Model-Free Control Design Procedure Applied to Lateral Vehicle Control

Model-Free Control has proven its performance in a wide variety of systems. Although its adequate tuning can be achieved using the knowledge of the system and optimization-based approaches, there is not yet a systematic design procedure for this kind of control scheme. In this paper, a non-iterative Three Term Controller tuning procedure is adapted and extended to fit Model-free controllers' structure. This procedure is successfully applied to design the lateral control of an automated car with realistic performance requirements.Comment: submitted to IFAC World Congress 202

Numerical approximation of statistical solutions of scalar conservation laws

We propose efficient numerical algorithms for approximating statistical solutions of scalar conservation laws. The proposed algorithms combine finite volume spatio-temporal approximations with Monte Carlo and multi-level Monte Carlo discretizations of the probability space. Both sets of methods are proved to converge to the entropy statistical solution. We also prove that there is a considerable gain in efficiency resulting from the multi-level Monte Carlo method over the standard Monte Carlo method. Numerical experiments illustrating the ability of both methods to accurately compute multi-point statistical quantities of interest are also presented

The portrayal of animal interactions in nature documentaries by David Attenborough and Bernhard Grzimek

Millions of people across the world have been exposed to the wildlife documentaries of David Attenborough and Bernhard Grzimek, who have thus greatly influenced the public’s views on nature and biodiversity. We investigated the way organisms’ biology is portrayed in these documentaries, quantifying different types of animal interactions shown. We evaluated 1498 (Attenborough) and 391 (Grzimek) interactions within- and between-species from documentaries covering a wide range of environments and animal taxa, first aired between 1956 and 2019. We tested whether the relative frequencies of different interactions were influenced by temporal trends as well as by the presenters and their production teams who likely reflect the given Zeitgeist in the UK compared to the European mainland. For our categorisation of animal interactions, we contrasted interspecific versus intraspecific interactions and antagonistic versus cooperative behaviour. While Grzimek’s documentaries put a stronger emphasis on cooperation and Attenborough’s on antagonistic behaviour, the trends were not statistically significant. Furthermore, these patterns show no significant change over time, contrasting with the changing view among biologists that cooperation is more predominant than considered in the traditional understanding of nature as ‘red in tooth and claw’

Vestigial structures and variation in the evolution of the marsupial mammal dental development—a study of the woolly opossum Caluromys philander

The pattern of dental replacement in marsupial mammals has received much attention for its derived nature and potential relationship to the life history of the group. However, few species have been studied thoroughly, and little is known about the embryonic structures and their use in addressing issues of homology and dental evolution in general. We studied a developmental series of ten individuals of pouch young Caluromys philander to thoroughly document dental development with histological sections and 3D models of dental series. We report that the successor P3 arises from a lingual successional lamina from its predecessor dP3. The germs of vestigial, unerupted deciduous incisors and canines are present alongside their respective permanent successors. These discoveries demonstrate significant differences from the developmental patterns reported for Didelphis and Monodelphis and illustrate that an unsuspected diversity of dental ontogeny is not reflected in the adult pattern of mineralised, erupted or almost erupted teeth

Exceptional Changes in Skeletal Anatomy under Domestication:The Case of Brachycephaly

“Brachycephaly” is generally considered a phenotype in which the facial part of the head is pronouncedly shortened. While brachycephaly is characteristic for some domestic varieties and breeds (e.g., Bulldog, Persian cat, Niata cattle, Anglo-Nubian goat, Middle White pig), this phenotype can also be considered pathological. Despite the superficially similar appearance of “brachycephaly” in such varieties and breeds, closer examination reveals that “brachycephaly” includes a variety of different cranial modifications with likely different genetic and developmental underpinnings and related with specific breed histories. We review the various definitions and characteristics associated with brachycephaly in different domesticated species. We discern different types of brachycephaly (“bulldog-type,” “katantognathic,” and “allometric” brachycephaly) and discuss morphological conditions related to brachycephaly, including diseases (e.g., brachycephalic airway obstructive syndrome). Further, we examine the complex underlying genetic and developmental processes and the culturally and developmentally related reasons why brachycephalic varieties may or may not be prevalent in certain domesticated species. Knowledge on patterns and mechanisms associated with brachycephaly is relevant for domestication research, veterinary and human medicine, as well as evolutionary biology, and highlights the profound influence of artificial selection by humans on animal morphology, evolution, and welfare

Pliocene sigmodontine rodents (Mammalia: Cricetidae) in northernmost South America: test of biogeographic hypotheses and revised evolutionary scenarios

We document the first occurrence of Sigmodontinae (Mammalia, Rodentia, Cricetidae) from the Pliocene of northern South America, from the San Gregorio Formation of northwestern Venezuela. The recovered isolated molars are identified as Oligoryzomys sp. and Zygodontomys sp., two currently widespread sigmodontines in South America. These records constitute the oldest representatives of these genera, potentially new species, and the first Pliocene occurrence for Oryzomyini and the whole subfamily outside Argentina. Hypotheses on the historical biogeography of sigmodontines have been constructed almost exclusively using genetic data and the fossils we report provide a new kind of evidence. The occurrence of Oligoryzomys sp. and Zygodontomys sp. in Venezuela provides novel information for the diversification models suggested for Oligoryzomys, by supporting a potential eastern corridor of open environments from northern to southern South America. The presence of sigmodontines from the locality home of the new reports, Norte Casa Chiguaje, is consistent with the palaeoenvironmental conditions originally proposed for it based on mammals and botanical records, being characterized as mixed open grassland/forest areas surrounding permanent freshwater systems. The new sigmodontine evidence is used to discuss the putative scenarios of the ancient evolution of the subfamily in South America, favouring a model in which open areas (savannahs) to the east of the Andes played crucial role aiding or obstructing Late Miocene-Pliocene sigmodontine dispersion southwards

Effects of Small-Sided Games vs. Interval Training in Aerobic Fitness and Physical Enjoyment in Young Elite Soccer Players

The purpose of this study was to compare the effects of Small-Sided Games (SSG) vs. Interval Training (IT) in soccer training on aerobic fitness and physical enjoyment in youth elite soccer players during the last 8 weeks of the season. Seventeen U-16 male soccer players (age = 15.5 ? 0.6 years, and 8.5 years of experience) of a Spanish First Division club academy were randomized to 2 different groups for 6 weeks: SSG group (n = 9) and IT group (n = 8). In addition to the usual technical and tactical sessions and competitive games, the SSG group performed 11 sessions with different SSGs, whereas the IT group performed the same number of sessions of IT. Players were tested before and after the 6-week training intervention with a continuous maximal multistage running field test and the counter movement jump test (CMJ). At the end of the study, players answered the physical activity enjoyment scale (PACES). During the study, heart rate (HR) and session perceived effort (sRPE) were assessed. SSGs were as effective as IT in maintaining the aerobic fitness in elite young soccer players during the last weeks of the season. Players in the SSG group declared a greater physical enjoyment than IT (P = 0.006; ES = 1.86 ? 1.07). Coaches could use SSG training during the last weeks of the season as an option without fear of losing aerobic fitness while promoting high physical enjoyment.publishersversionPeer reviewe

Growth in fossil and extant deer and implications for body size and life history evolution

© Kolb et al.; licensee BioMed Central. 2015 This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly credited. The attached file is the published version of the article