A Theory of Minimal 3D Point to 3D Plane Registration and Its Generalization

Registration of 3D data is a key problem in many applications in computer vision, computer graphics and robotics. This paper provides a family of minimal solutions for the 3D-to-3D registration problem in which the 3D data are represented as points and planes. Such scenarios occur frequently when a 3D sensor provides 3D points and our goal is to register them to a 3D object represented by a set of planes. In order to compute the 6 degrees-of-freedom transformation between the sensor and the object, we need at least six points on three or more planes. We systematically investigate and develop pose estimation algorithms for several configurations, including all minimal configurations, that arise from the distribution of points on planes. We also identify the degenerate configurations in such registrations. The underlying algebraic equations used in many registration problems are the same and we show that many 2D-to-3D and 3D-to-3D pose estimation/registration algorithms involving points, lines, and planes can be mapped to the proposed framework. We validate our theory in simulations as well as in three real-world applications: registration of a robotic arm with an object using a contact sensor, registration of planar city models with 3D point clouds obtained using multi-view reconstruction, and registration between depth maps generated by a Kinect sensor.     

Estimation of magnetohydrodynamic radiative nanofluid flow over a porous non‐linear stretching surface: application in biomedical research

The present study investigates the effects of thermal radiation and chemical reaction on magnetohydrodynamic flow, heat, and mass transfer characteristics of nanofluids such as Cu–water and Ag–water over a non‐linear porous stretching surface in the presence of viscous dissipation and heat generation. Using similarity transformation, the governing boundary layer equations of the problem are transformed into non‐linear ordinary differential equations and solved numerically by the shooting method along with the Runge–Kutta–Fehlberg fourth–fifth‐order integration scheme. The influences of various parameters on velocity, temperature, and concentration profiles of the flow field are analysed and the results are plotted graphically. A backpropagation neural network is applied to predict the skin friction coefficient, Nusselt number, and Sherwood number and these results are presented through graphs. The present numerical results are compared with the existing results and are found to be in good agreement. The results of artificial neural network and the obtained numerical values agree well with an error <5%.Inspec keywords: silver, copper, transforms, nanofluidics, friction, backpropagation, heat radiation, water, external flows, partial differential equations, nonlinear differential equations, boundary layers, Runge‐Kutta methods, mass transfer, flow through porous media, magnetohydrodynamicsOther keywords: magnetohydrodynamic radiative nanofluid flow, nonlinear stretching surface, biomedical research, thermal radiation, chemical reaction, magnetohydrodynamic flow, nonlinear porous stretching surface, viscous dissipation, similarity transformation, governing boundary layer equations, nonlinear ordinary differential equations, shooting method, Runge–Kutta–Fehlberg fourth–fifth‐order integration scheme, flow field, backpropagation neural network, Cu–water nanofluid, Ag–water nanofluid, skin friction coefficient, Nusselt number, Sherwood number, artificial neural network, Ag‐H₂ O, Cu‐H₂ O     

Supplementation of squalene attenuates experimentally induced myocardial infarction in rats

We have investigated the preventive effects of squalene against isoprenaline-induced myocardial infarction in male albino rats. Supplementation with squalene significantly prevented the isoprenaline-induced adverse changes in the levels of protein and glycoprotein components in plasma and heart tissue of experimental groups of rats. It exerted an antioxidant effect by inhibiting the isoprenaline-induced lipid peroxidation and by maintaining the level of non-enzymatic free radical-scavenger, reduced glutathione at near normalcy. Histopathological observations also confirmed the possible cardioprotective action of squalene by maintaining the normal architecture of the heart tissue. The results of the present investigation demonstrate that supplementation with squalene offers cardioprotection in experimental rats by its antioxidant and membrane- stabilizing properties.     

Amino‐functionalised mesoporous silica microspheres for immobilisation of Candida antarctica lipase B – application towards greener production of 2,5‐furandicarboxylic acid

In the present study, amino‐functionalised mesoporous silica microspheres were utilised as support for the covalent immobilisation of Candida antarctica lipase B (CaLB) for the subsequent production of 2,5‐furandicarboxylic acid (FDCA) from 2,5‐diformylfuran (DFF). Under the optimised operating conditions of pH 6.5, particle/enzyme ratio of 1.25:1.0 and glutaraldehyde concentration of 4 mM, a maximum CaLB immobilisation yield of 82.4% on silica microspheres was obtained in 12.25 h. The immobilised CaLB was used for the synthesis of alkyl esters, which were utilised along with hydrogen peroxide for FDCA synthesis. The biocatalytic conversion of 30 mM DFF dictated a 77–79% FDCA in 48 h at 30°C; where the turnover number and turnover frequency of immobilised CaLB were 6220.73 mol mol⁻¹ and 129.59 h⁻¹, respectively, for ethyl acetate, against 6297.65 mol mol⁻¹ and 131.2 h⁻¹, respectively, for ethyl butyrate. Upon examining the operational stability, the immobilised CaLB exhibited high stability till five cycles of FDCA production.Inspec keywords: mesoporous materials, organic compounds, biotechnology, silicon compounds, renewable materials, catalysis, catalysts, enzymes, thermal stability, biofuelOther keywords: FDCA production, amino‐functionalised mesoporous silica microspheres, greener production, 2,5‐furandicarboxylic acid, covalent immobilisation, 2,5‐diformylfuran, CaLB immobilisation, Candida antarctica lipase B immobilisation, ethyl butyrate, time 48.0 hour, temperature 30.0 degC, time 12.25 hour     

Anomalous Dielectric Behaviour in Melt Quenched Lithium Borate Glasses

Transparent glasses of lithium tetraborate (Li₂B₄O₇) were prepared by a splat quenching technique. X-ray powder diffraction (XRD) and high resolution transmission electron microscopic studies revealed the amorphous nature of the as-quenched samples. The glassy nature of these samples was confirmed by differential thermal analysis. Physical properties such as density, dielectric and ac conductivity have been studied. Glasses of Li₂B₄O₇ exhibit a dielectric anomaly close to the crystallization temperature which is attributed to the interfacial polarization caused by Li⁺ ion motion within the borate network.     

化解数字视频的技术障碍

针对安全监控系统而言,主要任务就是需要一种低成本方式,实现在几小时、几天、几周乃至几个月的时间里实现视频影像的传输、存储以及搜索.就此,随着关键技术的不断发展,安全监控行业正经历着重大技术提升.