Trajectographie passive sonar par estimation particulaire à maximum de vraisemblance

Cet article introduit la technique particulaire à redistributions locales adaptatives, pour la résolution des problèmes d'estimation à maximum de vraisemblance. La performance de la technique est illustrée sur le problème de trajectographie passive SONAR

Localisation par vision multi-spectrale (Application aux systèmes embarqués)

La problématique SLAM (Simultaneous Localization and Mapping) est un thème largement étudié au LAAS depuis plusieurs années. L'application visée concerne le développement d'un système d'aide au roulage sur aéroport des avions de ligne, ce système devant être opérationnel quelques soient les conditions météorologiques et de luminosité (projet SART financé par la DGE en partenariat avec principalement FLIR Systems, Latécoère et Thales).Lors de conditions de visibilité difficile (faible luminosité, brouillard, pluie...), une seule caméra traditionnelle n'est pas suffisante pour assurer la fonction de localisation. Dans un premier temps, on se propose d'étudier l'apport d'une caméra infrarouge thermique.Dans un deuxième temps, on s'intéressera à l'utilisation d'une centrale inertielle et d'un GPS dans l'algorithme de SLAM, la centrale aidant à la prédiction du mouvement, et le GPS à la correction des divergences éventuelles. Enfin, on intègrera dans ce même SLAM des pseudo-observations issues de l'appariement entre des segments extraits des images, et ces mêmes segments contenus dans une cartographie stockée dans une base de données. L'ensemble des observations et pseudo-observations a pour but de localiser le porteur à un mètre près.Les algorithmes devant être portés sur un FPGA muni d'un processeur de faible puissance par rapport aux PC standard (400 MHz), un co-design devra donc être effectué entre les éléments logiques du FPGA réalisant le traitement d'images à la volée et le processeur embarquant le filtre de Kalman étendu (EKF) pour le SLAM, de manière à garantir une application temps-réel à 30 Hz. Ces algorithmes spécialement développés pour le co-design et les systèmes embarqués avioniques seront testés sur la plate-forme robotique du LAAS, puis portés sur différentes cartes de développement (Virtex 5, Raspberry, PandaBoard...) en vue de l'évaluation des performancesThe SLAM (Simultaneous Localization and Mapping) problematic is widely studied from years at LAAS. The aimed application is the development of a helping rolling system for planes on airports. This system has to work under any visibility and weather conditions ("SART" project, funding by DGE, with FLIR Systems, Thalès and Latecoère).During some weather conditions (fog, rain, darkness), one only visible camera is not enough to complete this task of SLAM. Firstly, in this thesis, we will study what an infrared camera can bring to SLAM problematic, compared to a visible camera, particularly during hard visible conditions.Secondly, we will focus on using Inertial Measurement Unit (IMU) and GPS into SLAM algorithm, IMU helping on movement prediction, and GPS helping on SLAM correction step. Finally, we will fit in this SLAM algorithm pseudo-observations coming from matching between points retrieved from images, and lines coming from map database. The main objective of the whole system is to localize the vehicle at one meter.These algorithms aimed to work on a FPGA with a low-power processor (400MHz), a co-design between the hardware (processing images on the fly) and the software (embedding an Extended Kalman Filter (EKF) for the SLAM), has to be realized in order to guarantee a real-time application at 30 Hz. These algorithms will be experimented on LAAS robots, then embedded on different boards (Virtex 5, Raspberry Pi, PandaBoard...) for performances evaluationTOULOUSE-INSA-Bib. electronique (315559905) / SudocSudocFranceF

Selection for reduced muscle glycolytic potential in Large White pigs I. Direct responses

International audienc

Comparison between the three porcine RN genotypes for growth, carcass composition and meat quality traits

A three-step experimental design has been carried out to add evidence about the existence of the RN gene, with two segregating alleles RN- and rn+, having major effects on meat quality in pigs, to estimate its effects on production traits and to map the RN locus. In the present article, the experimental population and sampling procedures are described and discussed, and effects of the three RN genotypes on growth and carcass traits are presented. The RN genotype had no major effect on growth performance and killing out percentage. Variables pertaining to carcass tissue composition showed that the RN- allele is associated with leaner carcasses (about 1 s.d. effect without dominance for back fat thickness, 0.5 s.d. effect with dominance for weights of joints). Muscle glycolytic potential (GP) was considerably higher in RN- carriers, with a maximum of a 6.85 s.d. effect for the live longissimus muscle GP. Physico-chemical characteristics of meat were also influenced by the RN genotype in a dominant way, ultimate pH differing by about 2 s.d. between homozygous genotypes and meat colour by about 1 s.d. Technological quality was also affected, with a 1 s.d. decrease in technological yield for RN- carriers. The RN genotype had a more limited effect on eating quality. On the whole, the identity between the acid meat condition and the RN- allele effect is clearly demonstrated (higher muscle GP, lower ultimate pH, paler meat and lower protein content), and the unfavourable relationship between GP and carcass lean to fat ratio is confirmed

Selection for reduced muscle glycolytic potential in Large White pigs. II. Correlated responses in meat quality and muscle compositional traits

International audienc

A search for pre-substellar cores and proto-brown dwarf candidates in Taurus: multiwavelength analysis in the B213-L1495 clouds

In an attempt to study whether the formation of brown dwarfs (BDs) takes place as a scaled-down version of low-mass stars, we conducted IRAM30m/MAMBO-II observations at 1.2 mm in a sample of 12 proto-BD candidates selected from Spitzer/IRAC data in the B213-L1495 clouds in Taurus. Subsequent observations with the CSO at 350 micron, VLA at 3.6 and 6 cm, and IRAM30m/EMIR in the 12CO(1-0), 13CO(1-0), and N2H+(1-0) transitions were carried out toward the two most promising Spitzer/IRAC source(s), J042118 and J041757. J042118 is associated with a compact (<10 arcsec or <1400 AU) and faint source at 350 micron, while J041757 is associated with a partially resolved (~16 arcsec or ~2000 AU) and stronger source emitting at centimetre wavelengths with a flat spectral index. The corresponding masses of the dust condensations are ~1 and ~5 Mjup for J042118 and J041757, respectively. In addition, about 40 arcsec to the northeast of J041757 we detect a strong and extended submillimetre source, J041757-NE, which is not associated with NIR/FIR emission down to our detection limits, but is clearly detected in 13CO and N2H+ at ~7 km/s, and for which we estimated a total mass of ~100 Mjup, close to the mass required to be gravitationally bound. In summary, our observational strategy has allowed us to find in B213-L1495 two proto-BD candidates and one pre-substellar core candidate, whose properties seem to be consistent with a scaled-down version of low-mass stars.Comment: MNRAS, 424, 2778; corrected typos, mass estimate refined in Section 3.2.1 and Section 5.3; conclusions unchange

Probing the close environment of young stellar objects with interferometry

The study of Young Stellar Objects (YSOs) is one of the most exciting topics that can be undertaken by long baseline optical interferometry. The magnitudes of these objects are at the edge of capabilities of current optical interferometers, limiting the studies to a few dozen, but are well within the capability of coming large aperture interferometers like the VLT Interferometer, the Keck Interferometer, the Large Binocular Telescope or 'OHANA. The milli-arcsecond spatial resolution reached by interferometry probes the very close environment of young stars, down to a tenth of an astronomical unit. In this paper, I review the different aspects of star formation that can be tackled by interferometry: circumstellar disks, multiplicity, jets. I present recent observations performed with operational infrared interferometers, IOTA, PTI and ISI, and I show why in the next future one will extend these studies with large aperture interferometers.Comment: Review to be published in JENAM'2002 proceedings "The Very Large Telescope Interferometer Challenges for the future