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.     

In vivo occupancy of the striatal dopamine uptake complex by various inhibitors does not predict their effects on locomotion

We have recently found that allogenic bone marrow transplantation (BMT) can be used to treat lupus nephritis in NZB x NZW F1 (B/W F1) and BXSB mice. To elucidate why and how glomerular damage is repaired, serial renal biopsies were carried out using B/W F1 mice before, and after BMT. Donor-derived B cells and macrophages with normal functions developed two weeks after BMT, whereas donor-derived functional T cells were generated after seven weeks of BMT. Visceral epithelial cells as well as macrophages in the glomeruli were activated (probably by T cell-derived lymphokines) at this time; they showed marked phagocytic activity, resulting in clearance of immune complexes (ICs) and repair of damaged basement membranes. These results suggest that normal T cell functions, which have the capacity to activate macrophages and epithelial cells, are essential in repairing IC-mediated glomerular damage.     

Raman studies of structural rearrangements induced in human plasma lipoprotein carotenoids by malondialdehyde

Raman and resonance Raman spectra of plasma lipoproteins ± malondialdehyde were studied at concentrations which block the normal receptor-mediated uptake by cells. The strong resonance Raman bands at about 1010, 1162 and 1530 cm⁻¹, due to the presence of carotenoids in the lipoproteins, are envisaged as structural probes. High resolution resonance Raman spectra of the 1500–1600 cm⁻¹ region reveal multiple features suggesting the coexistence of several structural populations of β-carotene whose precise assignment is complex. When plasma lipoproteins are reacted with malondialdehyde, a complex change occurs in the resonance Raman banding of β-carotene in the 1500–1600 cm⁻¹ region. Malonaldehyde (MDA) also modifies the acoustical region (70–200 cm⁻¹ of low density lipoprotein (LDL) lipids. We suggest that malondialdehyde association with plasma lipoproteins alters the lipid structure via apoprotein or apoprotein/lipid associations.     

Mistracking in successive PCM/ADPCM transcoders

An analysis is presented of the causes of the accumulation of quantizing noise found in the transient state for successive CCITT adaptive differential pulse-code-modulation (ADPCM) transcoders connected synchronously. By decoupling the predictor and quantizer effect it is proved that, owing to a self-stabilization phenomenon, narrowband inputs cause local instabilities in the predictor of the jointly adaptive autoregressive moving-average-prediction/quantization used in the ADPCM 32-kb/s algorithm. Despite the assured global stability, these local instabilities are not synchronized at the encoder and its preceding decoder, and a mistracking occurs which creates quantizing noise accumulation. The tracking is then shown to be very sensitive to predictor/quantizer interaction. The discontinuities introduced in the standardized adaptive quantizer extend the mistracking problem to wideband inputs. A smoothed quantizer with reduced inauspicious interaction is proposed to remedy the problem