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.     

Outgassing from stainless steel and the effects of the gauges

The true outgassing from surfaces is often masked by the production of gases and pumping within the measuring gauge. Quadrupole mass analysers have been used to measure the outgassing from carefully prepared samples of stainless steel. By using an isolation pressure rise technique coupled to non-evaporable getter pumping, the problem of production of methane by the gauge is overcome and it has been possible to measure the outgassing of methane to very low levels. The specific outgassing rate of methane from 316 L stainless steel is found to be ?5×10⁻²² mbar l s⁻¹ cm⁻². The outgassing of the other gases has been measured using several gauges. The specific outgassing of hydrogen is found to be 4.5×10⁻¹⁵ mbar l s⁻¹ cm⁻² and the total of all other gasses amounted to no more than 10% of this figure. Although the measurements of the other gases are more ambiguous than those for methane, it is concluded that, in all probability, only hydrogen is outgassed from stainless steel.     

A point mutation associated with a severe phenotype of neurofibromatosis 2

Neurofibromatosis 2 (NF2) is an autosomal dominant disease characterized by bilateral vestibular schwannomas and other nonmalignant tumors of the brain, spinal cord, and peripheral nerves. Although the average age of onset of NF2 is 20 years, some individuals may become symptomatic in childhood. We studied 5 unrelated NF2 patients who became symptomatic before age 13. All 5 had multiple tumors in addition to vestibular schwannoma, and none had a positive family history. Sequence analysis of the NF2 gene revealed identical nonsense mutation of exon 6 in 3 patients. Because this mutation destroys a restriction enzyme recognition site, genomic DNA from the 2 other children was directly tested for this change and identical alterations were detected. Although the work of our laboratory and others has not, in general, detected identical mutations in unrelated patients, this mutation seems to occur particularly frequently in the pediatric population and thus may be associated with an especially severe phenotype. Restriction analysis in children with NF2 may be a cost effective way of identifying their mutation. Further work is needed to characterize the effects of this change on the NF2 protein product and its relationship to this severe phenotype.     

Integrating R&D and marketing: a comparison of practices in theJapanese and American chemical industries

The authors analyze survey information collected from R&D and marketing managers working for American and Japanese chemical manufacturers. They report three key differences in the R&D marketing relationships between Japanese and American firms. Those differences involve the procedures for allocating the tasks between the functional areas, the activities assigned to each area as a result, and the potential for conflict between the two functions. Specifically, the authors find evidence that R&D departments in Japanese firms have a larger role in new product development than do marketing departments. American firms are not characterized by the same asymmetry in their relationship. Finally, the American firms studied did exhibit a greater potential for conflict between functions     

The hydrogenation of triglycerides using supported alloy catalysts. I. Silica-supported Ni—Ag catalysts

Silica-supported Ni-Ag catalysts with a loading of 2·1·0.6% (w/w) total metal have been prepared using the precursors nickel dimethylglyoxime and silver nitrate by means of a simple impregnation method. The resulting catalysts were activated by calcination at 260°C in air, followed by hydrogen reduction at 450°C. They were then employed for soyabean oil hydrogenation at 1 bar H2 pressure and 160°C in a stirred batch reactor. Characterisation of the catalysts using temperature-programmed reduction and electron microscopy indicated that alloying of nickel and silver had occurred, but metal particle composition, for a given overall composition, varied with metal particle size and smaller metal particles were nickel rich. The hydrogenation activity and selectivity measurements revealed that the catalysts were more active and selective than a commercial nickel catalyst. Furthermore, the specific activities of the alloy catalysts were a maximum for alloys in the range 70–90 at. % Ni. However, the supported alloy catalysts also gave rise to greater trans isomerisation than the commercial catalyst. This is attributed to hydrogen deficiency caused by large triglyceride molecules blocking hydrogen chemisorption on small nickel particles (10–50 Å in diameter), leading to enhanced cis-trans isomerisation.     

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