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  • Authors: Rosendo, Juan Luis;

    This work seeks to mitigate the effects of constraints on mobile robotic systems. To this end, auxiliary control loops and robust tuning techniques are proposed. The former are proposed to mitigate the effects of constraints on the input and output of the systems through the modification of the motion parameter in path following applications.Then, PID controllers are considered as a structural constraint, given its wide use in robotics particularly at low control level. A robust tuning methodology considering this constraint is proposed which achieves good performancelevels even when facing disturbances. Finally, to deal with robustness in presence of robots nonlinearity constraints, an analysis and tuning tool for sliding mode controllers is proposed. The particularity of this tuning method, based on global optimization and interval techniques,is that it allows generating tuning maps of the parameter regions where the desired performance criterion is fulfilled. All the proposed strategies are put into practice, through real experimentation or invalidated simulators, over the AUV Ciscrea available at ENSTA Bretagne.; Ce travail vise à atténuer les effets des contraintes sur les systèmes robotiques mobiles. À cette fin, des structures de commande auxiliaire et des techniques de réglage robuste sont proposées. Les structures sont proposées dans le cadre du suivi de chemin pour atténuer les effets des contraintes sur les entrées et les sorties des systèmes. Ensuite, étant donnée leur utilisation répandue en robotique, les contrôleurs de type PID sont considérés comme une contrainte structurelle. Une méthode de réglage robuste, tenant compte de cette contrainte, est proposée permettant d’atteindre de bons niveaux de performance même en présence de perturbations. Enfin, pour faire face à la robustesse en présence des contraintes de non-linéarité sur robots, un outil d’analyse et de réglage pour les contrôleurs de mode glissant est proposé. La particularité de cette méthode de réglage, basée sur des techniques d’optimisation globale et de calculs par intervalles, est qu’elle permet de générer des cartographies de réglage des paramètres pour lesquels le critère de performance souhaité est rempli.Toutes les stratégies proposées sont mises en pratique par des expérimentations réelles ou sur des simulateurs validés (AUV Ciscrea disponible à l’ENSTA Bretagne).

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  • Authors: Kounades-Bastian, Dionyssos;

    In this thesis we address the problem of multichannel audio source separa- tion (MASS) for underdetermined convolutive mixtures through probabilistic modeling. We focus on three aspects of the problem and make three contri- butions. Firstly, inspired from the empirically well validated representation of an audio signal, that is know as local Gaussian signal model (LGM) with non-negative matrix factorization (NMF), we propose a Bayesian extension to this, that overcomes some of the limitations of the NMF. We incorporate this representation in a MASS framework and compare it with the state of the art in MASS, yielding promising results. Secondly, we study how to separate mix- tures of moving sources and/or of moving microphones. Movements make the acoustic path between sources and microphones become time-varying. Ad- dressing time-varying audio mixtures appears is not so popular in the MASS literature. Thus, we begin from a state of the art LGM-with-NMF method designed for separating time-invariant audio mixtures and propose an exten- sion that uses a Kalman smoother to track the acoustic path across time. The proposed method is benchmarked against a block-wise adaptation of that state of the art (ran on time segments), and delivers competitive results on both simulated and real-world mixtures. Lastly, we investigate the link between MASS and the task of audio diarisation. Audio diarisation is the detection of the time intervals where each speaker/source is active or silent. Most state of the art MASS methods consider the sources to emit continuously; A hypothe- sis that can result in spurious signal estimates for a source, in intervals where that source was silent. Our aim is that diarisation can aid MASS by indicat- ing the emitting sources at each time frame. To that extent we design a joint framework for simultaneous diarisation and MASS, that incorporates a hidden Markov model (HMM) to track the temporal activity of the sources, within a state of the art LGM-with-NMF MASS framework. We compare the proposed method with the state of the art in MASS and audio diarisation tasks. We ob- tain performances comparable, with the state of the art, in terms of separation while winning in terms of diarisation.; Dans cette thèse nous abordons le problème de la séparation de sources audio dans des mélanges convolutifs multicanaux et sous-déterminés, en utilisant une modélisation probabiliste. Nous nous concentrons sur trois aspects, et nous apportons trois contributions. D’abord, nous nous inspirons du modèle Gaussien local par factorisation en matrices non-négatives (LGM-with-NMF), qui est un modèle empiriquement validé pour représenter un signal audio. Nous proposons une extension Bayésienne de ce modèle, qui permet de sur- passer certaines limitations du modèle NMF. Nous incorporons cette représentation dans un cadre de separation audio multicanaux, et le comparons avec l’état de l’art sur des tâches de séparation. Nous obtenons des résultats prometteurs. Deuxièment, nous étudions comment séparer des mélanges audio de sources et/ou des capteurs en mouvement. Ces déplacements rendent le chemin acoustique entre les sources et les microphones variant en cours du temps. L’adressage des mélanges convolutifs variant au cours du temps est peu exploré dans la littérature. Ainsi, nous partons d’une méthode de l’état de l’art développée pour la séparation de mélanges invariant (sources et microphones statiques) et utilisant LGM-with-NMF. Nous proposons à ceci une extension qui utilise un filtre de Kalman pour suivre le chemin acoustique au cours du temps. La technique proposée est comparée à une adaptation block-par-block d’une technique de l’état de l’art appliquée sur des intervalles de temps, et a donné des résultats exceptionels sur les mélanges simulés et les mélanges du monde réel. Enfin, nous investiguons les similitudes entre la séparation et la journalisation audio. La journalisation est le problème de détection des intervalles auxquels chaque locuteur/source est émettant. La plupart des méthodes de séparation supposent toutes les sources émettent continuellement. Cette hypothèe peut donner lieu à de fausses estimations durant les intervalles au cours desquels cette source n’a pas émis. Notre objectif est que la journalisation puisse aider à résoudre la séparation, en indiquant les sources qui émettent à chaque intervalle de temps. Dans cette mesure, nous concevons une cadre commun pour traiter simultanément la journalisation et la séparation du mélange audio. Ce cadre incorpore un modèle de Markov caché pour suivre les activités des sources au sein d’une technique de séparation LGM-with-NMF. Nous comparons l’algorithme proposé à l’état de l’art sur des tâches de séparation et de journalisation. Nous obtenons des performances comparables avec l’état de l’art pour la séparation, et supériures pour la journalisation.

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  • Authors: Torre, André; Wallet, Frederic;

    ISBN 978-3-319-02372-4 (eBook) ISSN 2192-0435 (electronic); International audience

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    Authors: Piot-Lepetit, Isabelle; Florez, Mauro Joaquin; Gauche, Karine;

    International audience; This paper contributes to the understanding of the use of digital technologies in agriculture. It aims to highlight the different factors of the adoption of these digital technologies in agriculture. The theoretical framework of the research is based on two well-known models of adoption of new technologies (TAM and TOE). The authors propose a model combining the previous two. A bibliometric analysis of several articles dealing with digital adoption in agriculture was then conducted. It allows to refine the proposed model, by selecting the most relevant variables.

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  • Authors: Rian, Sigrid; Xue, Yongkang; Macdonald, Glen; Poccard-Leclercq, Isabelle; +3 Authors
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  • Authors: Jarvis, J.P.; Fuchs, F.; Hugger, S.; Blattmann, V.; +7 Authors

    In this work, we present a remote sensing system based on active infrared laser illumination for detection of explosive substances. The spectroscopy system comprises two tunable quantum cascade laser sources covering a total tuning range of 300 cm (-1) from 7.7 µm to 10 µm. A high performance mercury-cadmium-telluride infrared camera is used to collect the diffusely backscattered light. The resulting measurement data forms a hyperspectral image, where each pixel vector contains the bachscattering spectrum of a specific location in the scene. The image spectra are tested for contamination with target spectra including PETN, RDX, TNT and ammonium nitrate using the well-known adaptive matched subspace algorithm.

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    Authors: Janot, Alexandre;

    The works focus on the identification of industrial robots that belongs to the field of the identification of continuous-time inverse dynamic models in closed loop. First, a generic instrumental approach relevant for the identification of rigid industrial robots is proposed. The set of instruments is the inverse dynamic model constructed from simulated data calculated from the simulation of the direct dynamic model. This algorithm termed the IDIM-IV method validates the inverse and direct dynamic models simultaneously, improves the noise immunity of estimates with respect to corrupted data in the observation matrix and has a rapid convergence. This new approach is experimentally validated and compared with other standard methods. Then, a statistical test able to assess the validity of the set of instruments as well as the consistency of the least-squares estimates is presented. This test is based on the use of the Two-Stage-Least-Squares method and the regressed Durbin-Wu-Hausman test that are commonly used in econometrics. Finally, the perspectives that the IDIM-IV method can offer to the communities of robotics and automatic control are enlightened Ce manuscrit résume les travaux menés sur l'identification des robots industriels conduits à l'ONERA. Dans le premier chapitre, les méthodes usuelles de modélisation et d'identification appliquées aux robots industriels rigides sont présentées. Le deuxième chapitre introduit une nouvelle méthode d'identification basée sur l'utilisation des variables instrumentales alors que le troisième chapitre présente un test statistique capable de valider la construction des instruments. Enfin, dans un quatrième chapitre, les perspectives offerts par ces nouvelles méthodes sont introduites.

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  • Authors: Abadie, J.; Avon, C.; Dupouey, J.L.; Tatoni, Thierry; +1 Authors

    [Departement_IRSTEA]Territoires [TR1_IRSTEA]SEDYVIN [ADD1_IRSTEA]Dynamique et fonctionnement des écosystèmes; International audience; The importance of including a historical approach in ecological studies is now acknowledged, as history can help understand structure and functioning of present ecosystems but also assess conservation objectives. In temperate regions, several studies showed ecological differences according to forest temporal continuity, including soil physicochemical properties, vascular plant composition and traits. The definition of ancient and recent forests usually relies on a threshold date, provided by historical data. The best tools for studying the impact of forest continuity on forest plants are historical maps. Those maps should be ancient and precise enough. In France, those conditions are best met by the "Etat-Major" map. Indeed, unlike the Cassini map (18th century), small woodlots were not overlooked, the spatial resolution and precision is reasonable and that map was achieved at the national scale, which allows scientists to compare response patterns among regions in a homogeneous fashion. It has been digitized on about one third of France and is more and more used by scientists. However, is it that simple? Indeed, in lowlands, there are no ambiguities between land uses, and boundaries are very easy to identify. In a semi mountainous region, things are a bit trickier: relief may challenge the identification of land uses and boundaries; some land uses are in fact a combination of two land uses which are distinguished by a criterion that has not yet been clearly defined; in Mediterranean regions, long history of use of forests and particularly sylvo-pastoralism has probably smoothed the difference between ancient forests and recent forests developed on rangelands or pasturelands. We here question the relevance of the "Etat-Major" map as an absolute reference for studying the ecological effect of past land use and particularly in a Mediterranean and semi-mountainous context: the Natural Regional Park of Luberon. A hundred sites were sampled according to past land use (forest, "pâquis" and arable lands) on the "Etat-Major" map. In each plot, we also recorded past land use remnants: terrace, stone removal or none. Understory vegetation and soil physico-chemical properties were recorded and analysed according to past land use, and in situ past land use remnants. We showed that soil properties and understory vegetation significantly responded to past land use remnants, but not to past land use according to the "Etat-Major" map. This suggests that ancient maps may not be sufficient to detect the effect of past land use in the Mediterranean area.

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  • Authors: Bannik, C.G.; Bachmann, G.; Dreher, P.;

    When wastes are recycled, soil limit values should constitute an essential regulatory instrument for the establishment of admissible levels of pollutant inputs into soils. For the purpose of precautionary soil protection, inputs of unavoidable pollutants should correspond to the amount of output that can be regarded as harmless, at the lowest possible level. Such a level can be characterised by soil background values. Additional effect-related considerations are taken into account in order to derive soil precautionary values. This paper presents the conceptional framework of an approach for soil protection regarding application of waste to land. When wastes are recycled, soil limit values should constitute an essential regulatory instrument for the establishment of admissible levels of pollutant inputs into soils. For the purpose of precautionary soil protection, inputs of unavoidable pollutants should correspond to the amount of output that can be regarded as harmless, at the lowest possible level. Such a level can be characterised by soil background values. Additional effect-related considerations are taken into account in order to derive soil precautionary values. This paper presents the conceptional framework of an approach for soil protection regarding application of waste to land.

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  • Authors: Bernhardt, R.;

    An integrated manufacturing system planning and off-line programming concept is presented. A realized system for planning and explicit programming of a robotized assembly cell is explained in detail.

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The following results are related to Rural Digital Europe. Are you interested to view more results? Visit OpenAIRE - Explore.
  • Authors: Rosendo, Juan Luis;

    This work seeks to mitigate the effects of constraints on mobile robotic systems. To this end, auxiliary control loops and robust tuning techniques are proposed. The former are proposed to mitigate the effects of constraints on the input and output of the systems through the modification of the motion parameter in path following applications.Then, PID controllers are considered as a structural constraint, given its wide use in robotics particularly at low control level. A robust tuning methodology considering this constraint is proposed which achieves good performancelevels even when facing disturbances. Finally, to deal with robustness in presence of robots nonlinearity constraints, an analysis and tuning tool for sliding mode controllers is proposed. The particularity of this tuning method, based on global optimization and interval techniques,is that it allows generating tuning maps of the parameter regions where the desired performance criterion is fulfilled. All the proposed strategies are put into practice, through real experimentation or invalidated simulators, over the AUV Ciscrea available at ENSTA Bretagne.; Ce travail vise à atténuer les effets des contraintes sur les systèmes robotiques mobiles. À cette fin, des structures de commande auxiliaire et des techniques de réglage robuste sont proposées. Les structures sont proposées dans le cadre du suivi de chemin pour atténuer les effets des contraintes sur les entrées et les sorties des systèmes. Ensuite, étant donnée leur utilisation répandue en robotique, les contrôleurs de type PID sont considérés comme une contrainte structurelle. Une méthode de réglage robuste, tenant compte de cette contrainte, est proposée permettant d’atteindre de bons niveaux de performance même en présence de perturbations. Enfin, pour faire face à la robustesse en présence des contraintes de non-linéarité sur robots, un outil d’analyse et de réglage pour les contrôleurs de mode glissant est proposé. La particularité de cette méthode de réglage, basée sur des techniques d’optimisation globale et de calculs par intervalles, est qu’elle permet de générer des cartographies de réglage des paramètres pour lesquels le critère de performance souhaité est rempli.Toutes les stratégies proposées sont mises en pratique par des expérimentations réelles ou sur des simulateurs validés (AUV Ciscrea disponible à l’ENSTA Bretagne).

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  • Authors: Kounades-Bastian, Dionyssos;

    In this thesis we address the problem of multichannel audio source separa- tion (MASS) for underdetermined convolutive mixtures through probabilistic modeling. We focus on three aspects of the problem and make three contri- butions. Firstly, inspired from the empirically well validated representation of an audio signal, that is know as local Gaussian signal model (LGM) with non-negative matrix factorization (NMF), we propose a Bayesian extension to this, that overcomes some of the limitations of the NMF. We incorporate this representation in a MASS framework and compare it with the state of the art in MASS, yielding promising results. Secondly, we study how to separate mix- tures of moving sources and/or of moving microphones. Movements make the acoustic path between sources and microphones become time-varying. Ad- dressing time-varying audio mixtures appears is not so popular in the MASS literature. Thus, we begin from a state of the art LGM-with-NMF method designed for separating time-invariant audio mixtures and propose an exten- sion that uses a Kalman smoother to track the acoustic path across time. The proposed method is benchmarked against a block-wise adaptation of that state of the art (ran on time segments), and delivers competitive results on both simulated and real-world mixtures. Lastly, we investigate the link between MASS and the task of audio diarisation. Audio diarisation is the detection of the time intervals where each speaker/source is active or silent. Most state of the art MASS methods consider the sources to emit continuously; A hypothe- sis that can result in spurious signal estimates for a source, in intervals where that source was silent. Our aim is that diarisation can aid MASS by indicat- ing the emitting sources at each time frame. To that extent we design a joint framework for simultaneous diarisation and MASS, that incorporates a hidden Markov model (HMM) to track the temporal activity of the sources, within a state of the art LGM-with-NMF MASS framework. We compare the proposed method with the state of the art in MASS and audio diarisation tasks. We ob- tain performances comparable, with the state of the art, in terms of separation while winning in terms of diarisation.; Dans cette thèse nous abordons le problème de la séparation de sources audio dans des mélanges convolutifs multicanaux et sous-déterminés, en utilisant une modélisation probabiliste. Nous nous concentrons sur trois aspects, et nous apportons trois contributions. D’abord, nous nous inspirons du modèle Gaussien local par factorisation en matrices non-négatives (LGM-with-NMF), qui est un modèle empiriquement validé pour représenter un signal audio. Nous proposons une extension Bayésienne de ce modèle, qui permet de sur- passer certaines limitations du modèle NMF. Nous incorporons cette représentation dans un cadre de separation audio multicanaux, et le comparons avec l’état de l’art sur des tâches de séparation. Nous obtenons des résultats prometteurs. Deuxièment, nous étudions comment séparer des mélanges audio de sources et/ou des capteurs en mouvement. Ces déplacements rendent le chemin acoustique entre les sources et les microphones variant en cours du temps. L’adressage des mélanges convolutifs variant au cours du temps est peu exploré dans la littérature. Ainsi, nous partons d’une méthode de l’état de l’art développée pour la séparation de mélanges invariant (sources et microphones statiques) et utilisant LGM-with-NMF. Nous proposons à ceci une extension qui utilise un filtre de Kalman pour suivre le chemin acoustique au cours du temps. La technique proposée est comparée à une adaptation block-par-block d’une technique de l’état de l’art appliquée sur des intervalles de temps, et a donné des résultats exceptionels sur les mélanges simulés et les mélanges du monde réel. Enfin, nous investiguons les similitudes entre la séparation et la journalisation audio. La journalisation est le problème de détection des intervalles auxquels chaque locuteur/source est émettant. La plupart des méthodes de séparation supposent toutes les sources émettent continuellement. Cette hypothèe peut donner lieu à de fausses estimations durant les intervalles au cours desquels cette source n’a pas émis. Notre objectif est que la journalisation puisse aider à résoudre la séparation, en indiquant les sources qui émettent à chaque intervalle de temps. Dans cette mesure, nous concevons une cadre commun pour traiter simultanément la journalisation et la séparation du mélange audio. Ce cadre incorpore un modèle de Markov caché pour suivre les activités des sources au sein d’une technique de séparation LGM-with-NMF. Nous comparons l’algorithme proposé à l’état de l’art sur des tâches de séparation et de journalisation. Nous obtenons des performances comparables avec l’état de l’art pour la séparation, et supériures pour la journalisation.

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  • Authors: Torre, André; Wallet, Frederic;

    ISBN 978-3-319-02372-4 (eBook) ISSN 2192-0435 (electronic); International audience

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    Authors: Piot-Lepetit, Isabelle; Florez, Mauro Joaquin; Gauche, Karine;

    International audience; This paper contributes to the understanding of the use of digital technologies in agriculture. It aims to highlight the different factors of the adoption of these digital technologies in agriculture. The theoretical framework of the research is based on two well-known models of adoption of new technologies (TAM and TOE). The authors propose a model combining the previous two. A bibliometric analysis of several articles dealing with digital adoption in agriculture was then conducted. It allows to refine the proposed model, by selecting the most relevant variables.

    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ ProdInraarrow_drop_down
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  • Authors: Rian, Sigrid; Xue, Yongkang; Macdonald, Glen; Poccard-Leclercq, Isabelle; +3 Authors
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  • Authors: Jarvis, J.P.; Fuchs, F.; Hugger, S.; Blattmann, V.; +7 Authors

    In this work, we present a remote sensing system based on active infrared laser illumination for detection of explosive substances. The spectroscopy system comprises two tunable quantum cascade laser sources covering a total tuning range of 300 cm (-1) from 7.7 µm to 10 µm. A high performance mercury-cadmium-telluride infrared camera is used to collect the diffusely backscattered light. The resulting measurement data forms a hyperspectral image, where each pixel vector contains the bachscattering spectrum of a specific location in the scene. The image spectra are tested for contamination with target spectra including PETN, RDX, TNT and ammonium nitrate using the well-known adaptive matched subspace algorithm.

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    Authors: Janot, Alexandre;

    The works focus on the identification of industrial robots that belongs to the field of the identification of continuous-time inverse dynamic models in closed loop. First, a generic instrumental approach relevant for the identification of rigid industrial robots is proposed. The set of instruments is the inverse dynamic model constructed from simulated data calculated from the simulation of the direct dynamic model. This algorithm termed the IDIM-IV method validates the inverse and direct dynamic models simultaneously, improves the noise immunity of estimates with respect to corrupted data in the observation matrix and has a rapid convergence. This new approach is experimentally validated and compared with other standard methods. Then, a statistical test able to assess the validity of the set of instruments as well as the consistency of the least-squares estimates is presented. This test is based on the use of the Two-Stage-Least-Squares method and the regressed Durbin-Wu-Hausman test that are commonly used in econometrics. Finally, the perspectives that the IDIM-IV method can offer to the communities of robotics and automatic control are enlightened Ce manuscrit résume les travaux menés sur l'identification des robots industriels conduits à l'ONERA. Dans le premier chapitre, les méthodes usuelles de modélisation et d'identification appliquées aux robots industriels rigides sont présentées. Le deuxième chapitre introduit une nouvelle méthode d'identification basée sur l'utilisation des variables instrumentales alors que le troisième chapitre présente un test statistique capable de valider la construction des instruments. Enfin, dans un quatrième chapitre, les perspectives offerts par ces nouvelles méthodes sont introduites.

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  • Authors: Abadie, J.; Avon, C.; Dupouey, J.L.; Tatoni, Thierry; +1 Authors

    [Departement_IRSTEA]Territoires [TR1_IRSTEA]SEDYVIN [ADD1_IRSTEA]Dynamique et fonctionnement des écosystèmes; International audience; The importance of including a historical approach in ecological studies is now acknowledged, as history can help understand structure and functioning of present ecosystems but also assess conservation objectives. In temperate regions, several studies showed ecological differences according to forest temporal continuity, including soil physicochemical properties, vascular plant composition and traits. The definition of ancient and recent forests usually relies on a threshold date, provided by historical data. The best tools for studying the impact of forest continuity on forest plants are historical maps. Those maps should be ancient and precise enough. In France, those conditions are best met by the "Etat-Major" map. Indeed, unlike the Cassini map (18th century), small woodlots were not overlooked, the spatial resolution and precision is reasonable and that map was achieved at the national scale, which allows scientists to compare response patterns among regions in a homogeneous fashion. It has been digitized on about one third of France and is more and more used by scientists. However, is it that simple? Indeed, in lowlands, there are no ambiguities between land uses, and boundaries are very easy to identify. In a semi mountainous region, things are a bit trickier: relief may challenge the identification of land uses and boundaries; some land uses are in fact a combination of two land uses which are distinguished by a criterion that has not yet been clearly defined; in Mediterranean regions, long history of use of forests and particularly sylvo-pastoralism has probably smoothed the difference between ancient forests and recent forests developed on rangelands or pasturelands. We here question the relevance of the "Etat-Major" map as an absolute reference for studying the ecological effect of past land use and particularly in a Mediterranean and semi-mountainous context: the Natural Regional Park of Luberon. A hundred sites were sampled according to past land use (forest, "pâquis" and arable lands) on the "Etat-Major" map. In each plot, we also recorded past land use remnants: terrace, stone removal or none. Understory vegetation and soil physico-chemical properties were recorded and analysed according to past land use, and in situ past land use remnants. We showed that soil properties and understory vegetation significantly responded to past land use remnants, but not to past land use according to the "Etat-Major" map. This suggests that ancient maps may not be sufficient to detect the effect of past land use in the Mediterranean area.

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  • Authors: Bannik, C.G.; Bachmann, G.; Dreher, P.;

    When wastes are recycled, soil limit values should constitute an essential regulatory instrument for the establishment of admissible levels of pollutant inputs into soils. For the purpose of precautionary soil protection, inputs of unavoidable pollutants should correspond to the amount of output that can be regarded as harmless, at the lowest possible level. Such a level can be characterised by soil background values. Additional effect-related considerations are taken into account in order to derive soil precautionary values. This paper presents the conceptional framework of an approach for soil protection regarding application of waste to land. When wastes are recycled, soil limit values should constitute an essential regulatory instrument for the establishment of admissible levels of pollutant inputs into soils. For the purpose of precautionary soil protection, inputs of unavoidable pollutants should correspond to the amount of output that can be regarded as harmless, at the lowest possible level. Such a level can be characterised by soil background values. Additional effect-related considerations are taken into account in order to derive soil precautionary values. This paper presents the conceptional framework of an approach for soil protection regarding application of waste to land.

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  • Authors: Bernhardt, R.;

    An integrated manufacturing system planning and off-line programming concept is presented. A realized system for planning and explicit programming of a robotized assembly cell is explained in detail.

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