A General Framework for Flexible Multi-Cue Photometric Point Cloud Registration

The ability to build maps is a key functionality for the majority of mobile robots. A central ingredient to most mapping systems is the registration or alignment of the recorded sensor data. In this paper, we present a general methodology for photometric registration that can deal with multiple different cues. We provide examples for registering RGBD as well as 3D LIDAR data. In contrast to popular point cloud registration approaches such as ICP our method does not rely on explicit data association and exploits multiple modalities such as raw range and image data streams. Color, depth, and normal information are handled in an uniform manner and the registration is obtained by minimizing the pixel-wise difference between two multi-channel images. We developed a flexible and general framework and implemented our approach inside that framework. We also released our implementation as open source C++ code. The experiments show that our approach allows for an accurate registration of the sensor data without requiring an explicit data association or model-specific adaptations to datasets or sensors. Our approach exploits the different cues in a natural and consistent way and the registration can be done at framerate for a typical range or imaging sensor.Comment: 8 page

Piezo-electromechanical smart materials with distributed arrays of piezoelectric transducers: Current and upcoming applications

This review paper intends to gather and organize a series of works which discuss the possibility of exploiting the mechanical properties of distributed arrays of piezoelectric transducers. The concept can be described as follows: on every structural member one can uniformly distribute an array of piezoelectric transducers whose electric terminals are to be connected to a suitably optimized electric waveguide. If the aim of such a modification is identified to be the suppression of mechanical vibrations then the optimal electric waveguide is identified to be the 'electric analog' of the considered structural member. The obtained electromechanical systems were called PEM (PiezoElectroMechanical) structures. The authors especially focus on the role played by Lagrange methods in the design of these analog circuits and in the study of PEM structures and we suggest some possible research developments in the conception of new devices, in their study and in their technological application. Other potential uses of PEMs, such as Structural Health Monitoring and Energy Harvesting, are described as well. PEM structures can be regarded as a particular kind of smart materials, i.e. materials especially designed and engineered to show a specific andwell-defined response to external excitations: for this reason, the authors try to find connection between PEM beams and plates and some micromorphic materials whose properties as carriers of waves have been studied recently. Finally, this paper aims to establish some links among some concepts which are used in different cultural groups, as smart structure, metamaterial and functional structural modifications, showing how appropriate would be to avoid the use of different names for similar concepts. © 2015 - IOS Press and the authors

Non-Linear Model Predictive Control with Adaptive Time-Mesh Refinement

In this paper, we present a novel solution for real-time, Non-Linear Model Predictive Control (NMPC) exploiting a time-mesh refinement strategy. The proposed controller formulates the Optimal Control Problem (OCP) in terms of flat outputs over an adaptive lattice. In common approximated OCP solutions, the number of discretization points composing the lattice represents a critical upper bound for real-time applications. The proposed NMPC-based technique refines the initially uniform time horizon by adding time steps with a sampling criterion that aims to reduce the discretization error. This enables a higher accuracy in the initial part of the receding horizon, which is more relevant to NMPC, while keeping bounded the number of discretization points. By combining this feature with an efficient Least Square formulation, our solver is also extremely time-efficient, generating trajectories of multiple seconds within only a few milliseconds. The performance of the proposed approach has been validated in a high fidelity simulation environment, by using an UAV platform. We also released our implementation as open source C++ code.Comment: In: 2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2018

Modeling Deformable Bodies Using Discrete Systems with Centroid-Based Propagating Interaction: Fracture and Crack Evolution

International audienceWe use a simple discrete system in order to model deformation and fracture within the same theoretical and numerical framework. The model displays a rich behavior, accounting for different fracture phenomena, and in particular for crack formation and growth. A comparison with standard Finite Element simulations and with the basic Griffith theory of fracture is provided. Moreover, an ‘almost steady’ state, i.e. a long apparent equilibrium followed by an abrupt crack growth, is obtained by suitably parameterizing the system. The model can be easily generalized to higher order interactions corresponding, in the homogenized limit, to higher gradient continuum theories

Plug-and-Play SLAM: A Unified SLAM Architecture for Modularity and Ease of Use

Nowadays, SLAM (Simultaneous Localization and Mapping) is considered by the Robotics community to be a mature field. Currently, there are many open-source systems that are able to deliver fast and accurate estimation in typical real-world scenarios. Still, all these systems often provide an ad-hoc implementation that entailed to predefined sensor configurations. In this work, we tackle this issue, proposing a novel SLAM architecture specifically designed to address heterogeneous sensors' configuration and to standardize SLAM solutions. Thanks to its modularity and to specific design patterns, the presented architecture is easy to extend, enhancing code reuse and efficiency. Finally, adopting our solution, we conducted comparative experiments for a variety of sensor configurations, showing competitive results that confirm state-of-the-art performance

Identification of a set of KSRP target transcripts upregulated by PI3K-AKT signaling

BACKGROUND: KSRP is a AU-rich element (ARE) binding protein that causes decay of select sets of transcripts in different cell types. We have recently described that phosphatidylinositol 3-kinase/AKT (PI3K-AKT) activation induces stabilization and accumulation of the labile β-catenin mRNA through an impairment of KSRP function. RESULTS: Aim of this study was to identify additional KSRP targets whose stability and steady-state levels are enhanced by PI3K-AKT activation. First, through microarray analyses of the AU-rich transcriptome in pituitary αT3-1 cells, we identified 34 ARE-containing transcripts upregulated in cells expressing a constitutively active form of AKT1. In parallel, by an affinity chromatography-based technique followed by microarray analyses, 12 mRNAs target of KSRP, additional to β-catenin, were identified. Among them, seven mRNAs were upregulated in cells expressing activated AKT1. Both steady-state levels and stability of these new KSRP targets were consistently increased by either KSRP knock-down or PI3K-AKT activation. CONCLUSION: Our study identified a set of transcripts that are targets of KSRP and whose expression is increased by PI3K-AKT activation. These mRNAs encode RNA binding proteins, signaling molecules and a replication-independent histone. The increased expression of these gene products upon PI3K-AKT activation could play a role in the cellular events initiated by this signaling pathway

Open-aqueduct LOVA, LIAS, iNPH: a comparative clinical-radiological study exploring the "grey zone" between different forms of chronic adulthood hydrocephalus

The definition of chronic adult hydrocephalus encompasses different pathological entities with overlapping characteristics, including long-standing overt ventriculomegaly in adults (LOVA), late-onset idiopathic aqueductal stenosis (LIAS) and idiopathic normal pressure hydrocephalus (iNPH). The aim of our study was to identify preoperative clinical and radiological features peculiar of these diseases providing some pathophysiology inferences on these forms of hydrocephalus