PD terminal sliding mode control using fuzzy genetic algorithm for mobile robot in presence of disturbances

This paper presents a new approach in the field of trajectory tracking for nonholonomic mobile robot in presence of disturbances. The proposed control design is constructed by a kinematic controller, based on PD sliding surface using fuzzy sliding mode for the angular and linear velocities disturbances, in order to tend asymptotically the robot posture error to zero. Thereafter a dynamic controller is presented using as a sliding surface design, a fast terminal function (FTF) whose parameters are generated by a genetic algorithm in order to converge the velocity errors to zero in finite time and guarantee the asymptotic stability of the system using a Lyapunov candidate. The elaborated simulation works in the case of different trajectories confirm the robustness of the proposed approach

Le fluralaner, une nouvelle option thérapeutique chez la poule de compagnie ?

International audienc

Le fluralaner, une nouvelle option thérapeutique chez la poule de compagnie ?

International audienc

Particular effects of steppic plants in the rehabilitation of degraded soils, ability to control wind erosion

In arid zones, plowing and overgrazing, accentuate steppe degradation risk, silting and wind erosion are the consequences, plants disappear and others persist and adapt. We aimed in this study, to identify steppic plants that can grow in a silted environment and find their effects on dune soil. Under three perennial plants (Retama raetam, Aristida pungens, and Astragalus armatus); the texture, physical and microbiological soil characteristics, were analyzed and compared to those of dune soil without vegetation. The results of the fixed and unfixed dune, soil characteristics were different; the micro dune under A. pungens did not contain silt and clay (0%). The micro dune fixed by A. armatus contained more silt and clay with respectively (9%, 10%). The micro- dune of the soil fixed by R. raetam showed the highest contents in N, C and bacterial richness with respectively (0,08%, 0,82%, 1,21x10^5 ufc/g). The micro dune fixed by A. pungens showed a high content of, CaCO3, electrical conductivity and fungal richness with respectively (2.37%, 0.92ms/cm, and 0.63x10^5 germ/g). We noted at the end of this study, particular effects of each plant in the rehabilitation of degraded soils. The association of these plants had a complementary effect, which could be used to control wind erosion

The 9th International Symposium on Virtual Reality, Archaeology and Cultural Heritage VAST (2008) Virtual Exploration of Underwater Archaeological Sites : Visualization and Interaction in Mixed Reality Environments

Abstract This paper describes the ongoing developments in Photogrammetry and Mixed Reality for the Venus European project (Virtual ExploratioN of Underwate

Long-term neurologic and cardiac correction by intrathecal gene therapy in Pompe disease

Pompe disease is a lysosomal storage disorder caused by acid-a-glucosidase (GAA) deficiency, leading to glycogen storage. The disease manifests as a fatal cardiomyopathy in infantile form. Enzyme replacement therapy (ERT) has recently prolonged the lifespan of these patients, revealing a new natural history. The neurologic phenotype and the persistence of selective muscular weakness in some patients could be attributed to the central nervous system (CNS) storage uncorrected by ERT. GAA-KO 6neo/6neo mice were treated with a single intrathecal administration of adeno-associated recombinant vector (AAV) mediated gene transfer of human GAA at 1 month and their neurologic, neuromuscular, and cardiac function was assessed for 1 year. We demonstrate a significant functional neurologic correction in treated animals from 4 months onward, a neuromuscular improvement from 9 months onward, and a correction of the hypertrophic cardiomyopathy at 12 months. The regions most affected by the disease i.e. the brainstem, spinal cord, and the left cardiac ventricular wall all show enzymatic, biochemical and histological correction. Muscle glycogen storage is not affected by the treatment, thus suggesting that the restoration of muscle functionality is directly related to the CNS correction. This unprecedented global and long-term CNS and cardiac cure offer new perspectives for the management of patients