Plenoptic cameras in real-time robotics

Abstract Real-time vision-based navigation is a difficult task largely due to the limited optical properties of single cameras tha

Circuit and Noise Analysis of Odorant Gas Sensors in an E-Nose

In this paper, the relationship between typical circuit structures of gas sensorcircuits and their output noise is analyzed. By using averaged segmenting periodical graphand improved histogram estimation methods, we estimated their noise power spectra andoptimal probability distribution functions (pdf). The results were confirmed throughexperiment studies

Classification automatique de véhicules à partir d'un capteur stéréo-fisheye

National audienceNous présentons dans ce papier un capteur de stéréovision à base de caméras fisheyes coaxiales, capables d'observer jusqu'à 2x3 voies de circulation et destiné à des applications autoroutières. En s'appuyant sur une modélisation sphérique des vues fisheyes, nous proposons une approche d'estimation de carte de disparité directe sans dépliage suivie d'une reconstruction 3D. La méthode proposée est entièrement basée sur l'interprétation des données de disparité / 3D. Le système élaboré permet d'acquérir, reconstruire et classifier automatiquement des véhicules dont les 2 Roues Motorisés (2RM). Les résultats expérimentaux montrent l'efficacité de la méthode, testée jusqu'à 133km/h sur voie rapide

Circuit and noise analysis of odorant gas sensors in an E-nose

Abstract: In this paper, the relationship between typical circuit structures of gas sensor circuits and their output noise is analyzed. By using averaged segmenting periodical graph and improved histogram estimation methods, we estimated their noise power spectra and optimal probability distribution functions (pdf). The results were confirmed through experiment studies

Plenoptic cameras in real-time robotics

International audienc

Removal of Acidic Organic Ionic Dyes from Water by Electrospinning a Polyacrylonitrile Composite MIL101(Fe)-NH2 Nanofiber Membrane

A nanofiber metal–organic framework filter, a polyacrylonitrile (PAN) nanofiber membrane composite with an iron/2-amino-terephthalic acid-based metal–organic framework (MIL101(Fe)-NH2), was prepared by one-step electrospinning. MIL101(Fe)-NH2 was combined into the polymer nanofibers in situ. PAN-MIL101(Fe)-NH2 composite nanofiber membranes (NFMs) were prepared from a homogeneous spinning stock containing MIL101(Fe)-NH2 prebody fluid and PAN. Crystallization of MIL101(Fe)-NH2 and solidification of the polymer occurred simultaneously during electrospinning. The PAN-MIL101(Fe)-NH2 composite NFM showed that MIL101(Fe)-NH2 was uniformly distributed throughout the nanofiber and was used to adsorb and separate acidic organic ionic dyes from the aqueous solution. The results of Fourier transform infrared spectroscopy, energy-dispersive X-ray spectroscopy, and X-ray diffraction analysis showed that MIL101(Fe)-NH2 crystals were effectively bonded in the PAN nanofiber matrix, and the crystallinity of MIL101(Fe)-NH2 crystals remained good, while the distribution was uniform. Owing to the synergistic effect of PAN and the MIL101(Fe)-NH2 crystal, the PAN-MIL101(Fe)-NH2 composite NFM showed a fast adsorption rate for acidic ionic dyes. This study provides a reference for the rapid separation and purification of organic ionic dyes from wastewater

In Situ Electrospun Porous MIL-88A/PAN Nanofibrous Membranes for Efficient Removal of Organic Dyes

In recent years, metal–organic framework (MOF)-based nanofibrous membranes (NFMs) have received extensive attention in the application of water treatment. Hence, it is of great significance to realize a simple and efficient preparation strategy of MOF-based porous NFMs. Herein, we developed a direct in situ formation of MOF/polymer NFMs using an electrospinning method. The porous MOF/polymer NFMs were constructed by interconnecting mesopores in electrospun composite nanofibers using poly(vinylpolypyrrolidone) (PVP) as the sacrificial pore-forming agent. MOF (MIL-88A) particles were formed inside the polyacrylonitrile (PAN)/PVP nanofibers in situ during electrospinning, and the porous MIL-88A/PAN (pMIL-88A/PAN) NFM was obtained after removing PVP by ethanol and water washing. The MOF particles were uniformly distributed throughout the pMIL-88A/PAN NFM, showing a good porous micro-nano morphological structure of the NFM with a surface area of 143.21 m2 g−1, which is conducive to its efficient application in dye adsorption and removal. Specifically, the dye removal efficiencies of the pMIL-88A/PAN NFM for amaranth red, rhodamine B, and acid blue were as high as 99.2, 94.4, and 99.8%, respectively. In addition, the NFM still showed over 80% dye removal efficiencies after five adsorption cycles. The pMIL-88A/PAN NFM also presented high adsorption capacities, fast adsorption kinetics, and high cycling stabilities during the processes of dye adsorption and removal. Overall, this work demonstrates that the in situ electrospun porous MOF/polymer NFMs present promising application potential in water treatment for organic dyestuff removal

Relative Position Determination between Deep-space Probes Based on Same Beam Phase-referencing Imaging Technique

To meet the needs of high accuracy relative position determination in deep space explorations, a new method is proposed based on the same beam phase-referencing imaging technique that originates from the radio astronomy. Firstly, the same beam phase-referencing imaging measurement model for spacecraft positioning is built. The very long baseline interferometry (VLBI) imaging principle and the phase difference between two spacecrafts are derived. Then, two precision affecting factors are analyzed, including the signal bandwidth and the UV coverage. The dirty beams formed by different station numbers and different observation lengths with the Chinese interferometry network are simulated. Finally, with the same beam observation data of the Chang'E-3 lander and rover from the Chinese VLBI network (CVN) on December 15, 20 and 21, 2013,the Yutu rover lunar surface positions are determined with accuracy of about 1 meter. The results show the feasibility and high accuracy of this method, which is well-adapted to the spacecraft signals without special beacons