A comparison of loop closing techniques in monocular SLAM

Loop closure detection systems for monocular SLAM come in three broad categories: (i) map-to-map, (ii) image-to-image and (iii) image-to-map. In this paper, we have chosen an implementation of each and performed experiments allowing the three approaches to be compared. The sequences used include both indoor and outdoor environments and single and multiple loop trajectories.     

Study of strengthening solutions for glued-laminated wood beams of maritime pine wood

The application of the concept of glued-laminated wood (glulam) to improve the mechanical properties of the solid wood of the maritime pine (Pinus pinaster) is the subject of this work. Two reinforced glued-laminated wood beams are proposed and assessed. The first is based on a concept of laminated wood composite with fiber glass; the second is based on the application of pultruded lamellas glued to the most stressed tensile region of the glued-laminated beams. In order to demonstrate the potential of the proposed strengthening solutions, a comparison between their mechanical behaviors and the mechanical behaviors of the conventional glued-laminated and solid beams are performed. Static load–deflection curves, an equivalent Young’s modulus, the ultimate strain and modulus of rupture are determined using 3-point quasi-static bending tests. In general, it is demonstrated the beneficial effect of the proposed strengthening solutions both in terms of resistance and ductility.     

Nitric oxide reduction in coal combustion: role of char surface complexes in heterogeneous reactions

Nitrogen oxides are one of the major environmental problems arising from fossil fuel combustion. Coal char is relatively rich in nitrogen, and so this is an important source of nitrogen oxides during coal combustion. However, due to its carbonaceous nature, char can also reduce NO through heterogeneous reduction. The objectives of this work were on one hand to compare NO emissions from coal combustion in two different types of equipment and on the other hand to study the influence of char surface chemistry on NO reduction. A series of combustion tests were carried out in two different scale devices: a thermogravimetric analyzer coupled to a mass spectrometer and an FTIR (TG-MS-FTIR) and a fluidized bed reactor with an on line battery of analyzers. The TG-MS-FTIR system was also used to perform a specific study on NO heterogeneous reduction reactions using chars with different surface chemistry. According to the results obtained, it can be said that the TG-MS-FTIR system provides valuable information about NO heterogeneous reduction and it can give good trends of the behavior in other combustion equipments (i.e., fluidized bed combustors). It has been also pointed out that NO-char interaction depends to a large extent on temperature. In the low-temperature range (<800 degrees C), NO heterogeneous reduction seems to be controlled by the evolution of surface complexes. In the high-temperature range (>800 degrees C), a different mechanism is involved in NO heterogeneous reduction, the nature of the carbon matrix being a key factor.     

Role of the phagocytes on embryos: some morphological aspects

Phagocytosis in embryos was studied by Elie Metchnikoff more than a century ago and is a pillar of the Phagocytic Theory. Throughout the last three decades phagocytosis in embryos has been studied from different perspectives, which this review describes and analyzes. The following branches were identified: 1) the search for the origin and first identification of well-known adult phagocytes in embryos, including their role after induced injuries; 2) the search for the occurrence of phagocytosis in embryos and its role during their physiological development; and 3) the search for phagocytosis in embryos, as a tool to study identity and self-recognition. It is possible to verify that different cell types are able to undertake phagocytosis, under a variety of different stimuli, and that the nature of what is phagocytosed also varies widely. Although the overwhelming majority of species described among metazoarians are invertebrates, most published articles in this field relate to mammals (particularly mice and humans) and birds (particularly chicks). In order to enrich this field of knowledge, research using a wider variety of vertebrate and invertebrate species should be undertaken. Furthermore, the present knowledge of phagocytosis in embryos needs a revised paradigm capable of embracing all the above-mentioned research trends under a single, more general, biological theory. In this sense, Metchnikoff's Phagocytic Theory, which is based on a broad biological paradigm and is thus capable of dealing with all research trends mentioned herein, should be revisited in order to contribute to this edification.     

Comparison of electromyographic pattern of sensory experts and untrained subjects during chewing of Mahon cheese

Use of electromyography (EMG) to monitor mastication is a relatively new concept in assessing food physical and sensory properties. Although expert assessment of cheese characteristics is widely used, the effect of training in sensory analysis on mastication patterns, as assessed using EMG is not well known. Nine samples of the same Mahon cheese (60 days ripening) were given to 24 subjects (8 experts, 16 untrained) and EMG recorded for each chewing sequence. Three samples were tested in a single session by each subject, and three sessions carried out on different days. EMG was recorded from four masticatory muscles for each subject. From EMG records the following was extracted: number of chews, chewing time, mean and maximum voltage of EMG bursts (i.e. chews) across chewing sequence, chewing work and chewing rate. No gender bias was found for the EMG parameters considered, therefore, as regards gender, each group was considered to be homogeneous. Variability within-subjects across samples was greater for experts than untrained subjects. Significant differences in chewing time, chewing work and chewing rate were found between the expert and untrained groups. Data analysis of the three sessions showed an influence of cognitive constructs, mediating states, on the chewing process. The experts were found to be goal driven as to their mastication process. Experts showed no significant differences between sessions, untrained subjects were found to vary their EMG output in successive sessions for number of chews, chewing time, mean voltage, and chewing work.     

Role of the central and peripheral nervous system in the ovarian function

This review attempts to give a comprehensive overview of ovarian innervation, considering the whole nervous system and its different levels that may modify the ovarian function. The connection between the ovary and the central nervous system through the autonomic pathways, including the peripheral ganglia, is highlighted. The evidence obtained over the last years highlights the role of the superior ovarian nerve (SON) in the ovarian phenomena. Besides, the effect on the ovary of conventional neurotransmitters and others such as indolamines and peptides, which have been found in this organ, are discussed. Various reproductive diseases have been studied almost exclusively from the endocrine point of view. It is evident that a better knowledge about the role of the neural factors involved in the ovarian physiology may facilitate the understanding of some of these. A review of the concepts and an update of some experimental designs is made that permits clarifying several aspects of the relationship between the neural system and the ovary. At present, there is no doubt that the innervation of the ovary is involved in several physiological aspects of this gland function. However, the relationship of some levels of the nervous system and the ovary offer a wide avenue for future research.     

Deconvolution estimation of nerve conduction velocity distribution

A conduction velocity distribution (CVD) estimator that incorporates volume conductor modeling of the nerve-evoked response is introduced in this paper. The CVD estimates are obtained from two compound nerve action potentials (CNAP) recorded at the skin surface. A third channel is introduced in order to assess the estimator performance in the experimental case. The relevance of using an accurate signal model is shown by comparing the performance of the proposed estimator with a previous approach based on a different CNAP model. The performance of the proposed estimator is evaluated for simulated and experimental data. The study assesses signal-to-noise ratio immunity and sensitivity to errors in the model parameters.     

Spiral-CT-based assessment of tracheal stenoses using 3-D-skeletonization

PURPOSE: Demonstration of a technique for three-dimensional (3-D) assessment of tracheal-stenoses, regarding site, length and degree, based on spiral computed tomography (S-CT). PATIENTS AND METHODS: S-CT scanning and automated segmentation of the laryngo-tracheal tract (LTT) was followed by the extraction of the LTT medial axis using a skeletonization algorithm. Orthogonal to the medial axis the LTT 3-D cross-sectional profile was computed and presented as line charts, where degree and length was obtained. Values for both parameters were compared between 36 patients and 18 normal controls separately. Accuracy and precision was derived from 17 phantom studies. RESULTS: Average degree and length of tracheal stenoses was found to be 60.5% and 4.32 cm in patients compared with minor caliber changes of 8.8% and 2.31 cm in normal controls (p < 0.0001). For the phantoms an excellent correlation between the true and computed 3-D cross-sectional profile was found (p < 0.005) and an accuracy for length and degree measurements of 2.14 mm and 2.53% respectively could be determined. The corresponding figures for the precision were found to be 0.92 mm and 2.56%. CONCLUSION: LTT 3-D cross-sectional profiles permit objective, accurate and precise assessment of LTT caliber changes. Minor LTT caliber changes can be observed even in normals and, in case of an otherwise normal S-CT study, can be regarded as artifacts.     

A SAED and HREM study of structural defects in brownmillerite,LaBa(x)Sr(1-x)CuGaOy related oxides

The synthesis and microstructural characterization, by means of selected area electron diffraction (SAED) and high resolution electron microscopy (HREM), of the solid solution LaBa(x)Sr(1-x)CuGaO5 (0.1 < or = 5 x < or = 0.9) is reported. Although an average brownmillerite Ima2 structure is proposed for the whole compositional range, SAED and HREM clearly show that structural defects appear as barium content increases.     

Effect of blanching and hygroscopic coating on quality of fresh cut carrots (Daucus carota var. chantenay) during storage

The effect of blanching at low temperatures (solution 1% acid citric, 50 degrees C for 30 seconds) and the application of glycerol as humectant (3% p/p, 20 seconds) to preserve the quality of fresh-cut carrots (Daucus carota) were studied as individual or combined treatments. Four treatments were evaluated: a control by dipping samples for 30 seconds in distilled water (T1); blanching (T2); glycerol application (T3); and blanching plus glycerol application (T4). Total carotenoids content, color, soluble solids and weight loss were monitored during storage. Results showed no differences between treatments in carotenoids content (p > 0.10) and soluble solids (p > 0.05). However, differences were observed between treatments in weight loss (p < 0.05) and color change (p < 0.05). Blanched samples (T2 and T4) showed small changes in orange color intensity compared to treatments T1 and T3 (p < 0.05).