Road‐Centered Map‐Aided Localization for Driverless Cars Using Single‐Frequency GNSS Receivers

Accurate localization with high availability is a key requirement for autonomous vehicles. It remains a major challenge when using automotive sensors such as single‐frequency Global Navigation Satellite System (GNSS) receivers, a lane detection camera, and proprioceptive sensors. This paper describes a method that enables the estimation of stand‐alone single‐frequency GNSS errors by integrating the measurements from a forward‐looking camera matched with lane markings stored in a digital map. It includes a parameter identification method for a shaping model, which is evaluated using experimental data. An algebraic observability study is then conducted to prove that the proposed state vector is fully observable in a road‐oriented frame. This observability property is the basis to develop a road‐centered Extended Kalman filter (EKF) that can maintain the observability of every component of the state vector on any road, whatever its orientation. To accomplish this, the filter needs to handle road changes, which it does using bijective transformations. The filter was implemented and tested intensely on an experimental vehicle for driverless valet parking services. Field results have shown that the performance of the estimation process is better than solutions based on EKF implemented in a fixed working frame. The proposed filter guarantees that the drift along the road direction remains bounded. This is very important when the vehicle navigates autonomously. Furthermore, the road‐centered modeling improves the accuracy, consistency, and robustness of the localization solver.     

Binding of the tautomeric forms of isoniazid-NAD adducts to the active site of the Mycobacterium tuberculosis enoyl-ACP reductase (InhA): a theoretical approach

The front-line antituberculosis drug isoniazid (INH) inhibits InhA, the NADH-dependent fatty acid biosynthesis enoyl ACP-reductase from Mycobacterium tuberculosis, via formation of covalent adducts with NAD (INH-NAD adducts). While ring tautomers were found the main species formed in solution, only the 4S chain INH-NAD tautomer was evidenced in the crystallized InhA:INH-NAD complex. In this study we attempted to explore the modes of interaction and energy binding of the different isomers placed in the active site of InhA with the help of various molecular modelling techniques. Ligand and enzyme models were generated with the help of the Vega ZZ program package. Resulting ligands were then docked into the InhA active site individually using computational automated docking package AUTODOCK 3.0.5. The more relevant docked conformations were then used to compute the interaction energy between the ligands and the InhA cavity. The AM1 Hamiltonian and the QM/MM ONIOM methodologies were used and the results compared. The various tautomers were found docked in almost the same place where INH-NAD was present as predicted by earlier X-ray crystallographic studies. However, some changes of ligand conformation and of the interactions ligand-protein were evidenced. The lower binding energy was observed for the 4S chain adduct that probably represents the effective active form of the INH-NAD adducts, as compared to the 4R epimer. The two 4S,7R and 4R,7S ring tautomers show intermediate and similar binding energies contrasting with their different experimental inhibitory potency on InhA. As a possible explanation based on calculated conformations, we formulated the hypothesis of an initial binding of the two ring tautomers to InhA followed by opening of only the ring hemiamidal 4S,7R tautomer (possibly catalyzed by Tyr158 phenolate basic group) to give the 4S chain INH-NAD tight-binding inhibitor. The predictions of ligand-protein interactions at the molecular level can be of primary importance in elucidating the mechanisms of action of isoniazid and InhA-related resistances, in identifying the effective mycobactericidal entities and, in further step, in the design of a new generation of antitubercular drugs.     

Overlapping melodic alarms are almost indiscriminable

OBJECTIVE: We explore how accurately and quickly nurses can identify melodic medical equipment alarms when no mnemonics are used, when alarms may overlap, and when concurrent tasks are performed. BACKGROUND: The international standard IEC 60601-1-8 (International Electrotechnical Commission, 2005) has proposed simple melodies to distinguish seven alarm sources. Previous studies with nonmedical participants reveal poor learning of melodic alarms and persistent confusions between some of them. The effects of domain expertise, concurrent tasks, and alarm overlaps are unknown. METHOD: Fourteen intensive care and general medical unit nurses learned the melodic alarms without mnemonics in two sessions on separate days. In the second half of Day 2 the nurses identified single alarms or pairs of alarms played in sequential, partially overlapping, or nearly completely overlapping configurations. For half the experimental blocks nurses performed a concurrent mental arithmetic task. RESULTS: Nurses' learning was poor and was no better than the learning of nonnurses in a previous study. Nurses showed the previously noted confusions between alarms. Overlapping alarms were exceptionally difficult to identify. The concurrent task affected response time but not accuracy. CONCLUSION: Because of a failure of auditory stream segregation, the melodic alarms cannot be discriminated when they overlap. Directives to sequence the sounding of alarms in medical electrical equipment must be strictly adhered to, or the alarms must redesigned to support better auditory streaming. APPLICATION: Actual or potential uses of this research include the implementation of IEC 60601-1-8 alarms in medical electrical equipment.     

Dynamic Control of Walking Cycle with Initiation Process for Humanoid Robot

This paper focuses on numerical method to solve the dynamic equilibrium of a humanoid robot during the walking cycle with the gait initiation process. It is based on a multi-chain strategy and a dynamic control/command architecture previously developed by Gorce. The strategy is based on correction of the trunk center of mass acceleration and force distribution of the forces exerced by the limbs on the trunk. This latter is performed by mean of a Linear Programming (LP) method. We study the gait initiation process when a subject, initially in quiet erect stance posture, performs a walking cycle. In this paper, we propose to adjust the method for the multiphases (from double support to single support) and multicriteria features of the studied movement. This is done by adapting some specific constraints and criteria in order to ensure the global stability of the humanoid robot along the task execution. For that, we use a Real-Time Criteria and Constraints Adaptation method. Simulation results are presented to demonstrate criteria and constraints influences on the dynamic stability.     

Dialogue in context, towards a referential approach in collective learning

In this article, we present research in the making of a collective work environment within the framework of a distance education course. We base our theoretical and methodological standpoints on examples of dialogical discourses recorded within the framework of this CSCL system called Symba. In fact, the results of previous research lead us to rethink our vision of the study of collaborative moments between participants in a computer-supported human learning environment that proposes several communication tools. Redefining the methodological process aiming at finding and understanding these rich learning moments is also necessary. We intend to describe “socio-technical” instances during which these collaboration phases appear. More generally speaking, our aim is to draw up both new theoretical and methodological perspectives that would be reusable in CSCL environments; in view of the nature of these two perspectives, and the diversity of the domain knowledge (sociology, cognitivism, linguistics, philosophy, statistics, etc.) brought to bear in the study of the environment in question, our approach constitutes a trans-disciplinary reassessment of the uses of the communication tools—and the study thereof—proposed.

Misfit versus latency

In this paper we present a framework that combines some ideas of the behavioral modeling approach and the prediction error modeling approach. It is shown that the proposed model selection procedure can be rephrased as an optimization problem that only depends on the model parameters. Experiments illustrate the potential of the so-called misfit versus latency framework.     

Phylogeny of trichomonads based on partial sequences of large subunit rRNA and on cladistic analysis of morphological data

Several domains of large subunit rRNA from nine trichomonad species have been sequenced. Molecular phylogenies obtained with parsimony and distance methods demonstrate the trichomonads are a monophyletic group which branches very early in the eukaryotic tree. The topology of the trees is in general agreement with traditional views on evolutionary and systematic relationships of trichomonads. A clear dichotomy is noted between the subfamily Trichomonadinae and the subfamily Tritrichomonadinae. In the latter subfamily, a second division separates the "Tritrichomonas muris-type" species from the "Tritrichomonas augusta-type" ones. Previous evolutionary schemes in which the Monocercomonadidae were regarded as the most "primitive" and the Trichomonadidae as more "evolved" are not in agreement with our molecular data. The emergence of Monocercomonas and Hypotrichomonas at the base of the Tritrichomonas lineage suggests a secondary loss of some cytoskeletal structures, the costa and undulating membrane in these genera. This is corroborated by the early branching position of Trichomitus, which possesses a costa and an undulating membrane and has usually been placed among the Trichomonadidae on the basis of cytological characters. A cladistic analysis was applied to the available morphological characters in order to produce a hierarchical grouping of the taxa reflecting their morphological diversity.     

A Novel Surface Reconstruction and Display Method for Cardiac PET Imaging

Positron emission tomography (PET) allows the in vivo assessment of biochemical activity in humans. The newer PET cameras can create several imaging planes, or slices, through an organ inside the body. The interpretation of two-dimensional (2-D) slices of an organ is often difficult for the clinician since he or she has to form a three-dimensional (3-D) mental composite of the structure of interest. We have developed a set of algorithms to reconstruct a functional three-dimensional surface model of the cardiac left ventricle from a set of two-dimensional cross-sectional image slices generated by PET. The theoretical techniques for this reconstruction method are applicable to most organs provided that the appropriate models for the organs are considered. An automatic boundary detection algorithm outlines the surface of the left ventricle from the 2-D images and assigns intensity values to the surface points whose level is proportional to the local activity. A 3-D surface of the intensity levels, with pseudocolor enhancement, is then displayed with the long axis of the heart in a vertical position. Such a display allows the 3-D myocardial tracer uptake to be clearly visualized by the clinician for better diagnosis.     

Mineral admixtures in mortars: Effect of inert materials on short-term hydration

This work is the first part of an overall project the aim of which is the development of general mix design rules for concrete containing different kinds of mineral admixtures. The separation of the different physical effects responsible for the modification of cement hydration, when chemically inert quartz powders are used in mortars, is presented. The phenomenological approach, based on semi-adiabatic calorimetry, is only associated with first-order phenomena, and the study excludes the complex physicochemical details involved in the chemistry of cement. The results, obtained for a wide range of fineness (between 180 and 2000 m²/kg) and replacement rates (up to 75%), show that short-term degrees of hydration in mortars containing a chemically inert mineral admixture (quartz) are always higher than for a reference mortar. This study confirms that cement hydration is enhanced by inert mineral admixtures. The two main physical effects responsible for the modification of the hydration of cement are identified as the dilution effect and heterogeneous nucleation. The dilution effect of the cement is highlighted with a coarse mineral admixture. The heterogeneous nucleation effect, although it increases with fineness of mineral admixtures, presents an optimum depending on the replacement rate. In the following part of this work, these results will be used for the development of an empirical model allowing us to quantify both physical effects.