A review of sensor fusion techniques for underwater vehicle navigation

This work provides a general description of the multi sensor data fusion concept, along with a new classification of currently used sensor fusion techniques for unmanned underwater vehicles (UUV). Unlike previous proposals that focus the classification on the sensors involved in the fusion, we propose a synthetic approach that is focused on the techniques involved in the fusion and their applications in UUV navigation. We believe that our approach is better oriented towards the development of sensor fusion systems, since a sensor fusion architecture should be first of all focused on its goals and then on the fused sensors

WMR navigation using local potential field corridors and narrow local occupancy grid perception

Path planning and control strategies applied to autonomous mobile robots should fulfil safety rules as well as achieve final goals. Trajectory planning applications should be fast and flexible to allow real time implementations as well as environment interactions. The methodology presented uses the on robot information as the meaningful data necessary to plan a narrow passage by using a corridor based on attraction potential fields that approaches the mobile robot to the final desired configuration. It employs local and dense occupancy grid perception to avoid collisions. The key goals of this research project are computational simplicity as well as the possibility of integrating this method with other methods reported by the research community. Another important aspect of this work consist in testing the proposed method by using a mobile robot with a perception system composed of a monocular camera and odometers placed on the two wheels of the differential driven motion system. Hence, visual data are used as a local horizon of perception in which trajectories without collisions are computed by satisfying final goal approaches and safety criteria

Local WMR navigation with monocular data

This article presents recent WMR (wheeled mobile robot) navigation experiences using local perception knowledge provided by monocular and odometer systems. A local narrow perception horizon is used to plan safety trajectories towards the objective. Therefore, monocular data are proposed as a way to obtain real time local information by building two dimensional occupancy grids through a time integration of the frames. The path planning is accomplished by using attraction potential fields, while the trajectory tracking is performed by using model predictive control techniques. The results are faced to indoor situations by using the lab available platform consisting in a differential driven mobile robot

An overview of the advantages and constraints of coded pattern projection techniques for autonomous navigation

The absolute necessity of obtaining 3D information of structured and unknown environments in autonomous navigation reduce considerably the set of sensors that can be used. The necessity to know, at each time, the position of the mobile robot with respect to the scene is indispensable. Furthermore, this information must be obtained in the least computing time. Stereo vision is an attractive and widely used method, but, it is rather limited to make fast 3D surface maps, due to the correspondence problem. The spatial and temporal correspondence among images can be alleviated using a method based on structured light. This relationship can be directly found codifying the projected light; then each imaged region of the projected pattern carries the needed information to solve the correspondence problem. We present the most significant techniques, used in recent years, concerning the coded structured light method

Self-Navigation with Compressed Sensing for 2D Translational Motion Correction in Free-Breathing Coronary MRI: A Feasibility Study.

PURPOSE: Respiratory motion correction remains a challenge in coronary magnetic resonance imaging (MRI) and current techniques, such as navigator gating, suffer from sub-optimal scan efficiency and ease-of-use. To overcome these limitations, an image-based self-navigation technique is proposed that uses "sub-images" and compressed sensing (CS) to obtain translational motion correction in 2D. The method was preliminarily implemented as a 2D technique and tested for feasibility for targeted coronary imaging. METHODS: During a 2D segmented radial k-space data acquisition, heavily undersampled sub-images were reconstructed from the readouts collected during each cardiac cycle. These sub-images may then be used for respiratory self-navigation. Alternatively, a CS reconstruction may be used to create these sub-images, so as to partially compensate for the heavy undersampling. Both approaches were quantitatively assessed using simulations and in vivo studies, and the resulting self-navigation strategies were then compared to conventional navigator gating. RESULTS: Sub-images reconstructed using CS showed a lower artifact level than sub-images reconstructed without CS. As a result, the final image quality was significantly better when using CS-assisted self-navigation as opposed to the non-CS approach. Moreover, while both self-navigation techniques led to a 69% scan time reduction (as compared to navigator gating), there was no significant difference in image quality between the CS-assisted self-navigation technique and conventional navigator gating, despite the significant decrease in scan time. CONCLUSIONS: CS-assisted self-navigation using 2D translational motion correction demonstrated feasibility of producing coronary MRA data with image quality comparable to that obtained with conventional navigator gating, and does so without the use of additional acquisitions or motion modeling, while still allowing for 100% scan efficiency and an improved ease-of-use. In conclusion, compressed sensing may become a critical adjunct for 2D translational motion correction in free-breathing cardiac imaging with high spatial resolution. An expansion to modern 3D approaches is now warranted.

In-depth analysis of hyaline fibromatosis syndrome frameshift mutations at the same site reveal the necessity of personalized therapy.

Hyaline fibromatosis syndrome is an autosomal recessive disease caused by mutations in ANTXR2, a gene involved in extracellular matrix homeostasis. Sixty percent of patients carry frameshift mutations at a mutational hotspot in exon 13. We show in patient cells that these mutations lead to low ANTXR2 mRNA and undetectable protein levels. Ectopic expression of the proteins encoded by the mutated genes reveals that a two base insertion leads to the synthesis of a protein that is rapidly targeted to the ER-associated degradation pathway due to the modified structure of the cytosolic tail, which instead of being hydrophilic and highly disordered as in wild type ANTXR2, is folded and exposes hydrophobic patches. In contrast, one base insertion leads to a truncated protein that properly localizes to the plasma membrane and retains partial function. We next show that targeting the nonsense mediated mRNA decay pathway in patient cells leads to a rescue of ANTXR2 protein in patients carrying one base insertion but not in those carrying two base insertions. This study highlights the importance of in-depth analysis of the molecular consequences of specific patient mutations, which even when they occur at the same site can have drastically different consequences.

Recherche translationnelle: de l'animal modèle de schizophrénie à la forme humaine de difficulté cognitive. Evaluation des performances de navigation spatiale et des stratégies utilisées

Un protocole de tests sur labyrinthe radial permettant d'évaluer la navigation spatial chez l'homme a été réalisé. Ces tests sur labyrinthe radial sont basés sur le protocole utilisé sur l'animal modèle de schizophrénie dans le CNP (Centre de neuroscience psychiatrique) de Lausanne. Les recherches actuelles du CNP ont montré un déficit dans les capacités d'orientation spatiale de ces animaux [13]. Ainsi notre méthodologie consistera à tester des sujets humains dans des tâches de labyrinthe afin d'étudier de la manière la plus équivalente les différents déficits observés dans la pathologie humaine et dans le rat modèle. Cette démarche est à la base d'une approche translationnelle qui combine recherches cliniques et expérimentales. Le travail expérimental a été mené sur deux dispositifs analogues. a) «radial au doigt», ensemble de petits canaux qui peuvent être explorés par le doigt, yeux ouverts ou fermés et dans lesquels des textures différentes tapissent chaque bras. b) «radial sur écran tactile», deux labyrinthes qui comparent deux types d'indice locale, couleurs différentes ou patrons noir-blanc. Dans les deux dispositifs a été prévu une série de tests permettant d'évaluer la mémorisation des indices utilisés en les supprimant temporairement où en les mettant en contradiction. La première perturbation a pour but de tester l'importance du référentiel locale par une rotation de 90° du labyrinthe. La permutation des bras lors d'un dernier essai permet d'induire une situation ou les informations ont été soit correctes spatialement mais incorrectes localement (texture) soit inversement. Ces perturbations des informations sensorielles qui sont fournies au sujet, permettent d'observer les systèmes de repérage et leur poids relatif dans la construction d'un système de référence durant la navigation spatiale. Les résultats du labyrinthe radial au doigt montrent que dans les conditions utilisant les informations visuelles les participants sont sensiblement plus performants. Il est apparu que les informations visuelles prédominent sur les informations proprioceptives et tactiles. Ainsi dans la condition intégrant informations visuospatiales, proprioceptives et tactiles, les sujets basent plus fortement leur navigation spatiale sur les indices visuelles soit locale soit spatiale. Dans cette condition une différence significative de stratégie entre hommes et femmes est apparue. Les hommes se basent majoritairement sur des indices spatiaux tandis que les femmes préfèrent les indices locaux. En présence d'informations tactiles et proprioceptives mais en absence de la vision, les participants utilisent les références spatiale et locale complémentairement sans avoir un système prédominant. Alors que si uniquement les informations proprioceptives sont présentes, les sujets utilisent un système de référence spatiale (globale). Le labyrinthe radial sur écran tactile indique une différence de système de référence selon l'indice local employé. Les couleurs, étant des forts indices locaux, vont favoriser un système de référence local. Au contraire les patrons noirs-blancs sont des indices visiblement très complexes et difficiles à mémoriser qui vont pousser les sujets à utiliser une stratégie de référence spatiale.

Personalized touristic routes implementing semantic web on GIS

Nowadays, when a user is planning a touristic route is very difficult to find out which are the best places to visit. The user has to choose considering his/her preferences due to the great quantity of information it is possible to find in the web and taking into account it is necessary to do a selection, within small time because there is a limited time to do a trip. In Itiner@ project, we aim to implement Semantic Web technology combined with Geographic Information Systems in order to offer personalized touristic routes around a region based on user preferences and time situation. Using ontologies it is possible to link, structure, share data and obtain the result more suitable for user's preferences and actual situation with less time and more precisely than without ontologies. To achieve these objectives we propose a web page combining a GIS server and a touristic ontology. As a step further, we also study how to extend this technology on mobile devices due to the raising interest and technological progress of these devices and location-based services, which allows the user to have all the route information on the hand when he/she does a touristic trip. We design a little application in order to apply the combination of GIS and Semantic Web in a mobile device.