Real-time hierarchical stereo Visual SLAM in large-scale environments

In this paper we present a new real-time hierarchical (topological/metric) Visual SLAM system focusing on the localization of a vehicle in large-scale outdoor urban environments. It is exclusively based on the visual information provided by a cheap wide-angle stereo camera. Our approach divides the whole map into local sub-maps identified by the so-called fingerprints (vehicle poses). At the sub-map level (low level SLAM), 3D sequential mapping of natural landmarks and the robot location/orientation are obtained using a top-down Bayesian method to model the dynamic behavior. A higher topological level (high level SLAM) based on fingerprints has been added to reduce the global accumulated drift, keeping real-time constraints. Using this hierarchical strategy, we keep the local consistency of the metric sub-maps, by mean of the EKF, and global consistency by using the topological map and the MultiLevel Relaxation (MLR) algorithm. Some experimental results for different large-scale outdoor environments are presented, showing an almost constant processing time.     

FAME Production and Fatty Acid Profiles from Moist Chlorella sp. and Nannochloropsis oculata Biomass

In the present study, we investigated the production of fatty acid methyl esters (FAME) from moist Chlorella sp. and Nannochloropsis oculata biomass using a hydrolysis–esterification process. Additionally, we evaluated for the first time the fatty acid profile before and after this process. Hydrolysis of the lipid fraction was performed on a moist biomass in the presence of differing amounts of an acid catalyst in both 50 and 100 % w/w water relative to the biomass. The esterification of the crude extracts of the free fatty acids (FFA) was then investigated. The experiments show that in the presence of 50 % w/w water relative to the biomass, the hydrolysis–esterification process results in higher FFA and FAME yields. The analysis of the fatty ester profiles did not reveal any degradation of the FFA from the microalgae biomass under the hydrolysis–esterification conditions. The results were compared with both extraction–transesterification and direct transesterification processes using dry biomass. The extraction–transesterification and hydrolysis–esterification processes resulted in similar FAME yields and similar profiles of the fatty esters from dry and moist biomass materials, respectively.     

Characterization of CVD Bonded Tyranno® Fibers Oxidized at High Temperatures

The oxidation of highly porous ceramic matrix composites (PCMCs) based on different Tyranno^® fibers has been analyzed by means of thermogravimetry and electron microscopy. Both uncoated fibers and PCMC materials exhibit parabolic kinetics between 900°C and 1250°C, these being faster for Ti‐doped than for Zr‐doped Tyranno fibers. Oxide layers in Ti‐doped fibers are porous and partially crystalline, whereas in Zr‐doped materials a significant fraction of relatively coarse β‐SiC grains is still found embedded in the amorphous silica matrix. On the other hand, the CVD‐SiC coatings exhibit higher oxidation rates from the outer surface than from the inner one, a phenomenon that has been associated not only with the more difficult access of oxygen to the inner face but also with the highly <111>  textured structure of these coatings, for which very different oxidation rates have been published for the inward and outward directions. Cracking phenomena observed above 1100°C for long dwelling times do not lead to an acceleration of the oxidation process, which could be due to the simultaneous crystallization of the amorphous silica layers.     

Technological windows for MIAB welding of tubes featuring original longitudinal magnetization system with peripheral solenoids

This paper presents the performances of an original longitudinal magnetization system, designed to assure the magnetic flux concentration on the tube wall. This magnetization system is made of several small peripheral solenoids disposed around each tube, parallel to the tube axis, and was used to investigate the interaction between the arc and the magnetic field in case of MIAB (Magnetically Impelled Arc Butt) welding of low carbon steel thin-walled tubes. The main research objective was the development of process parametrical windows for assuring qualitative joint achievement. Macro- and micro-structural analysis accompanies the hardness tests made on corresponding welded samples, demonstrating the operational process maps in producing sound MIAB joints. The paper also discusses the process main stages based on corresponding images resulting from process monitoring, from arc initiation to the emergence of molten metal when upsetting starts and the weld is formed.     

Laser heat treatments driven by integrated beams: role of irradiation nonuniformities

An analysis is given of how nonuniformities in the laser beam intensity translate into variations on the induced temperature distribution on an irradiated sample. The study involves materials with different thermal conductivities. By use of a reshaped irradiating beam obtained with a multifaceted integrating mirror, a three-dimensional numerical calculation allows us to establish both surface and in-depth temperature distributions. The results show that in the case of materials such as glass (i.e., with low thermal conductivity) large thermal gradients occur both on the surface and in depth during irradiation. However, the lateral heat flow is high enough to strongly reduce the surface gradients as soon as the laser irradiation ends. Conversely, in good thermal conductors such as nickel, the laser intensity nonuniformities induce a thermal peaking of the surface with lateral thermal gradients that are by no means negligible. Experimental evidence during laser glass polishing that confirms the numerical assessments are also provided.     

A fault-tolerant control strategy for non-linear discrete-time systems: application to the twin-rotor system

In this paper, an active fault-tolerant control scheme is proposed in the case of actuator faults. In particular, the general idea of integrating fault identification and control schemes, which takes into account the fault estimation error is first presented in a linear context. As a result, the so-called separation principle for the controller and the fault identification scheme is developed. Subsequently, the proposed approach is extended to a class of non-linear systems. Similarly to the linear case, it is proven that using a suitable control strategy and a faulty identification scheme it is possible to obtain an integrated fault-tolerant control framework, which takes into account the fault identification error. As a result, a non-linear counterpart of the above-mentioned separation principle is developed. Finally, the last part of the paper shows the application results obtained using a twin-rotor system that confirm the high performance of the proposed approach.     

A facile single-step procedure for the synthesis of luminescent Ln3+:YVO4 (Ln = Eu or Er + Yb)-silica nanocomposites

A simple and single-step method for the production of Ln-doped YVO₄ nanocrystals and their simultaneous encapsulation in a silica network based on the pyrolysis of liquid aerosols at 800 °C is reported. The procedure is illustrated for Yb,Er:YVO₄-silica nanocomposites consisting of spherical particles, which present up-converted green luminescence after IR excitation whose efficiency increased on annealing up to 1000 °C due to the release of impurities (adsorbed water, and residual anions). XPS spectroscopy and TEM observations revealed that the surface of the composite particles was enriched in silica, which would facilitate their functionalisation required to use them in biological applications. The procedure can also be used to prepare other rare earth doped systems as illustrated for the case of Eu-doped YVO₄/silica having down-converted red luminescence.     

The cenpB gene is not essential in mice

Centromere protein B (CENP-B) is a centromeric DNA-binding protein that binds to alpha-satellite DNA at the 17 bp CENP-B box sequence. The binding of CENP-B, along with other proteins, to alpha-satellite DNA sequences at the centromere, is thought to package the DNA into heterochromatin subjacent to the kinetochore of mitotic chromosomes. To determine the importance of CENP-B to kinetochore assembly and function, we generated a mouse null for the cenpB gene. The deletion removed part of the promoter and the entire coding sequence except for the carboxyl-terminal 35 amino acids of the CENP-B polypeptide. Mice heterozygous or homozygous for the cenpB null mutation are viable and healthy, with no apparent defect in growth and morphology. We have established mouse embryo fibroblasts from heterozygous and homozygous cenpB null littermates. Microscopic analysis, using immunofluorescence and electron microscopy of the cultured cells, indicated that the centromere-kinetochore complex was intact and identical to control cells. Mitosis was identical in fibroblasts derived from cenpB wild-type, heterozygous and null animals. Our studies demonstrate that CENP-B is not required for the assembly of heterochromatin or the kinetochore, or for completion of mitosis.     

Diffusion of Mn2+ impurities in alkali halides and its influence in epitaxy phenomena

A previous paper reported that Mn²⁺ impurities contained in NaCl tend to migrate from the volume to the surface when the crystals are heated to temperatures between 400° and 550°C in air. Once on the surface, the impurities react with oxygen and an epitaxial oxide film is produced on the NaCl substrate. In the present work new data about this oxide film are reported. It has been found that diffusion to the surface can also be observed for KCl:Mn²⁺, LiF:Mn²⁺ and LiCl:Mn²⁺ crystals, at several impurity concentrations, and when heating is carried out in a vacuum of 10^-6 torr. It is shown that this effect has a strong influence in the epitaxy of metal films on alkali halide substrates.