Fast Iterative 3D Mapping for Large-Scale Outdoor Environments with Local Minima Escape Mechanism

This paper introduces a novel iterative 3D mapping framework for large scale natural terrain and complex environments. The framework is based on an Iterative-Closest-Point (ICP) algorithm and an iterative error minimization mechanism, allowing robust 3D map registration. This was accomplished by performing pairwise scan registrations without any prior known pose estimation information and taking into account the measurement uncertainties due to the 6D coordinates (translation and rotation) deviations in the acquired scans. Since the ICP algorithm does not guarantee to escape from local minima during the mapping, new algorithms for the local minima estimation and local minima escape process were proposed. The proposed framework is validated using large scale field test data sets. The experimental results were compared with those of standard, generalized and non-linear ICP registration methods and the performance evaluation is presented, showing improved performance of the proposed 3D mapping framework

Fast Statistical Outlier Removal Based Method for Large 3D Point Clouds of Outdoor Environments

This paper proposes a very effective method for data handling and preparation of the input 3D scans acquired from laser scanner mounted on the Unmanned Ground Vehicle (UGV). The main objectives are to improve and speed up the process of outliers removal for large-scale outdoor environments. This process is necessary in order to filter out the noise and to downsample the input data which will spare computational and memory resources for further processing steps, such as 3D mapping of rough terrain and unstructured environments. It includes the Voxel-subsampling and Fast Cluster Statistical Outlier Removal (FCSOR) subprocesses. The introduced FCSOR represents an extension on the Statistical Outliers Removal (SOR) method which is effective for both homogeneous and heterogeneous point clouds. This method is evaluated on real data obtained in outdoor environment

NK-, NKT-and CD8-derived IFNγ drives myeloid cell activation and erythrophagocytosis, resulting in Trypanosomosis-associated acute anemia

African trypanosomes are the causative agents of Human African Trypanosomosis (HAT/Sleeping Sickness) and Animal African Trypanosomosis (AAT/Nagana). A common hallmark of African trypanosome infections is inflammation. In murine trypanosomosis, the onset of inflammation occurs rapidly after infection and is manifested by an influx of myeloid cells in both liver and spleen, accompanied by a burst of serum pro-inflammatory cytokines. Within 48 hours after reaching peak parasitemia, acute anemia develops and the percentage of red blood cells drops by 50%. Using a newly developed in vivo erythrophagocytosis assay, we recently demonstrated that activated cells of the myeloid phagocytic system display enhanced erythrophagocytosis causing acute anemia. Here, we aimed to elucidate the mechanism and immune pathway behind this phenomenon in a murine model for trypanosomosis. Results indicate that IFNγ plays a crucial role in the recruitment and activation of erythrophagocytic myeloid cells, as mice lacking the IFNγ receptor were partially protected against trypanosomosis-associated inflammation and acute anemia. NK and NKT cells were the earliest source of IFNγ during T. b. brucei infection. Later in infection, CD8+ and to a lesser extent CD4+ T cells become the main IFNγ producers. Cell depletion and transfer experiments indicated that during infection the absence of NK, NKT and CD8+ T cells, but not CD4+ T cells, resulted in a reduced anemic phenotype similar to trypanosome infected IFNγR-/- mice. Collectively, this study shows that NK, NKT and CD8+ T cell-derived IFNγ is a critical mediator in trypanosomosis-associated pathology, driving enhanced erythrophagocytosis by myeloid phagocytic cells and the induction of acute inflammation-associated anemia

Aerodynamic study of a 'humpy' propeller

International audienc

A comparison between calculated and measured 2D-wet steam flows

Calculations of an experiments with transonic wet steam flows through turbine cascades, with embedded condensation and aerodynamic shocks, show some important phenomena. In the present effort, the test cases is a tip section of the last stage of a high power steam turbine, which has been developed by improving an existing blade in order to reduce the losses. A clear demonstration of the influence of the total temperature upon the blade Mach number distribution is performed. Inviscid calculations considering a perfect gas as the fluid flowing through the cascade have the expansion ratio (pressure) as the only parameter of interest. However when steam is the flowing fluid, the expansion ratio and the total temperature are of equal importance. The level of the total temperature determines whether or not and where condensation will occur. Condensation has very important consequences upon outlet flow angle and blade Mach number distribution as can be seen from calculations and measurements