RTAB‐Map as an open‐source lidar and visual simultaneous localization and mapping library for large‐scale and long‐term online operation

Distributed as an open‐source library since 2013, real‐time appearance‐based mapping (RTAB‐Map) started as an appearance‐based loop closure detection approach with memory management to deal with large‐scale and long‐term online operation. It then grew to implement simultaneous localization and mapping (SLAM) on various robots and mobile platforms. As each application brings its own set of constraints on sensors, processing capabilities, and locomotion, it raises the question of which SLAM approach is the most appropriate to use in terms of cost, accuracy, computation power, and ease of integration. Since most of SLAM approaches are either visual‐ or lidar‐based, comparison is difficult. Therefore, we decided to extend RTAB‐Map to support both visual and lidar SLAM, providing in one package a tool allowing users to implement and compare a variety of 3D and 2D solutions for a wide range of applications with different robots and sensors. This paper presents this extended version of RTAB‐Map and its use in comparing, both quantitatively and qualitatively, a large selection of popular real‐world datasets (e.g., KITTI, EuRoC, TUM RGB‐D, MIT Stata Center on PR2 robot), outlining strengths, and limitations of visual and lidar SLAM configurations from a practical perspective for autonomous navigation applications.     

Deformation Transfer to Multi‐Component Objects

We present a simple and effective algorithm to transfer deformation between surface meshes with multiple components. The algorithm automatically computes spatial relationships between components of the target object, builds correspondences between source and target, and finally transfers deformation of the source onto the target while preserving cohesion between the target's components. We demonstrate the versatility of our approach on various complex models.     

The beta-cell in type 1 diabetes: What have we learned from proteomic studies?

Pancreatic beta-cells have a crucial role in the regulation of blood glucose homeostasis by the production and secretion of insulin. In type 1 diabetes (T1D), an autoimmune reaction against the beta-cells together with the presence of inflammatory cytokines and ROS in the islets leads to beta-cell dysfunction and death. This review gives an overview of proteomic studies that lead to better understanding of beta-cell functioning in T1D. Protein profiling of isolated islets and beta-cell lines in health and T1D contributed to the unraveling of pathways involved in cytokine-induced cell death. In addition, by studying the serological proteome of T1D patients, new biomarkers and beta-cell autoantigens were discovered, which may improve screening tests and follow-up of T1D development. Interestingly, an important role for PTMs was demonstrated in the generation of beta-cell autoantigens. To conclude, proteomic techniques are of indispensable value to improve the knowledge on beta-cell function in T1D and the search toward therapeutic targets.     

Towards a continuous microfluidic rheometer

In a previous paper we presented a way to measure the rheological properties of complex fluids on a microfluidic chip (Guillot et al., Langmuir 22:6438, 2006). The principle of our method is to use parallel flows between two immiscible fluids as a pressure sensor. In fact, in a such flow, both fluids flow side by side and the size occupied by each fluid stream depends only on both flow rates and on both viscosities. We use this property to measure the viscosity of one fluid knowing the viscosity of the other one, both flow rates and the relative size of both streams in a cross-section. We showed that using a less viscous fluid as a reference fluid allows to define a mean shear rate with a low standard deviation in the other fluid. This method allows us to measure the flow curve of a fluid with less than 250 μL of fluid. In this paper we implement this principle in a fully automated set up which controls the flow rate, analyzes the picture and calculates the mean shear rate and the viscosity of the studied fluid. We present results obtained for Newtonian fluids and complex fluids using this set up and we compare our data with cone and plate rheometer measurements. By adding a mixing stage in the fluidic network we show how this set up can be used to characterize in a continuous way the evolution of the rheological properties as a function of the formulation composition. We illustrate this by measuring the rheological curve of four formulations of polyethylene oxide solution with only 1.3 mL of concentrated polyethylene oxide solution. This method could be very useful in screening processes where the viscosity range and the behavior of the fluid to an applied stress must be evaluated.     

Mg-based hydrogen storage materials: Surface segregation in Mg2Cu and related catalytic effects

Fresh surfaces of Mg₂Cu polycrystals cleaved in UHV have been investigated by AES, XPS and X-ray induced AES at room temperature. They show chemical decomposition of the surface leading to pronounced increase of surface Mg content. In contrast to the Mg the Cu remains essentially metallic, even on air exposed samples. It is suggested that this segregation prevents the formation of a compact oxide or hydroxide layer, thereby enabling dissociation of molecular hydrogen at the metallic Cu precipitations and/or the metallic Mg₂Cu subsurface. The results support comparable conclusions drawn earlier for LaNi₅, FeTi and Mg₂Ni.     

Inter-MAC Green Path Selection for Heterogeneous Networks

Gigabit home networks represent a key technology to make the Future Internet success a reality. Consumers will require networks to be simple to install, without the need of any new wire and with green consideration. To make this network ubiquitous, seamless and robust, a technology independent MAC layer will ensure its global control and provide connectivities to any number of devices the user wishes to connect to it in any room. In order to make this vision comes true, substantial progress is required in the fields of protocol design and in systems architectures. For this goal, we introduce a new convergence layer denoted inter-MAC, which provides a common infrastructure to the home network, Among the inter-MAC functionalities, we focused the interest on the path selection mechanism including the green aspect. To improve quality of service, reduce energy consumption and radiofrequency devices number, we define a new path selection protocol based on several metrics. We present some preliminary results obtained on an experimental test bed.     

Multi-month memory effects on early summer vegetative activity in semi-arid South Africa and their spatial heterogeneity

In semi-arid African regions (annual rainfall between 200 and 600 mm), variability of vegetative activity is mainly due to the rainfall of the current rainy season. In most of South Africa, the rainy season occurs from October to March. On average, vegetative activity lags rainfall by 1 to 2 months. The interannual variability in early summer (December to September) normalized difference vegetation index (NDVI) depends primarily on precipitation at the beginning (October to November) of the rainy season. However, once this primary control is removed, the residual interannual variability in NDVI highlights a double memory effect: a 1-year effect, referred to as Mem₁, and a 7- to 10-month effect, referred to as Mem₂. This article aims at better describing the influence of soil and vegetation characteristics on these two memory effects. The data sets used in this study are as follows: (1) a 19-year NDVI time series from National Oceanic and Atmospheric Administration (NOAA) satellites, (2) rainfall records from a network of 1160 rain-gauge stations compiled by the Water Research Commission (WRC), (3) vegetation types from Global Land Cover (GLC) 2000 and (4) soil characteristics from the soil and terrain database for Southern Africa (SOTERSAF). Results indicate that among 20–30% of NDVI variance that is not explained by the concurrent rainfall, one-third is explained by the two memory effects. Mem₁ is found to have maximum effect in the northwest of our study domain, near the Botswana boundary, in the South Kalahari. Associated conditions are open grasslands growing on Arenosols. Mem₁ is less important in the southeast, particularly in open grassland with shrubs growing on Cambisols. Thus, Mem₁ mainly depends on soil texture. Mem₂ is more widespread and its influence is the greatest in the centre, the south and the east of our domain. It is related to rainfall from January to April, which controls, beyond the intervening dry season, the interannual variations of NDVI (December to September) at the beginning of the next rainy season. Through these new findings, this article emphasizes again the high potential of remote-sensing techniques to monitor and understand the dynamics of semi-arid environments.     

A computational model of bounded developable surfaces with application to image‐based three‐dimensional reconstruction

Developable surfaces have been extensively studied in computer graphics because they are involved in a large body of applications. This type of surfaces has also been used in computer vision and document processing in the context of three‐dimensional (3D) reconstruction for book digitization and augmented reality. Indeed, the shape of a smoothly deformed piece of paper can be very well modeled by a developable surface. Most of the existing developable surface parameterizations do not handle boundaries or are driven by overly large parameter sets. These two characteristics become issues in the context of developable surface reconstruction from real observations. Our main contribution is a generative model of bounded developable surfaces that solves these two issues. Our model is governed by intuitive parameters whose number depends on the actual deformation and including the “flat shape boundary”. A vast majority of the existing image‐based paper 3D reconstruction methods either require a tightly controlled environment or restricts the set of possible deformations. We propose an algorithm for reconstructing our model's parameters from a general smooth 3D surface interpolating a sparse cloud of 3D points. The latter is assumed to be reconstructed from images of a static piece of paper or any other developable surface. Our 3D reconstruction method is well adapted to the use of keypoint matches over multiple images. In this context, the initial 3D point cloud is reconstructed by structure‐from‐motion for which mature and reliable algorithms now exist and the thin‐plate spline is used as a general smooth surface model. After initialization, our model's parameters are refined with model‐based bundle adjustment. We experimentally validated our model and 3D reconstruction algorithm for shape capture and augmented reality on seven real datasets. The first six datasets consist of multiple images or videos and a sparse set of 3D points obtained by structure‐from‐motion. The last dataset is a dense 3D point cloud acquired by structured light. Our implementation has been made publicly available on the authors' web home pages. Copyright © 2012 John Wiley & Sons, Ltd.     

The necessity of sample quality assessment in 14C AMS dating: The case of Cova des Pas (Menorca – Spain)

The Cova des Pas cave is a karstic cave in the cliffs of the Barranc (canyon) de Trebalúger. It is a small cave only 6.5 m deep, 4.5 m wide and 1.7 m high. Yet more than 70 burials, in foetal position, from the Early Iron Age were found in this small cave. The conservation of the archaeological remains was very unusual. Not only wood, ropes and other plant material was found, but also remains of body tissue, hair and leather. In spite of the remarkable preservation of the bodies and artefacts, the state of conservation of the bone material was very bad. The bones contained little and heavily deteriorated collagen and the organic plant material was very fragile. The special environmental conditions of the cave are the cause of these unusual preservation conditions. Although the cave is situated in a limestone cliff, the soil of the cave is very acid. Unexpectedly bad sample quality seemed to be the major drawback for AMS radiocarbon dating on hair, wood, ropes and bone collagen, as well as on bio-apatite.