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...     

Hyperparameter estimation for satellite image restoration using a MCMC maximum-likelihood method

The satellite image deconvolution problem is ill-posed and must be regularized. Herein, we use an edge-preserving regularization model using a ? function, involving two hyperparameters. Our goal is to estimate the optimal parameters in order to automatically reconstruct images. We propose to use the maximum-likelihood estimator (MLE), applied to the observed image. We need sampling from prior and posterior distributions. Since the convolution prevents use of standard samplers, we have developed a modified Geman-Yang algorithm, using an auxiliary variable and a cosine transform. We present a Markov chain Monte Carlo maximum-likelihood (MCMCML) technique which is able to simultaneously achieve the estimation and the reconstruction.     

Enthalpy recovery of gases issued from H2 production processes: Activity and stability of oxide and noble metal catalysts in oxidation reaction under highly severe conditions

Oxidation activity and stability under reaction was investigated for a series of mixed oxide catalysts, doped or not by a precious metal (Pd, Pt). The reaction feedstock, containing CO, H₂, CH₄, CO₂ and H₂O, simulated gases issued from H₂ production processes for fuel cells. Contrarily to conventional noble metal catalysts, mixed oxide samples present generally good stability under reaction at high temperature. The activities measured for the perovskite and hexaaluminate catalysts, are however largely lower than that of the reference Pd/Al₂O₃ catalyst. High activities were obtained after impregnation of 1.1 wt.% Pd or 0.8 wt.% Pt on the hexaaluminates samples. Even if Pd/Al₂O₃ was found to present a high activity, this sample suffered from drastic deactivation at 700 °C. Better stability were obtained on perovskite. Furthermore, doping hexaaluminate by Pt led to samples with good activities and high stability. Even if better activities were obtained by doping the hexaaluminate samples by Pd, the Pd/BaAl₁₂O₁₉ strongly deactivated, as it was previously observed for the reference catalyst. Interestingly, this Pd deactivation was not observed when Pd was impregnated on the Mn substituted hexaaluminate, leading to a stable and active catalyst. This suggests that it is possible to stabilize the palladium in its oxidized form at high temperature (700 °C) on the surface of some supports.     

How the risk of failure in lifetime of tempered glass depends on the size of NiS inclusions and heat soak test duration

The probability of breakage in service lifetime of heat-tempered glass panes contaminated by nickel sulfide inclusions is estimated with a multiscale micromechanically motivated statistical theory, which considers the effects of the heat soak test (HST). Short and long HSTs differently affect the phase transformation of NiS of diverse chemical composition, whose increase in volume can break the glass. The main hypothesis, corroborated by experiments, is that there is a lower limit for the size of NiS stones below which no crack can be initiated from the volumetric expansion. The catastrophic propagation of nucleated fractures in the long term is modeled through a rescaled critical stress intensity factor, which accounts for the subcritical crack propagation and the slow phase transformation of NiS. A parametric analysis evidences how the failure probability is strongly affected by these parameters, depending on the holding time in the HST. Tailored experimental activity is suggested for the proper calibration of the model.     

A framework for dynamic implicit curve approximation by an irregular discrete approach

The approximation of implicit planar curves by line segments is a very classical problem. Many algorithms use interval analysis to approximate this curve, and to handle the topology of the final reconstruction. In this article, we use discrete geometry tools to build an original geometrical and topological representation of the implicit curve. The polygonal approximation contains few segments, and the Reeb graph permits to sum up efficiently the shape and the topology of the curve. Furthermore, we propose two algorithms to process local cells refinement and local cells grouping schemes. We illustrate these schemes with a global system that efficiently handles manual or automatic fast updates on the global reconstruction, by considering topological or geometrical constraints. We also compare the speed and the quality of our approach with two classical methods.     

Enacting language games: the development of a sense of ‘we‐ness’ in online forums

A sense of ‘we‐ness’– enacted through collective identity and culture – is both crucial in online, remote contexts, and particularly difficult to develop in such settings. Using Wittgenstein's concept of language games, we examine how participants of two online forums construct collective identity and culture through their discursive practices. We suggest a strong performative interpretation of the notion of language games, i.e. members of a community produce a sense of we‐ness through their participation in the language game while also defining their expected behaviours and actions. We illustrate how the notion of language games offers an approach for researching and analysing the emergence of collective identity and culture in online forums.     

Automatic computation of pebble roundness using digital imagery and discrete geometry

The shape of sedimentary particles is an important property, from which geographical hypotheses related to abrasion, distance of transport, river behavior, etc. can be formulated. In this paper, we use digital image analysis, especially discrete geometry, to automatically compute some shape parameters such as roundness, i.e. a measure of how much the corners and edges of a particle have been worn away.In contrast to previous work in which traditional digital images analysis techniques, such as Fourier transform, are used, we opted for a discrete geometry approach that allowed us to implement Wadell's original index, which is known to be more accurate, but more time consuming to implement in the field.Our implementation of Wadell's original index is highly correlated (92%) with the roundness classes of Krumbein's chart, used as a ground-truth. In addition, we show that other geometrical parameters, which are easier to compute, can be used to provide good approximations of roundness.We also used our shape parameters to study a set of pebbles digital images taken from the Progo basin river network (Indonesia). The results we obtained are in agreement with previous work and open new possibilities for geomorphologists thanks to automatic computation.     

Betriebliches Identitätsmanagement

Enterprise Identity Management Systems (EIdMS) are an IT-based infrastructure that needs to be integrated in various business processes and related infrastructures. Assessment and preparation of decisions for the introduction need to take the costs, benefits, and the organizational settings into consideration. A variety of methods for the evaluation and decision support of new IT (e. g. EIdMS) are discussed in the literature – however, these are typically based on single dimensions (e. g. financial or technology aspects). This paper proposes a multidimensional decision support framework, based on the Balanced Scorecard concept. The presented approach introduces four perspectives and a related set of initial decision parameters to support decision making. The perspectives are (a) financial/monetary, (b) business processes, (c) supporting processes and (ICT) infrastructure and (d) information security, risks and compliance. Perspectives and adaptable sets of decision parameters also may serve as foundation for software-based decision support instruments.