RT-SLAM: A Generic and Real-Time Visual SLAM Implementation

This article presents a new open-source C++ implementation to solve the SLAM problem, which is focused on genericity, versatility and high execution speed. It is based on an original object oriented architecture, that allows the combination of numerous sensors and landmark types, and the integration of various approaches proposed in the literature. The system capacities are illustrated by the presentation of an inertial/vision SLAM approach, for which several improvements over existing methods have been introduced, and that copes with very high dynamic motions. Results with a hand-held camera are presented.Comment: 10 page

Pilot-tone assisted 16-QAM photonic wireless bridge operating at 250 GHz

A photonic wireless bridge operating at a carrier frequency of 250 GHz is proposed and demonstrated. To mitigate the phase noise of the free-running lasers present in such a link, the tone-assisted carrier recovery is used. Compared to the blind phase noise compensation (PNC) algorithm, this technique exhibited penalties of 0.15 dB and 0.46 dB when used with aggregated Lorentzian linewidths of 28 kHz and 359 kHz, respectively, and 20 GBd 16-quadrature amplitude modulation (QAM) signals. The wireless bridge is also demonstrated in a wavelength division multiplexing (WDM) scenario, where 5 optical channels are generated and sent to the Tx remote antenna unit (RAU). In this configuration, the full band from 224 GHz to 294 GHz is used. Finally, a 50 Gbit/s transmission is achieved with the proposed wireless bridge in single channel configuration. The wireless transmission distance is limited to 10 cm due to the low power emitted by the uni-travelling carrier photodiode used in the experiments. However, link budget calculations based on state-of-the-art THz technology show that distances >1000 m can be achieved with this approach.Comment: 13 pages, in Journal of Lightwave Technolog

Reproductive Technologies and Genomic Selection in Cattle

The recent development of genomic selection induces dramatic changes in the way genetic selection schemes are to be conducted. This review describes the new context and corresponding needs for genomic based selection schemes and how reproductive technologies can be used to meet those needs. Information brought by reproductive physiology will provide new markers and new improved phenotypes that will increase the efficiency of selection schemes for reproductive traits. In this context, the value of the reproductive techniques including assisted embryo based reproductive technologies (Multiple Ovaluation Embryo Transfer and Ovum pick up associated to in vitro Fertilization) is also revisited. The interest of embryo typing is discussed. The recent results obtained with this emerging technology which are compatible with the use of the last generation of chips for genotype analysis may lead to very promising applications for the breeding industry. The combined use of several embryo based reproductive technologies will probably be more important in the near future to satisfy the needs of genomic selection for increasing the number of candidates and to preserve at the same time genetic variability

Integrating THz Wireless Communication Links in a Data Centre Network

Modern data centre networks are increasingly made up of optical fibre connections and controlled by software defined networking. Recent advances in THz wireless technologies have paved the way for ultra-high bandwidth wireless communication, reaching the point where these wireless links can begin to compete with optical fibre links. This work investigates the feasibility of integrating wireless THz links in a data centre network, reporting on the performance that can be achieved at the physical layer, proposing an architecture for the data link layer and illustrating, through network emulation, how these wireless links could be used to reduce congestion in a network

Module-level power electronics under indoor performance tests

In the last decade, very few papers with outdoor measurement test results were published, which demonstrated a benefit of module-level power electronics (MLPE) higher than the measurement uncertainty. Due to the expected small difference in efficiency between conventional string-inverter based and MLPE systems, indoor measurements are required to exclude natural variation of solar irradiance in outdoor tests. Therefore, indoor efficiency measurements were performed on MLPE. Afterwards, the indoor measured efficiency of the single PV module DC/DC power optimizers were multiplied with the DC/AC inverter measurements. The final system efficiency with the maximum average value resulted in 94.78 % and with the power weighted efficiency in 94.37 %. Accordingly, if mismatches are neglected, the analysed MLPE system is expected to yield approximately 2.82 % less energy than a comparable stringinverter based system in unshaded conditions. However, in the case of shading, the tested system with heavy-shading orthogonal to the cell strings was estimated to yield approximately 3.5 % more energy on a clear-sky day in March in Winterthur, Switzerland. The performances determined in the tests are significantly lower than the efficiencies provided by the datasheet of the power optimizers (around -2.29 %). However, they are still presumed to provide significant additional yields for PV systems with medium- and heavy-shading conditions

Projecting the risk of mosquito-borne diseases in a warmer and more populated world: a multi-model, multi-scenario intercomparison modelling study

Background: Mosquito-borne diseases are expanding their range, and re-emerging in areas where they had subsided for decades. The extent to which climate change influences the transmission suitability and population at risk of mosquito-borne diseases across different altitudes and population densities has not been investigated. The aim of this study was to quantify the extent to which climate change will influence the length of the transmission season and estimate the population at risk of mosquito-borne diseases in the future, given different population densities across an altitudinal gradient. Methods: Using a multi-model multi-scenario framework, we estimated changes in the length of the transmission season and global population at risk of malaria and dengue for different altitudes and population densities for the period 1951-99. We generated projections from six mosquito-borne disease models, driven by four global circulation models, using four representative concentration pathways, and three shared socioeconomic pathways. Findings: We show that malaria suitability will increase by 1·6 additional months (mean 0·5, SE 0·03) in tropical highlands in the African region, the Eastern Mediterranean region, and the region of the Americas. Dengue suitability will increase in lowlands in the Western Pacific region and the Eastern Mediterranean region by 4·0 additional months (mean 1·7, SE 0·2). Increases in the climatic suitability of both diseases will be greater in rural areas than in urban areas. The epidemic belt for both diseases will expand towards temperate areas. The population at risk of both diseases might increase by up to 4·7 additional billion people by 2070 relative to 1970-99, particularly in lowlands and urban areas. Interpretation: Rising global mean temperature will increase the climatic suitability of both diseases particularly in already endemic areas. The predicted expansion towards higher altitudes and temperate regions suggests that outbreaks can occur in areas where people might be immunologically naive and public health systems unprepared. The population at risk of malaria and dengue will be higher in densely populated urban areas in the WHO African region, South-East Asia region, and the region of the Americas, although we did not account for urban-heat island effects, which can further alter the risk of disease transmission

Acute immune responses in zebrafish and evasive behavior of a parasite – who is winning?

The protozoan parasite Ichthyophthirius multifiliis is an economically important parasite for the aquaculture- and ornamental fish industry. The parasite is abundant worldwide and infects the skin, gills and fins of freshwater fish species. For approximately the last fifty years the innate and protective immune mechanisms induced by I. multifiliis have been in focus in different fish hosts. By utilizing transgenic zebrafish, new tools to investigate this have emerged. The aim of this study was therefore to elucidate early immune responses in zebrafish larvae by using gene expression and in vivo imaging of neutrophil and macrophage behavior during infection. For the first time, zebrafish larvae were infected with the parasite and infection dynamics, parasite size and host-parasite interactions were investigated. Results showed that the larvae responded with mild inflammation and that the 12 compared to 5 days post fertilization larvae were significantly less susceptible. It was furthermore observed that neutrophils and macrophages were attracted to the parasites and that neutrophils reacted with neutrophil extracellular traps (NETs) when fighting the parasite. The parasite was rotating vigorously, presumably to impede the neutrophils and macrophages from attaching to it but on rare occasions, neutrophils and macrophages were able to kill the parasite. Based on these observations, we concluded that the parasite uses the rotation as an immune evasive strategy and that the zebrafish larvae respond with high activity from neutrophils and macrophages locally but systemically only with mild inflammation

SeaWiFS Postlaunch Technical Report Series

This report documents the scientific activities on board the Royal Research Ship (RRS) James Clark Ross (JCR) during the fifth Atlantic Meridional Transect (AMT-5), 14 September to 17 October 1997. There are three objectives of the AMT Program. The first is to derive an improved understanding of the links between biogeochemical processes, biogenic gas exchange, air-sea interactions, and the effects on, and responses of, oceanic ecosystems to climate change. The second is to investigate the functional roles of biological particles and processes that influence ocean color in ecosystem dynamics. The Program relates directly to algorithm development and the validation of remotely-sensed observations of ocean color. Because the Sea-viewing Wide Field-of-view Sensor (SeaWiFS) instrument achieved operational status during the cruise (on 18 September), AMT-5 was designated the SeaWiFS Atlantic Characterization Experiment (SeaACE) and was the only major research cruise involved in the validation of SeaWiFS data during the first 100 days of operations. The third objective involved the near-real time reporting of in situ light and pigment observations to the SeaWiFS Project, so the performance of the satellite sensor could be determined

Exploring plant responses to abiotic stress by contrasting spectral signature changes

In this study, daily changes over a short period and diurnal progression of spectral reflectance at the leaf level were used to identify spring wheat genotypes (Triticum aestivum L.) susceptible to adverse conditions. Four genotypes were grown in pots experiments under semi-controlled conditions in Chile and Spain. Three treatments were applied: i) control (C), ii) water stress (WS), and iii) combined water and heat shock (WS+T). Spectral reflectance, gas exchange and chlorophyll fluorescence measurements were performed on flag leaves for three consecutive days at anthesis. High canopy temperature (HCT) genotypes showed less variability in their mean spectral reflectance signature and chlorophyll fluorescence, which was related to weaker responses to environmental fluctuations. While low canopy temperature (LCT) genotypes showed greater variability. The genotypes spectral signature changes, in accordance with environmental fluctuation, were associated with variations in their stomatal conductance under both stress conditions (WS and WS+T); LCT genotypes showed an anisohydric response compared that of HCT, which was isohydric. This approach could be used in breeding programs for screening a large number of genotypes through proximal or remote sensing tools and be a novel but simple way to identify groups of genotypes with contrasting performances