An approach for Fault Tolerant and Performance Guarantee Autonomous Robotic Mission

International audienceLong duration autonomous missions are still challenging objectives for robotics. This paper presents a new methodology using performance points of view to guide hardware and software resources management according to mission execution and fault occurrence. Experimental results on a patrolling mission are presented. It also detail how localization guarantee is managed and what impact it has on the overall methodology and its performances

The PGR Networks in France: Collaboration of users and the genetic resources centre on small grain cereals

Plant genetic resources (PGR) have been used in breeding programs for many decades to produce modern varieties by introducing genes of interest, in particular, resistance genes. Nevertheless, these resources remain underestimated if we focus on abiotic stress tolerance or new agricultural techniques, which consider productivity with regard to the environment. In recent years, new users, such as scientists and farmers, have discovered diverse sources of interest for screening and exploiting natural diversity conserved in PGR collections.In the case of the French cereals PGR Network, a share of the responsibility, based on the knowledge and ability of network members, has been decided in order to better promote the use of PGR. The main species of Triticum (wheat), Hordeum (barley), Secale (rye), ×Triticosecale (triticale), Avena (oat) genera and their wild relatives are held in the collection. By combining phenotypic and genotypic data, the whole genetic resource collection has been structured into smaller functional groups of accessions, in order to facilitate the access and meet the increasing number of different requirements for the distribution of adapted samples of accessions.New panels are being processed to give breeders and scientists new useful tools to study, for instance, stress resistance or to develop association studies. All these data obtained from the French small grain cereal Network will be progressively available through the INRA Genetic Resource Website (http://urgi.versailles.inra.fr/siregal/siregal/welcome.do)

Coarctation of the aorta: pre and postoperative evaluation with MRI and MR angiography; correlation with echocardiography and surgery

Aims: To compare MRI and MRA with Doppler-echocardiography (DE) in native and postoperative aortic coarctation, define the best MR protocol for its evaluation, compare MR with surgical findings in native coarctation. Materials and methods: 136 MR studies were performed in 121 patients divided in two groups: Group I, 55 preoperative; group II, 81 postoperative. In group I, all had DE and surgery was performed in 35 cases. In group II, DE was available for comparison in 71 cases. MR study comprised: spin-echo, cine, velocity-encoded cine (VEC) sequences and 3D contrast-enhanced MRA. Results: In group I, diagnosis of coarctation was made by DE in 33 cases and suspicion of coarctation and/or aortic arch hypoplasia in 18 cases. Aortic arch was not well demonstrated in 3 cases and DE missed one case. There was a close correlation between VEC MRI and Doppler gradient estimates across the coarctation, between MRI aortic arch diameters and surgery but a poor correlation in isthmic measurements. In group II, DE detected a normal isthmic region in 31 out of 35 cases. Postoperative anomalies (recoarctation, aortic arch hypoplasia, kinking, pseudoaneurysm) were not demonstrated with DE in 50% of cases. Conclusions: MRI is superior to DE for pre and post-treatment evaluation of aortic coarctation. An optimal MR protocol is proposed. Internal measurement of the narrowing does not correspond to the external aspect of the surgical narrowin

THE PGR NETWORKS IN FRANCE: COLLABORATION OF USERS AND THE GENETIC RESOURCE CENTRE ON SMALL GRAIN CEREALS

Plant genetic resources (PGR) have been used in breeding programs for many decades to produce modern varieties by introducing genes of interest, in particular, resistance genes. Nevertheless, these resources remain underestimated if we focus on abiotic stress tolerance or new agricultural techniques, which consider productivity with regard to the environment. In recent years, new users, such as scientists and farmers, have discovered diverse sources of interest for screening and exploiting natural diversity conserved in PGR collections.In the case of the French cereals PGR Network, a share of the responsibility, based on the knowledge and ability of network members, has been decided in order to better promote the use of PGR. The main species of Triticum (wheat), Hordeum (barley), Secale (rye), ×Triticosecale (triticale), Avena (oat) genera and their wild relatives are held in the collection. By combining phenotypic and genotypic data, the whole genetic resource collection has been structured into smaller functional groups of accessions, in order to facilitate the access and meet the increasing number of different requirements for the distribution of adapted samples of accessions.New panels are being processed to give breeders and scientists new useful tools to study, for instance, stress resistance or to develop association studies. All these data obtained from the French small grain cereal Network will be progressively available through the INRA Genetic Resource Website (http://urgi.versailles.inra.fr/siregal/siregal/welcome.do)

Evaluation of the Safety and Immunogenicity of the RTS,S/AS01E Malaria Candidate Vaccine When Integrated in the Expanded Program of Immunization

Background. The RTS,S/AS01E malaria candidate vaccine is being developed for immunization of African infants through the Expanded Program of Immunization (EPI). Methods. This phase 2, randomized, open, controlled trial conducted in Ghana, Tanzania, and Gabon evaluated the safety and immunogenicity of RTS,S/AS01E when coadministered with EPI vaccines. Five hundred eleven infants were randomized to receive RTS,S/AS01E at 0, 1, and 2 months (in 3 doses with diphtheria, tetanus, and wholecell pertussis conjugate [DTPw]; hepatitis B [HepB]; Haemophilus influenzae type b [Hib]; and oral polio vaccine [OPV]), RTS,S/AS01E at 0, 1, and 7 months (2 doses with DTPwHepB/Hib+OPV and 1 dose with measles and yellow fever), or EPI vaccines only. Results. The occurrences of serious adverse events were balanced across groups; none were vaccine-related. One child from the control group died. Mild to moderate fever and diaper dermatitis occurred more frequently in the RTS,S/AS01E coadministration groups. RTS,S/AS01E generated high anti-circumsporozoite protein and anti- hepatitis B surface antigen antibody levels. Regarding EPI vaccine responses upon coadministration when considering both immunization schedules, despite a tendency toward lower geometric mean titers to some EPI antigens, predefined noninferiority criteria were met for all EPI antigens except for polio 3 when EPI vaccines were given with RTS,S/AS01E at 0, 1, and 2 months. However, when antibody levels at screening were taken into account, the rates of response to polio 3 antigens were comparable between groups. Conclusion. RTS,S/AS01E integrated in the EPI showed a favorable safety and immunogenicity evaluation. Trial registration. ClinicalTrials.gov identifier: NCT00436007. GlaxoSmithKline study ID number: 106369 (Malaria-050

New Eocene Coleoid (Cephalopoda) Diversity from Statolith Remains: Taxonomic Assignation, Fossil Record Analysis, and New Data for Calibrating Molecular Phylogenies.

New coleoid cephalopods are described from statolith remains from the Middle Eocene (Middle Lutetian) of the Paris Basin. Fifteen fossil statoliths are identified and assigned to the Sepiidae (Sepia boletzkyi sp. nov.,? Sepia pira sp. nov.), Loliginidae (Loligo clarkei sp. nov.), and Ommastrephidae (genus indet.) families. The sediments containing these fossils indicate permanent aquatic settings in the infralittoral domain. These sediments range in age from 46 Mya to 43 Mya. Analysis of the fossil record of statoliths (from findings described here, together with a review of previously published data) indicates marked biases in our knowledge. Fossil statoliths are known from as far back as the Early Jurassic (199.3 to 190.8 Mya) but surprisingly, to the best of our knowledge, no record occurs in the Cretaceous. This is a "knowledge bias" and clearly calls for further studies. Finally, we attempt to compare findings described here with fossils previously used to constrain divergence and/or diversification ages of some coleoid subclades in molecular phylogenies. This comparison clearly indicates that the new records detailed here will challenge some estimated divergence times of coleoid cephalopod subclades

Fault Tolerant Autonomous Robots Using Mission Performance Guided Resources Allocation

International audienceReal long-term, complex and autonomous mission is still a challenge for robotics. This paper presents an efficient approach enhancing the robot with fault tolerance. It uses performance viewpoints to guide hardware and software resources allocation all along the mission according to faults effects and detection. Simulated and experimental results are proposed and analyzed

Geographical location of the four Lutetian localities (Thiverval-Grignon, Saint-Lubin-de-la-Haye, Maulette, and Fleury-la-Rivière) yielding statoliths.

<p>The localities are indicated on the map of the extension of the Lutetian sediments (from [<a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0154062#pone.0154062.ref026" target="_blank">26</a>] modified).</p

Anatomical overview of Lutetian statoliths.

<p>Only main diagnostic features are indicated. A. <i>Sepia boletzkyi</i> sp. nov., holotype, view of anterior side, right statolith (MNHN.F.A53753). B.? <i>Sepia pira</i> sp. nov., holotype, view of anterior side, right statolith (MNHN.F.A53757). C. <i>Loligo clarkei</i> sp. nov., holotype, view of anterior side, left statolith (MNHN.F.A53745). D. Ommastrephidae genus indet., view of anterior side, right statolith (MNHN.F.A53758).</p

Size of statoliths.

<p>Size is given for some recent species and for fossil species under study (see <a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0154062#pone.0154062.s006" target="_blank">S2 Table</a>), and compared to mantle length (ML) for recent species only. Recent specimens measured here are those used for morphometric analysis (see [<a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0154062#pone.0154062.ref022" target="_blank">22</a>] and text).</p