Autonomous Surface Vehicle Docking Manoeuvre with Visual Information

This work presents a hybrid coordinated manoeuvre for docking an autonomous surface vehicle with an autonomous underwater vehicle. The control manoeuvre uses visual information to estimate the AUV relative position and attitude in relation to the ASV and steers the ASV in order to dock with the AUV. The AUV is assumed to be at surface with only a small fraction of its volume visible. The system implemented in the autonomous surface vehicle ROAZ, developed by LSA-ISEP to perform missions in river environment, test autonomous AUV docking capabilities and multiple AUV/ASV coordinated missions is presented. Information from a low cost embedded robotics vision system (LSAVision), along with inertial navigation sensors is fused in an extended Kalman filter and used to determine AUV relative position and orientation to the surface vehicle The real time vision processing system is described and results are presented in operational scenario.

A gene knockout approach in mice to identify glucose sensors controlling glucose homeostasis.

A key aspect of glucose homeostasis is the constant monitoring of blood glucose concentrations by specific glucose sensing units. These sensors, via stimulation of hormone secretion and activation of the autonomic nervous system (ANS), regulate tissue glucose uptake, utilization or production. The best described glucose detection system is that of the pancreatic beta-cells which controls insulin secretion. Secretion of other hormones, in particular glucagon, and activation of the ANS, are regulated by glucose through sensing mechanisms which are much less well characterized. Here I review some of the studies we have performed over the recent years on a mouse model of impaired glucose sensing generated by inactivation of the gene for the glucose transporter GLUT2. This transporter catalyzes glucose uptake by pancreatic beta-cells, the first step in the signaling cascade leading to glucose-stimulated insulin secretion. Inactivation of its gene leads to a loss of glucose sensing and impaired insulin secretion. Transgenic reexpression of the transporter in GLUT2/beta-cells restores their normal secretory function and rescues the mice from early death. As GLUT2 is also expressed in other tissues, these mice were then studied for the presence of other physiological defects due to absence of this transporter. These studies led to the identification of extra-pancreatic, GLUT2-dependent, glucose sensors controlling glucagon secretion and glucose utilization by peripheral tissues, in part through a control of the autonomic nervous system.

Dynamic single cell measurements of kinase activity by synthetic kinase activity relocation sensors.

BACKGROUND: Mitogen activated protein kinases (MAPK) play an essential role in integrating extra-cellular signals and intra-cellular cues to allow cells to grow, adapt to stresses, or undergo apoptosis. Budding yeast serves as a powerful system to understand the fundamental regulatory mechanisms that allow these pathways to combine multiple signals and deliver an appropriate response. To fully comprehend the variability and dynamics of these signaling cascades, dynamic and quantitative single cell measurements are required. Microscopy is an ideal technique to obtain these data; however, novel assays have to be developed to measure the activity of these cascades. RESULTS: We have generated fluorescent biosensors that allow the real-time measurement of kinase activity at the single cell level. Here, synthetic MAPK substrates were engineered to undergo nuclear-to-cytoplasmic relocation upon phosphorylation of a nuclear localization sequence. Combination of fluorescence microscopy and automated image analysis allows the quantification of the dynamics of kinase activity in hundreds of single cells. A large heterogeneity in the dynamics of MAPK activity between individual cells was measured. The variability in the mating pathway can be accounted for by differences in cell cycle stage, while, in the cell wall integrity pathway, the response to cell wall stress is independent of cell cycle stage. CONCLUSIONS: These synthetic kinase activity relocation sensors allow the quantification of kinase activity in live single cells. The modularity of the architecture of these reporters will allow their application in many other signaling cascades. These measurements will allow to uncover new dynamic behaviour that previously could not be observed in population level measurements.

Fabrication Of Potentiometric Sensors For The Determination Of Certain Metal Ions

In this study Fabrication of Potentiometric sensors for the determination of certain metal ions, presents the synthesis and characterization of seven ionophores, their use in the fabrication of potentiometric sensors and the results and discussion of fourteen sensors developed for the determination of five transition metal ions. As part of the present investigations a total of fourteen potentiometric sensors have been developed and fabricated. A three fold approach has been taken in developing he sensors, PVC plasticized membrane sensor, carbon paste electrode and chemically modified carbon paste electrode. All the sensors are highly useful in the determination of metal ions such as manganese, nickel, copper, mercury and lead. A through analytical study has been carried out with respect to each other developed. Based on these studies, optimum conditions have been developed for the quantitative determinations of the selected metal ions using the sensors. Systematic application studies have also been carried out for all the developed sensors and the results revealed that the presently developed sensors are far superior than most of the sensors reported.

Evanescent Wave Fibre Optic Sensors for Trace Analysis of Fe3+ in Water

In this communication, we discuss the details of fabricating an off-line fibre optic sensor (FOS) based on evanescent wave absorption for detecting trace amounts of Fe3+ in water. Two types of FOS are developed; one type uses the unclad portion of a multimode silica fibre as the sensing region whereas the other employs the microbent portion of a multimode plastic fibre as the sensing region. Sensing is performed by measuring the absorption of the evanescent wave in a reagent medium surrounding the sensing region. To evaluate the relative merits of the two types of FOS in Fe3+ sensing, a comparative study of the sensors is made, which reveals the superiority of the latter in many respects, such as smaller sensing length, use of a double detection scheme (for detecting both core and cladding modes) and higher sensitivity of cladding mode detection at an intermediate range of concentration along with the added advantage that plastic fibres are inexpensive. A detection limit of 1 ppb is observed in both types of fibre and the range of detection can be as large as 1 ppb–50 ppm. All the measurements are carried out using a LabVIEW set-up.

Evanescent wave fibre optic sensors for trace analysis of Fe3+ in water

In this communication, we discuss the details of fabricating an off-line fibre optic sensor (FOS) based on evanescent wave absorption for detecting trace amounts of Fe3+ in water. Two types of FOS are developed; one type uses the unclad portion of a multimode silica fibre as the sensing region whereas the other employs the microbent portion of a multimode plastic fibre as the sensing region. Sensing is performed by measuring the absorption of the evanescent wave in a reagent medium surrounding the sensing region. To evaluate the relative merits of the two types of FOS in Fe3+ sensing, a comparative study of the sensors is made, which reveals the superiority of the latter in many respects, such as smaller sensing length, use of a double detection scheme (for detecting both core and cladding modes) and higher sensitivity of cladding mode detection at an intermediate range of concentration along with the added advantage that plastic fibres are inexpensive. A detection limit of 1 ppb is observed in both types of fibre and the range of detection can be as large as 1 ppb–50 ppm. All the measurements are carried out using a LabVIEW set-up.

Evanescent wave fibre optic sensors for trace analysis of Fe3+ in water

In this communication, we discuss the details of fabricating an off-line fibre optic sensor (FOS) based on evanescent wave absorption for detecting trace amounts of Fe3+ in water. Two types of FOS are developed; one type uses the unclad portion of a multimode silica fibre as the sensing region whereas the other employs the microbent portion of a multimode plastic fibre as the sensing region. Sensing is performed by measuring the absorption of the evanescent wave in a reagent medium surrounding the sensing region. To evaluate the relative merits of the two types of FOS in Fe3+ sensing, a comparative study of the sensors is made, which reveals the superiority of the latter in many respects, such as smaller sensing length, use of a double detection scheme (for detecting both core and cladding modes) and higher sensitivity of cladding mode detection at an intermediate range of concentration along with the added advantage that plastic fibres are inexpensive. A detection limit of 1 ppb is observed in both types of fibre and the range of detection can be as large as 1 ppb–50 ppm. All the measurements are carried out using a LabVIEW set-up.

Evanescent wave fibre optic sensors for trace analysis of Fe3+ in water

In this communication, we discuss the details of fabricating an off-line fibre optic sensor (FOS) based on evanescent wave absorption for detecting trace amounts of Fe3+ in water. Two types of FOS are developed; one type uses the unclad portion of a multimode silica fibre as the sensing region whereas the other employs the microbent portion of a multimode plastic fibre as the sensing region. Sensing is performed by measuring the absorption of the evanescent wave in a reagent medium surrounding the sensing region. To evaluate the relative merits of the two types of FOS in Fe3+ sensing, a comparative study of the sensors is made, which reveals the superiority of the latter in many respects, such as smaller sensing length, use of a double detection scheme (for detecting both core and cladding modes) and higher sensitivity of cladding mode detection at an intermediate range of concentration along with the added advantage that plastic fibres are inexpensive. A detection limit of 1 ppb is observed in both types of fibre and the range of detection can be as large as 1 ppb–50 ppm. All the measurements are carried out using a LabVIEW set-up.

Metglas thin film based magnetostrictive transducers for use in long period fibre grating sensors

Metallic glass alloy Metglas 2826 MB based amorphous magnetic thin films were fabricated by the thermal evaporation technique. Transmission electron micrographs and electron diffraction pattern showed the amorphous nature of the films. Composition of the films was analyzed employing x-ray photoelectron spectroscopy and energy dispersive x-ray spectroscopy techniques. The film was integrated to a long period fibre grating. It was observed that the resonance wavelength of the fibre grating decreased with an increase in the magnetic field. Change in the resonance wavelength was minimal at higher magnetic fields. Field dependent magnetostriction values revealed the potential application of these films in magnetostrictive sensor devices

PVC Supported Liquid Membrane and Carbon Paste Potentiometric Sensors Incorporating a Mn(III)-Porphyrin for the Direct Determination of Undissociated Paracetamol

PVC supported liquid membrane and carbon paste potentiometric sensors incorporating an Mn(III)-porphyrin complex as a neutral host molecule were developed for the determination of paracetamol. The measurements were carried out in solution at pH 5.5. Under such conditions paracetamol exists as a neutral molecule. The mechanism of molecular recognition between the Mn(III)-porphyrin and paracetamol, leading to potentiometric signal generation, is discussed.The sensitivity and selectivity toward paracetamol of carbon paste and polymeric liquid membrane electrodes incorporating an Mn(III)-porphyrin host were compared. The applicability of these sensors to the direct determination of paracetamol was checked by performing a recovery test in human plasma.

Fabrication of Potentiometric Sensors for the Selective Determination of Ketoconazole

The fabrication and analytical applications of two types of potentiometric sensors for the determination of ketoconazole (KET) are described. The sensors are based on the use of KET-molybdophosphoric acid (MPA) ion pair as electroactive material. The fabricated sensors include both polymer membrane and carbon paste electrodes. Both sensors showed a linear, stable and near Nernstian slope of 57.8mV=decade and 55.2mV=decade for PVC membrane and carbon paste sensors respectively over a relatively wide range of KET concentration (1×10-2-5×10-5 and 1×10-2-1×10-6). The sensors showed a fast response time of <30 sec and <45 sec. A useful pH range of 3–6 was obtained for both types of sensors. A detection limit of 2.96 10 5M was obtained for PVC membrane sensor and 6.91 10 6M was obtained for carbon paste sensor. The proposed sensors proved to have a good selectivity for KET with respect to a large number of ions. The proposed sensors were successfully applied for the determination of KET in pharmaceutical formulations. The results obtained are in good agreement with the values obtained by the standard method.

Comparative Performance of Two Fiber Optic Ammonia Sensors Employing Different Sensing Materials

The design and fabrication of fiber based ammonia sensors employing Bromothymol blue and Chitosan as sensing elements are presented in this paper. In the presence of ammonia gas the absorption of Bromothymol blue changes while in the case of Chitosan the refractive index changes which in turn modulates the intensity of light propagating through a fiber.

Inertial oscillation forced by the September 1997 cyclone in the Bay of Bengal

Time-series measurements from a moored data buoy located in the Bay of Bengal captured signals of inertial oscillation forced by the September 1997 cyclone. The progressive vector diagram showed mean northeastward current with well-defined clockwise circulation. Spectral analysis exhibited inertial peak at 0.67 cpd with blue shift and high rotary coefficient of –0.99, which signifies strong circular inertial oscillation. The wind and SST also exhibited spectral peak at inertial band (0.69 cpd) with higher blue shift. The inertial amplitude of 148.8 cm/s corresponding to a wind stress of 0.99 N/m2 and spectral peak near the local inertial frequency (0.653 cpd) indicate that the transfer of momentum was high.

EVANESCENT WAVE FIBRE OPTIC SENSORS: DESIGN, FABRICATION AND CHARACTERIZATION

International School of Photonics, Cochin University of Science and Technology