A new model-free design for vehicle control and its validation through an advanced simulation platform

A new model-free setting and the corresponding "intelligent" P and PD controllers are employed for the longitudinal and lateral motions of a vehicle. This new approach has been developed and used in order to ensure simultaneously a best profile tracking for the longitudinal and lateral behaviors. The longitudinal speed and the derivative of the lateral deviation, on one hand, the driving/braking torque and the steering angle, on the other hand, are respectively the output and the input variables. Let us emphasize that a "good" mathematical modeling, which is quite difficult, if not impossible to obtain, is not needed for such a design. An important part of this publication is focused on the presentation of simulation results with actual and virtual data. The actual data, used in Matlab as reference trajectories, have been obtained from a properly instrumented car (Peugeot 406). Other virtual sets of data have been generated through the interconnected platform SiVIC/RTMaps. It is a dedicated virtual simulation platform for prototyping and validation of advanced driving assistance systems. Keywords- Longitudinal and lateral vehicle control, model-free control, intelligent P controller (i-P controller), algebraic estimation, ADAS (Advanced Driving Assistance Systems).Comment: in 14th European Control Conference, Jul 2015, Linz, Austria. 201

Estudio técnico de las pinturas murales de Germolles: la contribución de las técnicas de imagen

[EN] The Château de Germolles is one of the rare palace in France dating from the 14th century. The noble floor is decorated with wall paintings that are a unique example of courtly love spirit that infused the princely courts of the time. After being concealed sometime in the 19th century, the paintings were rediscovered and uncovered in the middle of the 20th century and partly restored at the end of the 1990s. No scientific documentation accompanied these interventions and important questions, such as the level of authenticity of the mural decorations and the original painting technique(s) used in the medieval times remained unanswered. The combined scientific and financial supports of COSCH Cost Action and DRAC-Burgundy enabled to study Germolles’ wall paintings using some of the most innovative imaging and analytical techniques and to address some of the questions raised. The study provided significant information on the material used in the medieval times and on the conservation condition of the paintings. The data collected is vast and varied and exposed the owners of the property to the challenges of data management.[ES] El castillo de Germolles es uno de los raros palacios principescos en Francia que data del siglo XIV. La planta noble está decorada con pinturas murales que son un ejemplo único del amor cortés, ese espíritu que se divulgó en las cortes de la época.Ocultadas desde el fin del siglo XIX, las pinturas fueron descubiertas en la mitad del siglo XXy fueron parcialmente restauradas al finalde la década de 1990. No hay documentación científica queacompañelas intervenciones, y cuestiones importantesse quedaronsin repuesta, en particular el nivel de autenticidad de las decoraciones de las paredes, así como lastécnicaspictóricasutilizadasen laépoca medieval. El apoyo científico y económico de la Acción Cost COSCH y de la DRAC de Borgoña permitió elestudio delas pinturas murales de Germolles con algunas de las técnicas de imagen y analíticasmás innovadoras, con tal de responder a algunas de las cuestiones planteadas. El estudio proporcionó informaciónrelevante en lo que se refiere al material utilizado durante la Edad Mediay sobreel estado de conservación de las pinturas. La toma de datos es ampliay variada, y expuso a los dueños de la propiedad al desafío de la gestión de datos.This project would not have been possible without the financial support by DRAC-Burgundy and the COST Action TD1201: Colour and Space in Cultural Heritage (COSCH) (www.cosch.info) which the authors wish to sincerely thank.Degrigny, C.; Piqué, F.; Papiashvili, N.; Guery, J.; Mansouri, A.; Le Goïc, G.; Detalle, V.... (2016). Technical study of Germolles’ wall paintings: the input of imaging technique. Virtual Archaeology Review. 7(15):1-8. https://doi.org/10.4995/var.2016.5831SWORD18715Giovannoni, S., Matteini, M., & Moles, A. (1990). Studies and developments concerning the problem of altered lead pigments in wall painting. Studies in Conservation, 35(1), 21-25. doi:10.1179/sic.1990.35.1.21Manuel, A., Gattet, E., De Luca, L., & Veron, P. (2013). An approach for precise 2D/3D semantic annotation of spatially-oriented images for in situ visualization applications. 2013 Digital Heritage International Congress (DigitalHeritage). doi:10.1109/digitalheritage.2013.6743752Wefers, S., Reich, T., Tietz, B. and Boochs, F. 2016. SIVT – Processing, Viewing, and Analysis of 3D Scans of the Porthole Slab and Slab B2 of Züschen I. In: S. Campana, R. Sopigno, G. Carpentiero and M. Cirillo, eds, CAA2015. Keep the Revolution Going. Proceedings of the 43rd Annual Conference on Computer Applications and Quantitative Methods In Archaeology. Oxford : Archaeopress Publishing Ltd, pp. 1067-1080

Analyse écorégionale marine de Nouvelle-Calédonie : atelier d'identification des aires de conservation prioritaires

Dans le cadre de l'initiative pour les récifs coralliens du Pacifique sud (CRISP), le WWF-France a souhaité développer un projet pour la protection des récifs et des lagons néo-calédoniens. L'atelier, qui s'est déroulé les 10 et 11 août à Nouméa, avait pour objectif de rassembler les scientifiques et les experts du lagon néocalédonien pour identifier, sur la base de leur connaissance experte, les zones les plus remarquables du lagon (richesse, endémisme, originalité des faunes et flores, espèces emblématiques, zones d'intérêt fonctionnel) sur lesquelles doivent porter en priorité les efforts de conservation. Il a permis d'identifier 20 aires prioritaires pour la conservation, parmi lesquelles 6 ont un intérêt mondial, 4 ont un intérêt sur le plan régional, les autres ayant un intérêt local

Insect muscle actins differ distinctly from invertebrate and vertebrate cytoplasmic actins

Invertebrate actins resemble vertebrate cytoplasmic actins, and the distinction between muscle and cytoplasmic actins in invertebrates is not well established as for vertebrate actins. However, Bombyx and Drosophila have actin genes specifically expressed in muscles. To investigate if the distinction between muscle and cytoplasmic actins evidenced by gene expression analysis is related to the sequence of corresponding genes, we compare the sequences of actin genes of these two insect species and of other Metazoa. We find that insect muscle actins form a family of related proteins characterized by about 10 muscle-specific amino acids. Insect muscle actins have clearly diverged from cytoplasmic actins and form a monophyletic group emerging from a cluster of closely related proteins including insect and vertebrate cytoplasmic actins and actins of mollusc, cestode, and nematode. We propose that muscle-specific actin genes have appeared independently at least twice during the evolution of animals: insect muscle actin genes have emerged from an ancestral cytoplasmic actin gene within the arthropod phylum, whereas vertebrate muscle actin genes evolved within the chordate lineage as previously described

An efficient model-free setting for longitudinal and lateral vehicle control. Validation through the interconnected pro-SiVIC/RTMaps prototyping platform

International audienceIn this paper, the problem of tracking desired longitudinal and lateral motions for a vehicle is addressed. Let us point out that a "good" modeling is often quite difficult or even impossible to obtain. It is due for example to parametric uncertainties, for the vehicle mass, inertia or for the interaction forces between the wheels and the road pavement. To overcome this type of difficulties, we consider a model-free control approach leading to "intelligent" controllers. The longitudinal and the lateral motions, on one hand, and the driving/braking torques and the steering wheel angle, on the other hand, are respectively the output and the input variables. An important part of this work is dedicated to present simulation results with actual data. Actual data, used in Matlab as reference trajectories, have been previously recorded with an instrumented Peugeot 406 experimental car. The simulation results show the efficiency of our approach. Some comparisons with a nonlinear flatness-based control in one hand, and with a classical PID control in another hand confirm this analysis. Other virtual data have been generated through the interconnected platform SiVIC/RTMaps, which is a virtual simulation platform for prototyping and validation of advanced driving assistance systems

Genetic characterization of the nitrate reducing community in French soils

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