Comparison of VLP-16 and MRS-1000 LiDAR systems with absolute interferometer

Nowadays, LiDARs hold a relevant place in providing the environmental sensing required by most ADAS. Promoted by such increasing demand, many new manufacturers are emerging and, new LiDARs are continuously made available on the market. If, on the one hand, the availability of LiDARs with increasing performance and reducing cost has brought significant benefits also promoting the spread of such measuring systems in other areas such as industrial controls and agriculture, on the other, it has made it more difficult to extricate in the immense set of LiDARs present on the market today. In response to this growing need for standards and methods capable of comparing the various LiDARs, many international standards and scientific publications are being produced on the subject. In this paper, we continue our work on LiDARs characterization, focusing our attention on comparing the performances of two of the must popular systems - namely, the MRS 1000 by Sick and the VLP 16 by Velodyne. Starting from the analysis of the warm-up time and stability, such a comparison focused on analyzing the axial error of both systems. Such errors have been estimated by exploiting a custom rail system and an absolute interferometer. The obtained results revealed warm-up times of a few tens of minutes and maximum absolute axial errors of a few centimeters in the range [1.5,21] m

LiDARs detected signal and Target distance estimation: measurement errors from Target reflectance and multiple echos

The use of LiDARs in automotive is increasingly widespread. In order to operate in a critical environment such as that of mobility, these systems must offer increasingly high performance. In particular, the ability to estimate the position of objects regardless of their reflectance and presence of diffusing backgrounds is a very sought-after feature by manufacturers. In commercial systems various strategies are used to make the measurement as insensitive as possible to these effects, however, it is not possible to fully compensate for the measurement errors caused by them. In this paper, we propose two simple experimental setups to verify the presence of these measurement errors in two scenarios. Moreover, we report the performance of a commercial LiDAR (MRS 6000 by Sick) using certified reflectance standards (Spectralon (R) Diffuse Reflectance Standards, by Labsphere). For this LiDAR, the results obtained show that a logarithmic variation of the reflectance of the target of 1.26-log at a target distance 2.4 m provides incompatible measurements. Furthermore, the presence of a background at a distance shorter than 11 cm, 12 cm and 13 cm respectively with 50 %, 75 % and 99 % reflectance also provides incompatible measurements for a target distance of 1.3 m from the LiDAR

Analysis, Quantification, and Discussion of the Approximations Introduced by Pulsed 3-D LiDARs

Light detection and rangings (LiDARs) are considered essential for the environmental sensing required by most advanced driver assistance system (ADAS), including autonomous driving. This has led to significant investments resulted in the availability of countless measuring systems that are increasingly performing and less expensive. Nevertheless, the extremely high speed of light still leads to a nonnegligible quantization error in the direct time-of-flight (ToF) measure at the base of pulsed LiDARs-the leading technology for automotive applications. Hence, pulsed 3-D LiDARs analyze the surrounding by approximating and deforming it on concentric spheres whose radii are quantized with a quantization step that, for most commercial systems, is on the order of some centimeters. The deformation and error introduced by such quantization can thus he significant. In this study, we point out the approximations and assumptions intrinsic to 3-D LiDARs and propose a measurement procedure that, through the analysis of the fine variations of the target position, allows an accurate investigation of the axial resolution and error-probably among the few limitations still affecting this technology. To the best of our knowledge, this is the first study focused on the detailed analysis of the quantization error in 3-D LiDARs. The proposed method has been tested on one of the most popular 3-D LiDARs, namely the MRS 6000 by Sick. The obtained results revealed for the MRS 6000 a quantization step of about 6 cm (ToF quantization of about 0.4 ns) and an axial error normally distributed with experimental standard deviation of about 30 mm

A simple method for the preliminary analysis and benchmarking of automotive LiDARs in fog

The vast multitude of LiDAR systems currently available on the market makes the need for methods to compare their performances increasingly high. In this study, we focus our attention on the development of a method for the analysis of the effects induced by the fog, one of the main challenges for Advanced Driver Assist Systems (ADASs) and autonomous driving. Large experimental setups capable of reconstructing adverse weather conditions on a large scale in a controlled and repeatable way are certainly the best test conditions to analyze and compare LiDARs performances in the fog. Nonetheless, such large plants are extremely expensive and complex, therefore only available in a few sites in the world. In this study, we thus propose a measurement method, a data analysis procedure and, an experimental setup that are extremely simple and inexpensive to implement. The achievable results are reasonably less accurate than those obtainable with large plants. Nevertheless, the proposed method can allow to easily and quickly obtain a preliminary estimate of the performance in the presence of fog and a rapid benchmarking of different LiDAR systems

Corrosion Behaviour of Steel/55% Al-Zn Alloy/Paint Systems Exposed to Natural and Artificial Environments

The corrosion performance of steel/55%Al–Zn alloy sheets pre‐treated with 5% Fe (NO3)3þ15% H3PO4 solution, and then coated with acrylic (AC), alkyd (AQ), vinyl (VL), solvent‐based epoxy (ES) or waterborne epoxy (EA) corrosion‐inhibiting primersþa barrier topcoat alkyd paint was studied. Exposure conditions included weathering chambers and natural atmospheres (La Plata‐Argentina and San Luis‐Potosí, México). The panels' behaviour was evaluated through visual inspections and EIS measurements. Their results allowed inferring that: (1) most of the painting systems have a satisfactory performance during their exposure to the accelerated weathering chamber or the natural atmospheric stations and (2) the correlation between them allowed explaining some problems arising in service. This information will allow extending the useful life by adjusting the painting system formulation.Centro de Investigación y Desarrollo en Tecnología de Pintura

RILP regulates vacuolar ATPase through interaction with the V1G1 subunit

Rab-interacting lysosomal protein (RILP) is a downstream effector of the Rab7 GTPase. GTP-bound Rab7 recruits RILP to endosomal membranes and, together, they control late endocytic traffic, phagosome and autophagosome maturation and are responsible for signaling receptor degradation. We have identified, using different approaches, the V1G1 (officially known as ATP6V1G1) subunit of the vacuolar ATPase (V-ATPase) as a RILP-interacting protein. V1G1 is a component of the peripheral stalk and is fundamental for correct V-ATPase assembly. We show here that RILP regulates the recruitment of V1G1 to late endosomal and lysosomal membranes but also controls V1G1 stability. Indeed, we demonstrate that V1G1 can be ubiquitylated and that RILP is responsible for proteasomal degradation of V1G1. Furthermore, we demonstrate that alterations in V1G1 expression levels impair V-ATPase activity. Thus, our data demonstrate for the first time that RILP regulates the activity of the V-ATPase through its interaction with V1G1. Given the importance of V-ATPase in several cellular processes and human diseases, these data suggest that modulation of RILP activity could be used to control V-ATPase function

Charged particle's flux measurement from PMMA irradiated by 80 MeV/u carbon ion beam

Hadrontherapy is an emerging technique in cancer therapy that uses beams of charged particles. To meet the improved capability of hadrontherapy in matching the dose release with the cancer position, new dose monitoring techniques need to be developed and introduced into clinical use. The measurement of the fluxes of the secondary particles produced by the hadron beam is of fundamental importance in the design of any dose monitoring device and is eagerly needed to tune Monte Carlo simulations. We report the measurements done with charged secondary particles produced from the interaction of a 80 MeV/u fully stripped carbon ion beam at the INFN Laboratori Nazionali del Sud, Catania, with a Poly-methyl methacrylate target. Charged secondary particles, produced at 90$\degree$ with respect to the beam axis, have been tracked with a drift chamber, while their energy and time of flight has been measured by means of a LYSO scintillator. Secondary protons have been identified exploiting the energy and time of flight information, and their emission region has been reconstructed backtracking from the drift chamber to the target. Moreover a position scan of the target indicates that the reconstructed emission region follows the movement of the expected Bragg peak position. Exploting the reconstruction of the emission region, an accuracy on the Bragg peak determination in the submillimeter range has been obtained. The measured differential production rate for protons produced with $E^{\rm Prod}_{\rm kin} >$ 83 MeV and emitted at 90$\degree$ with respect to the beam line is: $dN_{\rm P}/(dN_{\rm C}d\Omega)(E^{\rm Prod}_{\rm kin} > 83 {\rm ~MeV}, \theta=90\degree)= (2.69\pm 0.08_{\rm stat} \pm 0.12_{\rm sys})\times 10^{-4} sr^{-1}$.Comment: 13 pages, 9 figure

Do many-particle neutrino interactions cause a novel coherent effect?

We investigate whether coherent flavor conversion of neutrinos in a neutrino background is substantially modified by many-body effects, with respect to the conventional one-particle effective description. We study the evolution of a system of interacting neutrino plane waves in a box. Using its equivalence to a system of spins, we determine the character of its behavior completely analytically. We find that, if the neutrinos are initially in flavor eigenstates, no coherent flavor conversion is realized, in agreement with the effective one-particle description. This result does not depend on the size of the neutrino wavepackets and therefore has a general character. The validity of the several important applications of the one-particle formalism is thus confirmed.Comment: 25 pages, 1 figur

HCV Genotypes, Characterization of Mutations Conferring Drug Resistance to Protease Inhibitors, and Risk Factors among Blood Donors in São Paulo, Brazil

Background: Hepatitis C virus (HCV) infection is a global health problem estimated to affect almost 200 million people worldwide. the aim of this study is to analyze the subtypes and existence of variants resistant to protease inhibitors and their association with potential HCV risk factors among blood donors in Brazil.Methods: Repeat anti-HCV reactive blood donors are systematically asked to return for retest, notification, and counseling in which they are interviewed for risk factors for transfusion-transmitted diseases. We analyzed 202 donors who returned for counseling from 2007 to 2010 and presented enzyme immunoassay-and immunoblot-reactive results. the HCV genotypes and resistance mutation analyses were determined by the direct sequencing of the NS5b and NS3 regions, respectively. the HCV viral load was determined using an in-house real-time PCR assay targeting the 5'-NCR.Results: HCV subtypes 1b, 1a, and 3a were found in 45.5%, 32.0%, and 18.0% of the donors, respectively. the mean viral load of genotype 1 was significantly higher than that of the genotype 3 isolates. Subtype 1a was more frequent among young donors and 3a was more frequent among older donors. Protease inhibitor-resistant variants were detected in 12.8% of the sequenced samples belonging to genotype 1, and a higher frequency was observed among subtype 1a (20%) in comparison to 1b (8%). There was no difference in the prevalence of HCV risk factors among the genotypes or drug-resistant variants.Conclusions: We found a predominance of subtype 1b, with an increase in the frequency of subtype 1a, in young subjects. Mutations conferring resistance to NS3 inhibitors were frequent in treatment-naive blood donors, particularly those infected with subtype 1a. These variants were detected in the major viral population of HCV quasispecies, have replicative capacities comparable to nonresistant strains, and could be important for predicting the response to antiviral triple therapy.Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)Fundacao Pro-Sangue/Hemocentro de São PauloFundacao Prosangue Hemoctr São Paulo, São Paulo, BrazilUniversidade Federal de São Paulo, Infect Dis Div DIPA, São Paulo, BrazilUniv São Paulo, Fac Med, Discipline Med Sci, São Paulo, BrazilHCFMUSP, Dept Pathol, LIM Lab Medice Lab 03, São Paulo, BrazilUniv Sao Joao del Rei, Divinopolis, MG, BrazilUniv São Paulo, Fac Med, Dept Infect Dis, São Paulo, BrazilUniversidade Federal de São Paulo, Infect Dis Div DIPA, São Paulo, BrazilWeb of Scienc