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2. 4. Bus

Author

Commander, Michelle D.

Published
2021

3. 2. Train

Author

Commander, Michelle D.

Published
2021

6. Contents

Author

Commander, Michelle D.

Published
2021

8. Bibliography

Author

Commander, Michelle D.

Published
2021

9. 1. Ship

Author

Commander, Michelle D.

Published
2021

10. Preface

Author

Commander, Michelle D.

Published
2021

13. Bibliography

Author

Commander, Michelle D.

Published
2017

14. Index

Author

Commander, Michelle D.

Published
2017

15. Cover

Author

Commander, Michelle D.

Published
2017

16. Notes

Author

Commander, Michelle D.

Published
2017

28. Molecular profiling of cutaneous squamous cell carcinomas and actinic keratoses from organ transplant recipients

Author

Hameetman Liesbeth, Commandeur Suzan, Bavinck Jan Nico Bouwes, Wisgerhof Hermina C, de Gruijl Frank R, Willemze Rein, Mullenders Leon, Tensen Cornelis P, and Vrieling Harry

Subjects
Cutaneous squamous cell carcinoma, Non-melanoma skin cancer, Actinic keratosis, Organ transplant recipient, Gene expression, Genomic profiling, Neoplasms. Tumors. Oncology. Including cancer and carcinogens, RC254-282
Abstract

Abstract Background The risk of developing cutaneous squamous cell carcinoma (SCC) is markedly increased in organ transplant recipients (OTRs) compared to the normal population. Next to sun exposure, the immunosuppressive regimen is an important risk factor for the development of SCC in OTRs. Various gene mutations (e.g. TP53) and genetic alterations (e.g. loss of CDKN2A, amplification of RAS) have been found in SCCs. The aim of this genome-wide study was to identify pathways and genomic alterations that are consistently involved in the formation of SCCs and their precursor lesions, actinic keratoses (AKs). Methods To perform the analysis in an isogenic background, RNA and DNA were isolated from SCC, AK and normal (unexposed) epidermis (NS) from each of 13 OTRs. Samples were subjected to genome-wide expression analysis and genome SNP analysis using Illumina’s HumanWG-6 BeadChips and Infinium II HumanHap550 Genotyping BeadChips, respectively. mRNA expression results were verified by quantitative PCR. Results Hierarchical cluster analysis of mRNA expression profiles showed SCC, AK and NS samples to separate into three distinct groups. Several thousand genes were differentially expressed between epidermis, AK and SCC; most upregulated in SCCs were hyperproliferation related genes and stress markers, such as keratin 6 (KRT6), KRT16 and KRT17. Matching to oncogenic pathways revealed activation of downstream targets of RAS and cMYC in SCCs and of NFκB and TNF already in AKs. In contrast to what has been reported previously, genome-wide SNP analysis showed very few copy number variations in AKs and SCCs, and these variations had no apparent relationship with observed changes in mRNA expression profiles. Conclusion Vast differences in gene expression profiles exist between SCC, AK and NS from immunosuppressed OTRs. Moreover, several pathways activated in SCCs were already activated in AKs, confirming the assumption that AKs are the precursor lesions of SCCs. Since the drastic changes in gene expression appeared unlinked to specific genomic gains or losses, the causal events driving SCC development require further investigation. Other molecular mechanisms, such as DNA methylation or miRNA alterations, may affect gene expression in SCCs of OTRs. Further study is required to identify the mechanisms of early activation of NFκB and TNF, and to establish whether these pathways offer a feasible target for preventive intervention among OTRs.

Published
2013
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29. Identical fracture patterns in combat vehicle blast injuries due to improvised explosive devices; a case series

Author

Commandeur Joris, Derksen Robert, MacDonald Damian, and Breederveld Roelf

Subjects
Improvised explosive devices, Identical injuries, Blast injury, Special situations and conditions, RC952-1245, Medical emergencies. Critical care. Intensive care. First aid, RC86-88.9
Abstract

Abstract Background In November 2008, a surgical team from the Red Cross Hospital Beverwijk, the Netherlands, was deployed in Afghanistan for three months to attend in the army hospital of Kandahar. During their stay, four incidents of armored personnel carriers encountering an improvised explosive device were assessed. In each incident, two soldiers were involved, whose injuries were strikingly similar. Case presentation The described cases comprise paired thoracic vertebral fractures, radial neck fractures, calcaneal fractures and talar fractures. Moreover, the different types of blast injury are mentioned and related to the injuries described in our series. Acknowledging the different blast mechanisms is important for understanding possible injury patterns. Conclusion From this case series, as well as the existing literature on injury patterns caused by blast injuries, it seems appropriate to pay extra attention to bodily areas that were injured in other occupants of the same vehicle. Obviously, the additional surveillance for specific injuries should be complementary to the regular trauma work-up (e.g., ATLS).

Published
2012
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30. Hyperthermophilic endoglucanase for in planta lignocellulose conversion

Author

Klose Holger, Röder Juliane, Girfoglio Michele, Fischer Rainer, and Commandeur Ulrich

Subjects
Sulfolobus solfataricus, Cellulases, Biomass processing, Ionic liquids, Plants, Fuel, TP315-360, Biotechnology, TP248.13-248.65
Abstract

Abstract Background The enzymatic conversion of lignocellulosic plant biomass into fermentable sugars is a crucial step in the sustainable and environmentally friendly production of biofuels. However, a major drawback of enzymes from mesophilic sources is their suboptimal activity under established pretreatment conditions, e.g. high temperatures, extreme pH values and high salt concentrations. Enzymes from extremophiles are better adapted to these conditions and could be produced by heterologous expression in microbes, or even directly in the plant biomass. Results Here we show that a cellulase gene (sso1354) isolated from the hyperthermophilic archaeon Sulfolobus solfataricus can be expressed in plants, and that the recombinant enzyme is biologically active and exhibits the same properties as the wild type form. Since the enzyme is inactive under normal plant growth conditions, this potentially allows its expression in plants without negative effects on growth and development, and subsequent heat-inducible activation. Furthermore we demonstrate that the recombinant enzyme acts in high concentrations of ionic liquids and can therefore degrade α-cellulose or even complex cell wall preparations under those pretreatment conditions. Conclusion The hyperthermophilic endoglucanase SSO1354 with its unique features is an excellent tool for advanced biomass conversion. Here we demonstrate its expression in planta and the possibility for post harvest activation. Moreover the enzyme is suitable for combined pretreatment and hydrolysis applications.

Published
2012
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31. How recombinant swollenin from Kluyveromyces lactis affects cellulosic substrates and accelerates their hydrolysis

Author

Jäger Gernot, Girfoglio Michele, Dollo Florian, Rinaldi Roberto, Bongard Hans, Commandeur Ulrich, Fischer Rainer, Spiess Antje C, and Büchs Jochen

Subjects
Fuel, TP315-360, Biotechnology, TP248.13-248.65
Abstract

Abstract Background In order to generate biofuels, insoluble cellulosic substrates are pretreated and subsequently hydrolyzed with cellulases. One way to pretreat cellulose in a safe and environmentally friendly manner is to apply, under mild conditions, non-hydrolyzing proteins such as swollenin - naturally produced in low yields by the fungus Trichoderma reesei. To yield sufficient swollenin for industrial applications, the first aim of this study is to present a new way of producing recombinant swollenin. The main objective is to show how swollenin quantitatively affects relevant physical properties of cellulosic substrates and how it affects subsequent hydrolysis. Results After expression in the yeast Kluyveromyces lactis, the resulting swollenin was purified. The adsorption parameters of the recombinant swollenin onto cellulose were quantified for the first time and were comparable to those of individual cellulases from T. reesei. Four different insoluble cellulosic substrates were then pretreated with swollenin. At first, it could be qualitatively shown by macroscopic evaluation and microscopy that swollenin caused deagglomeration of bigger cellulose agglomerates as well as dispersion of cellulose microfibrils (amorphogenesis). Afterwards, the effects of swollenin on cellulose particle size, maximum cellulase adsorption and cellulose crystallinity were quantified. The pretreatment with swollenin resulted in a significant decrease in particle size of the cellulosic substrates as well as in their crystallinity, thereby substantially increasing maximum cellulase adsorption onto these substrates. Subsequently, the pretreated cellulosic substrates were hydrolyzed with cellulases. Here, pretreatment of cellulosic substrates with swollenin, even in non-saturating concentrations, significantly accelerated the hydrolysis. By correlating particle size and crystallinity of the cellulosic substrates with initial hydrolysis rates, it could be shown that the swollenin-induced reduction in particle size and crystallinity resulted in high cellulose hydrolysis rates. Conclusions Recombinant swollenin can be easily produced with the robust yeast K. lactis. Moreover, swollenin induces deagglomeration of cellulose agglomerates as well as amorphogenesis (decrystallization). For the first time, this study quantifies and elucidates in detail how swollenin affects different cellulosic substrates and their hydrolysis.

Published
2011
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32. Simulated effect of pneumococcal vaccination in the Netherlands on existing rules constructed in a non-vaccinated cohort predicting sequelae after bacterial meningitis

Author

Commandeur Arno E, de Jonge Rogier CJ, Koomen Irene, Spanjaard Lodewijk, van Furth A Marceline, and Terwee Caroline B

Subjects
Infectious and parasitic diseases, RC109-216
Abstract

Abstract Background Previously two prediction rules identifying children at risk of hearing loss and academic or behavioral limitations after bacterial meningitis were developed. Streptococcus pneumoniae as causative pathogen was an important risk factor in both. Since 2006 Dutch children receive seven-valent conjugate vaccination against S. pneumoniae. The presumed effect of vaccination was simulated by excluding all children infected by S. pneumoniae with the serotypes included in the vaccine, from both previous collected cohorts (between 1990-1995). Methods Children infected by one of the vaccine serotypes were excluded from both original cohorts (hearing loss: 70 of 628 children; academic or behavioral limitations: 26 of 182 children). All identified risk factors were included in multivariate logistic regression models. The discriminative ability of both new models was calculated. Results The same risk factors as in the original models were significant. The discriminative ability of the original hearing loss model was 0.84 and of the new model 0.87. In the academic or behavioral limitations model it was 0.83 and 0.84 respectively. Conclusion It can be assumed that the prediction rules will also be applicable on a vaccinated population. However, vaccination does not provide 100% coverage and evidence is available that serotype replacement will occur. The impact of vaccination on serotype replacement needs to be investigated, and the prediction rules must be validated externally.

Published
2010
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33. Event zieht - Inhalt bindet

Author

Commandeur, Beatrix and Dennert, Dorothee

Subjects
Museum, Museumspädagogik, Event, Freizeit, Kulturpolitik, Kulturmanagement, Kulturmarketing, Museum Education, Cultural Policy, Cultural Management, Cultural Marketing, thema EDItEUR::G Reference, Information and Interdisciplinary subjects::GL Library and information sciences / Museology::GLZ Museology and heritage studies
Abstract

»Event« und »Edutainment« spielen eine zunehmend wichtige Rolle bei der Vermittlungsarbeit in Museen. Diese ist heute mehr denn je in Veranstaltungsprogramme eingebunden, die das Publikum unterhaltsam bilden und zugleich neue Besucherschichten für das Museum interessieren sollen. Damit stellt sich auch die Frage, was Museumsprogramme von den Angeboten der Freizeitparks unterscheidet und welche Wünsche Besucherinnen und Besucher heute an die Museen richten. Fachleute aus Museen, Freizeiteinrichtungen sowie aus Forschung und Kulturpolitik, die sich im Herbst 2003 im Haus der Geschichte in Bonn trafen, nehmen zu diesen grundlegenden Fragen nach neuen Aufgaben für das Museum der Gegenwart Stellung. Eine Dokumentation der Arbeitsgruppen in Bonner Museen und der Praxisbeiträge eines Ideenmarktes zum Thema runden den Band ab.

Published
2004
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34. Feedback Interconnections of Passive Linear Cone Complementarity Systems

Author

Brogliato, Bernard, Tanwani, Aneel, Modélisation, simulation et commande des systèmes dynamiques non lisses (TRIPOP), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Jean Kuntzmann (LJK), Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP ), Université Grenoble Alpes (UGA)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP ), Université Grenoble Alpes (UGA), Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and Université de Toulouse (UT)

Subjects
[SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

This paper is largely concerned with generic interconnections of a class of passive nonsmooth nonlinear dynamical systems, namely linear cone complementarity systems (LCCS). Criteria which guarantee the passivity of the interconnection are given. Asymptotic stability is studied in a particular case. Examples from nonsmooth circuits and switching DAEs (Differential Algebraic Equations) illustrate the theory.

Published
2023

35. Anti-windup coordination strategy around a fair equilibrium in resource sharing networks

Author

Agner, Felix, Kergus, Pauline, Rantzer, Anders, Tarbouriech, Sophie, Zaccarian, Luca, Lund University [Lund], COmmande et DIAgnostic des Systèmes Electriques (LAPLACE-CODIASE), LAboratoire PLasma et Conversion d'Energie (LAPLACE), Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT), Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and University of Trento [Trento]

Subjects
[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Electrical Engineering and Systems Science - Systems and Control
Abstract

International audience; This paper aims at coordinating interconnected agents where the control input of each agent is limited by the control input of others. In that sense, the systems have to share a limited resource over a network. Such problems can arise in different areas and it is here motivated by a simplified district heating example. When the shared resource is insufficient for the combined need of all systems, the resource will have to be shared in an optimal fashion. In this scenario, we want the systems to automatically converge to an optimal equilibrium. The contribution of this paper is the proposal of a control architecture where each separate system is controlled by a local PI controller. The controllers are then coordinated through a global rank-one anti-windup signal. It is shown that the equilibrium of the proposed closed-loop system minimizes the infinity-norm of stationary state deviations. Convergence is investigated via a randomized numerical study, and a district heating-inspired example illustrates the utility of the proposed method.

Published
2023
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36. Procédé et système de contrôle de la recharge d’une flotte de véhicules automobiles électriques

Author

Dahmane, Yassir, Chenouard, Raphaël, Ghanes, Malek, Alvarado-Ruiz, Mario, Dreumont, Thomas, Commande (LS2N - équipe Commande), Laboratoire des Sciences du Numérique de Nantes (LS2N), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Optimisation Globale et Résolution Ensembliste (LS2N - équipe OGRE), Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-École Centrale de Nantes (Nantes Univ - ECN), Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes université - UFR des Sciences et des Techniques (Nantes univ - UFR ST), Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Nantes Université (Nantes Univ), Commande, Observation, Diagnostic et Expérimentation (LS2N - équipe CODEx), Technocentre Renault [Guyancourt], and RENAULT

Subjects
[SPI]Engineering Sciences [physics]
Abstract

L’invention concerne un procédé de contrôle de la recharge d’une flotte (13) de véhicules automobiles électriques (14), ladite flotte (13) de véhicules automobiles électriques (14) étant apte à fournir une puissance électrique demandée par ledit réseau électrique (12) de recharge lorsque ledit réseau électrique (12) ; ledit procédé comprend une étape d’optimisation quadratique mono-objectif résolvant deux sous-problèmes distincts.

Published
2022

37. Stabilization of a class of switched dynamic systems: the Riccati-equation-based Approach

Author

Moises Bonilla, V Azhmyakov, Sergio Salazar, N A Aguillón, M.A. Ortiz Castillo, Jean Jacques Loiseau, Michel Malabre, Commande (Commande), Laboratoire des Sciences du Numérique de Nantes (LS2N), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Commande, Observation, Diagnostic et Expérimentation (LS2N - équipe CODEx), Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-École Centrale de Nantes (Nantes Univ - ECN), Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes université - UFR des Sciences et des Techniques (Nantes univ - UFR ST), Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), and Nantes Université (Nantes Univ)

Subjects
0209 industrial biotechnology, Class (set theory), Control and Optimization, Computer science, Applied Mathematics, algebraic Riccati equation (ARE), 02 engineering and technology, switched dynamic systems, linear quadratic regulator (LQR), [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science::Robotics, 020901 industrial engineering & automation, Control and Systems Engineering, Lyapunov stability, 0202 electrical engineering, electronic engineering, information engineering, Riccati equation, Applied mathematics, 020201 artificial intelligence & image processing, implicit control systems
Abstract

Our paper deals with the stabilization of a class of time-dependent linear autonomous complex systems with a switched structure. The initially given switched dynamic system is assumed to be controlled by a specific state feedback strategy associated with the linear quadratic regulator (LQR) type control. The proposed control design guarantees stabilization of the closed-loop system for all of the possible location transitions. In the solution procedure of the Algebraic Riccati Equation related to the LQR control strategy, only the knowledge of the algebraic structure related to the switched system are needed. We prove that the proposed optimal LQR type state feedback control design stabilizes the closed-loop switched system for every possible active location. The theoretical approach proposed in this paper is finally applied to a model of the Single Wing Quadrotor Aircraft, when changing from its Quadrotor Flight Envelope to its Airplane Flight Envelope.

Published
2021
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38. Pseudo-Random Key Stream Generation Algorithm for Encryption Purposes

Author

Zongchao Qiao, Safwan El Assad, Ina Taralova, École Centrale de Nantes (ECN), Laboratoire des Sciences du Numérique de Nantes (LS2N), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Commande (Commande), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN), Institut d'Électronique et des Technologies du numéRique (IETR), Université de Nantes (UN)-Centre National de la Recherche Scientifique (CNRS)-CentraleSupélec-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES), Nantes Université (NU)-Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Commande (LS2N - équipe Commande), Université de Nantes (UN)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), and Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)

Subjects
Pseudorandom number generator, Computer science, business.industry, Key space, Chaotic, Encryption, Data type, [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing, [NLIN.NLIN-CD]Nonlinear Sciences [physics]/Chaotic Dynamics [nlin.CD], Key (cryptography), business, Algorithm, Stream cipher, Block cipher
Abstract

For both chaos-based stream ciphers and chaos-based block ciphers, key streams have a crucial influence on their security. A well designed pseudo-chaotic number generator (PCNG) that exhibits both chaotic properties and pseudo-randomness is a good candidate for creating the cryptographic key stream for encryption purposes. PCNGs are based on multiple chaotic maps. Since the majority of the chaotic maps are defined using real numbers, most of the proposed PCNGs use floating-point notations. However, this data type, especially the double-precision notation, has disadvantages of high computation cost and inefficient resource utilization. Also, the quantification errors may undermine the reliability of the produced key stream. To overcome these drawbacks, a key stream generation algorithm using a PCNG scheme is proposed in this paper. The PCNG is based on reformulated skew tent maps over a 32-bit integer field. It not only reduces the resource utilization from the hardware perspective, but also ensures the key stream performance over various operation platforms. Furthermore, the proposed PCNG uses a parameter changeable strategy, which can help to expand the key space, and thus increases the immunity against the brute-force attack. The quality of the key stream produced by the PCNG has been tested in a stream cipher. The analysis and the obtained test results have demonstrated that the proposed PCNG is secure and reliable to generate cryptographic key streams for encryption purposes.

Published
2020
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39. Robust structural feedback linearization based on the nonlinearities rejection

Author

Moises Bonilla, Vadim Azhmyakov, Michel Malabre, L. A. Blas, Sergio Salazar, Departamento de Control Automático (CINVESTAV-IPN), Center for Research and Advanced Studies of the National Polytechnic Institute (CINVESTAV-IPN), Universidad de Medellin, Commande (Commande), Laboratoire des Sciences du Numérique de Nantes (LS2N), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), and Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)

Subjects
Scheme (programming language), 0209 industrial biotechnology, Computer Networks and Communications, Computer science, nonlinearities rejection, 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Attitude control, 020901 industrial engineering & automation, Control theory, Linearization, Simple (abstract algebra), 0202 electrical engineering, electronic engineering, information engineering, Feedback linearization, computer.programming_language, Class (computer programming), Applied Mathematics, nonlinear dynamic systems, System dynamics, Control and Systems Engineering, Signal Processing, 020201 artificial intelligence & image processing, Robust control, computer, failure reconstruction, non-standard feedback linearization
Abstract

In this paper, we consider a class of affine control systems and propose a new structural feedback linearization technique. This relatively simple approach involves a generic linear-type control scheme and follows the classic failure detection methodology. The robust linearization idea proposed in this contribution makes it possible an effective rejection of nonlinearities that belong to a specific class of functions. The nonlinearities under consideration are interpreted here as specific signals that affect the initially given systems dynamics. The implementability and efficiency of the proposed robust control methodology is illustrated via the attitude control of a Planar Vertical Take Off Landing (PVTOL) system.

Published
2020
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40. State feedback control and delay estimation for LTI system with unknown input-delay

Author

Emmanuel Moulay, Franck Plestan, Yang Deng, Vincent Léchappé, Laboratoire des Sciences du Numérique de Nantes (LS2N), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), Commande (Commande), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Ampère, Département Méthodes pour l'Ingénierie des Systèmes (MIS), Ampère (AMPERE), École Centrale de Lyon (ECL), Université de Lyon-Université de Lyon-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-École Centrale de Lyon (ECL), Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), Systèmes et Réseaux Intelligents (XLIM-SRI), XLIM (XLIM), Université de Limoges (UNILIM)-Centre National de la Recherche Scientifique (CNRS)-Université de Limoges (UNILIM)-Centre National de la Recherche Scientifique (CNRS), Université de Poitiers, Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-École Centrale de Lyon (ECL), and Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)

Subjects
Scheme (programming language), 0209 industrial biotechnology, Computer science, Lyapunov-Krasovskii functional, predictor-based controller, Feedback control, Control (management), 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science Applications, delay estimation, LTI system theory, 020901 industrial engineering & automation, Time-delay system, Exponential stability, Computer Science::Systems and Control, Control and Systems Engineering, Control theory, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, State (computer science), Constant (mathematics), computer, computer.programming_language
Abstract

International audience; The objective of this paper is to build feedback control solutions for LTI systems with unknown constant input-delay. The control scheme includes a time-delay estimation algorithm and a predictor-based controller. The Lyapunov-Krasovskii theorem provides the global exponential stability of the closed-loop system. Some examples illustrate the theoretical results and the performances of the proposed method.

Published
2020
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41. Semi-Implicit Homogeneous Euler Differentiator for a Second-Order System: Validation on Real Data

Author

Michel, Loïc, Ghanes, Malek, Plestan, Franck, Aoustin, Yannick, Barbot, Jean-Pierre, Laboratoire des Sciences du Numérique de Nantes (LS2N), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), École Centrale de Nantes (ECN), Commande (Commande), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN), Robotique Et Vivant (ReV), Laboratoire QUARTZ (QUARTZ ), Institut Supérieur de Mécanique de Paris (ISAE-Supméca), and Ecole Nationale Supérieure de l'Electronique et de ses Applications (ENSEA)

Subjects
Projectors, ComputingMethodologies_SYMBOLICANDALGEBRAICMANIPULATION, Homogeneous differentiator, Attractor, Experimental Data, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Discretization, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience; In this paper, a semi-implicit Euler approximation scheme is proposed for a second-order homogeneous differentiator. Compared to an explicit Euler approximation, it is well-known that implicit Euler approximation scheme offers better performances like reducing high frequency oscillations. However, the implicit Euler approximation scheme works well only when dealing with classical sliding mode differentiator. In order to keep advantages of implicit Euler approximation, when this approximation is applied in case of homogeneous differentiators, a semi-implicit Euler approximation is proposed for a second-order system. Validation on real data is conducted to highlight the well-founded of the proposed differentiation strategy.

Published
2021

42. A New Hybrid Kinematic/Dynamic Whole-Body Control for Humanoid Robots With Real-Time Experiments

Author

Philippe Fraisse, David Galdeano, Ahmed Chemori, S. Krut, Continental AG [Hannover], Conception et commande de robots pour la manipulation (DEXTER), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Interactive Digital Humans (IDH), and ANR-09-SEGI-0011,R2A2,Robot humanoïde hydRaulique: Amélioration de l'Autonomie énergétique via la conception et la commande.(2009)

Subjects
0209 industrial biotechnology, Posture control, Computer science, Whole-body control, Mechanical Engineering, Control engineering, 02 engineering and technology, Kinematics, Humanoid robot, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science::Robotics, 020901 industrial engineering & automation, Hybrid kinematic/dynamic, Artificial Intelligence, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, ZMP regulation, Whole body, Control (linguistics)
Abstract

In this paper, a new hybrid kinematic/dynamic control scheme for humanoid robots is proposed. Its basic idea lies in the tracking of several values in both operational and joint spaces. These values include (i) the relative pose of the robot’s feet, (ii) the position of the center of mass, (iii) the body’s orientation, and (iv) the admissible range of variation of the joints. A zero-moment point (ZMP)-based dynamic feedback is included in the proposed scheme to improve the stability of dynamic motions. The proposed stabilizer is based on a spherical projection of a nonlinear PID regulation control law. Through the proposed study, it is shown that these objectives allow us to produce smooth dynamically stable whole-body motions. The effectiveness and robustness of the proposed control scheme are demonstrated through four real-time experimental scenarios conducted on the HOAP-3 humanoid robot.

Published
2021
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43. Synthèse sur la détection des produits issus des nouvelles technologies génomiques (NGT) appliquées aux plantes. Paris, Paris, le 26 novembre 2021

Author

Comité Scientifique Du Haut Conseil Des Biotechnologies, ., Angevin, Frédérique, Bagnis, Claude, Bar-Hen, Avner, Barny, Marie-Anne, Boireau, Pascal, Brévault, Thierry, Chauvel, Bruno, Couvet, Denis, Dassa, Elie, de Verneuil, Hubert, Demeneix, Barbara, Franche, Claudine, Guerche, Philippe, Guillemain, Joël, Hernandez Raquet, Guillermina, Khalife, Jamal, Klonjkowski, Bernard, Lavielle, Marc, Le Corre, Valérie, Lefèvre, François, Lemaire, Olivier, Lereclus, Didier, Maximilien, Rémy, Meurs, Eliane, Naffakh, Nadia, Négre, Didier, Ochatt, Sergio, Pages, Jean-Christophe, Raynaud, Xavier, Regnault-Roger, Catherine, Renard, Michel, Renault, Tristan, Saindrenan, Patrick, Simonet, Pascal, Troadec, Marie-Bérengère, Vaissière, Bernard, Vilotte, Jean-Luc, Haut Conseil des Biotechnologies (HCB), Unité Impacts Ecologiques des Innovations en Production Végétale (ECO-INNOV), Institut National de la Recherche Agronomique (INRA), Etablissement Français du Sang, Université Paris-Sud - Paris 11 (UP11), Université Paris Descartes - Paris 5 (UPD5), Institut d'écologie et des sciences de l'environnement de Paris (iEES Paris ), Institut de Recherche pour le Développement (IRD)-Sorbonne Université (SU)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), Direction des Ressources Humaines et du Développement Durable (DRHDD), Agroécologie et Intensification Durables des cultures annuelles (UPR AIDA), Centre de Coopération Internationale en Recherche Agronomique pour le Développement (Cirad), Département Performances des systèmes de production et de transformation tropicaux (Cirad-PERSYST), Agroécologie [Dijon], Université de Bourgogne (UB)-AgroSup Dijon - Institut National Supérieur des Sciences Agronomiques, de l'Alimentation et de l'Environnement-Université Bourgogne Franche-Comté [COMUE] (UBFC)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), Muséum national d'Histoire naturelle (MNHN), Institut National de la Santé et de la Recherche Médicale (INSERM), Institut de Recherche pour le Développement (IRD), Institut Jean-Pierre Bourgin (IJPB), AgroParisTech-Université Paris-Saclay-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), Agence nationale de sécurité du médicament et des produits de santé [Saint-Denis] (ANSM), Université Francois Rabelais [Tours], Laboratoire d'Ingénierie des Systèmes Biologiques et des Procédés (LISBP), Institut National de la Recherche Agronomique (INRA)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS), Institut Pasteur de Lille, Réseau International des Instituts Pasteur (RIIP), Virologie UMR1161 (VIRO), École nationale vétérinaire - Alfort (ENVA)-Institut National de la Recherche Agronomique (INRA)-Agence nationale de sécurité sanitaire de l'alimentation, de l'environnement et du travail (ANSES), Modélisation en pharmacologie de population (XPOP), Centre de Mathématiques Appliquées - Ecole Polytechnique (CMAP), École polytechnique (X)-Centre National de la Recherche Scientifique (CNRS)-École polytechnique (X)-Centre National de la Recherche Scientifique (CNRS)-Inria Saclay - Ile de France, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Unité de recherche Virologie et Immunologie Moléculaires (VIM (UR 0892)), Santé de la vigne et qualité du vin (SVQV), Institut National de la Recherche Agronomique (INRA)-Université de Strasbourg (UNISTRA), MICrobiologie de l'ALImentation au Service de la Santé (MICALIS), Institut National de la Recherche Agronomique (INRA)-AgroParisTech, Commissariat à l'énergie atomique et aux énergies alternatives (CEA), Institut Pasteur [Paris] (IP), Institut de Génétique, Environnement et Protection des Plantes (IGEPP), Université de Rennes (UR)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-INSTITUT AGRO Agrocampus Ouest, Institut national d'enseignement supérieur pour l'agriculture, l'alimentation et l'environnement (Institut Agro)-Institut national d'enseignement supérieur pour l'agriculture, l'alimentation et l'environnement (Institut Agro), Agence nationale de sécurité sanitaire de l'alimentation, de l'environnement et du travail (ANSES), Institut Français de Recherche pour l'Exploitation de la Mer (IFREMER), Institut des Sciences des Plantes de Paris-Saclay (IPS2 (UMR_9213 / UMR_1403)), Institut National de la Recherche Agronomique (INRA)-Université Paris-Sud - Paris 11 (UP11)-Université Paris Diderot - Paris 7 (UPD7)-Université d'Évry-Val-d'Essonne (UEVE)-Centre National de la Recherche Scientifique (CNRS), Abeilles et environnement (AE), Génétique Animale et Biologie Intégrative (GABI), Haut Conseil des Biotechnologies, Commanditaire : Ministère de l'Agriculture, de l'Agroalimentaire et de la Forêt (France), Type de commande : Commande avec contrat/convention/lettre de saisine, Type de commanditaire ou d'auteur de la saisine : Ministères, parlements et les structures qui leur sont directement rattachées, Institut d'écologie et des sciences de l'environnement de Paris (iEES), Institut National de la Recherche Agronomique (INRA)-Université Pierre et Marie Curie - Paris 6 (UPMC)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Centre National de la Recherche Scientifique (CNRS), Institut National des Sciences Appliquées (INSA)-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées (INSA)-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS), Massart, Isabelle, Institut Pasteur [Paris], Université de Rennes 1 (UR1), and Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-INSTITUT AGRO Agrocampus Ouest

Subjects
Plant Breeding, [SDV.BIO]Life Sciences [q-bio]/Biotechnology, New Genomic Technics, [SDV.BIO] Life Sciences [q-bio]/Biotechnology
Abstract

Synthèse sur la détection des produits issus des nouvelles technologies génomiques (NGT) appliquées aux plantesLa question du statut réglementaire des NGT (New Genomic Techniques), qui ont été définies comme techniques de modification du génome « apparues » depuis 2001 , est actuellement débattue en Europe. Ces techniques n’existaient pas, ou étaient peu développées lors de l’adoption des directives et règlements européens qui encadrent actuellement les organismes génétiquement modifiés (OGM). A l’époque le législateur européen avait choisi de réglementer les techniques de transgénèse et d’exempter les méthodes de mutagénèse notamment sur la base d’une expérience d’usage n’ayant révélé aucun problème particulier. Certaines NGT pouvant être utilisées pour induire une mutagenèse, ciblée ou non , la questionde leur soumission à la réglementation européenne en vigueur fait l’objet de discussions juridiques et politiques depuis quelques années. Les données scientifiques relatives à ces technologies (définitions, méthodes et résultats) doivent permettre de guider ces discussions.

Published
2021

44. Control Strategies for a Cable-Driven Parallel Robot with Varying Payload Information

Author

Fabien Claveau, Stéphane Caro, Etienne Picard, Franck Plestan, Elias Tahoumi, Institut de Recherche Technologique Jules Verne [Bouguenais] (IRT Jules Verne), IRT Jules Vernes, Robots and Machines for Manufacturing, Society and Services (RoMas), Laboratoire des Sciences du Numérique de Nantes (LS2N), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), Commande (Commande), École Centrale de Nantes (ECN), Département Automatique, Productique et Informatique (IMT Atlantique - DAPI), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Centre National de la Recherche Scientifique (CNRS), IRT Jules Verne - ROCKET project, and IRT Jules Verne - ROCKET

Subjects
0209 industrial biotechnology, Payload, Computer science, Mechanical Engineering, Handling, 020208 electrical & electronic engineering, Pick-and-place operations, Parallel manipulator, Mode (statistics), Decision tree, Robust control, 02 engineering and technology, Computer Science Applications, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], [SPI.AUTO]Engineering Sciences [physics]/Automatic, Nonlinear system, 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, 0202 electrical engineering, electronic engineering, information engineering, Trajectory, Cable Driven Parallel Robots, Electrical and Electronic Engineering
Abstract

International audience; A suspended Cable-Driven Parallel Robot (CDPR) composed of eight cables and a moving platform (MP) is used in a pick-and-place application of metal plates with different shapes, sizes and masses. In order to ensure robust control despite mass variation, several combinations of control schemes and control laws have been experimented on a prototype at IRT Jules Verne, France. The main objective of this paper is to provide recommendations on the selection of a control strategy depending on the available information on the carried mass, and the presence or absence of force sensors. Three scenarios are considered representing a degradation of the information on the carried mass to observe the impact on the performance of applicable control strategies. In a first case, force sensors are assumed available to measure cable tension, allowing the real-time estimation of the carried mass. In a second case, the mass of the MP is known, but not the mass of the carried metal plate whereas the third case considers no information at all on both the MP and the carried metal plate. The tested control laws include a standard proportional-derivative controller (PD), and a recently developed nonlinear controller balancing between sliding mode and linear algorithms (SML). The performances of each control strategy are analyzed along a test trajectory for several payloads, and a decision tree is proposed.

Published
2021
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45. Nonsmooth Mechanics. Models, Dynamics and Control : Erratum/Addendum

Author

Brogliato, Bernard, Modélisation, simulation et commande des systèmes dynamiques non lisses (TRIPOP), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Jean Kuntzmann (LJK), Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP ), Université Grenoble Alpes (UGA)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP ), Université Grenoble Alpes (UGA), INRIA Grenoble - Rhone-Alpes, Modélisation, simulation et commande des systèmes dynamiques non lisses (TRIPOP ), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Jean Kuntzmann (LJK ), and Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])

Subjects
Compliant Contact Models, Impact Law, Nonsmooth Mechanics, [MATH.MATH-DS]Mathematics [math]/Dynamical Systems [math.DS], Variational Mechanics, Trajectory Tracking, [SPI.MECA]Engineering Sciences [physics]/Mechanics [physics.med-ph], [SPI.MECA.SOLID]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Solid mechanics [physics.class-ph], Solid Mechanics, Contact Mechanics, Hybrid Dynamical Systems, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Complementarity Theory, Control, Convex Analysis, Stability
Abstract

This is the seventh version of the Erratum/Addendum of the 3rd edition of the monograph entitled Nonsmooth Mechanics, Models, Dynamics and Control, Springer, Communications and Control Engineering, ISSN 0178-5354, 2016.

Published
2021

46. AVIS en réponse à la saisine HCB - dossier 2020-172. Paris, le 06 septembre 2021

Author

Comité Scientifique Du Haut Conseil Des Biotechnologies, ., Angevin, Frédérique, Bagnis, Claude, Bar-Hen, Avner, Barny, Marie-Anne, Boireau, Pascal, Brévault, Thierry, Chauvel, Bruno, Collonnier, Cécile, Couvet, Denis, Dassa, Elie, de Verneuil, Hubert, Franche, Claudine, Guerche, Philippe, Guillemain, Joël, Hernandez Raquet, Guillermina, Khalife, Jamal, Klonjkowski, Bernard, Lavielle, Marc, Le Corre, Valérie, Lefèvre, François, Lemaire, Olivier, Lereclus, Didier, Maximilien, Rémy, Meurs, Eliane, Naffakh, Nadia, Négre, Didier, Ochatt, Sergio, Pages, Jean-Christophe, Raynaud, Xavier, Regnault-Roger, Catherine, Renard, Michel, Renault, Tristan, Saindrenan, Patrick, Simonet, Pascal, Troadec, Marie-Bérengère, Vaissière, Bernard, Vilotte, Jean-Luc, Haut Conseil des Biotechnologies (HCB), Unité Impacts Ecologiques des Innovations en Production Végétale (ECO-INNOV), Institut National de la Recherche Agronomique (INRA), Etablissement Français du Sang, Université Paris-Sud - Paris 11 (UP11), Université Paris Descartes - Paris 5 (UPD5), Institut d'écologie et des sciences de l'environnement de Paris (iEES Paris ), Institut de Recherche pour le Développement (IRD)-Sorbonne Université (SU)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), Direction des Ressources Humaines et du Développement Durable (DRHDD), Agroécologie et Intensification Durables des cultures annuelles (UPR AIDA), Centre de Coopération Internationale en Recherche Agronomique pour le Développement (Cirad), Département Performances des systèmes de production et de transformation tropicaux (Cirad-PERSYST), Agroécologie [Dijon], Université de Bourgogne (UB)-AgroSup Dijon - Institut National Supérieur des Sciences Agronomiques, de l'Alimentation et de l'Environnement-Université Bourgogne Franche-Comté [COMUE] (UBFC)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), Institut Jean-Pierre Bourgin (IJPB), AgroParisTech-Université Paris-Saclay-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), Muséum national d'Histoire naturelle (MNHN), Institut National de la Santé et de la Recherche Médicale (INSERM), Institut de Recherche pour le Développement (IRD), Agence nationale de sécurité du médicament et des produits de santé [Saint-Denis] (ANSM), Université Francois Rabelais [Tours], Laboratoire d'Ingénierie des Systèmes Biologiques et des Procédés (LISBP), Institut National de la Recherche Agronomique (INRA)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS), Institut Pasteur de Lille, Réseau International des Instituts Pasteur (RIIP), Virologie UMR1161 (VIRO), École nationale vétérinaire - Alfort (ENVA)-Institut National de la Recherche Agronomique (INRA)-Agence nationale de sécurité sanitaire de l'alimentation, de l'environnement et du travail (ANSES), Modélisation en pharmacologie de population (XPOP), Centre de Mathématiques Appliquées - Ecole Polytechnique (CMAP), École polytechnique (X)-Centre National de la Recherche Scientifique (CNRS)-École polytechnique (X)-Centre National de la Recherche Scientifique (CNRS)-Inria Saclay - Ile de France, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Unité de recherche Virologie et Immunologie Moléculaires (VIM (UR 0892)), Santé de la vigne et qualité du vin (SVQV), Institut National de la Recherche Agronomique (INRA)-Université de Strasbourg (UNISTRA), MICrobiologie de l'ALImentation au Service de la Santé (MICALIS), Institut National de la Recherche Agronomique (INRA)-AgroParisTech, Commissariat à l'énergie atomique et aux énergies alternatives (CEA), Institut Pasteur [Paris] (IP), Institut de Génétique, Environnement et Protection des Plantes (IGEPP), Université de Rennes (UR)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-INSTITUT AGRO Agrocampus Ouest, Institut national d'enseignement supérieur pour l'agriculture, l'alimentation et l'environnement (Institut Agro)-Institut national d'enseignement supérieur pour l'agriculture, l'alimentation et l'environnement (Institut Agro), Agence nationale de sécurité sanitaire de l'alimentation, de l'environnement et du travail (ANSES), Institut Français de Recherche pour l'Exploitation de la Mer (IFREMER), Institut des Sciences des Plantes de Paris-Saclay (IPS2 (UMR_9213 / UMR_1403)), Institut National de la Recherche Agronomique (INRA)-Université Paris-Sud - Paris 11 (UP11)-Université Paris Diderot - Paris 7 (UPD7)-Université d'Évry-Val-d'Essonne (UEVE)-Centre National de la Recherche Scientifique (CNRS), Abeilles et environnement (AE), Génétique Animale et Biologie Intégrative (GABI), Haut Conseil des Biotechnologies, Commanditaire : Ministère de l'Agriculture, de l'Agroalimentaire et de la Forêt (France), Type de commande : Commande avec contrat/convention/lettre de saisine, Type de commanditaire ou d'auteur de la saisine : Ministères, parlements et les structures qui leur sont directement rattachées, Massart, Isabelle, Institut d'écologie et des sciences de l'environnement de Paris (iEES), Institut National de la Recherche Agronomique (INRA)-Université Pierre et Marie Curie - Paris 6 (UPMC)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Centre National de la Recherche Scientifique (CNRS), Institut National des Sciences Appliquées (INSA)-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées (INSA)-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS), Institut Pasteur [Paris], Université de Rennes 1 (UR1), and Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-INSTITUT AGRO Agrocampus Ouest

Subjects
[SDV.BIO]Life Sciences [q-bio]/Biotechnology, [SDV.BIO] Life Sciences [q-bio]/Biotechnology
Abstract

Le Haut Conseil des biotechnologies (HCB) a été saisi le 22 juin 2021 par les autorités compétentes françaises (Ministère de l'Agriculture et de l'Alimentation) d'une demande d'avis relative au dossier EFSA-GMO-NL-2020-172 de demande d'autorisation de mise sur le marché du maïs génétiquement modifié DP915635 à des fins d'importation, transformation et alimentation humaine et animale. Ce dossier a été déposé par la société Pioneer Hi-Bred International, Inc. auprès des autorités compétentes néerlandaises sur le fondement du règlement (CE) n° 1829/2003. Dans le cadre de ce règlement, l'évaluation des dossiers de demande de mise sur le marché est confiée à l'Autorité européenne de sécurité des aliments (EFSA). Les Etats membres disposent de trois mois pour envoyer leurs commentaires à l'EFSA en contribution à l'évaluation du dossier. Dans ce contexte, le HCB est invité à proposer des commentaires à destination de l'EFSA au plus tard le 07 septembre 2021.

Published
2021

47. A NEW ROBOTIC HAND BASED ON THE DESIGN OF FINGERS WITH SPATIAL MOTIONS

Author

Pol Hamon, Damien Chablat, Franck Plestan, Laboratoire des Sciences du Numérique de Nantes (LS2N), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), Robotique Et Vivant (ReV), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Commande (Commande)

Subjects
FOS: Computer and information sciences, Computer science, business.industry, GRASP, Kinematics, Robot end effector, computer.software_genre, law.invention, Mechanism (engineering), Computer Science - Robotics, symbols.namesake, law, Position (vector), Jacobian matrix and determinant, symbols, Computer Aided Design, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Computer vision, Artificial intelligence, Actuator, business, Robotics (cs.RO), computer
Abstract

This article presents a new hand architecture with three under-actuated fingers. Each finger performs spatial movements to achieve more complex and varied grasping than the existing planar-movement fingers. The purpose of this hand is to grasp complex-shaped workpieces as they leave the machining centres. Among the taxonomy of grips, cylindrical and spherical grips are often used to grasp heavy objects. A combination of these two modes makes it possible to capture most of the workpieces machined with 5-axis machines. However, the change in grasping mode requires the fingers to reconfigure themselves to perform spatial movements. This solution requires the addition of two or three actuators to change the position of the fingers and requires sensors to recognize the shape of the workpiece and determine the type of grasp to be used. This article proposes to extend the notion of under-actuated fingers to spatial movements. After a presentation of the kinematics of the fingers, the problem of stability is discussed as well as the transmission of forces in this mechanism. The complete approach for calculating the stability conditions is presented from the study of Jacobian force transmission matrices. CAD representations of the hand and its behavior in spherical and cylindrical grips are presented.

Published
2021
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48. An Experimental Investigation of Discretized Homogeneous Differentiators: Pneumatic Actuator Case

Author

Franck Plestan, Malek Ghanes, Subiksha Selvarajan, Loïc Michel, Jean-Pierre Barbot, Yannick Aoustin, École Centrale de Nantes (Nantes Univ - ECN), Nantes Université (Nantes Univ), Laboratoire des Sciences du Numérique de Nantes (LS2N), Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-École Centrale de Nantes (Nantes Univ - ECN), Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes université - UFR des Sciences et des Techniques (Nantes univ - UFR ST), Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes Université - pôle Sciences et technologie, IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), École Centrale de Nantes (ECN), Commande (Commande), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Robotique Et Vivant (ReV), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN), Laboratoire QUARTZ (QUARTZ ), Institut Supérieur de Mécanique de Paris (ISAE-Supméca), and Ecole Nationale Supérieure de l'Electronique et de ses Applications (ENSEA)

Subjects
0209 industrial biotechnology, Discretization, Computer science, 02 engineering and technology, Sliding mode control, law.invention, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Differentiator, symbols.namesake, 020901 industrial engineering & automation, Robustness (computer science), law, Control theory, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], ComputingMilieux_MISCELLANEOUS, Noise measurement, Pneumatic actuator, 020208 electrical & electronic engineering, [SPI.NRJ]Engineering Sciences [physics]/Electric power, sampled data, Projector, pneumatic actuator, Euler's formula, symbols
Abstract

International audience; It is well known that the homogeneous differentiator strategies reduce the chattering in the implementation of sliding mode algorithms and the recent implicit framework based projector provides very interesting properties when associated to homogeneous design. In this paper, it is proposed to evaluate different strategies of homogeneous differentiators based on Euler explicit and promising Euler semi-implicit strategies, for which discrete implementations have been realized on a pneumatic actuator. Experimental results highlight the benefit of a Euler semi-implicit based structure using a projector.

Published
2021
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49. A theoretical framework for controlling complex microbial communities

Author

Marco Tulio Angulo, Yang-Yu Liu, Claude H. Moog, Universidad Nacional Autónoma de México (UNAM), Commande (Commande), Laboratoire des Sciences du Numérique de Nantes (LS2N), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), Harvard Medical School [Boston] (HMS), and Dana-Farber Cancer Institute [Boston]

Subjects
0301 basic medicine, Computer science, Science, General Physics and Astronomy, Ircinia oros, 02 engineering and technology, Models, Biological, General Biochemistry, Genetics and Molecular Biology, Article, 03 medical and health sciences, Mice, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Animals, Germ-Free Life, Natural ecosystem, lcsh:Science, Ecosystem, Multidisciplinary, Host Microbial Interactions, business.industry, Clostridioides difficile, Environmental resource management, General Chemistry, 021001 nanoscience & nanotechnology, Ecological network, Gastrointestinal Microbiome, Porifera, 030104 developmental biology, [SDV.MP]Life Sciences [q-bio]/Microbiology and Parasitology, lcsh:Q, 0210 nano-technology, business
Abstract

Microbes form complex communities that perform critical roles for the integrity of their environment or the well-being of their hosts. Controlling these microbial communities can help us restore natural ecosystems and maintain healthy human microbiota. However, the lack of an efficient and systematic control framework has limited our ability to manipulate these microbial communities. Here we fill this gap by developing a control framework based on the new notion of structural accessibility. Our framework uses the ecological network of the community to identify minimum sets of its driver species, manipulation of which allows controlling the whole community. We numerically validate our control framework on large communities, and then we demonstrate its application for controlling the gut microbiota of gnotobiotic mice infected with Clostridium difficile and the core microbiota of the sea sponge Ircinia oros. Our results provide a systematic pipeline to efficiently drive complex microbial communities towards desired states., Controlling microbial communities could help restore ecosystems and maintain healthy microbiota. Here, the authors introduce the notion of structural accessibility and develop a framework to identify minimal sets of driver species, manipulation of which could allow control of a microbial community.

Published
2019
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50. An alternative to standard nuclear core control using a multi-objective approach

Author

Alain Grossetete, Mohamed Yagoubi, Philippe Chevrel, Lori Lemazurier, AREVA NP, AREVA NP - Centre Technique (FRANCE), Département Automatique, Productique et Informatique (IMT Atlantique - DAPI), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Commande (Commande), Laboratoire des Sciences du Numérique de Nantes (LS2N), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), and Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST)

Subjects
0209 industrial biotechnology, Operating point, Offset (computer science), Computer science, Applied Mathematics, Multivariable calculus, 020208 electrical & electronic engineering, Estimator, 02 engineering and technology, 7. Clean energy, Computer Science Applications, 020901 industrial engineering & automation, Gain scheduling, Nuclear reactor core, Control and Systems Engineering, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Embedding, Electrical and Electronic Engineering, Core model, ComputingMilieux_MISCELLANEOUS
Abstract

This paper proposes an alternative to standard nuclear core control. The control objectives are standard and concern the Average Coolant Temperature, the Axial Offset and the rod bank position (Pbank in this study). They were carefully formalized before proceeding to LTI structured controllers synthesis at various operating points, using a multi-objective approach. This study relies on a point kinetic core model, embedding an AO estimator. A Non-smooth optimization technique is used to solve the control problems at each operating point. Then gain scheduling is performed, taking advantage of the parsimonious parameterization of the considered multivariable controller. Finally, simulations are carried out on a highly realistic reactor model including a Xenon model and show the benefits of the new control

Published
2019
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