Underwater Robots Part II: Existing Solutions and Open Issues

National audienceThis paper constitutes the second part of a general overview of underwater robotics. The first part is titled: Underwater Robots Part I: current systems and problem pose. The works referenced as (Name*, year) have been already cited on the first part of the paper, and the details of these references can be found in the section 7 of the paper titled Underwater Robots Part I: current systems and problem pose. The mathematical notation used in this paper is defined in section 4 of the paper Underwater Robots Part I: current systems and problem pose

Underwater Robots Part I: Current Systems and Problem Pose

International audienceThis paper constitutes the first part of a general overview of underwater robotics. The second part is titled: Underwater Robots Part II: existing solutions and open issues

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

Cooperative Acoustic Navigation Scheme for Heterogenous Autonomous Underwater Vehicles

International audienceCooperative Acoustic Navigation Scheme for Heterogenous Autonomous Underwater Vehicle

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)

Guidelines for the use and interpretation of assays for monitoring autophagy (3rd edition)

In 2008 we published the first set of guidelines for standardizing research in autophagy. Since then, research on this topic has continued to accelerate, and many new scientists have entered the field. Our knowledge base and relevant new technologies have also been expanding. Accordingly, it is important to update these guidelines for monitoring autophagy in different organisms. Various reviews have described the range of assays that have been used for this purpose. Nevertheless, there continues to be confusion regarding acceptable methods to measure autophagy, especially in multicellular eukaryotes. For example, a key point that needs to be emphasized is that there is a difference between measurements that monitor the numbers or volume of autophagic elements (e.g., autophagosomes or autolysosomes) at any stage of the autophagic process versus those that measure fl ux through the autophagy pathway (i.e., the complete process including the amount and rate of cargo sequestered and degraded). In particular, a block in macroautophagy that results in autophagosome accumulation must be differentiated from stimuli that increase autophagic activity, defi ned as increased autophagy induction coupled with increased delivery to, and degradation within, lysosomes (inmost higher eukaryotes and some protists such as Dictyostelium ) or the vacuole (in plants and fungi). In other words, it is especially important that investigators new to the fi eld understand that the appearance of more autophagosomes does not necessarily equate with more autophagy. In fact, in many cases, autophagosomes accumulate because of a block in trafficking to lysosomes without a concomitant change in autophagosome biogenesis, whereas an increase in autolysosomes may reflect a reduction in degradative activity. It is worth emphasizing here that lysosomal digestion is a stage of autophagy and evaluating its competence is a crucial part of the evaluation of autophagic flux, or complete autophagy. Here, we present a set of guidelines for the selection and interpretation of methods for use by investigators who aim to examine macroautophagy and related processes, as well as for reviewers who need to provide realistic and reasonable critiques of papers that are focused on these processes. These guidelines are not meant to be a formulaic set of rules, because the appropriate assays depend in part on the question being asked and the system being used. In addition, we emphasize that no individual assay is guaranteed to be the most appropriate one in every situation, and we strongly recommend the use of multiple assays to monitor autophagy. Along these lines, because of the potential for pleiotropic effects due to blocking autophagy through genetic manipulation it is imperative to delete or knock down more than one autophagy-related gene. In addition, some individual Atg proteins, or groups of proteins, are involved in other cellular pathways so not all Atg proteins can be used as a specific marker for an autophagic process. In these guidelines, we consider these various methods of assessing autophagy and what information can, or cannot, be obtained from them. Finally, by discussing the merits and limits of particular autophagy assays, we hope to encourage technical innovation in the field

Elevation Angle Estimations of Wide-Beam Acoustic Sonar Measurements for Autonomous Underwater Karst Exploration

This paper proposes a solution for merging the measurements from two perpendicular profiling sonars with different beam-widths, in the context of underwater karst (cave) exploration and mapping. This work is a key step towards the development of a full 6D pose SLAM framework adapted to karst aquifer, where potential water turbidity disqualifies vision-based methods, hence relying on acoustic sonar measurements. Those environments have complex geometries which require 3D sensing. Wide-beam sonars are mandatory to cover previously seen surfaces but do not provide 3D measurements as the elevation angles are unknown. The approach proposed in this paper leverages the narrow-beam sonar measurements to estimate local karst surface with Gaussian process regression. The estimated surface is then further exploited to infer scaled-beta distributions of elevation angles from a wide-beam sonar. The pertinence of the method was validated through experiments on simulated environments. As a result, this approach allows one to benefit from the high coverage provided by wide-beam sonars without the drawback of loosing 3D information

Analyse des échos de signaux acoustiques diffractés pour le suivi de fond des véhicules autonomes sous-marins

International audienceDe nombreuses applications des véhicules autonomes sous-marins (A.U.V.) impliquent la navigation à distance constante du fond (acquisition d'images vidéo ou sonar, sécurité du véhicule...). Afin d'optimiser la charge utile et l'autonomie de ce type de véhicule, nous avons développé une méthode de détermination de la pente du fond marin dans l'espace à trois dimensions. Cette méthode est nouvelle dans la mesure où elle repose sur l'utilisation d'un seul transducteur acoustique mono-faisceau. Pour ce type de capteur, le signal acoustique émis est diffracté, donnant naissance à un faisceau dont la géométrie dépend de la forme et des dimensions du transducteur. En tenant compte du profil de rétrodiffusion acoustique du fond marin, nous avons montré que, sous certaines conditions d'inclinaison du transducteur, il était possible d'exploiter le ou les lobes secondaires du faisceau acoustique diffracté afin de déterminer non seulement la distance du fond marin par rapport au capteur mais aussi son inclinaison relative (dans l'espace à 2 ou à 3 dimensions). Dans cet article, nous rappelons et complétons les résultats que nous avons obtenus dans l'analyse des faisceaux diffractés, puis nous présentons les aspects théoriques de l'exploitation des informations obtenues dans le cadre d'une commande réflexe de type ZVD (Zone Virtuelle Déformable) pour permettre à un véhicule autonome sous-marin d'effectuer du suivi de fond. Enfin, nous présentons les résultats expérimentaux obtenus pour la validation de la méthode d'acquisition

Contrôle coordonné de flottille de véhicules sous-marins sous-actionnés autonomes (AUVs)

Cette thèse traite de la question du contrôle du mouvement d'engins non-holonomes et sous-actionnés évoluant de manière coordonnée et autonome. Les différentes approches considérées sont le suivi de trajectoire (Trajectory Tracking TT) et le suivi de chemin (path following PF). Une nouvelle méthode de contrôle est proposée. Dénommée Path-Tracking (PT), elle permet de cumuler les avantages de chacune des deux précédentes méthodes, permettant de cumuler la souplesse de la convergence induite par le suivi de chemin avec le respect des contraintes temporelles du suivi de trajectoire. L'étude et la réalisation de la commande démarre avec l'étude du cas du robot nonholonome de type Unicycle' et se base sur les principes de Lyapunov' et de Backstepping'. Ces premiers résultats sont ensuite étendus au cas d'un véhicule sous-marin sous-actionné de type AUV (Autonomous Underwater Vehicle'), en analysant les similarités cinématiques entre ces deux types de véhicules. De plus, il est montré la nécessité de prendre en compte les propriétés dynamiques du système de type AUV, et la condition de Stern dominancy' est établie de façon à garantir que le problème est bien posé et ainsi que la commande soit aisément calculable. Dans la cas d'un système marin sur-actionné, qui peut ainsi effectuer des tâches de navigation au long cours et de positionnement désiré (Station keeping'), une commande hybride est proposée. Enfin, la question du contrôle coordonné d'une formation d'engins marin est abordée. Les colutions de commande pour les taches de suivi de chemin coordonné (coordinated path following') et de coordinated path tracking' sont proposées. Les principes du leader-follower' et la méthode des structures virtuelles sont ainsi traitées dans un cadre de contrôle centralisé, et le cas décentralisé est traité en utilisant certains principes de théorie des graphes.In this dissertation, the problems of motion control of underactuated autonomous vehicles are addressed,namely trajectory tracking (TT), path following (PF), and novelly proposed path tracking whichblending the PF and TT together in order to achieve smooth spatial convergence and tight temporalperformance as well.The control design is firstly started from the benchmark case of nonholonomic unicycle-type vehicles,where the Lyapunov-based design and backstepping technique are employed, and then it is extendedto the underactuated AUVs based on the similarity between the control inputs of two kinds of vehicles.Moreover, dealing with acceleration of side-slip angle is highlighted and stern-dominant property of AUVsis standing out in order to achieve well-posed control computation. Transitions of motion control fromunderactuated to fully actuated AUVs are also proposed.Finally, coordinated formation control of multiple autonomous vehicles are addressed in two-folds,including coordinated paths following and coordinated paths tracking, based on leader-follower andvirtual structure method respectively under the centralized control framework, and then solved underdecentralized control framework by resorting to algebraic graph theory.MONTPELLIER-BU Sciences (341722106) / SudocSudocFranceF