Search results for "Enna"
showing 10 items of 748 documents
Omnidirectional vision for UAV: applications to attitude, motion and altitude estimation for day and night conditions
2012
International audience; This paper presents the combined applications of omnidirectional vision featuring on its application to aerial robotics. Omnidirectional vision is first used to compute the attitude, altitude and motion not only in rural environment but also in the urban space. Secondly, a combination of omnidirectional and perspective cameras permits to estimate the altitude. Finally we present a stereo system consisting of an omnidirectional camera with a laser pattern projector enables to calculate the altitude and attitude during the improperly illuminated conditions to dark environments. We demonstrate that omnidirectional camera in conjunction with other sensors is suitable cho…
Visual tracking with omnidirectional cameras: an efficient approach
2011
International audience; An effective technique for applying visual tracking algorithms to omni- directional image sequences is presented. The method is based on a spherical image representation which allows taking into account the distortions and nonlinear resolution of omnidirectional images. Experimental results show that both deterministic and probabilistic tracking methods can effectively be adapted in order to robustly track an object with an omnidirectional camera.
Using an Adaptive High-Gain Extended Kalman Filter With a Car Efficiency Model
2010
The authors apply the Adaptive High-Gain Extended Kalman Filter (AEKF) to the problem of estimating engine efficiency with data gathered from normal driving. The AEKF is an extension of the traditional Kalman Filter that allows the filter to be reactive to perturbations without sacrificing noise filtering. An observability normal form of the engine efficiency model is developed for the AEKF. The continuous-discrete AEKF is presented along with strategies for dealing with asynchronous data. Empiric test results are presented and contrasted with EKF-derived results.Copyright © 2010 by ASME
Adapted Approach for Omnidirectional Egomotion Estimation
2011
Egomotion estimation is based principally on the estimation of the optical flow in the image. Recent research has shown that the use of omnidirectional systems with large fields of view allow overcoming the limitation presented in planar-projection imagery in order to address the problem of motion analysis. For omnidirectional images, the 2D motion is often estimated using methods developed for perspective images. This paper adapts motion field calculated using adapted method which takes into account the distortions existing in the omnidirectional image. This 2D motion field is then used as input to the egomotion estimation process using spherical representation of the motion equation. Expe…
Cell-Autonomous and Non-cell-autonomous Function of Hox Genes Specify Segmental Neuroblast Identity in the Gnathal Region of the Embryonic CNS in Dro…
2016
During central nervous system (CNS) development neural stem cells (Neuroblasts, NBs) have to acquire an identity appropriate to their location. In thoracic and abdominal segments of Drosophila, the expression pattern of Bithorax-Complex Hox genes is known to specify the segmental identity of NBs prior to their delamination from the neuroectoderm. Compared to the thoracic, ground state segmental units in the head region are derived to different degrees, and the precise mechanism of segmental specification of NBs in this region is still unclear. We identified and characterized a set of serially homologous NB-lineages in the gnathal segments and used one of them (NB6-4 lineage) as a model to i…
Network-Wide Adaptive Burst Detection Depicts Neuronal Activity with Improved Accuracy
2017
Neuronal networks are often characterized by their spiking and bursting statistics. Previously, we introducedan adaptive burst analysis methodwhich enhances the analysis power for neuronal networks with highly varying firing dynamics. The adaptation is based on single channels analyzing each element of a network separately. Such kind of analysis was adequate for the assessment of local behavior, where the analysis focuses on the neuronal activity in the vicinity of a single electrode. However, the assessment of the whole network may be hampered, if parts of the network are analyzed using different rules. Here, we test how using multiple channels and measurement time points affect adaptive b…
A method for structure prediction of metal-ligand interfaces of hybrid nanoparticles
2019
Hybrid metal nanoparticles, consisting of a nano-crystalline metal core and a protecting shell of organic ligand molecules, have applications in diverse areas such as biolabeling, catalysis, nanomedicine, and solar energy. Despite a rapidly growing database of experimentally determined atom-precise nanoparticle structures and their properties, there has been no successful, systematic way to predict the atomistic structure of the metal-ligand interface. Here, we devise and validate a general method to predict the structure of the metal-ligand interface of ligand-stabilized gold and silver nanoparticles, based on information about local chemical environments of atoms in experimental data. In …
Prospects and challenges for computer simulations of monolayer-protected metal clusters
2021
Precise knowledge of chemical composition and atomic structure of functional nanosized systems, such as metal clusters stabilized by an organic molecular layer, allows for detailed computational work to investigate structure-property relations. Here, we discuss selected recent examples of computational work that has advanced understanding of how these clusters work in catalysis, how they interact with biological systems, and how they can make self-assembled, macroscopic materials. A growing challenge is to develop effective new simulation methods that take into account the cluster-environment interactions. These new hybrid methods are likely to contain components from electronic structure t…
Hydrogen Bond Fluctuations Control Photochromism in a Reversibly Photo-Switchable Fluorescent Protein
2015
Reversibly switchable fluorescent proteins (RSFPs) are essential for high-resolution microscopy of biological samples, but the reason why these proteins are photochromic is still poorly understood. To address this problem, we performed molecular dynamics simulations of the fast switching Met159Thr mutant of the RSFP Dronpa. Our simulations revealed a ground state structural heterogeneity in the chromophore pocket that consists of three populations with one, two, or three hydrogen bonds to the phenolate moiety of the chromophore. By means of non-adiabatic quantum mechanics/molecular dynamics simulations, we demonstrated that the subpopulation with a single hydrogen bond is responsible for of…
Intermolecular oxidative dehydrogenative 3,3′-coupling of benzo[b]furans and benzo[b]thiophenes promoted by DDQ/H+: total synthesis of shandougenine B
2016
With an excess of a strong acid, 2,3-dichloro-5,6-dicyano-1,4-quinone (DDQ) is shown to promote metal-free intermolecular oxidative dehydrogenative (ODH) 3,3'-coupling of 2-aryl-benzo[b]furans and 2-aryl-benzo[b]thiophenes up to 92% yield as demonstrated with 9 substrates. Based on the analysis of oxidation potentials and molecular orbitals combined with EPR, NMR and UV-Vis observations, the studied reaction is initiated by a DDQ-substrate charge transfer complex and presumably proceeds via oxidation of the substrate into an electrophilic radical cation that further reacts with another molecule of a neutral substrate. The coupling reactivity can easily be predicted from the oxidation potent…