Automatic guidance of an off-road mobile robot with a trailer: Application to the control of agricultural passive towed implements

International audienceThis paper presents the study of both steering and speed control algorithms of an off-road mobile robot in order to accurately guide, forward or backward, the position of its trailer with respect to a planned trajectory, whatever ground conditions and trajectory shape. The proposed algorithms are based on an extended kinematic model of the system, accounting for sliding effects with additional sliding parameters. An observer is developed to obtain a relevant on-line estimation of these parameters. An original steering control algorithm is then proposed, considering the implement as an independent virtual vehicle: A first control law calculates the direction of the linear velocity vector at the hitch point that would ensure the convergence of this virtual vehicle to the planned trajectory. Next, a reference angle between the tractor and the implement leading to such a velocity vector is inferred, and finally a second control law is designed to stabilize the actual tractor implement angle on this reference angle. The capabilities of the proposed algorithms are investigated through full-scale experiments

Maneuvers automation for agricultural vehicle in headland

International audienceThis paper addresses the problem of path generation and motion control for the autonomous maneuvers of agricultural vehicle in headland. A reverse turn planner is firstly presented, based on primitives connected together to easily generate the reference motion. Next, the steering and speed control algorithms are considered. To perform accurate path following, the sliding conditions are taken into account with a kinematic model extended with sliding parameters. In addition, predictive actions are developed to anticipate for vehicle steering and speed variations. The capabilities of the proposed algorithms are finally investigated through full-scale experiments. Fish-tail maneuvers are autonomously performed with an experimental mobile robot, and promising results are reported during reverse turn maneuvers with a vehicle-trailer system

PIFA-mediated ethoxyiodination of enamides with potassium iodide

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Silicon epitaxy below 200°C: Towards thin crystalline solar cells

International audienceLow temperature plasma processes provide a toolbox for etching, texturing and deposition of a wide range of materials. Here we present a bottom up approach to grow epitaxial crystalline silicon films (epi-Si) by standard RF-PECVD at temperatures below 200°C. Booth structural and electronic properties of the epitaxial layers are investigated. Proof of high crystalline quality is deduced from spectroscopic ellipsometry and HRTEM measurements. Moreover, we build heterojunction solar cells with intrinsic epitaxial absorber thickness in the range of a few microns, grown at 175 °C on highly doped (100) substrates, in the wafer equivalent approach. Achievement of a fill factor as high as 80 % is a proof that excellent quality of epitaxial layers can be produced at such low temperatures. While 8.5 % conversion efficiency has already been achieved for a 3.4 µm epitaxial silicon absorber, the possibility of reaching 15 % conversion efficiency with few microns epi-Si is discussed based on a detailed opto-electrical modeling of current devices

Analyse d'une image satellitaire

Dans un cadre pluridisciplinaire (physique, biologie, géographie) des élèves de Première B ont étudié la réserve naturelle de Grand-Lieu en Loire-Atlantique, d'après une image numérique Spot de la région nantaise datée du 26 juin 1986. L'outil informatique permettra de traiter les données numériques et d'obtenir une carte de la végétation en période estivale. Ce document servira ensuite de base de travail pour l'étude de cet écosystème et de son évolutio

Alirocumab versus usual lipid-lowering care as add-on to statin therapy in individuals with type 2 diabetes and mixed dyslipidaemia:The ODYSSEY DM-DYSLIPIDEMIA randomized trial

Individuals with type 2 diabetes (T2DM) and mixed dyslipidaemia represent a high-risk and difficult-to-treat population. ODYSSEY DM-DYSLIPIDEMIA (NCT02642159) compared alirocumab, a proprotein convertase subtilisin-kexin type 9 inhibitor, with usual care (UC) in individuals with T2DM and mixed dyslipidaemia not optimally managed by maximally-tolerated statins

Farnesoid X Receptor Deficiency Improves Glucose Homeostasis in Mouse Models of Obesity

International audienceOBJECTIVE Bile acids (BA) participate in the maintenance of metabolic homeostasis acting through different signaling pathways. The nuclear BA receptor farnesoid X receptor (FXR) regulates pathways in BA, lipid, glucose, and energy metabolism, which become dysregulated in obesity. However, the role of FXR in obesity and associated complications, such as dyslipidemia and insulin resistance, has not been directly assessed. RESEARCH DESIGN AND METHODS Here, we evaluate the consequences of FXR deficiency on body weight development, lipid metabolism, and insulin resistance in murine models of genetic and diet-induced obesity. RESULTS FXR deficiency attenuated body weight gain and reduced adipose tissue mass in both models. Surprisingly, glucose homeostasis improved as a result of an enhanced glucose clearance and adipose tissue insulin sensitivity. In contrast, hepatic insulin sensitivity did not change, and liver steatosis aggravated as a result of the repression of β-oxidation genes. In agreement, liver-specific FXR deficiency did not protect from diet-induced obesity and insulin resistance, indicating a role for nonhepatic FXR in the control of glucose homeostasis in obesity. Decreasing elevated plasma BA concentrations in obese FXR-deficient mice by administration of the BA sequestrant colesevelam improved glucose homeostasis in a FXR-dependent manner, indicating that the observed improvements by FXR deficiency are not a result of indirect effects of altered BA metabolism. CONCLUSIONS Overall, FXR deficiency in obesity beneficially affects body weight development and glucose homeostasis