A multisensor SLAM for dense maps of large scale environments under poor lighting conditions

This thesis describes the development and implementation of a multisensor large scale autonomous mapping system for surveying tasks in underground mines. The hazardous nature of the underground mining industry has resulted in a push towards autonomous solutions to the most dangerous operations, including surveying tasks. Many existing autonomous mapping techniques rely on approaches to the Simultaneous Localization and Mapping (SLAM) problem which are not suited to the extreme characteristics of active underground mining environments. Our proposed multisensor system has been designed from the outset to address the unique challenges associated with underground SLAM. The robustness, self-containment and portability of the system maximize the potential applications.The multisensor mapping solution proposed as a result of this work is based on a fusion of omnidirectional bearing-only vision-based localization and 3D laser point cloud registration. By combining these two SLAM techniques it is possible to achieve some of the advantages of both approaches – the real-time attributes of vision-based SLAM and the dense, high precision maps obtained through 3D lasers. The result is a viable autonomous mapping solution suitable for application in challenging underground mining environments.A further improvement to the robustness of the proposed multisensor SLAM system is a consequence of incorporating colour information into vision-based localization. Underground mining environments are often dominated by dynamic sources of illumination which can cause inconsistent feature motion during localization. Colour information is utilized to identify and remove features resulting from illumination artefacts and to improve the monochrome based feature matching between frames.Finally, the proposed multisensor mapping system is implemented and evaluated in both above ground and underground scenarios. The resulting large scale maps contained a maximum offset error of ±30mm for mapping tasks with lengths over 100m

A modular hybrid SLAM for the 3D mapping of large scale environments

Underground mining environments pose many unique challenges to the task of creating extensive, survey quality 3D maps. The extreme characteristics of such environments require a modular mapping solution which has no dependency on Global Positioning Systems (GPS), physical odometry, a priori information or motion model simplification. These restrictions rule out many existing 3D mapping approaches. This work examines a hybrid approach to mapping, fusing omnidirectional vision and 3D range data to produce an automatically registered, accurate and dense 3D map. A series of discrete 3D laser scans are registered through a combination of vision based bearing-only localization and scan matching with the Iterative Closest Point (ICP) algorithm. Depth information provided by the laser scans is used to correctly scale the bearing-only feature map, which in turn supplies an initial pose estimate for a registration algorithm to build the 3D map and correct localization drift. The resulting extensive maps require no external instrumentation or a priori information. Preliminary testing demonstrated the ability of the hybrid system to produce a highly accurate 3D map of an extensive indoor space

Oxydes Li-Mn-O pour accumulateurs au lithium: synthèses nouvelles, aspects structuraux et électrochimiques

This work presents the synthesis, characterization – especially thermogravimetric and structural – and lithium electrochemical intercalation properties of several manganese oxides. We describe first the preparation of a 'synthetic ramsdellite', with a low fraction of rutile-type structural defects. Among layered manganese oxides (phyllomanganates), a new route including successive low-temperature topotactic reactions allowed to prepare a lithium phyllomanganate. Its thermal stability and intercalation properties are investigated and compared to those of the sodium compound. The main part of this work is devoted to spinels Li1+xMn2–xO4, which are prominent candidates for positive electrode materials in rechargeable lithium batteries. This work presents new low–temperature syntheses from beta-MnO2 (patented process), and shows evidence of a specific correlation between preparation temperature and spinel phase composition. Lithium intercalation was studied in both liquid and solid electrolytes, for several spinel composi¬tions. Using an in situ electrochemical cell in a X-ray diffractometer, it is shown that the intercalation is a two-phase reaction, even for Li:Mn = 0.69. Performances of substituted spinels containing magnesium and aluminum are also investigated. Thermogravimetric studies of Li–Mn–O spinels show reversible reactions with oxygen exchange. Structural refinements from neutron diffraction data show two different mechanisms depending on the equilibrium temperature ; oxygen vacancies occur in the spinel structure in a sample quenched from 925°C. Finally, a new compound ("m phase") was obtained at 150°C. X-ray and electron diffraction shows that it is a new, monoclinic phase, with a prominent hexagonal subcell.Ce mémoire décrit la synthèse, la caractérisation – notamment thermogravimétrique et structurale – et les propriétés d'intercalation électrochimique du lithium de plusieurs types d'oxydes de manganèse. On décrit tout d'abord la préparation d'une 'ramsdellite synthétique', à faible taux de défauts structuraux de type rutile. Les oxydes de manganèse lamellaires (phyllomanganates) ont donné lieu à une nouvelle voie de synthèse du phyllomanganate de lithium par une succession de réactions topotactiques (échanges d'ions) à basse température. Sa stabilité thermique et ses propriétés d'intercalation sont examinées en comparaison avec celles du composé de sodium. La majeure partie de ce mémoire est consacrée aux spinelles Li1+xMn2–xO4, qui sont des matériaux d'électrode positive prometteurs pour les accumulateurs au lithium. Ce travail montre la faisabilité de synthèses à basse température à partir de béta-MnO2 (procédé breveté), et l'existence d'une corrélation entre température de synthèse et composition de la phase spinelle. L'intercalation du lithium est étudiée en électrolyte solide et liquide pour plusieurs compositions. L'emploi d'une cellule électrochimique in situ dans un diffractomètre de rayons X a permis de mettre en évidence le caractère biphasé de l'intercalation, même pour des spinelles de Li:Mn = 0.69. Les performances électrochimiques de spinelles substituées au magnésium et à l'aluminium sont également examinées. L'étude thermogravimétrique des spinelles Li–Mn–O a permis de mettre en évidence des réactions réversibles avec dégagement d'oxygène. Des affinements structuraux à partir de diagrammes de diffraction neutronique mettent en évidence des réactions différentes en fonction de la température d'équilibre, avec apparition de lacunes d'oxygène dans un échantillon trempé à 925°C. Enfin, un nouveau composé appelé "phase m", de formule Li0.25MnO2, a été obtenu à 150°C. Sa caractérisation structurale aux rayons X et par diffraction électronique montre qu'il s'agit d'une phase nouvelle monoclinique avec une sous-structure pseudo-hexagonale proéminente

Optical coherence tomography-based contact indentation for diaphragm mechanics in a mouse model of transforming growth factor alpha induced lung disease

Funding provided by the National Health and Medical Research Council (NHMRC) of Australia (1027218). P.N. and K.W. are supported by NHMRC Fellowships (1045824, 1090888). P.W. was supported by the William and Marlene Schrader Postgraduate Scholarship, The University of Western Australia, and C.A. by an NHMRC Preterm Infants CRE top-up scholarship.This study tested the utility of optical coherence tomography (OCT)-based indentation to assess mechanical properties of respiratory tissues in disease. Using OCT-based indentation, the elastic modulus of mouse diaphragm was measured from changes in diaphragm thickness in response to an applied force provided by an indenter. We used a transgenic mouse model of chronic lung disease induced by the overexpression of transforming growth factor-alpha (TGF-α), established by the presence of pleural and peribronchial fibrosis and impaired lung mechanics determined by the forced oscillation technique and plethysmography. Diaphragm elastic modulus assessed by OCT-based indentation was reduced by TGF-α at both left and right lateral locations (p < 0.05). Diaphragm elastic modulus at left and right lateral locations were correlated within mice (r = 0.67, p < 0.01) suggesting that measurements were representative of tissue beyond the indenter field. Co-localised images of diaphragm after TGF-α overexpression revealed a layered fibrotic appearance. Maximum diaphragm force in conventional organ bath studies was also reduced by TGF-α overexpression (p < 0.01). Results show that OCT-based indentation provided clear delineation of diseased diaphragm, and together with organ bath assessment, provides new evidence suggesting that TGF-α overexpression produces impairment in diaphragm function and, therefore, an increase in the work of breathing in chronic lung disease.Publisher PDFPeer reviewe

Chronic Allergic Inflammation Causes Vascular Remodeling and Pulmonary Hypertension in Bmpr2 Hypomorph and Wild-Type Mice

Loss-of-function mutations in the bone morphogenetic protein receptor type 2 (BMPR2) gene have been identified in patients with heritable pulmonary arterial hypertension (PAH); however, disease penetrance is low, suggesting additional factors play a role. Inflammation is associated with PAH and vascular remodeling, but whether allergic inflammation triggers vascular remodeling in individuals with BMPR2 mutations is unknown. Our goal was to determine if chronic allergic inflammation would induce more severe vascular remodeling and PAH in mice with reduced BMPR-II signaling. Groups of Bmpr2 hypomorph and wild-type (WT) Balb/c/Byj mice were exposed to house dust mite (HDM) allergen, intranasally for 7 or 20 weeks to generate a model of chronic inflammation. HDM exposure induced similar inflammatory cell counts in all groups compared to controls. Muscularization of pulmonary arterioles and arterial wall thickness were increased after 7 weeks HDM, more severe at 20 weeks, but similar in both groups. Right ventricular systolic pressure (RVSP) was measured by direct cardiac catheterization to assess PAH. RVSP was similarly increased in both HDM exposed groups after 20 weeks compared to controls, but not after 7 weeks. Airway hyperreactivity (AHR) to methacholine was also assessed and interestingly, at 20 weeks, was more severe in HDM exposed Bmpr2 hypomorph mice versus WT. We conclude that chronic allergic inflammation caused PAH and while the severity was mild and similar between WT and Bmpr2 hypomorph mice, AHR was enhanced with reduced BMPR-II signaling. These data suggest that vascular remodeling and PAH resulting from chronic allergic inflammation occurs independently of BMPR-II pathway alterations

Effects of retinoic acid on compensatory lung growth

<p>Abstract</p> <p>Background</p> <p>We investigated the effect of Retinoic acid in the growth of contralateral lung after pneumonectomy.</p> <p>Methods</p> <p>Twentyone adult male Wistar albino rats from the same colony were used. They were divided into three groups (Group A, B and C). Group A undergone only left posterolateral thoracotomy. In Group B and C, the rats were subjected to left posterolateral thoracotomy and left pneumonectomy. In Group C, rats were given intraperitoneal Retinoic acid during the operation and continued to be given everyday postoperatively. Rats were sacrificed on the 10^thday and their total body, right lung weights and right lung volumes were measured.</p> <p>Results</p> <p>The volume and weight indices of the lung were found to be higher in Group C. In histopathological examination, there was a reduction in the mean number of alveoli in Group B and C. A significant rise in the mean dimension and average wall thickness of the alveolar structure were determined in Group C.</p> <p>Conclusion</p> <p>Retinoic acid contributes to the compensatory growth of the residual lung tissue.</p