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Formation building and collision avoidance for a fleet of NAOs based on optical sensor with local positions and minimum communication

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Science China(Information Sciences) 2019年第5期62卷 214-236页

作者： Xiaomin WANG Lorenzo BENOZZI benoit ZERR Zexiao XIE Hélène THOMAS benoit clement Engineering college Ocean University of China

Multi-robot system has become a research hotspot because of low demand on the sensors’ accuracy, high reliability, and high efficiency. To put all the robots together, formation control is a crucial problem. In this paper, we propose a local position-based method to plan trajectories and build a pyramid pattern for a fleet of NAOs in the obstacle-free environment by refering to the position-based method and giving an O(n log n) collision avoidance strategy inspired from one graph theory, where the local positions are estimated from optical sensors. To get the local positions, an integrated image processing method is developped. Firstly a mask-base is generated to store the features of NAOs, and a cross-correlation method is introduced to recognize the NAO. Subsequently, the distance and angle models are proposed to get the local information from a single image. Then, a visual compass is introduced to obtain the orientation of one NAO. After the local information exchange by the WiFi communication, a neighbor-check method is put foward to distinguish the homogeneous NAOs(all the NAOs look like the same). Further, a common frame is constructed as an artificial global frame, and straight non-intercrossing trajectories are planned according to the O(n log n) collision avoidance strategy. At last, the performance of our proposed local position-based method is verified by the simulations with up to 15 robots and the indoor experiments with 3 NAOs in a real environment. The convergence of the method has been demonstrated in both obstacle-free and static obstacle environments.

关键词： formation building a fleet of NAOs optical sensor visual compass local positions

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Recent Advances in Printed Thin-Film Batteries

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Engineering 2022年第6期8卷 238-261页

作者： benoit clement Miaoqiang Lyu Eeshan Sandeep Kulkarni Tongen Lin Yuxiang Hu Vera Lockett Chris Greig Lianzhou Wang Nanomaterials Centre School of Chemical Engineering and Australian Institute for Bioengineering and NanotechnologyThe University of QueenslandBrisbaneQLD 4072Australia Printed Energy Pty.Ltd. BrisbaneQLD 4001Australia Printed Energy Pty.Ltd. TempeAZ 85284USA Dow Centre for Sustainable Engineering Innovation School of Chemical EngineeringThe University of QueenslandBrisbaneQLD 4072Australia

The rapidly increasing demand for wearable electronic devices has motivated research in low-cost and flexible printed batteries with diverse form factors and *** the past,technological achieve-ments in the field have been emphasized,overlooking the industrial and market ***,different applications require different battery chemistries and formats,that greatly impacts the manu-facturing process and competition *** chemistries and formats should therefore be selected carefully to maximize the chances for commercial *** some of these technologies are starting to be marketed for portable electronics,there is a pressing need to evaluate different printing technologies and compare them in terms of the processing constraints and product requirements of specific electronic *** evaluating the intrinsic strengths and current limitations of printed battery technologies,development pathways can be prioritized,and potential bottlenecks can be overcome to accelerate the path to market.

关键词： Printed battery Electronic device Flexible battery Roll-to-roll printing Monolithic integration

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GeneCloud Reveals Semantic Enrichment in Lists of Gene Descriptions

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Molecular Plant 2015年第6期8卷 971-973页

作者： Krouk, Gabriel Carre, clement Fizames, Cecile Gojon, Alain Ruffel, Sandrine Lacombe, benoit UM Lab Biochim & Physiol Mol Plantes Inst Biol Integrat Plantes Claude Grignon UMRCNRSINRASupAgro F-34060 Montpellier France Univ Montpellier Inst Modelisat Mathemat Montpellier CNRS UMR 5149 F-34095 Montpellier 5 France

Revealing the over-represented functions in a particular gene list is a particular important post-genomic challenge. Genome-wide investigations generate gene lists from which meaningful infor- mation has to be extracted. This information is key to orient in planta investigations and to define the biological significance of genome-wide reprogramming. Here we describe the develop- ment and use of the GeneCIoud algorithm, which retrieves the over-represented semantic terms in the description of a gene list. We demonstrate that GeneCIoud can pinpoint key features in lists of genes equivalent to Gene Ontology （GO） annotation functional enrichment and can provide several new insights. This tool has been embodied in a web interface available at https：//*** and works for Arabidopsis and rice.

关键词： PLANT genomes COMPUTER network resources INFORMATION resources WEB-based user interfaces

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Event analysis in social multimedia： a survey

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Frontiers of Computer Science 2016年第3期10卷 433-446页

作者： Xueliang LIU Meng WANG benoit HUET School of Computer and Information Hefei University of Technology Hefei 230009 China Department of Multimedia EURECOM sophia-antipolis Nice 06560 France

Recent years have witnessed the rapid growth of social multimedia data available over the Internet. The age of huge amount of media collection provides users facihties to share and access data, while it also demands the revolution of data management techniques, since the exponential growth of social multimedia requires more scalable, effective and ro- bust technologies to manage and index them. The event is one of the most important cues to recall people＇s past memory. The reminder value of an event makes it extremely helpful in organizing data. The study of event based analysis on so- cial multimedia data has drawn intensive attention in research community. In this article, we provide a comprehensive sur- vey on event based analysis over social multimedia data, in- cluding event enrichment, detection, and categorization. We introduce each paradigm and summarize related research ef- forts. In addition, we also suggest the emerging trends in this research area.

关键词： event enrichment event detection event categorization

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Ubiquitination-mediated regulation of receptor-like kinases in symbiosis and immunity

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Molecular Plant 2024年第9期17卷 1335-1337页

作者： David Landry benoit Lefebvre Laboratory of Plant-Microbe-Environment Interactions(LIPME) Universite de ToulouseINRAECNRS31326 Castanet-TolosanFrance

Receptor-like kinases(RLKs)are plasma membrane(PM)proteins that monitor the extracellular environment and regulate various processes such as biotic *** motif(LysM)RLKs are a specific class of RLKs involved in the recognition of chitin-derived molecules produced by microorganisms(Buendia et al.,2018).Notably,the LysM-RLK heterocomplex LjNFR1/LjNFR5 recognizes lipochitooligosaccharides(LCOs,also called Nod factors)leading to root nodule symbiosis(RNS)in Lotus japonicus,whereas the heterocomplexes AtLYK5/AtCERK1 and OsCEBIP/OsCERK1 recognize chitooligosaccharides(COs)leading to defense responses in Arabidopsis thaliana and rice,respectively(Buendia et al.,2018).These receptors function as *** ligand binding activates the intracellular kinase activity of LjNFR1,AtCERK1,and OsCERK1,which mediate phosphorylation-dependent signaling *** mechanisms are essential to tightly control RLK homeostasis and signaling,allowing cells to respond efficiently while preventing constitutive *** PM-resident pool of RLKs must be maintained for rapid response,while RLK endocytosis and ultimately degradation in lytic vacuoles is critical for both signaling and downregulation of the *** addition to its role in proteasome-dependent degradation,ubiquitination,a post-translational protein modification,has emerged as a key regulator of PM proteins by inducing their internalization and degradation in lytic vacuoles(Romero-Barrios and Vert,2018).

关键词： extracellular immunity kinases

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Eclipses and Occultations of Galilean Satellites Observed at Yunnan Observatory in 2003

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Chinese Journal of Astronomy and Astrophysics 2007年第2期7卷 317-324页

作者： Qing-Yu Peng benoit Noyelles Department of Computer Science Jinan University Guangzhou 5106321 Institut de mecanique celeste et de calcul des ephemerides - Observatoire de Paris UMR 8028 du CNRS 77 avenue Denfert-Rochereau F-75014 Paris France Joint Laboratory for Optical Astronomy Chinese Academyof Sciences Kunming 650011

We describe and analyze observations of mutual events of Galilean satellites made at the Yunnan Observatory in February 2003 from CCD imaging for the first time in China. Astrometric positions were deduced from these photometric observations by modelling the relative motion and the photometry of the involved satellites during each event.

关键词： planets and satellites individual Jupiter- astrometry - eclipse - occultation

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Boundary parametrization of planar self-affine tiles with collinear digit set

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Science China Mathematics 2010年第9期53卷 2173-2194页

作者： AKIYAMA Shigeki LORIDANT benoit Department of Mathematics Faculty of ScienceNiigata UniversityIkarashi 28050 Niigata9502181Japan

We consider a class of planar self-affine tiles T = M-1 a∈D(T + a) generated by an expanding integral matrix M and a collinear digit set D as follows:M =(0-B 1-A),D = {(00),...,(|B|0-1)}.We give a parametrization S1 →T of the boundary of T with the following standard *** is H¨older continuous and associated with a sequence of simple closed polygonal approximations whose vertices lie on T and have algebraic *** derive a new proof that T is homeomorphic to a disk if and only if 2|A| |B + 2|.

关键词： self-similar tile boundary disk-likeness fractal parametrization

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On the Global Regularity for a Wave-Klein–Gordon Coupled System

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Acta Mathematica Sinica,English Series 2019年第6期35卷 933-986页

作者： Alexandru D.IONESCU benoit PAUSADER Department of Mathematics Princeton University Department of Mathematics Brown University

In this paper we consider a coupled Wave-Klein–Gordon system in 3 D, and prove global regularity and modified scattering for small and smooth initial data with suitable decay at infinity. This system was derived by Wang and LeFloch–Ma as a simplified model for the global nonlinear stability of the Minkowski space-time for self-gravitating massive fields.

关键词： Quasilinear Klein–Gordon equations modified scattering systems of wave and Klein–Gordon equations

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Transversal Instability for the Thermodiffusive Reaction-Diffusion System

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Chinese Annals of Mathematics,Series B 2015年第5期36卷 871-882页

作者： Michal KOWALCZYK benoit PERTHAME Nicolas VAUCHELET Departamento de Ingenieria Matematica and Centro de Modelamiento Matem'atico(UMI CNRS 2807) Universidad de Chile Sorbonne Universités UPMC Univ Paris 06UMR 7598Laboratoire Jacques-Louis LionsF-75005ParisFrance CNRS UMR 7598Laboratoire Jacques-Louis LionsF-75005ParisFrance INRIA-Paris-Rocquencourt EPC MAMBADomaine de VoluceauBP10578153 Le Chesnay CedexFrance

The propagation of unstable interfaces is at the origin of remarkable patterns that are observed in various areas of science as chemical reactions, phase transitions, and growth of bacterial colonies. Since a scalar equation generates usually stable waves, the simplest mathematical description relies on two-by-two reaction-diffusion systems. The authors' interest is the extension of the Fisher/KPP equation to a two-species reaction which represents reactant concentration and temperature when used for flame propagation,and bacterial population and nutrient concentration when used in *** authors study circumstances in which instabilities can occur and in particular the effect of dimension. It is observed numerically that spherical waves can be unstable depending on the coefficients. A simpler mathematical framework is to study transversal instability, which means a one-dimensional wave propagating in two space ***, explicit analytical formulas give explicitely the range of paramaters for instability.

关键词： Traveling waves Stability analysis Reaction-diffusion equation Thermodiffusive system

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Multilayer optics for the EUV and soft X-rays

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光学精密工程 2005年第4期13卷 421-429页

作者： Torsten Feigl Sergiy Yulin Nicolas benoit Norbert Kaiser Fraunhofer Institut für Angewandte Optik und Feinmechanik Albert-Einstein-Str. 7 D-07745 Jena GermanyFraunhofer Institut für Angewandte Optik und Feinmechanik Albert-Einstein-Str. 7 D-07745 Jena GermanyFraunhofer Institut für Angewandte Optik und Feinmechanik Albert-Einstein-Str. 7 D-07745 Jena GermanyFraunhofer Institut für Angewandte Optik und Feinmechanik Albert-Einstein-Str. 7 D-07745 Jena Germany

The demand to enhance the optical resolution, to structure and observe ever smaller details, has pushed the way towards the EUV and soft X-rays. Induced mainly by the production of more powerful electronic circuits with the aid of projection lithography, optics developments in recent years can be characterized by the use of electromagnetic radiation with smaller wavelength. The good prospects of the EUV and soft X-rays for next generation lithography systems (λ=13.5 nm), microscopy in the “water window” (λ=2.3～4.4 nm), astronomy (λ=5～31 nm), spectroscopy, plasma diagnostics and EUV/soft X-ray laser research have led to considerable progress in the development of different multilayer optics. Since optical systems in the EUV/soft X-ray spectral region consist of several mirror elements a maximum reflectivity of each multilayer is essential for a high throughput. This paper covers recent results of the enhanced spectral behavior of Mo/Si, Cr/Sc and Sc/Si multilayer optics.

关键词： EUV X射线多层膜光学涂覆技术 Mo/Si Cr/Sc Sc/Si 光电子技术

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