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  • 1
    Electronic Resource
    Electronic Resource
    Springer
    Machine vision and applications 9 (1996), S. 9-13 
    ISSN: 1432-1769
    Keywords: Stereovision ; Mobile robot guidance ; Obstacle detection ; Projective transformation
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science
    Notes: Abstract This paper presents a method for detecting obstacles on a ground plane from a stereo pair of images. Although we use stereovision, the obstacle detection algorithm relies neither on stereo matching nor 3D reconstruction. The principle here is to apply the projective transformation constraining the left and right images to obtain a frame of superimposed features (e.g. edges). By analysing feature superimposition after the projective transformation, a free moving space or space occupied by obstacles/occluded features can be determined.
    Type of Medium: Electronic Resource
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  • 2
    ISSN: 1432-1424
    Keywords: Na+/HCO 3 − cotransport ; symport ; microelectrodes ; membrane potential ; SBFI ; ion transport
    Source: Springer Online Journal Archives 1860-2000
    Topics: Biology , Chemistry and Pharmacology
    Notes: Summary Recent studies in hepatocytes indicate that Na+-coupled HCO 3 − transport contributes importantly, to regulation of intracellular pH and membrane HCO 3 − transport. However, the direction of net coupled Na+ and HCO 3 − movement and the effect of HCO 3 − on Na+ turnover and Na+/K+ pump activity are not known. In these studies, the effect of HCO 3 − on Na+ influx and turnover were measured in primary rat hepatocyte cultures with22Na+, and [Na+] i was measured in single hepatocytes using the Na+-sensitive fluorochrome SBFI. Na+/K+ pump activity was measured in intact perfused rat liver and hepatocyte monolayers as Na+-dependent or ouabain-suppressible86Rb uptake, and was measured in single hepatocytes as the effect of transient pump inhibition by removal of extracellular K+ on membrane potential difference (PD) and [Na+] i . In hepatocyte monolayers, HCO 3 − increased22Na+ entry and turnover rates by 50–65%, without measurably altering22Na+ pool size or cell volume, and HCO 3 − also increased Na+/K+ pump activity by 70%. In single cells, exposure to HCO 3 − produced an abrupt and sustained rise in [Na+] i , from ≈8 to 12mm. Na+/K+ pump activity assessed in single cells by PD excursions during transient K+ removal increased ≃2.5-fold in the presence of HCO 3 − , and the rise in [Na+] i produced by inhibition of the Na+/K+ pump was similarly increased ≃2.5-fold in the presence of HCO 3 − . In intact perfused rat liver, HCO 3 − increased both Na+/K+ pump activity and O2 consumption. These findings indicate that, in hepatocytes, net coupled Na+ and HCO 3 − movement is inward and represents a major determinant of Na+ influx and Na+/K+ pump activity. About half of hepatic Na+/K+ pump activity appears dedicated to recycling Na+ entering in conjunction with HCO 3 − to maintain [Na+] i within the physiologic range.
    Type of Medium: Electronic Resource
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