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Start Over Topic atomic and molecular physics, and optics
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1. Automatische Programmierung von Verarbeitungsmaschinen

Author

Julian Backhaus, Jochen Scheib, Roman Pieloth, Bartosz Korajda, Christoph Richter, Gunther Reinhart, and This Paper Presents

Subjects
Electrical and Electronic Engineering, Atomic and Molecular Physics, and Optics
Abstract

Im Beitrag wird ein Konzept zur Automatisierung der Programmierung von Verarbeitungsmaschinen vorgestellt. Ziel ist die Verkürzung des Engineeringprozesses, wozu bereits auch heute vorhandene Steuerungsarchitekturen verwendet werden können. Der Schwerpunkt der Ausführungen liegt auf den digitalen Modellen der Verarbeitungsprozesse und -güter sowie auf der übergreifenden Methodik. Der Ansatz eignet sich für speicherprogrammierbare Steuerungen (SPS) sowie für Robotersteuerungen und setzt für die Modellierung auf den Standard AutomationML in Kombination mit Eclipse Vorto.

Published
2016

2. Cationic Biphotonic Lanthanide Luminescent Bioprobes Based on Functionalized Cross-Bridged Cyclam Macrocycles

Author

Amandine Roux, Damien Curton, Maryline Beyler, Raphaël Tripier, Véronique Patinec, Anh Thy Bui, Sophie Brasselet, Olivier Maury, Jean-Christophe Mulatier, Alexei Grichine, Jonathan Mendy, Chantal Andraud, François Riobé, Alain Duperray, Boris Le Guennic, Yannick Guyot, RENARD, NICOLAS, Chimie, Electrochimie Moléculaires et Chimie Analytique (CEMCA), Université de Brest (UBO)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Institut Brestois Santé Agro Matière (IBSAM), Université de Brest (UBO), Laboratoire de Chimie - UMR5182 (LC), École normale supérieure - Lyon (ENS Lyon)-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS), Institute for Advanced Biosciences / Institut pour l'Avancée des Biosciences (Grenoble) (IAB), Centre Hospitalier Universitaire [Grenoble] (CHU)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Etablissement français du sang - Auvergne-Rhône-Alpes (EFS)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA), Luminescence (LUMINESCENCE), Institut Lumière Matière [Villeurbanne] (ILM), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-Centre National de la Recherche Scientifique (CNRS)-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-Centre National de la Recherche Scientifique (CNRS), MOSAIC (MOSAIC), Institut FRESNEL (FRESNEL), Aix Marseille Université (AMU)-École Centrale de Marseille (ECM)-Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU)-École Centrale de Marseille (ECM)-Centre National de la Recherche Scientifique (CNRS), Institut des Sciences Chimiques de Rennes (ISCR), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Ecole Nationale Supérieure de Chimie de Rennes (ENSCR)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS), The authors are grateful to the referees for careful reading of the paper and valuable suggestions and comments. The authors also acknowledge support of the Ministère de l'Enseignement Supérieur et de la Recherche, the Centre National de la Recherche Scientifique, the Institut National de la Santé et de la Recherche Médicale and the Agence Nationale de la Recherche (SADAM ANR‐16‐CE07‐0015‐02). M.B. and R.T. thanks the ‘‘Service Commun de RMN’’ of the University of Brest. Confocal and 2P facility of the IAB platform was co‐funded thanks to grants of 'Association pour la Recherche sur le Cancer' (ARC, Villejuif, France), 'Ligue vs Cancer' (LCC Isère/Ardèche) and the CPER program. B.L.G. thanks the French GENCI‐CINES center for high‐performance computing resources., Centre National de la Recherche Scientifique (CNRS)-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-École normale supérieure - Lyon (ENS Lyon)-Institut de Chimie du CNRS (INC), Université de Lyon-Université de Lyon, Centre National de la Recherche Scientifique (CNRS)-École Centrale de Marseille (ECM)-Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS)-École Centrale de Marseille (ECM)-Aix Marseille Université (AMU), Centre National de la Recherche Scientifique (CNRS)-Institut de Chimie du CNRS (INC)-Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Ecole Nationale Supérieure de Chimie de Rennes (ENSCR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA), École normale supérieure de Lyon (ENS de Lyon)-Université Claude Bernard Lyon 1 (UCBL), and ANR-16-CE07-0015,SADAM,Diagnostiquer et guérir par des agents azamacrocycliques multimodaux(2016)

Subjects
Lanthanide, Ytterbium, Macrocyclic Compounds, Luminescence, chemistry.chemical_element, 02 engineering and technology, Europium(III), 010402 general chemistry, Photochemistry, 01 natural sciences, Lanthanoid Series Elements, chemistry.chemical_compound, Coordination Complexes, Cations, Cell Line, Tumor, Cyclam, [CHIM] Chemical Sciences, Humans, [CHIM]Chemical Sciences, [CHIM.COOR]Chemical Sciences/Coordination chemistry, Physical and Theoretical Chemistry, Ytterbium(III), Two-photon microscopy, Density Functional Theory, Photons, Aqueous solution, Luminescent Agents, Spectroscopy, Near-Infrared, Molecular Structure, Chemistry, Optical Imaging, Cationic polymerization, Bioprobe, [CHIM.COOR] Chemical Sciences/Coordination chemistry, 021001 nanoscience & nanotechnology, Bioimaging, Atomic and Molecular Physics, and Optics, 0104 chemical sciences, Solvent, 0210 nano-technology, Europium
Abstract

Cationic lanthanide complexes are generally able to spontaneously internalize into living cells. Following our previous works based on diMe-cyclen framework, a second generation of cationic water-soluble lanthanide complexes based on a constrained cross-bridged cyclam macrocycle functionalized with donor-p-conjugated picolinate antennas has been prepared with europium(III) and ytterbium(III). Their spectroscopic properties were thoroughly investigated in various solvents and rationalized with the help of DFT calculations. A significant improvement is observed in the case of the Eu3+ complex, while the Yb3+ analogous conserve an excellent brightness in aqueous solvent. Two-photon (2P) microscopy imaging experiments on living T24 human cancer cells confirmed the spontaneous internalization of the probes and images with good signal-to-noise have been obtained in the classical NIR-to-visible configuration with Eu3+ luminescent bioprobe and in the NIR-to-NIR with the Yb3+ one.

Published
2020

3. Automatic Waypoint Generation to Improve Robot Navigation Through Narrow Spaces

Author

Javier Gonzalez-Jimenez, Jose-Raul Ruiz-Sarmiento, Cipriano Galindo, Javier Monroy, Francisco-Angel Moreno, Machine Perception and Intelligent Robotics Group (MAPIR), [Moreno,FA, Monroy,J, Ruiz-Sarmiento,JR, Galindo,C, Gonzalez-Jimenez,J] Machine Perception and Intelligent Robotics Group (MAPIR), Dept. of System Engineering and Automation Biomedical Research Institute of Malaga (IBIMA), University of Malaga, Málaga, Spain., and This work has been supported by the research projects WISER (DPI2017-84827-R), funded by the Spanish Government and the European Regional Development’s Funds (FEDER), MoveCare (ICT-26-2016b-GA-732158), funded by the European H2020 program, and by a postdoc contract from the I-PPIT program of the University of Malaga. The publication of this paper has been funded by the University of Malaga.

Subjects
0209 industrial biotechnology, Traverse, Phenomena and Processes::Mathematical Concepts::Algorithms [Medical Subject Headings], Computer science, Chemicals and Drugs::Inorganic Chemicals::Free Radicals::Reactive Oxygen Species [Medical Subject Headings], waypoint generation, Real-time computing, Information Science::Information Science::Computing Methodologies::Artificial Intelligence::Robotics [Medical Subject Headings], 02 engineering and technology, lcsh:Chemical technology, Biochemistry, Article, Analytical Chemistry, Task (project management), Waypoint generation, Organisms::Eukaryota::Animals::Chordata::Vertebrates::Mammals::Primates::Haplorhini::Catarrhini::Hominidae::Humans [Medical Subject Headings], Waypoint, robot deployment, 020901 industrial engineering & automation, Information Science::Information Science::Computing Methodologies::Artificial Intelligence [Medical Subject Headings], Navigation assistant, robot navigation, Artificial Intelligence, mobile robots, robot localization, 0202 electrical engineering, electronic engineering, information engineering, Mobile robots, Mapa, lcsh:TP1-1185, Electrical and Electronic Engineering, Instrumentation, business.industry, Robot localization, Robotics, Mobile robot, Atomic and Molecular Physics, and Optics, Inteligencia artificial, Trajectory, Robot navigation, Map, Robot, 020201 artificial intelligence & image processing, Noise (video), Artificial intelligence, business, Robótica, Robot deployment
Abstract

In domestic robotics, passing through narrow areas becomes critical for safe and effective robot navigation. Due to factors like sensor noise or miscalibration, even if the free space is sufficient for the robot to pass through, it may not see enough clearance to navigate, hence limiting its operational space. An approach to facing this is to insert waypoints strategically placed within the problematic areas in the map, which are considered by the robot planner when generating a trajectory and help to successfully traverse them. This is typically carried out by a human operator either by relying on their experience or by trial-and-error. In this paper, we present an automatic procedure to perform this task that: (i) detects problematic areas in the map and (ii) generates a set of auxiliary navigation waypoints from which more suitable trajectories can be generated by the robot planner. Our proposal, fully compatible with the robotic operating system (ROS), has been successfully applied to robots deployed in different houses within the H2020 MoveCare project. Moreover, we have performed extensive simulations with four state-of-the-art robots operating within real maps. The results reveal significant improvements in the number of successful navigations for the evaluated scenarios, demonstrating its efficacy in realistic situations.

Published
2019
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