Hybrid tracking approach using optical flow and pose estimation

International audienceThis paper proposes an hybrid approach to estimate the 3D pose of an object. The integration of texture information based on image intensities in a more classical non-linear edge-based pose estimation computation has proven to highly increase the reliability of the tracker. We propose in this work to exploit the data provided by an optical flow algorithm for a similar purpose. The advantage of using the optical flow is that it does not require any a priori knowledge on the object appearance. The registration of 2D and 3D cues for monocular tracking is performed by a non linear minimization. Results obtained show that using optical flow enables to perform robust 3D hybrid tracking even without any texture mode

Neodymium recovery by chitosan/iron(III) hydroxide [ChiFer(III)] sorbent material: Batch and column systems

A low cost composite material was synthesized for neodymium recovery from dilute aqueous solutions. The in-situ production of the composite containing chitosan and iron(III) hydroxide (ChiFer(III)) was improved and the results were compared with raw chitosan particles. The sorbent was characterized using Fourier transform infrared spectroscopy (FTIR) and scanning electron microscopy-energy dispersive X-ray analyses (SEM-EDX). The equilibrium studies were performed using firstly a batch system, and secondly a continuous system. The sorption isotherms were fitted with the Langmuir, Freundlich, and Sips models; experimental data was better described with the Langmuir equation and the maximum sorption capacity was 13.8 mg g-1 at pH 4. The introduction of iron into the biopolymer matrix increases by four times the sorption uptake of the chitosan; the individual sorption capacity of iron (into the composite) was calculated as 30.9 mg Nd/g Fe. The experimental results of the columns were fitted adequately using the Thomas model. As an approach to Nd-Fe-B permanent magnets effluents, a synthetic dilute effluent was simulated at pH 4, in order to evaluate the selectivity of the sorbent material; the overshooting of boron in the column system confirmed the higher selectivity toward neodymium ions. The elution step was carried out using MilliQ-water with the pH set to 3.5 (dilute HCl solution).Peer ReviewedPostprint (published version

Real-time 3D model-based tracking: Combining edge and texture information

International audienceThis paper proposes a real-time, robust and efficient 3D model-based tracking algorithm. A non linear minimization approach is used to register 2D and 3D cues for monocular 3D tracking. The integration of texture information in a more classical non-linear edge-based pose computation highly increases the reliability of more conventional edge-based 3D tracker. Robustness is enforced by integrating a M-estimator into the minimization process via an iteratively re-weighted least squares implementation. The method presented in this paper has been validated on several video sequences as well as in visual servoing experiments considering various objects. Results show the method to be robust to large motions and textured environments

Fusion de primitives visuelles pour le suivi 3D temps-réel

National audienceCet article présente une méthode de suivi 3D basé modèle, précise et robuste. L'information apportée par le motif de l'objet est intégrée à un algorithme classique de calcul de pose reposant sur ses contours de façon à obtenir un résultat plus fiable. La robustesse du suivi est assurée par l'utilisation des M-estimateurs dans le processus d'estimation et un modèle multi-échelle des motifs. L'approche a été validée sur des séquences vidéos ainsi que sur des applications en ligne de Réalité Augmentée. Ces résultats montrent que la méthode proposée permet une localisation à la cadence vidéo tout en étant robuste aux larges mouvements et à des environnements réalistes

Environmental and economic analysis to evaluate the valorization process of metallurgical waste and by‐products

Energy and resource efficiency are today key elements for the European industry. More specifically, the metallurgical industry is energy and resource-intensive, mostly located in big centralized plants, and it is today responsable for a large number of carbon emissions. While a big plant allows for stability in productivity, it also makes the process less adaptable towards innovative units/systems developed for more efficient use of energy and resources. Therefore, the future decarbonization targets might not be met without the development of new flexible and innovative technologies and strategies. In this context, the goal of the H2020 project CIRMET (innovative and efficient solution, based on modular, versatile, and smart process units for energy and resource flexibility in highly energy-intensive processes) is to develop and validate an innovative and flexible circular solution for energy and resource efficiency in a metallurgical plant, that can also be replicable to other sectors of the process industry. The proposed circular model, represented in Figure 1, is composed of three units: (1) a metallurgical furnace for the recovery of valuable metals from industrial metallurgical residues and by-products, (2) a unit for heat recovery from the furnace’s exhaust gases, and (3) a digital platform for the optimization of the whole process. The substitution of metallurgical coke (based on fossil carbon) with biobased material (Biochar) is also investigated, aiming at future carbon neutral emissions for energy intensive industries. Please click Additional Files below to see the full abstract. Please click Download on the upper right corner to see the presentation

A visual servoing control law that is robust to image outliers

International audienceA fundamental step towards broadening the use of real world image-based visual servoing is to deal with the important issues of reliability and robustness. In order to address this issue a closed loop control law is presented that simultaneously accomplishes a visual servoing task and is robust to a general class of external errors. This generality allows concurrent consideration of a wide range of errors including: noise from image feature extraction, small scale errors in the tracking and even large scale errors in the matching between current and desired features. This is achieved with the application of widely accepted statistical techniques of robust M-estimation. The M-estimator is integrated by an iteratively re-weighted method. The Median Absolute Deviation is used as an estimate of the standard deviation of the inlier data and is compared with other methods. This combination is advantageous because of its high efficiency, high breakdown point and desirable influence functions. The robustness and stability of the control law is shown to be dependent on a subsequent measure of position uncertainty. Furthermore the convergence criteria of the control law are investigated. Experimental results are presented which demonstrate visual servoing tasks which resist severe outlier contamination

A Novel Indole-3-propanamide Exerts Its Immunosuppressive Activity by Inhibiting JAK3 in T Cells

ABSTRACT We previously identified an indole-3-propanamide derivative, 3-[1-(4-chlorobenzyl)indol-3-yl]-N-(pyridin-4-yl)propanamide (AD412), as a potential immunosuppressive agent. Here, we document that AD412 inhibited the proliferative response of CD3/CD28-stimulated human T cells without inhibiting their interleukin 2 (IL-2) production and also inhibited the proliferation of CTL-L2 cells in response to IL-2. These results prompted us to analyze the effect of our compound on the three main signaling pathways coupled to the IL-2 receptor. We provide evidence that AD412 inhibited the JAK1/3-dependent phosphorylations of Akt, STAT5a/b, and ERK1/2 in IL-2-stimulated CTL-L2 cells. In contrast, AD412 had little effect on the JAK1/2-dependent INF-␥-induced phosphorylation of STAT1 in U266 cells. This suggested a preferential inhibition of JAK3 over JAK1 or JAK 2 activities by AD412 that was confirmed by in vitro kinase assays with purified JAK2 and JAK3 kinases. In addition, we provide evidence that the inhibition of IL-2 response by AD412 was not due to inhibition of IL-2R␣ up-regulation because neither AD412 nor JAK3 inhibitors described previously [4-[(3-bromo-4-hydroxyphenyl)amino]-6,7-dimethoxyquinazoline (WHI-P154) and ␣-cyano-(3,4-dihydroxy)-N-benzylcinnamid (AG-490)] significantly inhibited IL-2-induced IL-2R␣ overexpression. Finally, we further document the immunosuppressive activity of AD412 in vivo by showing that its administration per os significantly prolonged heart allograft graft survival. This molecule may thus represent an interesting lead compound to develop new immunosuppressive agents in the field of transplantation and autoimmune diseases

Evaluating energy and resource efficiency for recovery of metallurgical residues using environmental and economic analysis

peer reviewedEnergy and resource efficiency are today key elements for the metallurgical industry in the context of the new European Green Deal. Although the currently available technologies have recently led to an optimisation of energy and materials use, the decarbonisation targets may not be met without the development of new and innovative technologies and strategies. In this context, the goal of the H2020 project CIRMET (Innovative and efficient solution, based on modular, versatile, and smart process units for energy and resource flexibility in highly energy-intensive processes) is to develop and validate an innovative and flexible circular solution for energy and resource efficiency in a metallurgical plant. The circular model proposed is composed of three units: (1) a metallurgical furnace for the recovery of valuable metals from industrial metallic wastes, (2) a unit for heat recovery from the furnace's exhaust gases, and (3) a digital platform for the optimisation of the whole process. Also, the circular model investigates the possibilities of substituting the metallurgical coke used in the furnace with biobased material (BIOCHAR). This study presents an environmental and economic assessment of the circular model, based on a real pilot testing campaign in which residues from non-ferrous metals production are treated for the recovery of metals, mechanical energy from waste heat, and inert fraction. Life Cycle Assessment (LCA) and Life Cycle Costing (LCC) are used to assess the environmental and economic performances of the circular model. The results of the LCA and the LCC highlight the main environmental and economic hot spots of the proposed technologies. The environmental analysis showed the environmental positive effects of recovering secondary metals and energy. However, for some environmental impact categories (e.g. climate change), the benefits are balanced out by the high electricity and natural gas demand in the metallurgical furnace. In this regard, the substitution of metallurgical coke with BIOCHAR can significantly lower the environmental impacts of the whole process. The economic analysis showed the potential economic profitability of the whole process, depending mostly on the quantity and marketability of the recovered metals. For both environmental and economic analysis, the electricity demand in the metallurgical furnace represents the main barrier that can hinder the viability of the process. Therefore, looking for alternative energy sources (e.g. waste heat from other industries) is identified as the most effective strategy to push the sustainability of the whole process. As the proposed technology is under development, these preliminary results can provide useful insights and contribute to the environmental and economic optimisation of the technology