The achieved NWs have a width ranging from a few nanometers up to 100 nm. The electrical behavior of the achieved 60 and 80 nm width metallic NWs is shown to be Ohmic and their intrinsic resistance is estimated according to different geometrical models of the NW section area. For the 80 nm width NWs, a resistance of about few ohms is established, opening exploration fields for applications in microelectronics.     

Line creep in paper peeling

The dynamics of a “peeling front” or an elastic line is studied under creep (constant load) conditions. Our experiments show in most cases an exponential dependence of the creep velocity on the inverse force (mass) applied. In particular, the dynamical correlations of the avalanche activity are discussed here. We compare various avalanche statistics to those of a line with non-local elasticity, and study various measures of the experimental avalanche-avalanche and temporal correlations such as the autocorrelation function of the released energy and aftershock activity. From all these we conclude, that internal avalanche dynamics seems to follow “line depinning”-like behavior, in rough agreement with the depinning model. Meanwhile, the correlations reveal subtle complications not implied by depinning theory. Moreover, we also show how these results can be understood from a geophysical point of view.     

A Systematic Study of Restorative Crown-Materials Combinations for Dental Implants: Characterization of Mechanical Properties under Dynamic Loads

This study aimed to find the optimum mechanical characteristics of the restorative materials for the manufacture of implant crowns subjected to impact loading when different combinations of materials are used for the inner and outer crown. Several combinations of external–internal crown restorative materials were analyzed. The dynamic stresses at eight different zones of a dental implant subjected to an impact load and the influence of several mechanical properties, such as the Young’s modulus, Poisson’s ratio, density, and initial velocity, were analyzed and compared. A detailed 3D model was created, including the crown, the retention screw, the implant, and a mandible section. The model was then built by importing the 3D geometries from CAD software. The whole 3D model was carefully created in order to guarantee a finite element mesh that produced results adjusted to physical reality. Then, we conducted a numerical simulation using the finite element method (FEM). The results of the FEM analysis allowed for evaluating the effect that different combinations of restorative materials and mechanical properties had on the stress distribution in various regions of the implant. The choice of restorative material is a factor to be considered in order to preserve the integrity of osseointegration. Restorative materials transfer more or less stress to the dental implant and surrounding bone, depending on their stiffness. Therefore, an inadequate Young’s modulus of the rehabilitation material can affect the survival of the implant over time. Eight interactive graphics were provided on a web-based surface platform to help clinical dentists, researchers, and manufacturers to select the best restorative materials combination for the crown.     

A Formally Verified Compiler Back-end

This article describes the development and formal verification (proof of semantic preservation) of a compiler back-end from Cminor (a simple imperative intermediate language) to PowerPC assembly code, using the Coq proof assistant both for programming the compiler and for proving its soundness. Such a verified compiler is useful in the context of formal methods applied to the certification of critical software: the verification of the compiler guarantees that the safety properties proved on the source code hold for the executable compiled code as well.     

Single‐Step Deposition of Au‐ and Pt‐Nanoparticle‐Functionalized Tungsten Oxide Nanoneedles Synthesized Via Aerosol‐Assisted CVD,and Used for Fabrication of Selective Gas Microsensor Arrays

Tungsten oxide nanostructures functionalized with gold or platinum NPs are synthesized and integrated, using a single‐step method via aerosol‐assisted chemical vapour deposition, onto micro‐electromechanical system (MEMS)‐based gas‐sensor platforms. This co‐deposition method is demonstrated to be an effective route to incorporate metal nanoparticles (NP) or combinations of metal NPs into nanostructured materials, resulting in an attractive way of tuning functionality in metal oxides (MOX). The results show variations in electronic and sensing properties of tungsten oxide according to the metal NPs introduced, which are used to discriminate effectively analytes (C₂H₅OH, H₂, and CO) that are present in proton‐exchange fuel cells. Improved sensing characteristics, in particular to H₂, are observed at 250 °C with Pt‐functionalized tungsten oxide films, whereas non‐functionalized tungsten oxide films show responses to low concentrations of CO at low temperatures. Differences in the sensing characteristics of these films are attributed to the different reactivities of metal NPs (Au and Pt), and to the degree of electronic interaction at the MOX/metal NP interface. The method presented in this work has advantages over other methods of integrating nanomaterials and devices, of having fewer processing steps, relatively low processing temperature, and no requirement for substrate pre‐treatment.     

Antitumor Effects of Ral-GTPases Downregulation in Glioblastoma

Glioblastoma (GBM) is the most common tumor in the central nervous system in adults. This neoplasia shows a high capacity of growth and spreading to the surrounding brain tissue, hindering its complete surgical resection. Therefore, the finding of new antitumor therapies for GBM treatment is a priority. We have previously described that cyclin D1-CDK4 promotes GBM dissemination through the activation of the small GTPases RalA and RalB. In this paper, we show that RalB GTPase is upregulated in primary GBM cells. We found that the downregulation of Ral GTPases, mainly RalB, prevents the proliferation of primary GBM cells and triggers a senescence-like response. Moreover, downregulation of RalA and RalB reduces the viability of GBM cells growing as tumorspheres, suggesting a possible role of these GTPases in the survival of GBM stem cells. By using mouse subcutaneous xenografts, we have corroborated the role of RalB in GBM growth in vivo. Finally, we have observed that the knockdown of RalB also inhibits cell growth in temozolomide-resistant GBM cells. Overall, our work shows that GBM cells are especially sensitive to Ral-GTPase availability. Therefore, we propose that the inactivation of Ral-GTPases may be a reliable therapeutic approach to prevent GBM progression and recurrence.