... t isolated two lipidsoluble macrocycles, spirolides B 10 and D 11 (Figure 3), from the digest... more ... t isolated two lipidsoluble macrocycles, spirolides B 10 and D 11 (Figure 3), from the digestive glands of both mussels (Mytilus edulis) and scallops (Placopecten magellanicus). ... The absolute stereochemistry of the spirolides 10 and 11 has not been determined to date. ...
As part of our studies focused on the design and synthesis of biologically active molecules, poly... more As part of our studies focused on the design and synthesis of biologically active molecules, polyheterocyclic compound 3 was prepared in one step from commercially available 2-aminothiophenol 1 and 2,5-dihydro-2,5-dimethoxyfuran 2. Derivative 3 underwent a further isomerization to compound 4 in a reaction promoted by traces of HCl in chloroform.
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
The Perspective-n-Point problem aims to estimate the relative pose between a calibrated monocular... more The Perspective-n-Point problem aims to estimate the relative pose between a calibrated monocular camera and a known 3D model, by aligning pairs of 2D captured image points to their corresponding 3D points in the model. We suggest an algorithm that runs on weak IoT devices in realtime but still provides provable theoretical guarantees for both running time and correctness. Existing solvers provide only one of these requirements. Our main motivation was to turn the popular DJI's Tello Drone (<90gr, <$100) into an autonomous drone that navigates in an indoor environment with no external human/laptop/sensor, by simply attaching a Raspberry PI Zero (<9gr, <$25) to it. This tiny microprocessor takes as input a real-time video from a tiny RGB camera, and runs our PnP solver on-board. Extensive experimental results, open source code, and a demonstration video are included. I. INTRODUCTION The term "Perspective-n-Point problem", or PnP in short, was first introduced by Fischer and Bolles in [18]. The PnP problem aims to recover the position and orientation (6 degrees of freedom) of a calibrated monocular camera, by aligning its captured 2D image to a given 3D model (map) that describes the real-world. Solving this problem on each image in a real-time video from a moving camera mounted on a robot, such as an autonomous car [16], a humanoid [7], or a vacuum cleaner [42], provides us the location and orientation of the robot in the world. Using prerecorded models of the streets, Google's Liveview displays addresses and pointing arrows on top of the smartphone's captured video stream in real-time, to enable navigation using augmented reality based on a Visual Positioning System. The PnP is a fundamental problem in Computer Vision [5], [19] with many other applications in Robotics [12], [33], [39], [16] and Augmented Reality [13], [11], [38]. A. Main challenge: Lightweight Optimal Solver While there are dozens of papers that aims to solve the PnP problem, there is still a serious remaining challenge in the context of real-time robotics, especially for weak and lightweight IoT devices as in robotics and drone applications. Existing provable solvers for the PnP problem typically use external packages such as GloptiPoly [23], SOS-Tools [36], [41] or SeDuMi [44], [41]. Other solutions, either heuristics, approximations, or methods which solve alternative cost functions are discussed in Section I-D. The main disadvantages of the above optimal solvers in the context of our robotic application are: (i) Memory.
Cette thèse est dédié à l’étude de la problématique des interférences multi utilisateurs dans le ... more Cette thèse est dédié à l’étude de la problématique des interférences multi utilisateurs dans le système Argos et à la proposition des diverses techniques pour réduire les effets de ces interférences. Le système Argos est un système mondial de localisation et de collecte de données géo positionnées par satellite. Il permet à l’échelle mondiale de collecter et de traiter les données émises par des émetteurs installés sur la surface de terre. Ces émetteurs sont connus sous le nom de balises. Ces balises sont installées sur des voiliers, des stations météo, des bouées, ainsi que sur quelques animaux (phoques, penguins, etc.…). Le système Argos a été créé en 1978 par le Centre National des Études spatiales (CNES), l’agence spatiale américaine (NASA) et l’agence américaine d’étude de l’atmosphère et de l’océan (NOAA). Depuis sa création, le nombre de balises Argos n’a cessé d’augmenter afin de couvrir au mieux la couverture mondiale. Nous sommes orientés ainsi à la saturation de la bande...
The Perspective-n-Point problem aims to estimate the relative pose between a calibrated monocular... more The Perspective-n-Point problem aims to estimate the relative pose between a calibrated monocular camera and a known 3D model, by aligning pairs of 2D captured image points to their corresponding 3D points in the model. We suggest an algorithm that runs on weak IoT devices in realtime but still provides provable theoretical guarantees for both running time and correctness. Existing solvers provide only one of these requirements. Our main motivation was to turn the popular DJI's Tello Drone (<90gr, <$100) into an autonomous drone that navigates in an indoor environment with no external human/laptop/sensor, by simply attaching a Raspberry PI Zero (<9gr, <$25) to it. This tiny microprocessor takes as input a real-time video from a tiny RGB camera, and runs our PnP solver on-board. Extensive experimental results, open source code, and a demonstration video are included. I. INTRODUCTION The term "Perspective-n-Point problem", or PnP in short, was first introduced by Fischer and Bolles in [18]. The PnP problem aims to recover the position and orientation (6 degrees of freedom) of a calibrated monocular camera, by aligning its captured 2D image to a given 3D model (map) that describes the real-world. Solving this problem on each image in a real-time video from a moving camera mounted on a robot, such as an autonomous car [16], a humanoid [7], or a vacuum cleaner [42], provides us the location and orientation of the robot in the world. Using prerecorded models of the streets, Google's Liveview displays addresses and pointing arrows on top of the smartphone's captured video stream in real-time, to enable navigation using augmented reality based on a Visual Positioning System. The PnP is a fundamental problem in Computer Vision [5], [19] with many other applications in Robotics [12], [33], [39], [16] and Augmented Reality [13], [11], [38]. A. Main challenge: Lightweight Optimal Solver While there are dozens of papers that aims to solve the PnP problem, there is still a serious remaining challenge in the context of real-time robotics, especially for weak and lightweight IoT devices as in robotics and drone applications. Existing provable solvers for the PnP problem typically use external packages such as GloptiPoly [23], SOS-Tools [36], [41] or SeDuMi [44], [41]. Other solutions, either heuristics, approximations, or methods which solve alternative cost functions are discussed in Section I-D. The main disadvantages of the above optimal solvers in the context of our robotic application are: (i) Memory.
This paper was written to evaluate the impact of the Syrian Refugee Crisis on Europe so as to und... more This paper was written to evaluate the impact of the Syrian Refugee Crisis on Europe so as to understand how Human Rights might better be applied and understood in terms of refugee rights. Syrian Refugees condition and situation will be contextualized in order to determine to what extent Europe is capable of upholding the banner of Human Rights. The Human Rights framework that protects Refugees coming to Europe will be illustrated through a political, ideological, social, cultural, and economic scope. Through understanding the identity and motivations of Syrian Refugees in Vienna, and their conditions under asylum in Vienna, Austria, this paper seeks to make a critical understanding of how human rights applies to the realities of European countries' policy development and how they deal with the Refugee Crisis, taking a Human Rights approach to understanding the Syrian Refugee. While analyzing and contextualizing the International Refugee Law, regimes in place and their initiativ...
This library was developed at École de technologie supérieure for a multiple variable calculus cl... more This library was developed at École de technologie supérieure for a multiple variable calculus class. Because the 3D interface of TI Nspire CAS 3.6 offers only the possibility of plotting surfaces or parametric curves (and does not include features to produce thick curves, vectors or points for examples), the library geo3d give functions that produce parametric equations of many 3D objects that we can now plot easily.
2010 7th International Symposium on Communication Systems, Networks & Digital Signal Processing (CSNDSP 2010), 2010
In this paper, we investigate the application of multiuser detection techniques to a Low Polar Or... more In this paper, we investigate the application of multiuser detection techniques to a Low Polar Orbit (LPO) mobile satellite used in the ARGOS system. These techniques are used to mitigate the multiple access interference in the uplink transmission of the system. Unlike CDMA, due to the Doppler Effect, each signal has a different received carrier frequency and a different propagation delay. Multiuser detection techniques are proposed for asynchronous transmission in ARGOS system: the maximum likelihood detector, the conventional detector, and the sequential interference cancellation detector, as solutions to tackle the interference effects. Bit Error Rate performance graphs are shown for these techniques.
The publisher regrets that text relating to the CDDC data of the compounds analyzed by RX was mis... more The publisher regrets that text relating to the CDDC data of the compounds analyzed by RX was mistakenly omitted from the published article and should have appeared as follows: Appendix A. Supplementary data Copies of the 1 H, 13 C and 19 F spectra for all new compounds, plus X-Ray crystallographic data for compounds 1-a1 (CCDC 1875835), 1-b1 (CCDC 1875836), 1-b3 (CCDC 1875837), 1-b4 (CCDC 1875838), 2-a2 (CCDC 1875839), 2-b3 (CCDC 1875840), 5-b4 (CCDC 1875841) and 6-b4 (CCDC 1875842) (PDF). Data corresponding to X-ray analyses can be also obtained free of charge at www.ccdc.cam.ac.uk/conts/retrieving.html or from the Cambridge Crystallographic Data Centre (CCDC),
A new method has been established for the preparation of C 2-oxidized 5,5-spiroacetals, which are... more A new method has been established for the preparation of C 2-oxidized 5,5-spiroacetals, which are key intermediates for the synthesis of the bis-spiroacetal moiety of the spirolides. A bridged orthoester was used as a masked carboxylic acid in the preparation of these bicyclic oxaspirolactones. The synthesis of chiral lactone (12), a building block for the synthesis of the spirolides, is also reported. The two chiral centres in lactone (12) were assembled by addition of a chiral crotyl borane to an aldehyde. The structure of lactone (12) was determined by single-crystal X-ray diffraction; orthorhombic space group P212121 (No. 19), a 12.437(2), b 23.881(4), c 7.545(1) Å, V 2240.9(5) Å3, R(F) 0.0460, and Rw(F) 0.0458.
Nuclear Instruments and Methods in Physics Research Section A: Accelerators, Spectrometers, Detectors and Associated Equipment, 1996
Results are reported from beam test measurements of one of the first commercial prototype gallium... more Results are reported from beam test measurements of one of the first commercial prototype gallium arsenide microstrip detectors. The detector consisted of 128 strips on a 50µm pitch, with a wafer thickness of 200µm. Operating at a bias of 180V, the detector produced a signal to noise ratio of 19 to 1, with a particle detection efficiency of better than 99%. The spatial resolution of the detector was measured as 14.6µm without charge sharing effects. Charge sharing between pairs of strips was seen to improve the spatial resolution, with an average value for all events of 10.4µm.
Highlights-New simple (1 step) method for the preparation of these challenging molecules.-Method ... more Highlights-New simple (1 step) method for the preparation of these challenging molecules.-Method using cheap and easily available reagents.-These methylene and alkylidene beta lactames have interesting potential in bioorganic and medicinal chemistry.
... t isolated two lipidsoluble macrocycles, spirolides B 10 and D 11 (Figure 3), from the digest... more ... t isolated two lipidsoluble macrocycles, spirolides B 10 and D 11 (Figure 3), from the digestive glands of both mussels (Mytilus edulis) and scallops (Placopecten magellanicus). ... The absolute stereochemistry of the spirolides 10 and 11 has not been determined to date. ...
As part of our studies focused on the design and synthesis of biologically active molecules, poly... more As part of our studies focused on the design and synthesis of biologically active molecules, polyheterocyclic compound 3 was prepared in one step from commercially available 2-aminothiophenol 1 and 2,5-dihydro-2,5-dimethoxyfuran 2. Derivative 3 underwent a further isomerization to compound 4 in a reaction promoted by traces of HCl in chloroform.
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
The Perspective-n-Point problem aims to estimate the relative pose between a calibrated monocular... more The Perspective-n-Point problem aims to estimate the relative pose between a calibrated monocular camera and a known 3D model, by aligning pairs of 2D captured image points to their corresponding 3D points in the model. We suggest an algorithm that runs on weak IoT devices in realtime but still provides provable theoretical guarantees for both running time and correctness. Existing solvers provide only one of these requirements. Our main motivation was to turn the popular DJI's Tello Drone (<90gr, <$100) into an autonomous drone that navigates in an indoor environment with no external human/laptop/sensor, by simply attaching a Raspberry PI Zero (<9gr, <$25) to it. This tiny microprocessor takes as input a real-time video from a tiny RGB camera, and runs our PnP solver on-board. Extensive experimental results, open source code, and a demonstration video are included. I. INTRODUCTION The term "Perspective-n-Point problem", or PnP in short, was first introduced by Fischer and Bolles in [18]. The PnP problem aims to recover the position and orientation (6 degrees of freedom) of a calibrated monocular camera, by aligning its captured 2D image to a given 3D model (map) that describes the real-world. Solving this problem on each image in a real-time video from a moving camera mounted on a robot, such as an autonomous car [16], a humanoid [7], or a vacuum cleaner [42], provides us the location and orientation of the robot in the world. Using prerecorded models of the streets, Google's Liveview displays addresses and pointing arrows on top of the smartphone's captured video stream in real-time, to enable navigation using augmented reality based on a Visual Positioning System. The PnP is a fundamental problem in Computer Vision [5], [19] with many other applications in Robotics [12], [33], [39], [16] and Augmented Reality [13], [11], [38]. A. Main challenge: Lightweight Optimal Solver While there are dozens of papers that aims to solve the PnP problem, there is still a serious remaining challenge in the context of real-time robotics, especially for weak and lightweight IoT devices as in robotics and drone applications. Existing provable solvers for the PnP problem typically use external packages such as GloptiPoly [23], SOS-Tools [36], [41] or SeDuMi [44], [41]. Other solutions, either heuristics, approximations, or methods which solve alternative cost functions are discussed in Section I-D. The main disadvantages of the above optimal solvers in the context of our robotic application are: (i) Memory.
Cette thèse est dédié à l’étude de la problématique des interférences multi utilisateurs dans le ... more Cette thèse est dédié à l’étude de la problématique des interférences multi utilisateurs dans le système Argos et à la proposition des diverses techniques pour réduire les effets de ces interférences. Le système Argos est un système mondial de localisation et de collecte de données géo positionnées par satellite. Il permet à l’échelle mondiale de collecter et de traiter les données émises par des émetteurs installés sur la surface de terre. Ces émetteurs sont connus sous le nom de balises. Ces balises sont installées sur des voiliers, des stations météo, des bouées, ainsi que sur quelques animaux (phoques, penguins, etc.…). Le système Argos a été créé en 1978 par le Centre National des Études spatiales (CNES), l’agence spatiale américaine (NASA) et l’agence américaine d’étude de l’atmosphère et de l’océan (NOAA). Depuis sa création, le nombre de balises Argos n’a cessé d’augmenter afin de couvrir au mieux la couverture mondiale. Nous sommes orientés ainsi à la saturation de la bande...
The Perspective-n-Point problem aims to estimate the relative pose between a calibrated monocular... more The Perspective-n-Point problem aims to estimate the relative pose between a calibrated monocular camera and a known 3D model, by aligning pairs of 2D captured image points to their corresponding 3D points in the model. We suggest an algorithm that runs on weak IoT devices in realtime but still provides provable theoretical guarantees for both running time and correctness. Existing solvers provide only one of these requirements. Our main motivation was to turn the popular DJI's Tello Drone (<90gr, <$100) into an autonomous drone that navigates in an indoor environment with no external human/laptop/sensor, by simply attaching a Raspberry PI Zero (<9gr, <$25) to it. This tiny microprocessor takes as input a real-time video from a tiny RGB camera, and runs our PnP solver on-board. Extensive experimental results, open source code, and a demonstration video are included. I. INTRODUCTION The term "Perspective-n-Point problem", or PnP in short, was first introduced by Fischer and Bolles in [18]. The PnP problem aims to recover the position and orientation (6 degrees of freedom) of a calibrated monocular camera, by aligning its captured 2D image to a given 3D model (map) that describes the real-world. Solving this problem on each image in a real-time video from a moving camera mounted on a robot, such as an autonomous car [16], a humanoid [7], or a vacuum cleaner [42], provides us the location and orientation of the robot in the world. Using prerecorded models of the streets, Google's Liveview displays addresses and pointing arrows on top of the smartphone's captured video stream in real-time, to enable navigation using augmented reality based on a Visual Positioning System. The PnP is a fundamental problem in Computer Vision [5], [19] with many other applications in Robotics [12], [33], [39], [16] and Augmented Reality [13], [11], [38]. A. Main challenge: Lightweight Optimal Solver While there are dozens of papers that aims to solve the PnP problem, there is still a serious remaining challenge in the context of real-time robotics, especially for weak and lightweight IoT devices as in robotics and drone applications. Existing provable solvers for the PnP problem typically use external packages such as GloptiPoly [23], SOS-Tools [36], [41] or SeDuMi [44], [41]. Other solutions, either heuristics, approximations, or methods which solve alternative cost functions are discussed in Section I-D. The main disadvantages of the above optimal solvers in the context of our robotic application are: (i) Memory.
This paper was written to evaluate the impact of the Syrian Refugee Crisis on Europe so as to und... more This paper was written to evaluate the impact of the Syrian Refugee Crisis on Europe so as to understand how Human Rights might better be applied and understood in terms of refugee rights. Syrian Refugees condition and situation will be contextualized in order to determine to what extent Europe is capable of upholding the banner of Human Rights. The Human Rights framework that protects Refugees coming to Europe will be illustrated through a political, ideological, social, cultural, and economic scope. Through understanding the identity and motivations of Syrian Refugees in Vienna, and their conditions under asylum in Vienna, Austria, this paper seeks to make a critical understanding of how human rights applies to the realities of European countries' policy development and how they deal with the Refugee Crisis, taking a Human Rights approach to understanding the Syrian Refugee. While analyzing and contextualizing the International Refugee Law, regimes in place and their initiativ...
This library was developed at École de technologie supérieure for a multiple variable calculus cl... more This library was developed at École de technologie supérieure for a multiple variable calculus class. Because the 3D interface of TI Nspire CAS 3.6 offers only the possibility of plotting surfaces or parametric curves (and does not include features to produce thick curves, vectors or points for examples), the library geo3d give functions that produce parametric equations of many 3D objects that we can now plot easily.
2010 7th International Symposium on Communication Systems, Networks & Digital Signal Processing (CSNDSP 2010), 2010
In this paper, we investigate the application of multiuser detection techniques to a Low Polar Or... more In this paper, we investigate the application of multiuser detection techniques to a Low Polar Orbit (LPO) mobile satellite used in the ARGOS system. These techniques are used to mitigate the multiple access interference in the uplink transmission of the system. Unlike CDMA, due to the Doppler Effect, each signal has a different received carrier frequency and a different propagation delay. Multiuser detection techniques are proposed for asynchronous transmission in ARGOS system: the maximum likelihood detector, the conventional detector, and the sequential interference cancellation detector, as solutions to tackle the interference effects. Bit Error Rate performance graphs are shown for these techniques.
The publisher regrets that text relating to the CDDC data of the compounds analyzed by RX was mis... more The publisher regrets that text relating to the CDDC data of the compounds analyzed by RX was mistakenly omitted from the published article and should have appeared as follows: Appendix A. Supplementary data Copies of the 1 H, 13 C and 19 F spectra for all new compounds, plus X-Ray crystallographic data for compounds 1-a1 (CCDC 1875835), 1-b1 (CCDC 1875836), 1-b3 (CCDC 1875837), 1-b4 (CCDC 1875838), 2-a2 (CCDC 1875839), 2-b3 (CCDC 1875840), 5-b4 (CCDC 1875841) and 6-b4 (CCDC 1875842) (PDF). Data corresponding to X-ray analyses can be also obtained free of charge at www.ccdc.cam.ac.uk/conts/retrieving.html or from the Cambridge Crystallographic Data Centre (CCDC),
A new method has been established for the preparation of C 2-oxidized 5,5-spiroacetals, which are... more A new method has been established for the preparation of C 2-oxidized 5,5-spiroacetals, which are key intermediates for the synthesis of the bis-spiroacetal moiety of the spirolides. A bridged orthoester was used as a masked carboxylic acid in the preparation of these bicyclic oxaspirolactones. The synthesis of chiral lactone (12), a building block for the synthesis of the spirolides, is also reported. The two chiral centres in lactone (12) were assembled by addition of a chiral crotyl borane to an aldehyde. The structure of lactone (12) was determined by single-crystal X-ray diffraction; orthorhombic space group P212121 (No. 19), a 12.437(2), b 23.881(4), c 7.545(1) Å, V 2240.9(5) Å3, R(F) 0.0460, and Rw(F) 0.0458.
Nuclear Instruments and Methods in Physics Research Section A: Accelerators, Spectrometers, Detectors and Associated Equipment, 1996
Results are reported from beam test measurements of one of the first commercial prototype gallium... more Results are reported from beam test measurements of one of the first commercial prototype gallium arsenide microstrip detectors. The detector consisted of 128 strips on a 50µm pitch, with a wafer thickness of 200µm. Operating at a bias of 180V, the detector produced a signal to noise ratio of 19 to 1, with a particle detection efficiency of better than 99%. The spatial resolution of the detector was measured as 14.6µm without charge sharing effects. Charge sharing between pairs of strips was seen to improve the spatial resolution, with an average value for all events of 10.4µm.
Highlights-New simple (1 step) method for the preparation of these challenging molecules.-Method ... more Highlights-New simple (1 step) method for the preparation of these challenging molecules.-Method using cheap and easily available reagents.-These methylene and alkylidene beta lactames have interesting potential in bioorganic and medicinal chemistry.
Uploads
Papers by Fares fares