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See detailA Generic Feature Selection Method for Background Subtraction Using Global Foreground Models
Braham, Marc ULg; Van Droogenbroeck, Marc ULg

in Advanced Concepts for Intelligent Vision Systems (2015, October)

Over the last few years, a wide variety of background subtraction algorithms have been proposed for the detection of moving objects in videos acquired with a static camera. While much effort have been ... [more ▼]

Over the last few years, a wide variety of background subtraction algorithms have been proposed for the detection of moving objects in videos acquired with a static camera. While much effort have been devoted to the development of robust background models, the automatic spatial selection of useful features for representing the background has been neglected. In this paper, we propose a generic and tractable feature selection method. Interesting contributions of this work are the proposal of a selection process coherent with the segmentation process and the exploitation of global foreground models in the selection strategy. Experiments conducted on the ViBe algorithm show that our feature selection technique improves the segmentation results. [less ▲]

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See detailAnalytical model for composite joints under sagging moment
Bennacer, M.A.; Berouai, A; Kriker, A et al

in Engineering Structures (2015), 101

Nowadays, modern codes and standards such as the (Eurocode 4, 2004) deal with the characterisation of steel–concrete composite joints in building structures, mainly under hogging bending moments in the ... [more ▼]

Nowadays, modern codes and standards such as the (Eurocode 4, 2004) deal with the characterisation of steel–concrete composite joints in building structures, mainly under hogging bending moments in the beam. However, in sway composite frames or when the composite structure is subjected to an accidental/exceptional event such as earthquake or column loss, the beam-to-column joint may be subjected to sagging bending moment, a loading situation which is not yet covered by the codes. This paper deals with the behaviour of composite beam-to-column external joints under sagging bending moments, mainly focusing on the specific joint component “concrete slab in compression”. Indeed, if reference is made to Eurocodes, the method recommended to characterise structural joints is the component method and the “concrete slab in compression” component has been identified as the missing component to be able to apply this method to composite joints subjected to sagging bending moment. In this article, the finite element method is used to model the slab using VecTor 2 software. Through the performed numerical simulations, the behaviour of the slab is studied in detail and an analytical model is proposed. With the proposed model, it is possible to characterise the concrete slab in compression component and so, to apply the component method to predict the mechanical properties of composite joints subjected to sagging bending moment. [less ▲]

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See detailL’institution de la contre-culture
Saint-Amand, Denis ULg

Conference (2015, October)

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See detailFormer des enseignants soucieux de réduire les inégalités d'apprentissage ou comment tenir le cap entre réponse aux demandes et inertie. Analyse de cas d'un centre de formation d'enseignants en Fédération Wallonie-Bruxelles
Beckers, Jacqueline ULg; Simons, Germain ULg

Conference (2015, October)

Dans cette contribution, nous analyserons l'évolution des enjeux et priorités que s'est progressivement donné le Centre interfacultaire de formation des enseignants (Cifen) de l'Université de Liège depuis ... [more ▼]

Dans cette contribution, nous analyserons l'évolution des enjeux et priorités que s'est progressivement donné le Centre interfacultaire de formation des enseignants (Cifen) de l'Université de Liège depuis sa création officielle en 1995, et nous nous interrogerons sur leur pertinence. Comment prendre la mesure des changements effectivement mis en place, apprécier leur pertinence, réguler leurs effets, éviter l'essoufflement des partenaires du système ? Telles sont quelques unes des questions qui baliseront notre contribution. [less ▲]

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See detailCombining Features for Cover Song Identification
Osmalsky, Julien ULg; Embrechts, Jean-Jacques ULg; Foster, Peter et al

in 16th International Society for Music Information Retrieval Conference (2015, October)

In this paper, we evaluate a set of methods for combining features for cover song identification. We first create multiple classifiers based on global tempo, duration, loudness, beats and chroma average ... [more ▼]

In this paper, we evaluate a set of methods for combining features for cover song identification. We first create multiple classifiers based on global tempo, duration, loudness, beats and chroma average features, training a random forest for each feature. Subsequently, we evaluate standard combination rules for merging these single classifiers into a composite classifier based on global features. We further obtain two higher level classifiers based on chroma features: one based on comparing histograms of quantized chroma features, and a second one based on computing cross-correlations between sequences of chroma features, to account for temporal information. For combining the latter chroma-based classifiers with the composite classifier based on global features, we use standard rank aggregation methods adapted from the information retrieval literature. We evaluate performance with the Second Hand Song dataset, where we quantify performance using multiple statistics. We observe that each combination rule outperforms single methods in terms of the total number of identified queries. Experiments with rank aggregation methods show an increase of up to 23.5 % of the number of identified queries, compared to single classifiers. [less ▲]

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See detailA performance indicator for structures under natural fire
Gernay, Thomas ULg; Franssen, Jean-Marc ULg

in Engineering Structures (2015), 100

Fires in buildings are characterized by a heating phase followed by a cooling phase, yet the effects of the latter on structures are not well covered in the current approaches to structural fire ... [more ▼]

Fires in buildings are characterized by a heating phase followed by a cooling phase, yet the effects of the latter on structures are not well covered in the current approaches to structural fire engineering. Indeed the actual requirement of non-occurrence of structural failure at peak temperature does not guarantee against a delayed failure during or after the cooling phase of a fire, which puts at risk the fire brigades and people proceeding to a building inspection after a fire. Therefore there is an urgent need to better comprehend and characterize the materials and structures behavior under decreasing temperatures. Sensitivity to delayed failure of a structural component depends on its typology and constituting materials. In particular, two structural components with the same Fire Resistance rating (R) under standardized fire may exhibit very distinct behavior under natural fire, one of them being more prone to delayed failure than the other. With the aim of quantifying this effect, a new indicator is proposed that characterizes the performance of structures under natural fire conditions. The paper presents the methodology to derive this new indicator as well as results for different typologies of structural components. Parametric analyses highlight the prime influence of constitutive material and thermal inertia of the element on the post-peak behavior. Used in conjunction with the Fire Resistance rating, it is shown how the new indicator carries additional and significant information for classifying structural systems in terms of their fire performance and propensity to delayed failure. [less ▲]

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See detailPhotorefractive holographic camera for monitoring deformations of MEMS
Georges, Marc ULg; Thizy, Cédric ULg

in Journal of Micro/Nanolithography, MEMS, and MOEMS (2015), 14(4), 041301

We present the development of a holographic interferometer based on dynamic hologram recording with photorefractive crystals of the sillenite family and which is adapted for the observation of MEMS. A ... [more ▼]

We present the development of a holographic interferometer based on dynamic hologram recording with photorefractive crystals of the sillenite family and which is adapted for the observation of MEMS. A compact portable system was already presented in the past and used in various metrology and nondestructive applications on large scattering objects. It was emphasized the great versatility of the instrument which allows high resolution measurements. Here we show the development and achievement of an optical module which can be easily interfaced on the basic instrument, allowing small specular objects observation. Results of deformation of electrically actuated MEMS are shown. [less ▲]

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See detailTime Ordering Shuffling for Improving Background Subtraction
Laugraud, Benjamin ULg; Latour, Philippe ULg; Van Droogenbroeck, Marc ULg

in Advanced Concepts for Intelligent Vision Systems (ACIVS) (2015, October)

By construction, a video is a series of ordered frames, whose order is defined at the time of the acquisition process. Background subtraction methods then take this input video and produce a series of ... [more ▼]

By construction, a video is a series of ordered frames, whose order is defined at the time of the acquisition process. Background subtraction methods then take this input video and produce a series of segmentation maps expressed in terms of foreground objects and scene background. To our knowledge, this natural ordering of frames has never been questioned or challenged. In this paper, we propose to challenge, in a prospective view, the natural ordering of video frames in the context of background subtraction, and examine alternative time orderings. The idea consists in changing the order before background subtraction is applied, by means of shuffling strategies, and re-ordering the segmentation maps afterwards. For this purpose, we propose several shuffling strategies and show that, for some background subtraction methods, results are preserved or even improved. The practical advantage of time shuffling is that it can been applied to any existing background subtraction seamlessly. [less ▲]

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See detailMPLS Under the Microscope: Revealing Actual Transit Path Diversity
Vanaubel, Yves ULg; Vanaubel, Yves ULg; Mérindol, Pascal et al

in ACM Internet Measurement Conference (2015, October)

Traffic Engineering (TE) is one of the keys for improving packet forwarding in the Internet. It allows IP network operators to finely tune their forwarding paths according to various customer needs. One ... [more ▼]

Traffic Engineering (TE) is one of the keys for improving packet forwarding in the Internet. It allows IP network operators to finely tune their forwarding paths according to various customer needs. One of the most popular tool available today for optimizing the use of networking resources is MPLS. On the one hand, operators may use MPLS and label distribution mechanisms such as RSVP-TE in conjunction with BGP to define multiple transit paths (for a given edge pair) verifying different constraints on their network. On the other hand, when operators simply enable LDP for distributing MPLS labels in order to improve the scalability of their network, another kind of path diversity may appear thanks to the ECMP feature of IGP routing. In this paper, using an MPLS labels analysis, we demonstrate that it is possible to better understand the transit path diversity deployed within a given ISP. More specifically, we introduce the Label Pattern Recognition (LPR) algorithm, a method for analyzing traceroute data including MPLS information. LPR reveals the actual usage of MPLS according to the inferred label distribution protocol and is able to make the distinction between ECMP and TE multi-path forwarding. Based on an extensive and longitudinal traceroute dataset obtained from CAIDA, we apply LPR and find that each ISP behavior is really specific in regard to its MPLS usage. In particular, we are able to observe independently for each ISP the MPLS path diversity and usage, and its evolution over time. Globally speaking, the main outcomes of our study are that (i) the usage of MPLS has been increasing over the the last five years with basic encapsulation being predominant, (ii) path diversity is mainly provided thanks to ECMP and LDP, and, (iii), TE using MPLS is as common as MPLS without path diversity. [less ▲]

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See detailNumerical modeling of the cardiac mechano-electric feedback within a thermo-electro-mechanical framework. Study of its consequences on arrhythmogenesis.
Collet, Arnaud ULg

Doctoral thesis (2015)

This doctoral study characterizes, for simple geometries, the cardiac autonomous electrical activity induced by the mechanical deformations of the myocardium via the mechano-electric feedback within a ... [more ▼]

This doctoral study characterizes, for simple geometries, the cardiac autonomous electrical activity induced by the mechanical deformations of the myocardium via the mechano-electric feedback within a thermo-electro-mechanical framework. The underlying fundamental mechanisms are highlighted and discussed in detail. In a healthy heart, the mechano-electric feedback acts as a regulator able to damp mechanical perturbations undergone by the heart, by appropriately modulating electrical activity shortly after these perturbations. In this way, a new healthy electromechanical situation is recovered. However, under certain conditions, this feedback can be a generator of dramatic cardiac arrhythmias by inducing local electrical depolarizations resulting from abnormal cardiac muscle tissue deformations. These local perturbations can then propagate in the whole heart and, thus, lead to global cardiac dysfunctions. The one- and two-dimensional models developed in this work to study the arrhythmogenic consequences of the mechano-electric feedback within a thermo-electro-mechanical framework account for three couplings: the excitation-contraction coupling, the mechano-electric feedback, and the thermo-electric coupling. The excitation-contraction coupling allows the mechanical contraction of cardiac muscle cells resulting from the electrical excitation of these cells, triggered by a propagating action potential initially generated by the sino-atrial node in a healthy heart. The mechano-electric feedback takes into account the influence of mechanical deformations on the electrical activity, both at the cell and the macroscopic level. The thermo-electric coupling then modulates certain electrical properties due to a temperature change. The excitation-contraction coupling is modeled in a phenomenological way by combining the Aliev-Panfilov model and the Rogers-McCulloch model. The propagation of the electrical excitation through cardiac muscle tissue is modeled by using the monodomain approach. The mechano-electric feedback is taken into account by considering two different contributions, namely the physiological contribution (physiological feedback) and the geometric contribution (geometric feedback). The physiological feedback consists in the onset of stretch-activated currents due to the deformations of the cardiac muscle tissue via specific mechanosensitive channels. Regarding the geometric feedback, it simply reflects that the propagation of the depolarization waves is altered by the deformations of the geometry. The thermo-electric coupling is modeled via a dependence with respect to the temperature which is exponential for the gating kinetics of ion channels, exponential for the kinetics of the active tension development in cardiomyocytes, and linear for the ionic conductances. This study shows that the mechano-electric feedback can be arrhythmogenic under specific conditions. In particular, this work clearly reveals that the size of the domain and the importance of stretch-activated currents are key factors in the behavior of the autonomous electrical activity induced by the mechano-electric feedback. This doctoral study also shows that temperature variations such as those undergone by the heart during therapeutic hypothermia or hyperthermia play a central role in the cardiac electromechanical behavior. Moreover, this work emphasizes the influence of the initial conditions on the electromechanical behavior of cardiac tissue. In the one-dimensional framework, an important result of this work is that the disappearance of the autonomous electrical activity induced by the deformations of the cardiac muscle can be associated with different types of bifurcation phenomena, depending on the values of the parameters. These bifurcations, which correspond in fact to different ways for the AEA to vanish, are emphasized and discussed in detail. [less ▲]

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See detailL'enseignement-apprentissage du néerlandais en Fédération Wallonie-Bruxelles: objectifs, méthodes, résultats
Rasier, Laurent ULg; Hiligsmann, Philippe

Conference (2015, September 30)

Detailed reference viewed: 16 (2 ULg)
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See detailEtude d’un concentrateur solaire basé sur une combinaison optique diffractive/réfractive pour applications spatiales
Michel, Céline ULg

Doctoral thesis (2015)

Continued demand for new applications from spacecrafts leads to larger power needs. For most of them, the primary energy sources are solar panels. However, these solar panels are heavy and expensive ... [more ▼]

Continued demand for new applications from spacecrafts leads to larger power needs. For most of them, the primary energy sources are solar panels. However, these solar panels are heavy and expensive, mainly due to solar cells and their coverglass. The power need increase requires thus new concepts of solar panels. Furthermore, space environment is highly constraining: the vacuum limits heat trans- fer since convection is not allowed, there is contamination modifying the light spectrum reaching cells, ultraviolet light induces a yellowing of silicone glue, radiations degrade pho- tovoltaic cells, etc. Usually, multi-junctions (MJ) cells are used, that are strongly sensitive to spectral modification in their incident spectrum due to their series connected structure (the worst cell defines the whole output performance). The power dimensioning of solar panels is then based on end of life (EOL) PV cells expected performance. Reducing the sensitivity to increase EOL output power is then another challenge for space applications. This thesis aims to answer to both problems, by the proposition and study of a new lightweight solar concentrator with spectral splitting. This conceptual concentrator is composed of a Fresnel lens for sunlight concentration, coupled to a surface relief diffraction grating to spectrally split incident light, forming a single optical element in silicone. The concentration behavior allows a reduction of solar cells area (including its coverglass), replaced by a lightweight silicone lens, reducing the global cost and mass. The lateral spectral separation will permit other types of cells than the usual MJ cells. To demonstrate the concept, two single junctions (SJ) solar cells are placed side by side, the first collecting visible light, the second collecting near IR light. Since cells are electrically independent, sensitivity is lower and EOL output power can surpass standard MJ cells systems. Moreover, cells combination is nearly free: all photovoltaic technology can be used and combined, opening the solar concentration field to other technologies than MJ. This work studies and evaluates the pros and cons of diffraction grating/Fresnel lens combinations as solar concentrator with spectral splitting. The analysis includes the choice of material, optical developments and optimizations (grating selection, freeform lenses, grating period optimization along the lens, etc.), electrical modeling and methods to find the best cells combination as well as the modeling of expected output power, a thermal simulation, weight and deployment considerations, and approaches of sensitivity with spectral modifications. Some experimental results complete the study. Two main configurations were developed: a first with a blazed grating, and a second with a symmetrical lamellar grating. Both configurations, after optimization, show similar performances: a global geometrical concentration ratio around 5-6× (ratio between lens width and the total width of the two cells), a tracking error tolerance up to 0.7◦, no drastic degradation with respect to deformations, fabrication errors, etc., an output power at begin of life (BOL) better than a classical concentrator focusing on a SJ cell or a planar solar panel composed of SJ cells. Both configurations present also a BOL specific mass [kg/W] lower than a classical planar solar panel covered by MJ cells, and a lower sensitivity to space environment, with theoretical larger EOL output power depending on chosen PV cells combinations. Existing deployment systems are proposed and discussed. Also, an experimental prototype of the optical element was realized, with optical results close to simulations. Some adaptations to terrestrial concentrators, other spectra, or using more than 2 different SJ cells are also introduced, highlighting the versatility of our concept. Results demonstrate thus the coherence of the concept, leading to experimentally feasible and quite tolerant concentrator, with interesting cost reduction thanks to concentration and specific weight reduction. However, optical losses due to the non-perfect spectral splitting of the grating is too high to be able to surpass MJ cells systems BOL up to now, and the lower sensitivity of our concentrator cannot completely compensate this lack of performance at EOL. To reach better performances than MJ systems, from cost, mass, radiation resistance, etc. point of view and to exploit the obvious gain in sensitivity, the concentrator needs thus further investigations mainly related to cells combinations. Especially as our concept opens a lot of opportunities thanks to the complete independence of cells: other technologies are allowed, specific coatings can improve performances, ... Applications for Earth or places with different/changing incident spectra is another plausible perspective. Our concentrator with spectral splitting can also be a major advantage for specific scientific space missions like deep space missions. [less ▲]

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See detailLa terminologie de la traduction en grec et en latin
Rochette, Bruno ULg

Scientific conference (2015, September 25)

Detailed reference viewed: 21 (1 ULg)
See detailEn tous quartiers ou j’ay esté. Le récit de pèlerinage de Georges Lengherand, mayeur de Mons (1486–1487)
Bruwier, Marie-Cécile; Docquier, Gilles; Marchandisse, Alain ULg

Conference (2015, September 25)

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See detailStratospheric HCl increasing again, caused by dynamic variability, driven by increased tropopsheric wave activity
Notholt, J; Mahieu, Emmanuel ULg; Pfloeger, F et al

Conference (2015, September 22)

Detailed reference viewed: 12 (1 ULg)
See detailStability and Aging of Phase Change Materials : An Ab Initio Perspective
Raty, Jean-Yves ULg

Conference (2015, September 17)

Data recording with Phase Change Materials is a much studied topic as the writing/erasing characteristics, cyclability and downscaling properties of these materials allow for efficient data storage in ... [more ▼]

Data recording with Phase Change Materials is a much studied topic as the writing/erasing characteristics, cyclability and downscaling properties of these materials allow for efficient data storage in future generations of devices. Nevertheless, some aspects of phase change materials are limiting their performances and delaying their wider technological application. First, aging phenomena are common to all amorphous structures, but of special importance PCMs since it impedes the realization of multi-level memories. Different interpretations have been proposed, but we focus here on the structural relaxation of amorphous GeTe, chosen because it is the simplest system that is representative of the wider class of GST alloys, lying along the GeTe-Sb2Te3 composition line of the GeSbTe phase diagram. One difficulty encountered in the simulation of these amorphous systems is that the direct generation of an amorphous structure by quenching a liquid using Density Functional Theory (DFT) based Molecular Dynamics leads to one sample with a small number of atoms, and, hence of small number of atomic environments. Here we sample a large number of local atomic environments, corresponding to different bonding schemes, by chemically substituting different alloys, selected to favor different local atomic structures. This enables spanning a larger fraction of the configuration space relevant to aging. Our results support a model of the amorphous phase and its time evolution that involves an evolution of the local (chemical) order towards that of the crystal. On the other hand its electronic properties drift away from those of the crystal, driven by an increase of the Peierls-like distortion of the local environments in the amorphous, as compared to the crystal [1]. A second problem faced by PCMs is the fact that data recording is limited at high temperature due to the increased propensity to recrystallize. One approach to counter this is to stabilize the PCM using impurity atoms such as C or N. Using DFT and the analysis of the mechanical properties (constraints theory), we demonstrate how these impurity atoms modify the rigidity of the network, which is experimentally correlated with the activation energy for crystallization [2]. Finally, the crystal phase itself has been shown to have variable conductivities depending on the thermal history and annealing conditions. If this could be used profitably for multi-level recording, it also indicates that the crystal is undergoes some temporal evolution. Using DFT, we clarify the stability behavior of GST crystal and show that the metal-insulator transition is driven by the migration of intrinsic vacancies and an Anderson localization transition [3]. [1] J.Y Raty, W. Zhang, J. Luckas, C. Chen, R. Mazzarello, C. Bichara and M. Wuttig, Nat. Comm. (2015) [2] G. Ghezzi, J.Y. Raty, S. Maitrejean, A. Roule, E. Elkaim and F. Hippert, Applied Physics Letters, 99 (2011) 151906 [3] W. Zhang, A. Thiess, P. Zalden, R. Zeller, P. H. Dederichs, J-Y. Raty, M.Wuttig, S. Blügel et R. Mazzarello, Nature Materials 11 (2012) 952 [less ▲]

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See detailAn Ant Colony System for Responsive Dynamic Vehicle Routing
Schyns, Michael ULg

in European Journal of Operational Research (2015), 245(3), 704-718

We present an algorithm based on an Ant Colony System to deal with a broad range of Dynamic Capacitated Vehicle Routing Problems with Time Windows, (partial) Split Delivery and Heterogeneous fleets ... [more ▼]

We present an algorithm based on an Ant Colony System to deal with a broad range of Dynamic Capacitated Vehicle Routing Problems with Time Windows, (partial) Split Delivery and Heterogeneous fleets (DVRPTWSD). Besides the traditional distance criterion, we address the important case of responsiveness. Responsiveness is defined here as completing a delivery as soon as possible, within the time window, such that the client or the truck may restart its activities. This is crucial for many production or service activities in different fields: express parcel deliveries, taxi services, Just in Time production, express repair services, medical care, petrol station replenishment, etc. We develop an interactive web-based solution to allow dispatchers to take new information into account in real-time. The algorithm and its parametrization were tested on real and artificial instances. We first illustrate our approach with a problem submitted by Liege Airport, the 8th biggest cargo airport in Europe. The goal is to develop a decision system to optimize the journey of the refueling trucks. We then consider some classical VRP benchmarks with extensions for more complex problems. [less ▲]

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See detailTowards processes-based groundwater vulnerability assessments
Dassargues, Alain ULg; Popescu, Cristina; Brouyère, Serge ULg

Conference (2015, September 15)

Various groundwater vulnerability methods have recently been developed. Considering groundwater quality issues, the most common techniques are based on calculation of an index expressing the protective ... [more ▼]

Various groundwater vulnerability methods have recently been developed. Considering groundwater quality issues, the most common techniques are based on calculation of an index expressing the protective effect (i.e. in terms of solute contaminant transport) of underground formations overlying the groundwater resource (Gogu & Dassargues, 2000, Gogu et al., 2003)). However, there is a strong need for new methods giving more emphasis on the processes-based calculation of vulnerability indicators. As a first alternative, a method is proposed based on three factors describing a pollution event (Brouyère et al., 2001): (1) the transit time from the source to the target, (2) the duration of the contamination breakthrough at the target, (3) the ratio between the maximum concentration at the target to the released concentration at the contamination source. The method can feature the impact of surface runoff to preferential infiltration points. Practically, the assessment can then be based on the simulated breakthrough curves at the ‘target’ corresponding to Dirac-type solicitations (Popescu et al., 2008). Different vulnerability maps can be built according to the relative importance conventionally given to each of the three factors. This concept allows a clear distinction between conventional aspects and processes-based results in the building of a final vulnerability indicator. A second proposal consists in reframing the groundwater vulnerability assessment in a Pressure-State-Impact causal chain that is familiar to decision makers (Beaujean et al., 2013). The method is here based on the calculation of sensitivity coefficients for a user-defined groundwater state for which several physically-based indicators are proposed. The sensitivity coefficients reflect the easiness with which the groundwater state transmits pressures into impacts. They are converted to vulnerability, using the concept of ‘transgressing a given threshold’ (Luers et al., 2003). While the methodology is general and can be applied in quantity as quality issues, the choice of causal chains has to be made prior to the calculation. The vulnerability is also related to a damaged state and is related to the ‘distance’ between the current state and a given threshold. Here also, the method allows a clear distinction between conventional choices (threshold) and scientific work (Dassargues et al., 2009). [less ▲]

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See detailEfficient and Precise Trajectory Planning for Nonholonomic Mobile Robots
Lens, Stéphane ULg

Doctoral thesis (2015)

Trajectory planning is one of the fundamental problems in mobile robotics. A wide variety of approaches have been proposed over the years to deal with the various issues of this problem. This thesis ... [more ▼]

Trajectory planning is one of the fundamental problems in mobile robotics. A wide variety of approaches have been proposed over the years to deal with the various issues of this problem. This thesis presents an original and complete solution to tackle the motion planning problem for nonholonomic mobile robots in two-dimensional space. Given a set of obstacles, an initial and a goal configuration, the problem consists in computing efficiently a physically feasible trajectory that reaches the specified target as fast as possible. One of the original aspects of this work lies in the decomposition of the general problem into several simpler subproblems, for which very efficient solutions are developed. Their combination provides a complete trajectory planning approach that is one of the most computationally effective method suited for the motion of cylindrically shaped wheeled mobile robots in the presence of polygonal obstacles. This complete solution consists of three main steps. The first one is aimed at finding a short path that avoids obstacles and manages to reach the destination, without taking into account nonholonomic constraints of the robot. Our path planning method relies on an original refinement procedure of a constrained Delaunay triangulation of the obstacles, that outperforms other existing planning techniques. The second step consists in interpolating paths into smooth curves that can be followed by a real robot without slowing down excessively. By joining only two arcs of clothoids for moving from one curvature to another, our approach is simpler and also computationally cheaper than other interpolation methods. Finally, thanks to the introduction of an original discretization scheme, an efficient algorithm for computing a time-optimal speed profile for arbitrary paths is presented. The speed profile that results from this procedure not only allows the robot to follow the synthesized path as fast as possible while taking into account a broad class of velocity and accelerations constraints, but also provides the accurate advance information necessary to implementing coordinated actions during the displacement of the robot (e.g., between the locomotion system and other actuators). [less ▲]

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See detailAnalyse du déterminisme génétique de l’inhibition de la synthèse du gossypol dans la graine chez la descendance de l’hybride [(Gossypium hirsutum L. x G. raimondii Ulb.)² x G. sturtianum Willis]
Diouf, Fatimata Bintou Hassédine ULg

Doctoral thesis (2015)

Several analyses were performed in advanced generations of HRS [(Gossypium hirsutum x G. raimondii) ² x G. sturtianum] hybrid. These were obtained by backcrossing and selfing HRS plants expressing the ... [more ▼]

Several analyses were performed in advanced generations of HRS [(Gossypium hirsutum x G. raimondii) ² x G. sturtianum] hybrid. These were obtained by backcrossing and selfing HRS plants expressing the glanded-plant and glandless-seed trait of G. sturtianum. The purpose is to understand why it is not possible to fix this target character in the HRS progeny. Thus, HRS BC2S5, BC2S6, BC2S7, BC3S4, ♂BC4S3, ♂BC4S4, ♀BC4S3 and ♀BC4S4 plant populations were studied. Agro-morphological observations carried out on the studied plant material showed in all analyzed progenies significant fertility problems as manifested by high rates of embryo abortion, poor germination of seeds and premature mortality of many seedlings. Moreover, major phenotypic differences were observed between the HRS plants and upland cotton. Genomic in situ hybridization analysis (GISH) demonstrated that the magnitude of these problems is related to the importance of the presence of genetic material of the Australian species in HRS hybrids. The analysis of the plant material with the 10 SSRs markers, mapped on c2-c14, c3-c17, and c6-c25 linkage groups of G. hirsutum, points out very important segregation distortions (SD). Genotypic profiles were almost always heterozygous. These SD are caused by gametic and/or zygotic selections that occur respectively before and/or after fertilization. GISH showed the presence of one (1) to four (4) whole G. sturtianum chromosomes and one to two large fragments of G. sturtianum chromosomes. This structural heterozygosity is implicated in the SD observed. However, the massive presence of alien genetic material hardly affected the chromosome pairing and pollen fertility of the analyzed hybrid plants. This is contradictory to the observed SD and suggests a certain genetic balance in the analysed hybrids. It thus indicates no, or very weak interaction between the chromosomes of G. sturtianum and those of G. hirsutum into the genome of HRS derivatives. The expression of the desired character is very complex, but it is certain that: (i) the factors responsible for the desired trait are better transmitted through the ovule than the pollen, (ii) the alleles involved in the expression of the target trait operate both according to the additive and epistatic models, (iii) the increase of the G. hirsutum genetics background in the most advanced generations of the HRS hybrid is accompanied by a decrease of the expression of the desired trait, (iv) seeds viability problems affect both seeds with or without gossypol glands, whether they are well formed or malformed, showing the independence between at least a part of the imbalance factors and those related to the expression of researched character. Several G. sturtianum genes appear to be involved in the control of the target trait. However, the strong SD that characterizes the analyzed plants questions the reliability of this result obtained through single-marker analysis. A resumption of the breeding program using agro-morphological characterization tools, SSR and GISH, in the early generations of backcrossing, should help to better guide the selection program towards obtaining stable plants that express the character. [less ▲]

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