Robot trajectory planning using OLP and structured light 3D machine vision

This paper proposes a new methodology for robotic offline programming (OLP) addressing the issue of automatic program generation directly from 3D CAD models and verification through online 3D reconstruction. Limitations of current OLP include manufacturing tolerances between CAD and workpieces and inaccuracies in workpiece placement and modelled work cell. These issues are addressed and demonstrated through surface scanning, registration, and global and local error estimation. The method allows the robot to adjust the welding path designed from the CAD model to the actual workpiece. Alternatively, for non-repetitive tasks and where a CAD model is not available, it is possible to interactively define the path online over the scanned surface

An intelligent real time 3D vision system for robotic welding tasks

MARWIN is a top-level robot control system that has been designed for automatic robot welding tasks. It extracts welding parameters and calculates robot trajectories directly from CAD models which are then verified by real-time 3D scanning and registration. MARWIN's 3D computer vision provides a user-centred robot environment in which a task is specified by the user by simply confirming and/or adjusting suggested parameters and welding sequences. The focus of this paper is on describing a mathematical formulation for fast 3D reconstruction using structured light together with the mechanical design and testing of the 3D vision system and show how such technologies can be exploited in robot welding tasks

First results from fringe tracking with the PRIMA fringe sensor unit

The fringe sensor unit (FSU) is the central element of the phase referenced imaging and micro-arcsecond astrometry (PRIMA) dual-feed facility for the Very Large Telescope interferometer (VLTI). It has been installed at the Paranal observatory in August 2008 and is undergoing commissioning and preparation for science operation. Commissioning observations began shortly after installation and first results include the demonstration of spatially encoded fringe sensing and the increase in VLTI limiting magnitude for fringe tracking. However, difficulties have been encountered because the FSU does not incorporate real-time photometric correction and its fringe encoding depends on polarisation. These factors affect the control signals, especially their linearity, and can disturb the tracking control loop. To account for this, additional calibration and characterisation efforts are required. We outline the instrument concept and give an overview of the commissioning results obtained so far. We describe the effects of photometric variations and beam-train polarisation on the instrument operation and propose possible solutions. Finally, we update on the current status in view of the start of astrometric science operation with PRIMA.Comment: 12 pages, 11 figures, SPIE 2010 conference proceeding

Rubor, calor, dolor, tumor : infections de la peau et des tissus mous [Rubor, calor, dolor, tumor : skin and soft tissue infections]

Skin infections are a frequent cause of consultation, yet the diagnosis can be challenging for physicians. Microbiological documentation is rare, and empiric antibiotic regimens should cover the most commonly identified bacteria, i.e. streptococci Staphylococcus aureus. Other pathogens should be considered in case of immunosuppression or certain exposures. Necrotizing fasciitis (NF) is a severe but rare infection. Early surgical management in parallel with antibiotics is the cornerstone of treatment. Despite the high incidence of these infections, little progress has been made in their management and some areas of uncertainty exist, especially regarding the optimal duration of treatment, the prevention of recurrences and the use of polyclonal immunoglobulins for NF. This article reviews the main aspects of diagnosis and treatment of these infections

The ESPRI project: astrometric exoplanet search with PRIMA I. Instrument description and performance of first light observations

The ESPRI project relies on the astrometric capabilities offered by the PRIMA facility of the Very Large Telescope Interferometer for the discovery and study of planetary systems. Our survey consists of obtaining high-precision astrometry for a large sample of stars over several years and to detect their barycentric motions due to orbiting planets. We present the operation principle, the instrument's implementation, and the results of a first series of test observations. A comprehensive overview of the instrument infrastructure is given and the observation strategy for dual-field relative astrometry is presented. The differential delay lines, a key component of the PRIMA facility which was delivered by the ESPRI consortium, are described and their performance within the facility is discussed. Observations of bright visual binaries are used to test the observation procedures and to establish the instrument's astrometric precision and accuracy. The data reduction strategy for astrometry and the necessary corrections to the raw data are presented. Adaptive optics observations with NACO are used as an independent verification of PRIMA astrometric observations. The PRIMA facility was used to carry out tests of astrometric observations. The astrometric performance in terms of precision is limited by the atmospheric turbulence at a level close to the theoretical expectations and a precision of 30 micro-arcseconds was achieved. In contrast, the astrometric accuracy is insufficient for the goals of the ESPRI project and is currently limited by systematic errors that originate in the part of the interferometer beamtrain which is not monitored by the internal metrology system. Our observations led to the definition of corrective actions required to make the facility ready for carrying out the ESPRI search for extrasolar planets.Comment: 32 pages, 39 figures, Accepted for publication in Astronomy and Astrophysic

Improving the astrometric performance of VLTI-PRIMA

In the summer of 2011, the first on-sky astrometric commissioning of PRIMA-Astrometry delivered a performance of 3 m'' for a 10 '' separation on bright objects, orders of magnitude away from its exoplanet requirement of 50 {\mu}'' ~ 20 {\mu}'' on objects as faint as 11 mag ~ 13 mag in K band. This contribution focuses on upgrades and characterizations carried out since then. The astrometric metrology was extended from the Coud\'e focus of the Auxillary Telescopes to their secondary mirror, in order to reduce the baseline instabilities and improve the astrometric performance. While carrying out this extension, it was realized that the polarization retardance of the star separator derotator had a major impact on both the astrometric metrology and the fringe sensors. A local compensation of this retardance and the operation on a symmetric baseline allowed a new astrometric commissioning. In October 2013, an improved astrometric performance of 160 {\mu}'' was demonstrated, still short of the requirements. Instabilities in the astrometric baseline still appear to be the dominating factor. In preparation to a review held in January 2014, a plan was developed to further improve the astrometric and faint target performance of PRIMA Astrometry. On the astrometric aspect, it involved the extension of the internal longitudinal metrology to primary space, the design and implementation of an external baseline metrology, and the development of an astrometric internal fringes mode. On the faint target aspect, investigations of the performance of the fringe sensor units and the development of an AO system (NAOMI) were in the plan. Following this review, ESO decided to take a proposal to the April 2014 STC that PRIMA be cancelled, and that ESO resources be concentrated on ensuring that Gravity and Matisse are a success. This proposal was recommended by the STC in May 2014, and endorsed by ESO.Comment: 12 pages, 9 figures, 2 tables, Proceeding of SPIE conference in Montrea

First direct detection of an exoplanet by optical interferometry; Astrometry and K-band spectroscopy of HR8799 e

To date, infrared interferometry at best achieved contrast ratios of a few times $10^{-4}$ on bright targets. GRAVITY, with its dual-field mode, is now capable of high contrast observations, enabling the direct observation of exoplanets. We demonstrate the technique on HR8799, a young planetary system composed of four known giant exoplanets. We used the GRAVITY fringe tracker to lock the fringes on the central star, and integrated off-axis on the HR8799e planet situated at 390 mas from the star. Data reduction included post-processing to remove the flux leaking from the central star and to extract the coherent flux of the planet. The inferred K band spectrum of the planet has a spectral resolution of 500. We also derive the astrometric position of the planet relative to the star with a precision on the order of 100$\,\mu$as. The GRAVITY astrometric measurement disfavors perfectly coplanar stable orbital solutions. A small adjustment of a few degrees to the orbital inclination of HR 8799 e can resolve the tension, implying that the orbits are close to, but not strictly coplanar. The spectrum, with a signal-to-noise ratio of $\approx 5$ per spectral channel, is compatible with a late-type L brown dwarf. Using Exo-REM synthetic spectra, we derive a temperature of $1150\pm50$\,K and a surface gravity of $10^{4.3\pm0.3}\,$cm/s$^{2}$. This corresponds to a radius of $1.17^{+0.13}_{-0.11}\,R_{\rm Jup}$ and a mass of $10^{+7}_{-4}\,M_{\rm Jup}$, which is an independent confirmation of mass estimates from evolutionary models. Our results demonstrate the power of interferometry for the direct detection and spectroscopic study of exoplanets at close angular separations from their stars.Comment: published in A&

Coordinated changes in energy intake and expenditure following hypothalamic administration of neuropeptides involved in energy balance

OBJECTIVE: The hypothalamic control of energy balance is regulated by a complex network of neuropeptide-releasing neurons. Whilst the effect of these neuropeptides on individual aspects of energy homeostasis has been studied, the coordinated response of these effects has not been comprehensively investigated. We have simultaneously monitored a number of metabolic parameters following ICV administration of 1nmol and 3nmol of neuropeptides with established roles in the regulation of feeding, activity and metabolism. Ad libitum fed rats received the orexigenic neuropeptides neuropeptide Y (NPY), agouti-related protein (AgRP), melanin-concentrating hormone (MCH) or orexin-A. Overnight food deprived rats received an ICV injection of the anorectic peptides α-MSH, corticotrophin releasing factor (CRF) or neuromedin U (NMU). RESULTS: Our results reveal the temporal sequence of the effects of these neuropeptides on both energy intake and expenditure, highlighting key differences in their function as mediators of energy balance. NPY and AgRP increased feeding and decreased oxygen consumption, with the effects of AgRP being more prolonged. In contrast, orexin-A increased both feeding and oxygen consumption, consistent with an observed increase in activity. The potent anorexigenic effects of CRF were accompanied by a prolonged increase in activity whilst NMU injection resulted in significant but short-lasting inhibition of food intake, ambulatory activity and oxygen consumption. Alpha-MSH injection resulted in significant increases in both ambulatory activity and oxygen consumption, and reduced food intake following administration of 3nmol of the peptide. CONCLUSION: We have for the first time, simultaneously measured several metabolic parameters following hypothalamic administration of a number of neuropeptides within the same experimental system. This work has demonstrated the interrelated effects of these neuropeotides on activity, energy expenditure and food intake thus facilitating comparison between the different hypothalamic systems