Off-road mobile robot control: An adaptive approach for accuracy and integrity

International audienceThis paper proposes an algorithm dedicated to the control of off-road mobile robots at high speed. Based on adaptive and predictive principles, it first proposes a control law to preserve a high level of accuracy in the path tracking problem. Next, the dynamic model used for grip condition estimation is considered to address also robot integrity preservation thanks to the velocity limitation

Verifying Safety Properties With the TLA+ Proof System

TLAPS, the TLA+ proof system, is a platform for the development and mechanical verification of TLA+ proofs written in a declarative style requiring little background beyond elementary mathematics. The language supports hierarchical and non-linear proof construction and verification, and it is independent of any verification tool or strategy. A Proof Manager uses backend verifiers such as theorem provers, proof assistants, SMT solvers, and decision procedures to check TLA+ proofs. This paper documents the first public release of TLAPS, distributed with a BSD-like license. It handles almost all the non-temporal part of TLA+ as well as the temporal reasoning needed to prove standard safety properties, in particular invariance and step simulation, but not liveness properties

Rats distinguish between absence of events and lack of evidence in contingency learning.

The goal of three experiments was to study whether rats are aware of the difference between absence of events and lack of evidence. We used a Pavlovian extinction paradigm in which lights consistently signaling sucrose were suddenly paired with the absence of sucrose. The crucial manipulation involved the absent outcomes in the extinction phase. Whereas in the Cover conditions, access to the drinking receptacle was blocked by a metal plate, in the No Cover conditions, the drinking receptacle was accessible. The Test phase showed that in the Cover conditions, the measured expectancies of sucrose were clearly at a higher level than in the No Cover conditions. We compare two competing theories potentially explaining the findings. A cognitive theory interprets the observed effect as evidence that the rats were able to understand that the cover blocked informational access to the outcome information, and therefore the changed learning input did not necessarily signify a change of the underlying contingency in the world. An alternative associationist account, renewal theory, might instead explain the relative sparing of extinction in the Cover condition as a consequence of context change. We discuss the merits of both theories as accounts of our data and conclude that the cognitive explanation is in this case preferred

Aluminum Tolerance in the Model Legume \u3cem\u3eMedicago Truncatula\u3c/em\u3e

Aluminum (Al) is the most abundant metal found in the earth\u27s crust, comprising up to 7% of its mass. At low pH, Al becomes soluble and available to plants, resulting in inhibition of root elongation and reduced plant growth. Aluminum toxicity associated with acid soils has been a major obstacle in alfalfa (Medicago sativa) production. The objective of this study is to identify genes that are differentially expressed under normal and Al stress conditions in the model legume M. truncatula, with the long term goal of using these genes to improve cultivated alfalfa

New active safety device dedicated to light all-terrain vehicle stability: Application to quad bike and off-road mobile robot

International audienceAccording to their specific geometric and dynamic characteristics (small weight, huge reachable speeds ), All-Terrain Vehicles (ATVs - as quad bikes) and off-road mobile robots are very compact and driveable. They permit to realize extra agricultural tasks (spreading, spraying ) in an easier way than using once more a heavy farm tractor. However such vehicles require highly accurate control laws, able to preserve their stability even at high speed. In this paper, the prevention of off-road vehicle and mobile robot rollover are addressed by using a new active safety device. It consists in using Predictive Functional Control (PFC) so as to compute, on-line, the maximum vehicle velocity, compatible with a safe motion over some horizon of prediction, and can be applied, if needed, to the vehicle actuator to prevent from rollover. The capabilities of the proposed device are demonstrated and discussed thanks to both advanced simulations and real experimentation

Is conditioning a useful framework for understanding the development and treatment of phobias?

Despite the prevalence of therapeutic interventions based on conditioning models of fear acquisition, conditioning has been seen by many as a poor explanation of how fears develop: partly because research on conditioning has become less mainstream and models of teaming have become increasingly more complex. This article reviews some of what is now known about conditioning/associative teaming and describes how these findings account for some early criticisms of conditioning models of fear acquisition. It also describes how pathways to fear such as vicarious teaming and fear information can be conceptualised as forms of associative teaming that obey the same teaming rules. Some popular models of conditioning are then described with a view to highlighting the important components in teaming. Finally, suggestions are made about how what we know about conditioning can be applied to improve therapeutic interventions and prevention programs for child anxiety. (c) 2006 Elsevier Ltd. All rights reserved

6-O-alkylated 7-deazainosine nucleoside analogues : discovery of potent and selective anti-sleeping sickness agents

African trypanosomiasis, a deadly infectious disease caused by the protozoan Trypanosoma brucei spp., is spread to new hosts by bites of infected tsetse flies. Currently approved therapies all have their specific drawbacks, prompting a search for novel therapeutic agents. T. brucei lacks the enzymes necessary to forge the purine ring from amino acid precursors, rendering them dependent on the uptake and interconversion of host purines. This dependency renders analogues of purines and corresponding nucleosides an interesting source of potential anti-T. brucei agents. In this study, we synthesized and evaluated a series of 7-substituted 7-deazainosine derivatives and found that 6-O-alkylated analogues in particular showed highly promising in vitro activity with EC50 values in the mid-nanomolar range. SAR investigation of the O-alkyl chain showed that antitrypanosomal activity increased, and also cytotoxicity, with alkyl chain length, at least in the linear alkyl chain series. However, this could be attenuated by introducing a terminal branch point, resulting in the highly potent and selective analogues, 36, 37 and 38. No resistance related to transporter-mediated uptake could be identified, earmarking several of these analogues for further in vivo follow-up studies

Negative priming and occasion setting in an appetitive Pavlovian procedure

Rats received training in which two auditory target stimuli, X and Y, were signaled by two visual stimuli, A and B, and followed by food (i.e., A→X1, B→Y+). The test consisted of presentations of X and Y preceded either by the same signal as during training (same trials: A→X, B→Y) or by the alternative signal (different trials: A→Y, B→X). After 8 training sessions, the animals responded less on same trials than on different trials; this effect was significantly reduced after 24 training sessions. In two additional experiments, animals that had also experienced presentations of A and B alone, either before or during training, showed the opposite pattern of results, responding more on same trials than on different trials. These results are interpreted as being due to the interaction between the effects of occasion setting andnegative priming (see Wagner, 1981)