Point set augmentation through fitting for enhanced ICP registration of point clouds in multisensor coordinate metrology

In multisensor coordinate metrology scenarios involving the fusion of homogenous data, specifically 3D point clouds like those originated by CMMs and structured light scanners, the problem of registration, i.e. the proper localization of the clouds in the same coordinate system, is of central importance. For fine registration, known variants of the Iterative Closest Point (ICP) algorithm are commonly adopted; however, no attempt seems to be done to tweak such algorithms to better suit the distinctive multisensor nature of the data. This work investigates an original approach that targets issues which are specific to multisensor coordinate metrology scenarios, such as coexistence of point sets with different densities, different spatial arrangements (e.g. sparse CMM points vs. gridded sets from light scanners), and different noise levels associated to the point sets depending on the metrological performances of the sensors involved. The proposed approach is based on combining known ICP variants with novel point set augmentation techniques, where new points are added to existing sets with the purpose of improving registration performance and robustness to measurement error. In particular, augmentation techniques based on advanced fitting solutions promote a paradigm shift for registration, which is not seen as a geometric problem consisting in moving point sets as close as possible to each other, but as a problem where it is not the original points, but the underlying geometries that must be brought together. In this work, promising combinations of ICP and point augmentation techniques are investigated through the application to virtual scenarios involving synthetic geometries and simulated measurements. Guidelines for approaching registration problems in industrial scenarios involving multisensor data fusion are also provided.     

Electrical Discharge Machining by Structural-Steel Electrodes

Russian Engineering Research - An approach is outlined to selecting conditions of electrical discharge machining such that coatings with the required functional properties are formed on the working...     

Preparation of the myristoylated and nonmyristoylated form of recombinant recoverin in E. coli cells and comparison of their functional activity]

Numerous data strongly suggest the involvement of cytokines and the matrix metalloproteinase collagenase (MMP-1) in the pathogenesis of periodontitis. Recently, we have demonstrated that, upon culturing under the influence of IL-1 alpha + EGF, a large amount of inactive procollagenase (MMP-1) is stored in the extracellular matrix of periosteal tissue. We now show that this endogenous reservoir of proenzyme can be operative after activation with plasmin and is able to induce a rapid and almost complete breakdown of the collagenous extracellular matrix. The level of collagen degradation following activation showed a strong correlation with the amount of proenzyme that was incorporated in the tissue. The highest level of degradation (70% of the total amount of collagenous proteins) was found with the IL-1 alpha + EGF-treated explants, followed by those treated with IL-1 alpha alone (35%). Explants cultured with EGF or in the absence of cytokines, containing only small amounts of procollagenase, showed little collagen breakdown following plasmin activation (7%). Inhibition of metalloproteinases by EDTA, or blockage of plasmin by PMSF, prevented the degradation in all explants irrespective of the amount of proenzyme present in the tissue. Our findings demonstrate that endogenous proenzyme stored in a native connective tissue matrix can be activated at a later time interval which results in a massive breakdown of the tissue. This study shows a possible pathway of collagenase-induced breakdown without recent de novo synthesis of the enzyme. Such a sequence may be operative in chronic inflammatory diseases, such as periodontitis, where production of procollagenase under the influence of cytokines spans a longer time period, whereas breakdown is often characterized by a cyclic behaviour.     

Compensating for heat flows along current leads

The possibility of compensating for heat flows along current leads by selection of the geometry, material, and operating mode of the conductors is considered.