Navigation 3D d'un UAV avec évitement d'obstacles à l'aide des fonctions de Lyapunov barrières

International audienceWe address the safe-navigation problem for aerial robots in the presence of mobile obstacles. Our approach relies on an original dynamic model defined in a cylindrical-coordinate space. It is assumed that the environment contains moving obstacles, that are encoded as state constraints so that they are embedded in the control design: the controller is constructed so as to generate a force field which, in turn, is derived from a potential with negative gradient in the vicinity of stable equilibria and positive gradient in the vicinity of obstacles. In particular, we combine the so-called Barrier Lyapunov Functions (BLF) method with the backstepping technique to obtain a smooth time-invariant controller. It is guaranteed that the robot reaches its destination from any initial condition in the valid workspace (that is, the environment stripped of the obstacles' safety neighborhoods) while avoiding collisions. Furthermore, the performance of our control approach is illustrated via simulations and experiments on a quadrotor benchmark.Nous abordons le problème de la navigation sécurisée pour des robots aériens en présence d'obstacles mobiles. Notre approche repose sur un modèle dynamique original défini dans un espace de coordonnées cylindriques. Il est supposé que l'environnement contient des obstacles mobiles, qui sont définis en tant que contraintes d'état, de manière à être intégrés dans la conception de la commande : le contrôleur est construit de manière à générer un champ de force qui, à son tour, est dérivé d'un potentiel à gradient négatif au voisinage des équilibres stables et de gradient positif au voisinage des obstacles. En particulier, nous combinons la méthode dite des fonctions de Lyapunov barrières (BLF) avec la technique du backstepping pour obtenir une commande lisse et invariante dans le temps. Il est garanti que le robot atteigne sa destination à partir de n’importe quelle condition initiale dans l’espace de travail valide (c'est-à-dire, l'espace de travail sans les zones de sécurité des obstacles) tout en évitant les collisions. De plus, la performance de notre approche de contrôle est illustrée via des simulations et des expériences sur des quadrotors

Les revêtements sol-gel pour l’anticorrosion

La voie sol-gel est une méthode de synthèse mais également un procédé de dépôt en phase liquide. Depuis plusieurs années, la communauté scientifique travaillant sur la technique de dépôt par voie sol-gel est impliquée dans des problématiques de durabilité des matériaux. Des travaux montrent les potentialités intéressantes de cette technique pour des applications anticorrosion et font émerger des solutions prometteuses pour le remplacement des couches de conversion chromatées. Ce procédé de « chimie douce » permet d’élaborer des revêtements hybrides ou céramiques sous forme de couches minces. Dans les procédés développés pour l’anticorrosion, les sols sont le plus souvent constitués de précurseurs de type alcoxydes de silicium, zirconium, ... fonctionnalisés ou non. Ce sol peut être déposé par dip-coating ou spray-coating sur différents substrats pour former un film mince qui, au cours du processus d’hydrolyse et de condensation, se transforme en gel. Ce gel, défini comme une structure tridimensionnelle, résulte d’une agrégation homogène de sorte que macroscopiquement ce milieu renfermant du solvant semble monophasé. Lorsque dans une étape ultérieure le solvant est éliminé par un étuvage à basse température, l’architecture du gel est détruite et le composé hybride obtenu sous forme de couche mince dense est appelé xérogel. Parmi les revêtements issus de la voie sol-gel destinés à la protection contre la corrosion, les plus avancés en terme de développement industriel sont des revêtements protecteurs de type barrière renfermant un promoteur d’adhérence pour peinture. Les travaux sur les couches anticorrosion dites actives renfermant des inhibiteurs de corrosion sont nombreux et s’orientent plus récemment sur la recherche d’architectures de couches tendant à optimiser leur efficacité dans le temps. Afin de montrer dans cette présentation le grand intérêt de ce nouveau procédé pour l’obtention de couches anticorrosion, nous faisons état de récents travaux issus de la littérature

Mitotic cell rounding and epithelial thinning regulate lumen growth and shape

Many organ functions rely on epithelial cavities with particular shapes. Morphogenetic anomalies in these cavities lead to kidney, brain or inner ear diseases. Despite their relevance, the mechanisms regulating lumen dimensions are poorly understood. Here, we perform live imaging of zebrafish inner ear development and quantitatively analyse the dynamics of lumen growth in 3D. Using genetic, chemical and mechanical interferences, we identify two new morphogenetic mechanisms underlying anisotropic lumen growth. The first mechanism involves thinning of the epithelium as the cells change their shape and lose fluids in concert with expansion of the cavity, suggesting an intra-organ fluid redistribution process. In the second mechanism, revealed by laser microsurgery experiments, mitotic rounding cells apicobasally contract the epithelium and mechanically contribute to expansion of the lumen. Since these mechanisms are axis specific, they not only regulate lumen growth but also the shape of the cavity

Effect of cerium on structure modifications of a hybrid sol–gel coating, its mechanical properties and anti-corrosion behavior

An organic–inorganic hybrid coating was developed to improve the corrosion resistance of the aluminum alloy AA 2024-T3. Organic and inorganic coatings derived from glycidoxypropyltrimethoxysilane (GPTMS) and aluminum tri-sec-butoxide Al(OsBu)3, with different cerium contents, were deposited onto aluminum by dip-coating process. Corrosion resistance and mechanical properties were investigated by electrochemical impedance measurements and nano-indentation respectively. An optimal cerium concentration of 0.01 M was evidenced. To correlate and explain the hybrid coating performances in relation to the cerium content, NMR experiments were performed. It has been shown that when the cerium concentration in the hybrid is higher than 0.01 M there are important modifications in the hybrid structure that account for the mechanical properties and anti-corrosion behavior of the sol–gel coating

The influence of cerium ion concentrations on the characteristics of hybrid films obtained on AA2024-T3 aluminum alloy

This work aimed to study the corrosion behavior of AA2024-T3 aluminum alloy substrates pre-treated with 3 glicidoxypropyltrimethoxysilane (GPTMS) silane layers doped with different cerium ion concentrations. The withdrawal speed of substrates from the sol was 20 cm • min-1. The hybrid films were obtained by dip-coating process and analyzed by scanning electron microscopy (SEM) and energy dispersive spectroscopy, Rutherford scattering spectroscopy (RBS), salt spray test, and electrochemical analyses. The correlation among the results obtained from different analyses was very good and indicated that the addition of Ce ion in the hybrid coating contributed to the corrosion resistance; however, for the high Ce ion concentration, the barrier effect of the hybrid films was deteriorated. The results obtained by RBS showed that the concentration of Ce ion in the hybrid film increased linearly with the concentration of Ce ion in the sol. Moreover, it was verified that, for the nominal concentration of 0.05 M Ce ion in the sol, the Ce atomic fraction increased in the hybrid film, while the Si atomic fraction reduced, indicating the possible modification on the silane network due to the incorporation of Ce ions

Deciphering the complex evolution of a polyphase fault/fracture network and its control on fluid circulation and ore deposition through macro- to micro-scale observations

In the Kiggavik area (Nunavut, Canada), uranium mineralization is hosted in outcropping metamorphosed Archean to Paleoproterozoic basement rocks that were likely covered by the nearby Paleoproterozoic sandstones of the Thelon basin infill (1667-1540 Ma). The uranium mineralization is controlled by faults and fractures which developed during a long-lasting polyphase brittle tectonic history spanning from ca. 1850 Ma (after the Thelon and Trans-Hudsonian orogenies) to ca. 1270 Ma (before emplacement of MacKenzie dikes) for the main fracturing events

Fault Zone Evolution and Development of a Structural and Hydrological Barrier: The Quartz Breccia in the Kiggavik Area (Nunavut, Canada) and Its Control on Uranium Mineralization

In the Kiggavik area (Nunavut, Canada), major fault zones along, or close to, where uranium deposits are found are often associated with occurrence of thick quartz breccia (QB) bodies. These bodies formed in an early stage (~1750 Ma) of the long-lasting tectonic history of the Archean basement, and of the Proterozoic Thelon basin. The main characteristics of the QB are addressed in this study; through field work, macro and microscopic observations, cathodoluminescence microscopy, trace elements, and oxygen isotopic signatures of the quartz forming the QB. Faults formed earlier during syn- to post-orogenic rifting (1850-1750 Ma) were subsequently reactivated, and underwent cycles of cataclasis, pervasive silicification, hydraulic brecciation, and quartz recrystallization. This was synchronous with the circulation of meteoric fluids mixing with Si-rich magmatic-derived fluids at depth, and were coeval with the emplacement of the Kivalliq igneous suite at 1750 Ma. These processes led to the emplacement of up to 30 m thick QB, which behaved as a mechanically strong, transverse hydraulic barrier that localized later fracturing, and compartmentalized/channelized vertical flow of uranium-bearing fluids after the deposition of the Thelon Basin (post 1750 Ma). The development and locations of QB control the location of uranium mineralization in the Kiggavik area

An Auger and XPS survey of cerium active corrosion protection for AA2024-T3 aluminum alloy

XPS evidenced the proximity of the inhibitor with the surface AA2024 alloy.Cerium conversion coatings with [Ce] = 0.1 M offer the best corrosion resistance. SAM shown the migration of Ce + III entities towards the corrosion pits or crevices. High resolution analyses (Auger) connecting the nano-scale order with the chemical distribution

MacroH2A1.1 regulates mitochondrial respiration by limiting nuclear NAD+ consumption

Histone variants are structural components of eukaryotic chromatin that can replace replication-coupled histones in the nucleosome. The histone variant macroH2A.1.1 contains a macrodomain able to bind NAD+ derived metabolites. Here, we report that macroH2A.1.1 is rapidly induced during myogenic differentiation through a switch in alternative splicing. Importantly, myotubes lacking macroH2A.1.1 display a defect in mitochondrial respiratory capacity. We find that the metabolite-interacting macrodomain is essential for sustaining optimal mitochondrial function, but dispensable for gene regulation. Through direct binding, macroH2A.1.1 inhibits basal poly-ADP ribose polymerase 1 activity and thus reduces nuclear NAD+ consumption. Consequentially, accumulation of the NAD+ precursor NMN allows the maintenance of mitochondrial NAD+ pools critical for respiration. Our data indicate that macroH2A.1.1-containing chromatin regulates mitochondrial respiration by limiting nuclear NAD+ consumption and establishing a buffer of NAD+ precursors in differentiated cells

Fitting flavour symmetries: the case of two-zero neutrino mass textures

We present a numeric method for the analysis of the fermion mass matrices predicted in flavour models. The method does not require any previous algebraic work, it offers a χ2 comparison test and an easy estimate of confidence intervals. It can also be used to study the stability of the results when the predictions are disturbed by small perturbations. We have applied the method to the case of two-zero neutrino mass textures using the latest available fits on neutrino oscillations, derived the available parameter space for each texture and compared them. Textures A1 and A2 seem favoured because they give a small χ2, allow for large regions in parameter space and give neutrino masses compatible with Cosmology limits. The other 'allowed' textures remain allowed although with a very constrained parameter space, which, in some cases, could be in conflict with Cosmology. We have also revisited the 'forbidden' textures and studied the stability of the results when the texture zeroes are not exact. Most of the forbidden textures remain forbidden, but textures F1 and F3 are particularly sensitive to small perturbations and could become allowed