Tannakian categories, linear differential algebraic groups, and parameterized linear differential equations

We provide conditions for a category with a fiber functor to be equivalent to the category of representations of a linear differential algebraic group. This generalizes the notion of a neutral Tannakian category used to characterize the category of representations of a linear algebraic group.Comment: 26 pages; corrected misprints; simplified Definition 2; more references adde

Synthesis of electroactive molecular clips for a supramolecular recognition of neutral molecules

Date du colloque&nbsp;: 07/2009</p

Synthèse et propriétés de clips et paniers moléculaires électro- ou photoactifs pour une reconnaissance supramoléculaire

Date du colloque&nbsp;: 09/2010</p

Synthèse de clips moléculaires électroactifs pour la reconnaissance supramoléculaire de molécules neutres planes ou tridimensionnelles

National audienc

Synthesis and properties of electro or photoactive molecular clips and baskets for a supramolecular recognition

Date du colloque&nbsp;: 05/2009</p

Original Design of an Unmanned Ground Vehicle for Exploration in Rough Terrain

This paper introduces an originally designed tracked robot. This robot belongs to the variable geometry single-tracked vehicle (VGSTV) category. Two active joints are used to control the shape of the vehicle and the tension of the tracks. Thus, it becomes possible to adapt the shape of the robot and the ground/robot contact points to the obstacle by controlling the joints. This paper presents some unmanned ground vehicle architectures followed by an analysis of the prototype performance (in comparison with other VGSTVs). A description of its dynamic model is also presented in order to introduce the computation of two balance criteria: center of gravity and zero moment point. Finally, the relevance of these criteria is compared by discussing experimental results in the case of staircase clearing

Evolutionnary Autonomous VGSTV Staircase Climbing

This paper introduces an originally designed tracked robot. This robot belongs to the VGSTV (Variable Geometry Single Tracked Vehicle) category, which is actually a sub-group of Variable Geometry Vehicles well represented by the iRobot Packbot. Those robots have been used several times for search and rescue mission and seems to be a real asset because of their clearing capability. After a brief categorization, technical specification of our robot are presented and geometrical and dynamical models are computed in order to compare static and dynamic balance. Then, thanks to the results of the balance study, an autonomous staircase clearing controller based on artificial neural network is computed and tested. A general conclusion about possible improvements and future work ends the paper