Map management for robust long-term visual localization of an autonomous shuttle in changing conditions

Multimedia Tools and Applications - Changes in appearance present a tremendous problem for the visual localization of an autonomous vehicle in outdoor environments. Data association between the...     

Geopolymer assembly by emulsion templating: Emulsion stability and hardening mechanisms

This work investigates emulsion templating to synthesize hexadecane oil/geopolymer composites. In a system with hexadecane as the internal (dispersed) phase and an alkali activated continuous phase without added surfactant, adding aluminosilicate clay particles does not increase resistance against creaming or coalescence, while adding a surfactant (L35 or CTAB) stabilizes the solid-liquid interface. Infrared studies and rheological studies of the associated geopolymerization determined that the presence of the organic phase or surfactant has no significant effect on the geopolymerization kinetics, as determined by the change in time of the Si-O-T IR stretching frequency and the rheological moduli involved during the process. The stabilization of the organic template is reminiscent of Pickering emulsion even though we employ a much greater amount of inorganic material for geopolymer formation. Although the addition of surfactant has a significant effect on the behavior of the paste, the percolation of the network remains unmodified, highlighting the fact that the phenomenon is not dependent on viscosity. Finally, rheological measurements were used to obtain the mass fractal dimension of the as-made gel network, which is able to differentiate the interfacial effect between surfactant molecules with a slightly denser interphase when a cationic surfactant is used.     

Ring-opening polymerization of decamethylcyclopentasiloxane initiated by a superbase: Kinetics and rheology

The use of phosphazene bases in combination with water was proved to be efficient in order to obtain polysiloxane polymers from cyclic monomers. Only a few minutes are necessary to obtain polymer chains with a monomer concentration of 5% at the equilibrium. For that purpose the space which is between a rheometer's plates is the most convenient device to monitor this reaction concerning a chemical and viscoelastic point of view. Therefore, here is proposed a chemo-rheology study that leads in the same time to the chemical kinetics equations and to the variation of the viscoelastic functions during the polymerization. In this way different catalysts are used and their efficiencies are compared as a function of their “basicity tank”. Whatever the experimental conditions involved are, viscosity versus polymer concentration or conversion shows a master curve for catalysts suitable to be used under extrusive conditions. Thus, only a few experiments are needed in order to develop a model which can be used to foresee the variation of the viscosity during the reaction.     

Sintering of an ultra pure α-alumina powder: I. Densification,grain growth and sintering path

Sintering in air of an ultra pure α-alumina powder has been investigated. Isothermal experiments have been conducted on green samples shaped by slip casting. The grain growth and densification kinetics have been established. The “relative density/grain size” trajectory, called “sintering path”, has been drawn. Hypotheses concerning the mechanisms controlling grain growth and densification have been formulated. For the first time, it is shown that grain growth and densification kinetics exhibit two distinct regimes, where an initial point defect formation step plays a key role. When point defects have been generated, the diffusion of the associated Al³⁺ cations controls grain growth and densification.     

Analysis of Caching and Replication Strategies for Web Applications

Developers often use replication and caching mechanisms to enhance Web application performance. The authors present a qualitative and quantitative analysis of state-of-the art replication and caching techniques used to host Web applications. Their analysis shows that selecting the best mechanism depends heavily on data workload and requires a careful review of the application's characteristics. They also propose a technique for Web practitioners to compare different mechanisms' performance on their own     

A multiparameter wearable physiologic monitoring system for space and terrestrial applications.

A novel, unobtrusive and wearable, multiparameter ambulatory physiologic monitoring system for space and terrestrial applications, termed LifeGuard, is presented. The core element is a wearable monitor, the crew physiologic observation device (CPOD), that provides the capability to continuously record two standard electrocardiogram leads, respiration rate via impedance plethysmography, heart rate, hemoglobin oxygen saturation, ambient or body temperature, three axes of acceleration, and blood pressure. These parameters can be digitally recorded with high fidelity over a 9-h period with precise time stamps and user-defined event markers. Data can be continuously streamed to a base station using a built-in Bluetooth RF link or stored in 32 MB of on-board flash memory and downloaded to a personal computer using a serial port. The device is powered by two AAA batteries. The design, laboratory, and field testing of the wearable monitors are described.     

Synthesis of polymer materials for use as cell culture substrates

Up to today, several techniques have been used to maintain cells in culture for studying many aspects of cell biology and physiology. More often, cell culture is dependent on proper anchorage of cells to the growth surface. Thus, poly-l-lysine, fibronectin or laminin are the most commonly used substrates. In this study, electrosynthesized biocompatible polymer films are proposed as an alternative to these standard substrates. The electrosynthesized polymers tested were polyethylenimine, polypropylenimine and polypyrrole. Then, the adhesion, proliferation and morphology of rat neuronal cell lines were investigated on these polymer substrates in an attempt to develop new and efficient polymer materials for cell culture. During their growth on the polymers, the evolution of the cell morphology was monitored using both confocal microscopy and immunohistochemistry, leading to the conclusion of a normal development. An estimation of the adhesion and proliferation rates of rat neuronal cell cultures indicated that polyethylenimine and polypropylenimine were the best substrates for culturing olfactory neuronal cells. A method to favour the differentiation of the neuronal cells was also developed since the final aim of this work is to develop a biosensor for odour detection using differentiated neuronal cells as transducers. Consequently, a biosensor was microfabricated using silicon technology. This microsystem allowed us to culture the cells on a silicon wafer and to position the cells on certain parts of the silicon wafer.     

Ice sheet survey over Antarctica using satellite altimetry: ERS-2, Envisat,SARAL/AltiKa,the key importance of continuous observations along the same repeat orbit

From September 2002 to October 2010, the Envisat radar altimeter surveyed Greenland and Antarctica ice sheets on a 35 day repeat orbit, providing a unique data set for ice sheet mass balance studies. Up to 85 repeat cycles are available and the whole Envisat data set may be along-track processed in order to provide height variability and trend with a good spatial resolution for the objectives of ice sheet survey.

Soon, a joint Centre National d’Etudes Spatiales/Indian Space Research Organisation mission, SARAL (Satellite with Argos and AltiKa), with the AltiKa payload on board, will be launched on exactly the same orbit (less than 1 km of the nomimal orbit in the across-track direction). This will allow an extension of previous European Remote Sensing (ERS) satellite, ERS-1 and ERS-2, and Envisat missions of the European Space Agency (ESA), in particular from the point of view of ice altimetry. However, AltiKa operates in the Ka band (36.8 GHz), a higher frequency than the classical Ku band (13.6 GHz), leading to important modifications and potential improvements in the interactions between radar wave and snow-pack.

In this paper, a synthesis is presented of all available information relevant to ice altimetry scientific purposes as derived from the Envisat mission: mean and temporal derivatives of the height ? but also of the backscatter and of the two waveform parameters ? snow-pack change corrections, across-track surface slope at 1 km scale, etc. The spatial and temporal variability of ice sheet surface elevation is investigated with the help of the high-resolution Envisat along-track observations. We show that at least 50 repeat cycles are needed to reach the required accuracy for the elevation trend. It is thus advocated as potentially highly beneficial for SARAL/AltiKa as a follow-on mission. Moreover, the novel characteristics of SARAL/AltiKa are promising in improving our understanding of snow penetration impact.     

Development of the Acidity of Zirconia-Supported Niobia Catalysts

A series of NbO _x /ZrO₂ catalysts containing up to 2.67wt Nb (ca. 80 nominal surface coverage) was prepared by incipient wetness impregnation from niobium oxalate and oxalic acid solution. The structure of the catalysts was monitored by X-ray diffraction and Raman spectroscopy. The results indicated the presence of a surface Nb phase. No evidence for the formation of crystalline Nb₂O₅ species was found. The development of the acidity as a function of Nb loading was monitored by adsorption of a basic probe molecule followed by infrared spectroscopy. The results indicated the appearance of Brnsted acid sites for a threshold of Nb loading. The abundance of Brnsted acid sites correlated well with the isopropanol dehydration activity. The overall behavior was very similar to that reported earlier for the WO _x /ZrO₂ system.