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.     

Synthesis, absolute configuration, and analysis of malathion, malaoxon, and isomalathion enantiomers

Syntheses of the enantiomers of malathion, malaoxon, and isomalathion are reported herein. Malathion enantiomers were prepared from (R)- or (S)-malic acid in three steps. Enantiomers of malathion were converted to the corresponding enantiomers of malaoxon in 52% yield by oxidation with monoperoxyphthalic acid, magnesium salt. The four isomalathion stereoisomers were prepared via two independent pathways using strychnine to resolve the asymmetric phosphorus moiety. The absolute configurations of the four stereoisomers of isomalathion were determined by X-ray crystallographic analysis of an alkaloid salt precursor. A high-performance liquid chromatography technique was developed to resolve the four stereoisomers of isomalathion, and to determine their stereoisomeric ratios.     

Limit of validity of the moisture diffusivity for the study of moisture transfer inside terracotta

In order to know the limit of validity of the concept of hydrical diffusivity, D_W, we tried to validate the Boltzmann's method used to identify it. We show that for a medium strictly satisfying the equation of diffusion, the method gives quite good results with nevertheless some inaccuracies for the extreme values of water contents. For the real studied material, a backed clay, its identification becomes more difficult because of the dispersion of the wetting phenomenon observed for different specimens of the same material. We are showing that the mean behaviour of one sample is near to be the same as the more probable behaviour of all the samples. Otherwise the values of D_W determined for a wetting cannot be used to describe a drying process. It practical interest is then considerably reduced. In order to test the influence of the gas phase pressure effects on the behaviour of the material, we have determined all the parameters necessary to describe, numerically, wetting and drying processes without to resort to D_W. We noticed an overpressure of the gas phase inside the material due to drying. If the gas pressure effects are, numerically, switched off, we cannot notice any influence on water content profiles for this type of material.     

Toward a unified theory of similarity and recognition.

A new theory of similarity, rooted in the detection and recognition literatures, is developed. The general recognition theory assumes that the perceptual effect of a stimulus is random but that on any single trial it can be represented as a point in a multidimensional space. Similarity is a function of the overlap of perceptual distributions. It is shown that the general recognition theory contains Euclidean distance models of similarity as a special case but that unlike them, it is not constrained by any distance axioms. Three experiments are reported that test the empirical validity of the theory. In these experiments the general recognition theory accounts for similarity data as well as the currently popular similarity theories do, and it accounts for identification data as well as the longstanding "champion" identification model does. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

New integrated buried laser-ridge modulator with identical active layer

Integrated laser modulators are attractive devices for wavelength-division-multiplexing optical systems due to their compactness, high output power, and low cost. Their fabrication simplicity is a way to decrease further the transmitter cost and address new opening markets of short range and metropolitan networks. We report a new integration scheme electroabsorption-modulator distributed feedback (DFB) laser based on well-established industrial solutions for discrete buried ridge (BRS) DFB lasers and discrete shallow ridge modulators. Processing simplification with an identical active layer has been possible due to a good behavior of strongly positively detuned BRS lasers. The integrated devices demonstrated 30-dB extinction ratio with 10-GHz bandwidth and P/sub out/=10 dBm for emission in 1.55-/spl mu/m range.     

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.