80 research outputs found
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
Interference of blood-coagulation vitamin K-dependent proteins in the activation of human protein C. Involvement of the 4-carboxyglutamic acid domain in two distinct interactions with the thrombin-thrombomodulin complex and with phospholipids
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 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 100as. 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
per spectral channel, is compatible with a late-type L brown dwarf. Using
Exo-REM synthetic spectra, we derive a temperature of \,K and a
surface gravity of cm/s. This corresponds to a radius
of and a mass of , 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
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