High-speed mobile robot control in off-road conditions: a multi-model based adaptive approach

International audienceThis paper is focused on the design of a control strategy for the path tracking of off-road mobile robots acting at high speed. In order to achieve high accuracy in such a context, uncertain and fast dynamics have to be explicitly taken into account. Since these phenomena (grip conditions, delays due to inertial and low-level control properties) are hardly measurable directly, the proposed approach relies on predictive and observer-based adaptive control techniques. In particular, the adaptive part is based on an observer loop, taking advantage of both kinematic and dynamic vehicle models. This multi-model based adaptive approach permits to adapt on-line the grip conditions (represented by cornering stiffnesses), enabling highly reactive sideslip angles observation and then accurate path tracking. The relevance of this approach is investigated through full scale experiments

Central Mass Concentration and Bar Dissolution in Nearby Spiral Galaxies

We use data from the BIMA Survey of Nearby Galaxies (SONG) to investigate the relationship between ellipticity and central mass concentration in barred spirals. Existing simulations predict that bar ellipticity decreases as inflowing mass driven by the bar accumulates in the central regions, ultimately destroying the bar. Using the ratio of the bulge mass to the mass within the bar radius as an estimate of the central mass concentration, we obtain dynamical mass estimates from SONG CO 1-0 rotation curve data. We find an inverse correlation between bar ellipticity and central mass concentration, consistent with simulations of bar dissolution.Comment: 10 pages, 2 figures and 2 tables, accepted for publication in the Astrophysical Journa

Euclid preparation: XI. Mean redshift determination from galaxy redshift probabilities for cosmic shear tomography

The analysis of weak gravitational lensing in wide-field imaging surveys is considered to be a major cosmological probe of dark energy. Our capacity to constrain the dark energy equation of state relies on an accurate knowledge of the galaxy mean redshift ⟨z⟩. We investigate the possibility of measuring ⟨z⟩ with an accuracy better than 0.002 (1 + z) in ten tomographic bins spanning the redshift interval 0.2  99.8%. The zPDF approach can also be successful if the zPDF is de-biased using a spectroscopic training sample. This approach requires deep imaging data but is weakly sensitive to spectroscopic redshift failures in the training sample. We improve the de-biasing method and confirm our finding by applying it to real-world weak-lensing datasets (COSMOS and KiDS+VIKING-450)

Regularization of Linear Ill-posed Problems by the Augmented Lagrangian Method and Variational Inequalities

We study the application of the Augmented Lagrangian Method to the solution of linear ill-posed problems. Previously, linear convergence rates with respect to the Bregman distance have been derived under the classical assumption of a standard source condition. Using the method of variational inequalities, we extend these results in this paper to convergence rates of lower order, both for the case of an a priori parameter choice and an a posteriori choice based on Morozov's discrepancy principle. In addition, our approach allows the derivation of convergence rates with respect to distance measures different from the Bregman distance. As a particular application, we consider sparsity promoting regularization, where we derive a range of convergence rates with respect to the norm under the assumption of restricted injectivity in conjunction with generalized source conditions of H\"older type

Cross-cultural adaptation, reliability, internal consistency and validation of the Trinity Amputation and Prosthetic Experience Scales-Revised (TAPES-R) for French speaking patients with lower limb amputation

AimThe aim of this study was the French cross-cultural adaptation and validation of The Trinity Amputation and Prosthetic Experience Scales-Revised (TAPES-R-F), in a lower limb amputation population. This self-reported multidimensional amputee-specific questionnaire [1] evaluates with 33 items psychosocial adjustment (3 subscales), activity restriction (1 subscale) and satisfaction with prosthesis (2 subscales).Patients and methodsOne hundred and twenty-nine patients with a mean age of 62 years and with lower limb amputations for at least 1 year were recruited in 5 clinical centers. Translation and cross-cultural adaptation were made according to international guidelines. Internal consistency of each subscale was measured with Cronbach's alpha. Test-retest reliability was assessed by intraclass correlation in a sub- group of 24 subjects who completed the TAPES-R twice with an interval of 7 days. Construct validity was estimated through correlations with 2 main components of SF-36 (MCS, PCS). Correlations were also calculated with 3 scales of the Brief Pain Inventory (BPI).ResultsCronbach's alpha was high, ranging from 0.85 to 0.95. Reliability was acceptable to high (ICC=0.72 to 0.91) for all subscales with the exception of the Social adjustment (ICC=0.67) and Adjustment to limitation (ICC=0.42) subscales. The 2 component of SF-36 was significantly correlated with all subscales (PCS: r=0.24 to 0.66); MCS: r=0.30 to 0.58), except with aesthetic satisfaction and adjustment to limitation. Regarding the BPI, significant correlations were found for all subscales (r=–0.20 to –0.68) with the exception of adjustment to limitation. Ceiling or floor effects (>15%) were found for all but Activity Restriction and Functional Satisfaction Scales.DiscussionThe TAPES-R-F has acceptable psychometric properties for most of its subscales. Our results may suggest that the French version is more useful in a population research perspective than in an individual perspective. Other studies are necessary to clarify the role and the psychometric properties of this measurement

Molecular Gas, Dust and Star Formation in the Barred Spiral NGC 5383

We present multi-wavelength (interferometer and single-dish CO J=1-0, Halpha, broadband optical and near-infrared) observations of the classic barred spiral NGC 5383. We compare the observed central gas and dust morphology to the predictions of recent hydrodynamic simulations. In the nuclear region, our observations reveal three peaks lying along a S-shaped gas and dust distribution. In contrast, the model predicts a circumnuclear ring, not the observed S-shaped distribution; moreover, the predicted surface density contrast between the central gas accumulation and the bar dust lanes is an order of magnitude larger than observed. The discrepancies are not due to unexplored model parameter space or a nuclear bar but are probably due to the vigorous (7 solar masses per year) star formation activity in the center. As is common in similar bars, the star formation rate in the bar between the bar ends and the central region is low (~0.5 solar masses per yr), despite the high gas column density in the bar dust lanes; this is generally attributed to shear and shocks. We note a tendency for the HII regions to be associated with the spurs feeding the main bar dust lanes, but these are located on the leading side of the bar. We propose that stars form in the spurs, which provide a high column density but low shear environment. HII regions can therefore be found even on the leading side of the bar because the ionizing stars pass ballistically through the dust laneComment: Accepted for publication in The Astrophysical Journal, 33 pages (includes 10 figures

Vertical distribution of Galactic disk stars : II. The surface mass density in the Galactic plane

High resolution spectra data of red clump stars towards the NGP have been obtained with the high resolution spectrograph Elodie at OHP for Tycho-2 selected stars. Combined with Hipparcos local analogues, we determine both the gravitational force law perpendicaular to the Galactic plane, and the total surface mass density and thickness of the Galactic disk. The surface mass density of the Galactic disk within 800 pc derived from this analysis is Sigma(|z|<800pc)=76 Msol.pc-2 and, removing the dark halo contribution, the total disk mass density is Sigma0=67 Msol.pc-2 at solar radius. The thickness of the total disk mass distribution is dynamicaly measured for the first time and is found to be 390pc in relative agreement with the old stellar disk scale height. All dynamical evidences concerning the structure of the disk (its local volume density -i.e. the Oort limit-, its surface density and its thickness) are compatible with our knowledge of the corresponding stellar disk properties.Comment: 11 pages, 9 figures, Accepted for publication in A&

Multiproxy bioarchaeological data reveals interplay between growth, diet and population dynamics across the transition to farming in the central Mediterranean

The transition to farming brought on a series of important changes in human society, lifestyle, diet and health. The human bioarchaeology of the agricultural transition has received much attention, however, relatively few studies have directly tested the interrelationship between individual lifestyle factors and their implications for understanding life history changes among the first farmers. We investigate the interplay between skeletal growth, diet, physical activity and population size across 30,000&nbsp;years in the central Mediterranean through a ‘big data’ cross-analysis of osteological data related to stature (n = 361), body mass (n = 334) and long bone biomechanics (n = 481), carbon (δ 13C) and nitrogen (δ 15N) stable isotopes (n = 1986 human, n = 475 animal) and radiocarbon dates (n = 5263). We present the observed trends on a continuous timescale in order to avoid grouping our data into assigned ‘time periods’, thus achieving greater resolution and chronological control over our analysis. The results identify important changes in human life history strategies associated with the first farmers, but also highlight the long-term nature of these trends in the millennia either side of the agricultural transition. The integration of these different data is an important step towards disentangling the complex relationship between demography, diet and health, and reconstruct life history changes within a southern European context. We believe the methodological approach adopted here has broader global implications for bioarchaeological studies of human adaptation more generally

Long-term observations minus background monitoring of ground-based brightness temperatures from a microwave radiometer network

Abstract. Ground-based microwave radiometers (MWRs) offer the capability to provide continuous, high-temporal-resolution observations of the atmospheric thermodynamic state in the planetary boundary layer (PBL) with low maintenance. This makes MWR an ideal instrument to supplement radiosonde and satellite observations when initializing numerical weather prediction (NWP) models through data assimilation. State-of-the-art data assimilation systems (e.g. variational schemes) require an accurate representation of the differences between model (background) and observations, which are then weighted by their respective errors to provide the best analysis of the true atmospheric state. In this perspective, one source of information is contained in the statistics of the differences between observations and their background counterparts (O–B). Monitoring of O–B statistics is crucial to detect and remove systematic errors coming from the measurements, the observation operator, and/or the NWP model. This work illustrates a 1-year O–B analysis for MWR observations in clear-sky conditions for an European-wide network of six MWRs. Observations include MWR brightness temperatures (TB) measured by the two most common types of MWR instruments. Background profiles are extracted from the French convective-scale model AROME-France before being converted into TB. The observation operator used to map atmospheric profiles into TB is the fast radiative transfer model RTTOV-gb. It is shown that O–B monitoring can effectively detect instrument malfunctions. O–B statistics (bias, standard deviation, and root mean square) for water vapour channels (22.24–30.0 GHz) are quite consistent for all the instrumental sites, decreasing from the 22.24 GHz line centre ( ∼  2–2.5 K) towards the high-frequency wing ( ∼  0.8–1.3 K). Statistics for zenith and lower-elevation observations show a similar trend, though values increase with increasing air mass. O–B statistics for temperature channels show different behaviour for relatively transparent (51–53 GHz) and opaque channels (54–58 GHz). Opaque channels show lower uncertainties (< 0.8–0.9 K) and little variation with elevation angle. Transparent channels show larger biases ( ∼  2–3 K) with relatively low standard deviations ( ∼  1–1.5 K). The observations minus analysis TB statistics are similar to the O–B statistics, suggesting a possible improvement to be expected by assimilating MWR TB into NWP models. Lastly, the O–B TB differences have been evaluated to verify the normal-distribution hypothesis underlying variational and ensemble Kalman filter-based DA systems. Absolute values of excess kurtosis and skewness are generally within 1 and 0.5, respectively, for all instrumental sites, demonstrating O–B normal distribution for most of the channels and elevations angles