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Larrey, Mathieu. "Analysis of the root system architecture responses to reserves availability in grapevine rootstocks using the Archisimple model." Electronic Thesis or Diss., Bordeaux, 2024. http://www.theses.fr/2024BORD0448.
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Améliorer le taux de reprise des jeunes plants greffés/soudés afin de limiter leur dépérissement futur au vignoble est un enjeu majeur pour la pépinière viticole. Cela passe notamment par une meilleure compréhension des capacités d'enracinement et de la mise en place de l'architecture racinaire après implantation, en lien avec l'efficacité des racines à coloniser le sol et prélever les ressources hydro-minérales. De nombreux facteurs génétiques, physiologiques ou environnementaux modifient ces processus chez la vigne. Parmi eux, le statut nutritionnel du matériel végétal initial pourrait être déterminant. Cette thèse a pour objectif de caractériser, chez la jeune vigne en conditions contrôlées, l'influence de la disponibilité initiale en réserves carbonées et azotées sur la rhizogenèse, la croissance et la plasticité des traits morphologiques du système racinaire pour différents génotypes de porte-greffes, contrastés en termes de développement racinaire. Il sera notamment recherché si les processus d'émission, d'élongation et de ramification racinaire sont différemment impactés par la teneur locale en sucres et la nature du greffon. Ces données serviront également à calibrer un premier modèle de développement racinaire pour la vigneImproving the recovery rate of young grafted grapevines in order to limit their future decline in vineyards is a major challenge for nurseries and grape growers. This requires a better understanding of their rooting capacities and the establisment of their root system architecture (RSA) after implantation, in particular in relation to their efficiencies in soil prospection and soil resources capture. Many genetic, physiological or environmental factors modify these processes in grapes. Among them, the nutritional status of the mother plant material could be decisive. The aim of this thesis is to characterize, in young vines mostly under controlled conditions, the influence of the initial availability of carbon and nitrogen reserves on rhizogenesis, growth and plasticity of the morphological traits of the root system for different Vitis rootstock genotypes contrasted in terms of root development. In particular, it will be investigated whether the processes of root emission, elongation and branching are differently affected by the local carbohydrates content and the nature of the graft. These data will also be used to calibrate a first model of root system development for the vine. Such functional-structural root model is a promising way to overcome in situ root phenotyping issues and can serve as a basis for the development of root ideotypes in silico by highlighting the underlying genetic mechanisms and parameters that are most likely influence RSA
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Kellermeier, Fabian. "Environmental genetics of root system architecture." Thesis, University of Glasgow, 2013. http://theses.gla.ac.uk/4663/.
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The root system is the plant’s principal organ for water and mineral nutrient supply. Root growth follows an endogenous, developmental programme. Yet, this programme can be modulated by external cues which makes root system architecture (RSA), the spatial configuration of all root parts, a highly plastic trait. Presence or absence of nutrients such as nitrate (N), phosphate (P), potassium (K) and sulphate (S) serve as environmental signals to which a plant responds with targeted proliferation or restriction of main or lateral root growth. In turn, RSA serves as a quantitative reporter system of nutrient starvation responses and can therefore be used to study nutrient sensing and signalling mechanisms. In this study, I have analysed root architectural responses of various Arabidopsis thaliana genotypes (wildtype, mutants and natural accessions) to single and multiple nutrient deficiency treatments. A comprehensive analysis of combinatorial N, P, K an S supply allowed me to dissect the effect of individual nutrients on individual root parameters. It also highlighted the existence of interactive effects arising from simultaneous environmental stimuli. Quantification of appropriate RSA parameters allowed for targeted testing of known regulatory genes in specific nutritional settings. This revealed, for example, a novel role for CIPK23, AKT1 and NRT1.1 in integrating K and N effects on higher order lateral root branching and main root angle. A significant contribution to phenotypic variation also arose from P*K interactions. I could show that the iron (Fe) concentration in the external medium is an important driving force of RSA responses to low-P and low-K. In fact, P and K deprivation caused Fe accumulation in distinct parts of the root system, as demonstrated by Fe staining and synchrotron X-Ray fluorescence. Again, selected K, P and Fe transport and signalling mutants were tested for aberrant low-K and/or low-P phenotypes. Most notably, the two paralogous ER-localised multicopper oxidases LPR1 and LPR2 emerged as important signalling components of P and K deprivation, potentially integrating Fe homeostasis with meristematic activity under these conditions. In addition to the targeted characterisation of specific genotype-environment interactions, I investigated novel RSA responses to low-K via a non-targeted approach based on natural variation. A morphological gradient spanned the entire genotype set, linking two extreme strategies of low-K responses. Strategy I accessions responded to low-K with a moderate reduction of main root growth but a severe restriction of lateral root elongation. In contrast, strategy II genotypes ceded main root growth in favour of lateral root proliferation. The genetic basis of these low-K responses was then subsequently mapped onto the A. thaliana genome via quantitative trait loci (QTL) analysis using recombinant inbred lines derived from parental accessions that either adopt strategy I (Col-0) or II (Ct-1). In sum, this study addresses the question how plants incorporate environmental signals to modulate developmental programmes that underly RSA formation. I present evidence for novel phenotypic responses to nutrient deprivation and for novel genetic regulators involved in nutrient signalling and crosstalk.
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佑脩, 田和, and Yusuke Tawa. "Dynamics and architecture of fine root system in a Cryptomeria japonica plantation." Thesis, https://doors.doshisha.ac.jp/opac/opac_link/bibid/BB13106238/?lang=0, 2019. https://doors.doshisha.ac.jp/opac/opac_link/bibid/BB13106238/?lang=0.
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Johnson, James. "Quantitative analysis of plant root system architecture." Thesis, University of Nottingham, 2018. http://eprints.nottingham.ac.uk/55601/.
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The root system of a plant is responsible for supplying it with essential nutrients. The plant's ability to explore the surrounding soil is largely determined by its root system architecture (RSA), which varies with both genetic and environmental conditions. X-ray micro computed tomography (µCT) is a powerful tool allowing the non-invasive study of the root system architecture of plants grown in natural soil environments, providing both 3D descriptions of root architecture and the ability to make multiple measurements over a period of time. Once volumetric µCT data is acquired, the root system must first be segmented from the surrounding soil environment and then described. Automated and semi-automated software tools can be used to extract roots from µCT images, but current methods for the recovery of RSA traits from the resulting volumetric descriptions are somewhat limited. This thesis presents a novel tool (RooTh) which, given a segmented µCT image, skeletonises the root system and quantifies global and local root traits with minimal user interaction. The computationally inexpensive method used takes advantage of curve-fitting and active contours to find the optimal skeleton and thus evaluate root traits objectively. A small-scale experiment was conducted to validate and compare root traits extracted using the method presented here alongside other 2D imaging tools. The results show a good degree of correlation between the two methods.
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Linkohr, Birgit Isabel. "The control of root system architecture in 'Arabidopsis'." Thesis, University of York, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.428452.
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Ribrioux, Sebastien. "Phosphate control of root system architecture in Arabidopsis." Thesis, University of York, 2001. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.247735.
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Morandage, Shehan [Verfasser]. "Characterization of Root System Architectures from Field Root Sampling Methods / Shehan Morandage." Bonn : Universitäts- und Landesbibliothek Bonn, 2020. http://d-nb.info/1221668927/34.
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Tracy, Saoirse Rosanna. "The response of root system architecture to soil compaction." Thesis, University of Nottingham, 2013. http://eprints.nottingham.ac.uk/13037/.
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Soil compaction has been described as the most serious environmental problem caused by conventional agriculture, as it results in several stresses which may interact simultaneously, including increased soil strength, decreased aeration and reduced hydraulic conductivity. Root system architecture (RSA) is the arrangement of roots within the soil matrix and is important because the specific deployment of roots within the soil can determine soil exploration and resource uptake. As roots deliver water and nutrients to growing plants, whilst also providing anchorage, their importance cannot be overstated. Yet, our understanding of how roots interact with the surrounding soil, especially at the micro-scale level, remains limited because soil is an opaque medium, so preventing roots from being visualised without disturbing them. Destructive techniques are commonly employed for the analysis of RSA, however this can result in the loss of key information concerning root architecture, such as elongation rates and root angles and important soil characteristics such as soil structure and pore connectivity. However, X-ray Computed Tomography (CT) has been shown to be a promising technique for visualising RSA in an undisturbed manner. The species considered in this thesis were wheat (Triticum aestivum L.) and tomato (Solanum lycopersicum L.). Further information regarding the response of roots to soil compaction has been achieved through the use of X-ray CT, automatic root tracing software and novel image analysis procedures. Soil compaction significantly affected root length, volume, surface area, angle, diameter, elongation rates and root path tortuosity, however the influence of soil texture on root responses to soil compaction was significant. Moderate compaction benefits root growth in clay soil, possibly due to the greater nutrient and water holding capacity, but adversely affected root growth in loamy sand. The results suggest that there is an optimum level of soil compaction for the different soil types. Roots elongated rapidly between 2-3 days after germination (DAG), it is hypothesised that is related to the mobilization of seed storage substances to the growing roots. The use of transgenic mutants of tomato with altered levels of abscisic acid (ABA) has provided a greater insight into the role of ABA in mediating root responses to soil compaction. This work will enable better phenotyping of plant varieties with enhanced root system traits for resource foraging and uptake. Knowledge of the responses of root systems in heterogeneous soil is vital to validate root phenotypes and overcome future food security challenges.
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Gruneir, Bram. "Multiple Agent Architecture for a Multiple Robot System." Thesis, University of Waterloo, 2005. http://hdl.handle.net/10012/792.
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Controlling systems with multiple robots is quickly becoming the next large hurdle that must be overcome for groups of robots to successfully function as a team. An agent oriented approach for this problem is presented in this thesis. By using an agent oriented method, the robots can act independently yet still work together. To be able to establish communities of robots, a basic agent oriented control system for each robot must first be implemented. This thesis introduces a novel method to create Physical Robot Agents, promoting a separation of cognitive and reactive behaviours into a two layer system. These layers are further abstracted into key subsections that are required for the Physical Robot Agents to function. To test this architecture, experiments are performed with physical robots to determine the feasibility of this approach. A real-time implementation of a Physical Robot Agent would greatly expand its field of use. The speed of internal communication is analyzed to validate the application of this architecture to real-time tasks.
It is concluded that the Physical Robot Agents are well suited for multiple robot systems and that real-time applications are feasible.
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Aalund, Martin Peter. "A scaleable architecture for modular robot system controllers /." Digital version accessible at:, 1997. http://wwwlib.umi.com/cr/utexas/main.
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Adu, Michael Osei. "Variations in root system architecture and root growth dynamics of Brassica rapa genotypes using a new scanner-based phenotyping system." Thesis, University of Nottingham, 2014. http://eprints.nottingham.ac.uk/14259/.
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There is a need to breed for root systems architectures (RSAs) that optimise soil resource acquisition. This requires high resolution and high-throughput quantification of RSA in as natural an environment as possible. Current imaging techniques are limited by cost, reproducibility, throughput and complexity. This thesis describes (1) the construction of a low cost, high-resolution, root phenotyping platform that requires no sophisticated equipment which is adaptable to most laboratory and glasshouse environments and (2) its application to quantify environmental and temporal variation in RSA between genotypes of Brassica rapa L. The high resolution root phenotyping system (HRP) that was constructed employed 24 scanners and could screen up to 72 individual plants at any time, with the possibility of capturing thousands of root images daily depending on the operational number of scanners and scanning periodicity. Plants were supplied with a complete nutrient solution through the wick of a germination paper. Images of RSA were acquired automatically, over extended periods, using multiple scanners controlled by customised software. The RSA data was used to validate a mechanistic model and mixed effects models were used to describe the sources of variation in traits contributing to RSA. Plants were also grown in rhizoboxes and under varying concentrations of P ([P]ext). Broad-sense heritability (H2), was highest (≥ 0.70) for shoot biomass, length of primary roots (PRs), number of lateral roots (LRs). Coefficients of variation in RSA traits within a genotype were large and ranged between 5 and 103%. It was found that between 4 and 48 replicates were needed to detect a significant difference (95% CI, 50% difference between trait means). Significant differences were found between genotypes in root traits with strong positive correlations among RSA traits and between biomass and RSA traits. Principal component analyses identified 5 significant axes of variation, accounting for approximately 86 and 78% of the variation in the genotypes on paper and soil substrates, respectively. Cluster analysis of the genotypes produced 5 discrete groups. Genotypes with more or less shoot biomass or with bigger or smaller RSA could be distinguished. A density-based 2D model reproduced experimental results accurately by simulating PR length and total length of LRs. Mixed-effects statistical models demonstrated that root traits show temporal variations of various types with significant effects of genotype. All genotypes followed a similar growth pattern with time, but differed in their maximum total root length (TRL), primary root length (PRL) and LR growth. A 3-parameter logistic model satisfactorily described TRL and PRL when genotypes were grown on both paper and soil substrates. On paper substrate, TRL required only a single, random-effect parameter (asymptote), describing maximum TRL. On soil substrate, TRL required two random-effects parameters, asymptote and inflection, describing maximum TRL and time at which ½ of maximum TRL occurs, respectively. Primary root length on both paper and soil substrates required only a single, random-effect parameter, describing maximum PRL. The growth rate of LRs of all ages followed a quadratic function and required only a single, random-effect parameter, describing maximum growth rate. There was variation in specific RSA traits and plasticity in response to [P]ext among genotypes. Length of the apical un-branched zone of the PR increased with increasing [P]ext. Total root length, total LR length and number of LRs was positively correlated with total plant tissue P concentration at low [P]ext but not at high [P]ext. Paper substrate was more suitable for screening seedling root traits but root phenotypes must be validated in situ in the field or in soil media because some differences were evident between data observed on paper and soil substrates. Scanner-based phenotyping of RSA provides economical means of studying the mechanisms underlying the plant-soil interactions and can be used to quantify environmental and temporal variation in traits contributing to RSA. The HRP system can be extended to screen the large populations required for breeding for efficient resource acquisition. The necessity for high replication and time-consuming image analysis could however limit throughput in the phenotyping system.
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Thatcher, Terence W. "Control system architectures for distributed manipulators and modular robots." Thesis, Loughborough University, 1987. https://dspace.lboro.ac.uk/2134/12467.
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This thesis outlines the evolution of computer hardware and software architectures which are suitable for the programming and control of modular robots and distributed manipulators. Fundamental aspects of automating manufacturing functions are considered and the use of flexible machines, constructed from components of a family of mechanical modules and associated control system elements, are proposed. Many of the features of these flexible machines can be identified with those of conventional industrial robots. However a broader class of manufacturing machine is represented in as much as the industrial user defines the kinematics and dynamics of the manipulator. Such flexible machines can be referred to as "modular robots" or, where the mechanical modules are arranged in concurrently operating but mechanically decoupled groups, as "distributed manipulators". The main body of the work reported centred on the design of a family of computer control system elements which can serve a range of distributed manipulator and modular robot forms. These control system elements, whose cost is commensurate with the size and complexity of the manipulator's mechanical configuration, necessarily have many of the features found in robot controllers but also require properties of reconfigurability, programmability, and control system performance for the considerable array of manipulator configurations which can be constructed.
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LANZA, Francesco. "Human-Robot Teaming Interaction: a Cognitive Architecture Solution." Doctoral thesis, Università degli Studi di Palermo, 2021. http://hdl.handle.net/10447/479089.
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Mairhofer, Stefan. "Extracting root system architecture from X-ray micro computed tomography images using visual tracking." Thesis, University of Nottingham, 2014. http://eprints.nottingham.ac.uk/27739/.
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X-ray micro computed tomography (µCT) is increasingly applied in plant biology as an imaging system that is valuable for the study of root development in soil, since it allows the three-dimensional and non-destructive visualisation of plant root systems. Variations in the X-ray attenuation values of root material and the overlap in measured intensity values between roots and soil caused by water and organic matter represent major challenges to the extraction of root system architecture. We propose a novel technique to recover root system information from X-ray CT data, using a strategy based on a visual tracking framework embedding a modiffed level set method that is evolved using the Jensen-Shannon divergence. The model-guided search arising from the visual tracking approach makes the method less sensitive to the natural ambiguity of X-ray attenuation values in the image data and thus allows a better extraction of the root system. The method is extended by mechanisms that account for plagiatropic response in roots as well as collision between root objects originating from different plants that are grown and interact within the same soil environment. Experimental results on monocot and dicot plants, grown in different soil textural types, show the ability of successfully extracting root system information. Various global root system traits are measured from the extracted data and compared to results obtained with alternative methods.
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Dentz, Jordan Lewis. "The design of a panelized roof system for residential construction." Thesis, Massachusetts Institute of Technology, 1991. http://hdl.handle.net/1721.1/65673.
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Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Architecture, 1991.Includes bibliographical references (p. 158-163).
The cost of housing in the U.S. continues to rise faster than household income. Innovative building materials and construction technologies have the potential to reduce housing construction costs. One strategy to do this is componentization. There is a longstanding trend towards the increased use of components in U.S. residential construction. One such type of component is the composite building panel, used for walls, roofs and floors. Presently the types of composite panels used in residential construction include pre-framed walls of standard construction and, more innovatively, structural foam core panels with wood or wood composite faces. This thesis focuses on the design of a panelized roofing system for residential construction. The roof was chosen for various reasons. It includes some of the most complicated geometrical and structural challenges. It is often the most difficult area of the house to frame conventionally. Its construction is a crucial step in getting the house weather tight. For these reasons and others builders have identified it as a prime target for innovation. The design of the panelized roof system is illustrated as a tree of decisions. The path traveled down this tree led to a ribbed panel spanning from eave to ridge. A design selection method developed by Stuart Pugh was used to design the connection details of the system. The interdisciplinary design process used to design the roof system is examined and evaluated in light of the results it yielded. Mock-ups, models and a full scale proof-of-concept structure were built. These constructions were used as learning tools during design and to demonstrate and evaluate the performance of the roof system design.
by Jordan Lewis Dentz.
M.S.
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McCormick, Michael J. (Michael James). "A panelized roof system for residential construction : development, application, and evaluation." Thesis, Massachusetts Institute of Technology, 1994. http://hdl.handle.net/1721.1/68762.
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Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Architecture, 1994.Includes bibliographical references (p. 205-209).
The challenge of providing affordable housing has long been an issue with which architects and builders have been struggling. In an effort to improve both the quality and the affordability of the housing stock that is being constructed today, the Innovative Housing Technologies Program at M.I.T. has proposed a panelized roof system for residential construction. Although the system had been 'developed conceptually and even applied to a proof-of-concept structure prior to the involvement of this author, much of the detailed analysis and investigation had been left undone. This thesis carefully examines the roof system in terms of its structural integrity and the ease of its installation. Utilizing basic structural analysis tools, and some more advanced techniques, including finite element modeling, the system has been thoroughly analyzed with regard to both gravity loads and lateral loads. Furthermore, the system has been installed on a complete house in Pittsburgh, providing the valuable insight of a real-world application. From this examination and experience, several design changes have been identified which will improve system performance during manufacturing, delivery, installation, and throughout the occupancy of the home. Each of these design proposals will be presented in this thesis. In addition, this investigation has also created an acute awareness of the system's capabilities and weaknesses. From this, a series of guidelines for the system's application have been prepared. These will be identified, and the implications that they have on the design of houses will be discussed.
by Michael J. McCormick.
M.S.
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Koebernick, Nicolai [Verfasser], Doris [Akademischer Betreuer] Vetterlein, Andrea [Akademischer Betreuer] Carminati, and Andrea [Akademischer Betreuer] Schnepf. "Root water uptake : exploring the role of root system architecture and root-soil interactions with X-ray computed tomography / Nicolai Koebernick ; Doris Vetterlein, Andrea Carminati, Andrea Schnepf." Halle, 2015. http://d-nb.info/1116953978/34.
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Zappala, Susan Christine. "The influence of OsAUX1 on root system architecture and phosphorus uptake in rice (Oryza sativa)." Thesis, University of Nottingham, 2014. http://eprints.nottingham.ac.uk/38793/.
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Rice (Oryza sativa L.) provides up to 50% of the total calories consumed in countries such as India, Madagascar and Nigeria. As a crop, rice can require significant fertiliser inputs to maintain the required yields. Additionally, climate change has increased the need for rice varieties with improved drought resistance, tolerance to pests and more efficient acquisition of nutrients from soil. One major fertiliser input for rice is phosphate; reducing phosphorus (P) fertiliser use would have environmental and economic implications. Root traits linked to P acquisition in crops include shallow root angle, lateral root proliferation and increases in root hair length and density. Two T-DNA knockout alleles with reduced gravitropic response, Osaux1-1 and Osaux1-2, were used to investigate the influence of shallow root angle on P uptake. OsAUX1 is a rice ortholog for the Arabidopsis thaliana gene AUX1, which controls lateral root growth and gravitropic response. The wildtype and mutant rice plants were grown in soil and non-destructively imaged using X-ray micro Computed Tomography (X-ray CT). In Chapter Three, visualisation of rice roots in soil using X-ray CT was optimised by determining the ideal soil moisture content that would produce the best images. Water in soils has a similar X- ray attenuation density to that of plant roots and can influence segmentation of roots from soil in X-ray CT images. It was found that soil at nominal field capacity (ca. 3 days of drainage) produced the best contrast between soil fractions (organic matter, minerals and pore space) and root material. In Chapter Four, the impact of X-ray dose on root growth was quantified because the experimental design included repeated scanning of the same sample (Chapter Five). It was found that even under repeated scanning, the X-ray doses involved in this work (ca. 15 Gy per sample) did not significantly affect the root architecture and overall plant growth in rice cultivars used. In Chapter Five, Osaux1-1 and Osaux1-2 retained the agravitropic phenotype that was observed on agar-based systems when plants were grown in loamy sand soil. However, when subject to various soil P concentrations and distributions (Chapter Six), Osaux1-1 had similar gravitropic response and P uptake as wildtype. It was unclear what role gravitropism and topsoil foraging played in P uptake for these rice cultivars, if any. OsAUX1 could be linked to P uptake as well as responses to soil P concentration and distribution. Under uniformly low soil P wildtype had a shallower root system distribution than Osaux1-1. Of most interest were the results when sufficient soil P was sequestered to the top 4 cm of the soil column and low P was maintained in the bottom 6 cm. Under these conditions, wildtype took up more overall P, had almost twice the biomass, twice the total root length and twice the surface area when compared to Osaux1-1. This provides evidence that OsAUX1 can be linked to adaptation to P stress and distribution of P in soil through control of fine root characteristics and not necessarily its impact on gravitropic response. Chapter Seven describes the investigation into the impact of OsAUX1 on sub-architectural effects of the root system that could influence P uptake. It was determined that OsAUX1 was involved in root hair density and elongation under varying P availability for agar grown plants. In comparison to wildtype, Osaux1-1 had significant variation in root hair phenotype that seemed unrelated to a P stress response. In flooded environments, root hairs influence the potential for root:soil contact that is integral to P uptake in rice paddies which have reduced soil conditions and mass water flow that can transport plant available soluble P. This reinforces the potential for an interaction between OsAUX1 and P uptake in paddy rice.
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Arif, Uz Zaman Muhammad. "Delineating Root System Architecture in Rapeseed/Canola (Brassica napus L.) through Molecular and Transcriptomic Approaches." Diss., North Dakota State University, 2018. https://hdl.handle.net/10365/29308.
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Root system architecture of plant plays a key role in water and nutrient uptake from the soil, provides anchorage and acts as a storage organ. In this current research, we have focused on the molecular and physiological basis of root system variation in canola (Brassica napus L.). Genome wide association mappings in a diverse canola germplasm panel with ~37,500 and ~30,200 single nucleotide polymorphism (SNP) markers were conducted under greenhouse and field conditions, respectively. A total of 52 significant SNP markers associated with different root architectural traits were identified in the greenhouse study. Majority of the markers were distributed on five chromosomes, A01, A02, A04, C03 and C06, of B. napus. Twenty-two candidate genes related to root growth and development were detected within 50 kbp upstream and downstream of the significant markers. Three of these candidate genes, P-glycoprotein 6 (PGP6), Tetraspanin 7 (TET7) and ARABIDILLO-2, were co-localized with three markers on chromosome C03, A01 and A04, respectively. In the field study, 31 significant SNP markers associated with different root traits were detected. A total of 15 root related candidate genes were identified within 100 kbp upstream and downstream of different significant markers. We also analyzed and compared the transcriptomes from the root systems of spring (weak root system) and winter (vigorous root system) growth habits at two different time points, 30 and 60 days. A total of 169,646 transcripts were analyzed, of which, 582 and 555 transcripts were found to be significantly differentially expressed between spring and winter types at 30 and 60 days, respectively. Several cytokinin and gibberellin associated genes and genes sets were found to be upregulated in spring type compared to winter type at 60 days. Cytokinin has proven inhibitory effect on root system architecture in different crops, whereas, gibberellin promote root elongation but inhibit lateral root growth. Therefore, we suggest that cytokinin and gibberellin may play an important role in root system variation between spring and winter growth habits. Significant marker loci, candidate genes and transcriptome profile identified in this research will assist future research to understand the root system variation in rapeseed/canola.North Dakota State University. Center of Excellence for Agbiotechnology
National institute of Food and Agriculture (U.S.)
Northern Canola Growers Association
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Zanella, Gilberto Luiz. "Sistema radicular no melhoramento genético do feijão (Phaseolus vulgaris L.)." Universidade do Estado de Santa Catarina, 2016. http://tede.udesc.br/handle/handle/2406.
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Grain yield in bean (Phaseolus vulgaris L.) is highly affected by abiotic factors such as low soil fertility, water deficiency and high temperatures. The development of new cultivars, more efficient in the absorption of water and nutrients, has been the objective of the vegetal improvement. In this sense, the improvement of the root system, morphology, architecture and root distribution has been focused. The objective of this work was to determine the main component of the genetic variance of the root distribution in beans and to define selection strategies for the improvement of this character. An experiment comprising 40 genetic constitutions, 12 segregating populations in the F4, F5 and F6 generations and 4 fixed populations (parents) was developed during the agricultural years of 2014/15 and 2015/16. The treatments were arranged in increased blocks of Federer with 3 replicates. When the genetic constitutions showed full flowering, profiles were perpendicular to the sowing line and a gradient was placed for the quantification of the root system. The root distribution was evaluated in the binary system (denomination of presence (1) and absence (0) of the roots in each grid of the gradient). An analysis of variance and contrasts of non-orthogonal means (P < 0.05) were performed to test the hypothesis of the study. Both the segregating progenies and the parents have equal root distribution between the evaluation years, 2014/15 and 2015/16. The F4 progenies do not differ in relation to the root distribution when compared to their parents. The progenies (F4, F5 and F6) when compared also did not present significant differences. Throughout the segregating generations, the maintenance of the populations by self-fertilization and consequently the increase of the loci in homozygous resulted in the maximum expression of inbreeding. Thus, considering the predominance of the additive genetic variance and aiming at the formation of a pure line, it is recommended that the root distribution in bean be evaluated from the F4 generation
O rendimento de grãos na cultura do feijão (Phaseolus vulgaris L.) é altamente afetado por fatores abióticos como baixa fertilidade do solo, deficiência hídrica e altas temperaturas. O desenvolvimento de novas cultivares, mais eficientes na absorção de água e nutrientes, tem sido objetivo do melhoramento vegetal. Nesse sentido, tem-se dado enfoque a melhoria do sistema radicular, da morfologia, arquitetura e distribuição radicular. O objetivo do trabalho foi determinar o principal componente da variância genética da distribuição radicular em feijão e definir as estratégias de seleção para o melhoramento deste caráter. Para tanto, um experimento compreendendo 40 constituições genéticas, sendo 12 populações segregantes nas gerações F4, F5 e F6 e 4 populações fixas (genitores) foi desenvolvido durante os anos agrícolas de 2014/15 e 2015/16. Os tratamentos foram dispostos em blocos aumentados de Federer com 3 repetições. Quando as constituições genéticas apresentaram pleno florescimento foram abertos perfis perpendiculares à linha de semeadura e colocado um gradiente para a quantificação do sistema radicular. A distribuição da raiz foi avaliada no sistema binário (denominação de presença (1) e ausência (0) das raízes em cada quadrícula do gradiente). Foi realizada uma análise de variância e contrastes de médias não ortogonais (P < 0,05), para testar as hipóteses do estudo. Tanto as progênies segregantes quanto os genitores apresentam distribuição radicular igual entre os anos de avaliação, 2014/15 e 2015/16. As progênies F4 não apresentam diferença em relação ao caráter distribuição radicular quando comparadas aos seus genitores. As progênies (F4, F5 e F6) quando comparadas também não apresentam diferenças significativas. Ao longo das gerações segregantes, a manutenção das populações por autofecundação e consequentemente o aumento dos locos em homozigose proporcionaram a máxima expressão da endogamia. Assim, visto a predominância da variância genética aditiva e visando a formação de uma linha pura, recomenda-se que o caráter distribuição radicular em feijão seja avaliado a partir da geração F4
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May, Frederick Bayne Carleton University Dissertation Engineering Electrical. "A logical architecture for the control of an integrated multiple robot system." Ottawa, 1987.
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Adjali, Omar. "Dynamic architecture for multimodal applications to reinforce robot-environment interaction." Thesis, Université Paris-Saclay (ComUE), 2017. http://www.theses.fr/2017SACLV100.
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La représentation des connaissances et le raisonnement sont au cœur du grand défi de l'Intelligence Artificielle. Plus précisément, dans le contexte des applications robotiques, la représentation des connaissances et les approches de raisonnement sont nécessaires pour résoudre les problèmes de décision auxquels sont confrontés les robots autonomes lorsqu'ils évoluent dans des environnements incertains, dynamiques et complexes ou pour assurer une interaction naturelle dans l'environnement humain. Dans un système d'interaction robotique, l'information doit être représentée et traitée à différents niveaux d'abstraction: du capteur aux actions et plans. Ainsi, la représentation des connaissances fournit les moyens de décrire l'environnement avec différents niveaux d'abstraction qui permettent d'effectuer des décisions appropriées. Dans cette thèse, nous proposons une méthodologie pour résoudre le problème de l'interaction multimodale en décrivant une architecture d'interaction sémantique basée sur un cadre qui démontre une approche de représentation et de raisonnement avec le langage (EKRL environment knowledge representation language), afin d'améliorer l'interaction entre les robots et leur environnement. Ce cadre est utilisé pour gérer le processus d'interaction en représentant les connaissances impliquées dans l'interaction avec EKRL et en raisonnant pour faire une inférence. Le processus d'interaction comprend la fusion des valeurs des différents capteurs pour interpréter et comprendre ce qui se passe dans l'environnement, et la fission qui suggère un ensemble détaillé d'actions qui sont mises en œuvre. Avant que ces actions ne soient mises en œuvre par les actionneurs, ces actions sont d'abord évaluées dans un environnement virtuel qui reproduit l'environnement réel pour évaluer la faisabilité de la mise en œuvre de l'action dans le monde réel. Au cours de ces processus, des capacités de raisonnement sont nécessaires pour garantir une exécution globale d'un scénario d'interaction. Ainsi, nous avons fourni un ensemble de techniques de raisonnement pour effectuer de l’inférence déterministe grâce à des algorithmes d'unification et des inférences probabilistes pour gérer des connaissances incertaines en combinant des modèles relationnels statistiques à l'aide des réseaux logiques de Markov (MLN) avec EKRL. Le travail proposé est validé à travers des scénarios qui démontrent l’applicabilité et la performance de notre travail dans les applications du monde réelKnowledge Representation and Reasoning is at the heart of the great challenge of Artificial Intelligence. More specifically, in the context of robotic applications, knowledge representation and reasoning approaches are necessary to solve decision problems that autonomous robots face when it comes to evolve in uncertain, dynamic and complex environments or to ensure a natural interaction in human environment. In a robotic interaction system, information has to be represented and processed at various levels of abstraction: From sensor up to actions and plans. Thus, knowledge representation provides the means to describe the environment with different abstraction levels which allow performing appropriate decisions. In this thesis we propose a methodology to solve the problem of multimodal interaction by describing a semantic interaction architecture based on a framework that demonstrates an approach for representing and reasoning with environment knowledge representation language (EKRL), to enhance interaction between robots and their environment. This framework is used to manage the interaction process by representing the knowledge involved in the interaction with EKRL and reasoning on it to make inference. The interaction process includes fusion of values from different sensors to interpret and understand what is happening in the environment, and the fission which suggests a detailed set of actions that are for implementation. Before such actions are implemented by actuators, these actions are first evaluated in a virtual environment which mimics the real-world environment to assess the feasibility of the action implementation in the real world. During these processes, reasoning abilities are necessary to guarantee a global execution of a given interaction scenario. Thus, we provided EKRL framework with reasoning techniques to draw deterministic inferences thanks to unification algorithms and probabilistic inferences to manage uncertain knowledge by combining statistical relational models using Markov logic Networks(MLN) framework with EKRL. The proposed work is validated through scenarios that demonstrate the usability and the performance of our framework in real world applications
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Couceiro, Neves Carlos. "A generalised framework for the analysis of system architectures in automonomous robots." Thesis, University of Salford, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.244872.
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Srisamang, Richard, Richard Todd, Sudarshan Bhat, and Terry Moore. "UAV INTEGRATED VISUAL CONTROL AND SIMULATION SYSTEM ARCHITECTURE AND CAPABILITIES IN ACTION." International Foundation for Telemetering, 2000. http://hdl.handle.net/10150/606815.
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International Telemetering Conference Proceedings / October 23-26, 2000 / Town & Country Hotel and Conference Center, San Diego, CaliforniaUnmanned Aerial Vehicles (UAV) are becoming a significant asset to the military. This has given rise to the development of the Vehicle Control and Simulation System (VCSS), a low-cost ground support and control system deployable to any UAV testing site, with the capability to support ground crew and pilot training, real-time telemetry simulation, distribution, transmission and reception, mission planning, and Global Positioning System (GPS) reception. This paper describes the development of the VCSS detailing its capabilities, demonstrating its use in the field, and showing its novel use of internet technology for vehicle control telemetry distribution.
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Altuntaş, Berrin. "A behavior based robot control system architecture for navigation environments with randomly allocated walls." Ankara : METU, 2003. http://etd.lib.metu.edu.tr/upload/1097054/index.pdf.
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Dinis, Cati Oliveira. "Cork oak (Quercus suber L.) root system: a structural-functional 3D approach." Doctoral thesis, Universidade de Évora, 2014. http://hdl.handle.net/10174/14573.
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The last decades have witnessed the decline and sudden death of the cork oak (Quercus suber L.) in Montado. The complexity of this production system management has lead to a large set of solutions which have been absent by scientific based research findings (such as those related with the cork oak root system) deriving mainly from empirical knowledge application. The present integrated research approach permits a better understanding of the production system vulnerabilities that can result in management modification proposals which will be useful in a near future. To contribute to a more realistic and integrated forest management and planning, a study relying on a morphological evaluation of cork oak root system in a Cambissoil soil, using a 3D digitizing method was performed. Cork oak showed a dimorphic root system with a relative high quantity of sinkers distributed all over the soil profile, one root subsystem at a superficial level until 40 cm depth and another at a deeper level, around 1.20 m depth. Tree biomass allocation was similarly distributed between aerial and root systems. Previously, a study on methodologies for roots excavation - profile washing with water and excavation through high pressure air jet – was carried out. Results showed that for sandy soils the most suitable method is the excavation by high pressure air jet. Both methods showed to be inadequate for clayed soils. Following the evidence that soil compaction could be an important factor for root growth, a study was conducted, in a greenhouse, with cork oak seedlings. Results showed that tap root length and total root biomass (coarse and fine roots) are negatively affected by soil compaction in depth. In regard to the low survival rate of cork oaks regeneration that has been observed in Montado, another complementary study was conducted in a greenhouse where fertilisation, inoculation with mycorrhizal fungi and aminoacids supply were tested. It was concluded that seedlings subjected to fertilisation and inoculation had a more equilibrated growth between shoot and root components. It is expected that the research developed in the present thesis can provide an essential tool for future forest planning and management and for the natural and artificial regeneration processes in cork oak stands, ensuring the maintenance of the typical Montado landscape; Sistema Radical do Sobreiro (Quercus suber L.): Uma Abordagem Estrutural Funcional 3D
Resumo:
Desde as últimas décadas que se tem vindo a testemunhar o declínio e a morte súbita do sobreiro (Quercus suber L.) no Montado. A complexidade da gestão deste sistema de produção engloba um grande conjunto de soluções que, por terem sido ausentes de validação científica (tal como a relacionada com o sistema radical do sobreiro), tem vindo a ser suportado, principalmente, pela aplicação do conhecimento empírico. A presente abordagem integrada permite uma melhor compreensão das vulnerabilidades deste sistema que pode resultar em propostas de alteração de gestão que serão úteis num futuro próximo. De forma a contribuir para uma gestão e planeamento florestal mais realistas e integrados, foi realizado um estudo acerca da avaliação morfológica do sistema radical do sobreiro num cambissolo, usando o método de digitalização 3D. O sobreiro mostrou um sistema radicular dimórfico com uma elevada quantidade relativa de sinkers distribuídos por todo o perfil do solo. Foi observado um subsistema à superfície, até aos 40 cm de profundidade e outro mais profundo, a cerca de 1.20 m. Observou-se também que a biomassa da árvore foi distribuída de forma similar entre os sistemas aéreo e radical. Anteriormente foi conduzido um estudo sobre as metodologias de escavação de raízes - lavagem de perfil com água e escavação por meio de jato de ar de alta pressão. Os resultados mostraram que para solos arenosos, o método mais adequado é o método por meio de jato de ar de alta pressão e, que ambos os métodos mostraram ser inadequados para os solos argilosos. Após a observação de que a compactação do solo pode ser um fator importante para o crescimento das raízes, um estudo foi realizado em ambiente de estufa com plântulas de sobreiro. Os resultados mostraram que o comprimento da raiz principal e a biomassa total de raízes (raízes grossas e finas) foram negativamente afetados pela compactação do solo em profundidade. No que diz respeito à baixa taxa de sobrevivência da regeneração dos sobreiros, outro estudo complementar foi realizado em ambiente de estufa onde a fertilização, a inoculação com fungos micorrizos e o suplemento de aminoácidos foram testados. Concluiu-se que as plântulas submetidas à fertilização e inoculação tiveram um crescimento mais equilibrado entre as componentes aéreas e radicais. Espera-se que a investigação apresentada nesta tese possa proporcionar uma ferramenta essencial para o planeamento e gestão florestal futuros e, contribuir para o sucesso da regeneração natural e artificial dos povoamentos de sobreiro, garantindo a manutenção da paisagem típica do Montado.
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Altuntas, Berrin. "A Behavior Based Robot Contol System Architecture For Navigation In Environments With Randomly Allocated Walls." Master's thesis, METU, 2004. http://etd.lib.metu.edu.tr/upload/1097054/index.pdf.
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Integration of knowledge to the control system of a robot is the best way to emerge intelligence to robot. The most useful knowledge for a robot control system that aims to visit the landmarks in an environment is the enviromental knowledge. The most natural representation of the robot&rsquos environment is a map. This study presents a behavior based robot control system architecture that is based on subsumption and motor schema architectures and enables the robot to construct the map of the environment by using proximity sensors, odometry sensors, compass and image. The knowledge produced after processing the sensor values, is stored in Short Term Memory (STM) or Long Term Memory (LTM) of the robot, according to the persistence requirements of the knowledge. The knowledge stored in the STM acts as a sensor value, while LTM stores the map of the environment. The map of the environment is not a priori information for the robot, but it constructs the map as it moves in the environment. By the help of the map constructed the robot will be enabled to visit non-visited areas in the environment and to localize itself in its internal world. The controller is designed for a real robot Khepera equipped with the sensors required. The controller was tested on simulator called Webots version 2.0 on Linux operating system.
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Smit, Albert. "Development of a robot for RoboCup Small Size League, utilizing a distributed control architecture for a multi-robot system development platform." Thesis, Stellenbosch : Stellenbosch University, 2011. http://hdl.handle.net/10019.1/17785.
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Thesis (MScEng)--Stellenbosch University, 2011.ENGLISH ABSTRACT: RoboCup promotes research in robotics and multi-robot systems (MRS). The RoboCup Small Size League (SSL), in particular, offers an entry level opportunity to take part in this field of study. This thesis presents a starting phase for research in robotics and MRS at Stellenbosch University. It includes the full documentation of the mechanical, electronic and software design of an omni-directional soccer robot for RoboCup SSL. The robot is also meant to operate as a hardware and software development platform for research in MRS. The platform was therefore designed with high-level programming language compatibility, a wide range of connectivity, and modularity in mind. The robot uses a single board computer (SBC) running a Linux operating system to accomplish these objectives. Moreover, a driver class library was written in C++ as a software application interface (API) for future development on the robot platform. The robot was also developed with a particular focus on a distributed control architecture. "Player" was implemented as the middleware, which can be used for communication between multiple robots in a distributed environment. Additionally, three tests were performed to demonstrate the functionality of the prototype: a PI speed control test, a direction accuracy test and a static communication test using the middleware. Recommendations for possible future work are also given.
AFRIKAANSE OPSOMMING: RoboCup bevorder navorsing in robotika en multi-robot-stelsels (MRS). Die RoboCup Klein Liga (KL) bied in die besonder die geleentheid om op intreevlak navorsing te doen in hierdie veld. Hierdie tesis verteenwoordig die eerste fase van navorsing in robotika en MRS by Stellenbosch Universiteit. Dit sluit die volledige dokumentasie van die meganiese, elektroniese en sagteware-ontwerp van ’n omnidireksionele sokker-robot vir die KL in. Die robot is ook veronderstel om te dien as ’n hardeware- en sagteware-ontwikkelingsplatform vir navorsing in MRS. Die platform is dus ontwerp met ’n verskeidenheid van uitbreingsmoontlikhede en modulariteit in gedagte asook die moontlikheid om gebruik te maak van ’n hoë-vlak programmeertaal. Om hierdie doelwitte te bereik, maak die robot gebruik van ’n enkel-bord-rekenaar met ’n Linux bedryfstelsel. Verder was ’n sagteware drywer in C++ geskryf om te dien as ’n sagteware-koppelvlak vir toekomstige ontwikkeling op die robot platform. Die robot is ook ontwikkel met die besondere fokus op ’n gedesentraliseerde beheerstels. Player was geïmplementeer as die middelware, wat gebruik kan word vir kommunikasie tussen verskeie robotte in ’n gedesentralliseerde beheerstelsel. Daar is drie toetse uitgevoer om die funksionaliteit van die prototipe te demonstreer, ’n PI spoed beheer toets, ’n rigting akkuraatheidstoets en ’n statiese kommunikasie toets deur van die middelware gebruik te maak. Aanbevelings vir moontlike toekomstige werk word ook verskaf.
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Kichah, Emmanuelle. "Architecture racinaire des espèces herbacées : diversité de mise en place et plasticité." Thesis, Avignon, 2016. http://www.theses.fr/2016AVIG0675.
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Dans de nombreux projets de végétalisation, le sol est la principale entrave à l’implantation des végétaux. Il est donc fondamental de connaitre la manière dont les systèmes racinaires se mettent en place dans le sol. La mise en place du système racinaire dans le milieu souterrain correspond à l’expression du patrimoine génétique guidé par les contraintes du sol. A travers ce document nous avons tout d’abord présenté la mise en place des systèmes racinaires des espèces herbacées résultant du patrimoine génétique puis nous avons présenté sa plasticité face à certaines contraintes du sol. Les espèces ne possèdent pas forcément un simple système racinaire mais une combinaison de systèmes racinaires qui se met progressivement en place. Nous présentons dans ce document une typologie et une classification de ces systèmes racinaires selon leur localisation et l’implication de l’organe-support dans la multiplication de l’espèce. Nous nous intéressons aussi à l’effet des contraintes du sol sur la mise en place de l’architecture racinaire : la résistance à la pénétration qui est une contrainte récurrente même dans les terres cultivées et la porosité grossière qui est une contrainte présente dans les sols remaniés. Des expérimentations ont été menées sur une diversité d’espèces herbacées afin de comparer leur architecture racinaire en présence ou non une zone de contrainte. Concernant la résistance à la pénétration, nous retrouvons et généralisons les résultats obtenus par d’autres chercheurs sur d’autres espèces herbacées tels que la diminution du taux de croissance ou l’augmentation du diamètre des racines au niveau de la contrainte. De même, nous retrouvons des traits prédictifs de capacité de pénétration tels que le diamètre apical racinaire et le taux de croissance racinaire et nous mettons en avant la teneur en matière sèche du système racinaire avec une corrélation négative. Concernant la porosité grossière, nous observons un effet sur la croissance racinaire, le diamètre apical racinaire et le développement de primordia lorsque la porosité est très grossièreIn many revegetation projects, the soil is the main obstacle to the establishment of plants. It is therefore essential to know how the root systems are set up in the ground. The root systems establishment is the expression of the genetic heritage guided by the constraints of the environment. In this document we first presented the root systems development of herbaceous species resulting from genetic and then we presented its plasticity face to soil constraints. The species do not have a single root system, but a combination of root systems that are implemented gradually. We present here a typology and classification of root systems depending on their location and on the bearing-organ involvement in the vegetative multiplication of the species. We are also interested in the effect of soil constraints on the development of root architecture: the penetration resistance is a recurring stress even in cultivated land and the gross porosity is a stress present in soils reworked. Experiments were conducted on a variety of herbaceous species to compare their root architecture with or without a stress zone. Regarding the penetration resistance, we find and generalize the results obtained by other researchers on other herbaceous species such as the decreasing root growth rate or the increasing root diameter at the level of the stress. Similarly, we find the traits predicting the penetration such as root apical diameter and root growth rates and we highlight the root dry matter content with a negative correlation. Regarding the gross porosity, we observe an effect on root growth rate, root apical diameter and primordia development when the porosity is very gross
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West, Cortney. "Improving Building Energy Efficiency Through Implementation Of An Active Indoor Rhizospheric Microbe Air Processing System." Thesis, The University of Arizona, 2016. http://hdl.handle.net/10150/612559.
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Commercial energy use in Arizona is different from the rest of the United States because of their high demand for air conditioning. Nearly half of the energy used in commercial buildings goes to heating, cooling, and ventilation. In an attempt to reduce overall every use in buildings, looking at these categories led to an examination of ventilation in buildings, which is the main cause for high heating and cooling costs. Ventilation of fresh air is required in order to provide a safe, healthy environment, with acceptable indoor air quality. Indoor air quality and pollution has continuously come to light as a major health concern for building occupants. Chemicals used in manufacturing allow consumers to buy and expose themselves to toxic substances such as volatile organic compounds on a daily basis. With minimal regulations on indoor air, it is important to find ways to better filter and clean it. The traditional solution is ventilation, but more fresh air ventilation means more heating and cooling. This paper explores the research that has been done on plants and phytoremediation and the applicability to indoor air quality. With the proof that certain combinations and amounts of plants can filter the air of volatile organic compounds, systems are explored for indoor air filtration instead of mechanical ventilation. This type of system can greatly reduce heating and cooling costs in buildings due to the reduction of outdoor air being brought in and requiring conditioning. A system of this type is a feasible solution to indoor air quality and can lead to a significant reduction in energy use. The proposed AIRMAPS is a system that in certain quantities can reduce the need for fresh air ventilation by 25%, which in turn has shown through the validation by eQUEST, that the energy used for heating, cooling, and ventilation fans can also be reduced by approximately the same amount. The plants used are spider plant, dumb cane, English ivy, and golden pothos. The average formaldehyde removal by each of these plants is a low approximation of 75% per cubic meter. This paper also considers the growing materials used for the plants; activated carbon, potting soil mix, and grow-stones, as well as their formaldehyde removal capabilities.
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Karigiannis, John. "Software architecture and design of task deduction and task planning components for a multiple robot simulation system." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2000. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape4/PQDD_0015/MQ54318.pdf.
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Sandt, Frédéric. "Architectures de contrôle pour robots mobiles : vers une conception orientée contraintes du superviseur." Université Joseph Fourier (Grenoble), 1998. http://www.theses.fr/1998GRE10083.
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Cette these s'inscrit dans le cadre de la robotique mobile lourde, et concerne plus particulierement les aspects decisionnels, a savoir les fonctions de planification et de controle. Elle couvre la conception et la realisation des architectures de controle du robot autonome de transport de charges lourdes first et du robot teleopere d'intervention sumo, respectivement de type hierarchique et multi-agents centralise. Elle met en evidence l'interet d'une methode de conception du superviseur, a la fois externe (i. E. Specification proche du comportement observable) et incrementale (i. E. Ajout de nouvelles regles comportementales sans deteriorer le systeme courant), tant pour la phase de codage que pour la phase de mise au point en environnement reel. En reponse, elle propose une approche de conception orientee contraintes, exploitant certains principes des approches comportementales et adaptatives, mais ou la connaissance est explicite et manipulable par le concepteur : le superviseur est construit incrementalement via la specification de comportements elementaires et de contraintes (e. G. De priorite, d'exclusion et d'ordonnancement), et ceci en fonction des retours d'experience. La programmation par contraintes est envisagee dans ce cadre. Enfin, elle definit une structure generique de superviseur, orientee contraintes, combinant des agents decisionnels et des agents cognitifs : les agents decisionnels implementent les comportements elementaires du robot en reaction a l'environnement courant ; les agents cognitifs ont une action transversale d'arbitrage, d'exclusion et d'ordonnancement, et reposent sur des techniques de programmation par contraintes. Cette structure a ete appliquee et evaluee dans le cadre des robots first et sumo.
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Docker, Benjamin Brougham. "Biotechnical engineering on alluvial riverbanks of southeastern Australia: A quantified model of the earth-reinforcing properties of some native riparian trees." University of Sydney, 2004. http://hdl.handle.net/2123/1688.
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Doctor of Philosophy(PhD)It is generally accepted that tree roots can reinforce soil and improve the stability of vegetated slopes. Tree root reinforcement is also recognised in riverbanks although the contribution that the roots make to bank stability has rarely been assessed due to the reluctance of geomorphologists to examine riverbank stability by geomechanical methods that allow for the inclusion of quantified biotechnical parameters. This study investigates the interaction between alluvial soil and the roots of four southeastern Australian riparian trees. It quantifies the amount and distribution of root reinforcement present beneath typically vegetated riverbanks of the upper Nepean River, New South Wales, and examines the effect of the reinforcement on the stability of these banks. The ability of a tree to reinforce the soil is limited by the spatial distribution of its root system and the strength that the roots impart to the soil during shear. These two parameters were determined for the following four species of native riparian tree: Casuarina glauca, Eucalyptus amplifolia, Eucalyptus elata, and Acacia floribunda. The four species all exhibit a progressive reduction in the quantity of root material both with increasing depth and with increasing lateral distance from the tree stem. In the vertical direction there are two distinct zones that can be described. The first occurs from between 0 and approximately 15 % of the maximum vertical depth and consists of approximately 80 % of the total root material quantity. In this zone the root system consists of both vertical and lateral roots, the size and density of which varies between species. The second zone occurs below approximately 15 % of the maximum vertical depth and consists primarily of vertical roots. The quantity of root material in this zone decreases exponentially with depth due to the taper of individual roots. The earth reinforcement potential in terms of both geometric extent and the quantity of root material expressed as the Root Area Ratio (RAR) varies significantly from species to species. E. elata exhibited the highest values of RAR in soil zones beneath it while E. amplifolia reinforced a greater volume of soil than any of the other species examined. The increased shear resistance (Sr) of alluvial soil containing roots was measured by direct in-situ shear tests on soil blocks beneath a plantation. For three of the species (C. glauca, E. amplifolia, E. elata) Sr increased with increasing RAR measured at the shear plane, in a similar linear relationship. The shear resistance provided by A. floribunda roots also increased with increasing RAR at the shear plane but at a much greater rate than for the other three species. This is attributable to A. floribunda’s greater root tensile strength and therefore pull-out resistance, as well as its smaller root diameters at comparative RARs which resulted in a greater proportion of roots reaching full tensile strength within the confines of the test. Tree roots fail progressively in this system. Therefore determining the increased shear strength from the sum of the pull-out or tensile strengths of all individual roots and Waldron’s (1977) and Wu et al’s (1979) simple root model, would result in substantial over estimates of the overall strength of the soil-root system. The average difference between Sr calculated in this manner and that measured from direct in-situ shear tests is 10.9 kPa for C. glauca, 19.0 kPa for E. amplifolia, 19.3 kPa for E. elata, and 8.8 kPa for A. floribunda. A riverbank stability analysis incorporating the root reinforcement effect was conducted using a predictive model of the spatial distribution of root reinforcement beneath riparian trees within the study area. The model is based on measurements of juveniles and observations of the rooting habits of mature trees. It indicates that while the presence of vegetation on riverbank profiles has the potential to increase stability by up to 105 %, the relative increase depends heavily on the actual vegetation type, density, and location on the bank profile. Of the species examined in this study the greatest potential for improved riverbank stability is provided by E. amplifolia, followed by E. elata, A. floribunda, and C. glauca. The presence of trees on banks of the Nepean River has the potential to raise the critical factor of safety (FoS) from a value that is very unstable (0.85) to significantly above 1.00 even when the banks are completely saturated and subject to rapid draw-down. It is likely then that the period of intense bank instability observed within this environment between 1947 and 1992 would not have taken place had the riparian vegetation not been cleared prior to the onset of wetter climatic conditions. Typical ‘present-day’ profiles are critically to marginally stable. The introduction of vegetation could improve stability by raising the FoS up to 1.68 however the selection of revegetation species is crucial. With the placement of a large growing Eucalypt at a suitable spacing (around 3-5 m) the choice of smaller understorey trees and shrubs is less important. The effect of riparian vegetation on bank stability has important implications for channel morphological change. This study quantifies the mechanical earth reinforcing effect of some native riparian trees, thus allowing for improved deterministic assessment of historical channel change and an improved basis for future riverine management.
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Verbryke, Matthew R. "Preliminary Implementation of a Modular Control System for Dual-Arm Manipulation with a Humanoid Robot." University of Cincinnati / OhioLINK, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1543838768677697.
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Frisell, Marcus. "Information visualization of microservice architecture relations and system monitoring : A case study on the microservices of a digital rights management company - an observability perspective." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-233463.
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90% of the data that exists today has been created over the last two years only. Part of the data space is created and collected by machines, sending logs of internal measurements to be analyzed and used to evaluate service incidents. However, efficiently comprehending datasets requires more than just access to data, as Richard Hamming puts it; "The purpose of computing is insight, not numbers." A tool to simplify apprehension of complex datasets is information visualization, which works by transforming layers of information into a visual medium, enabling the human perception to quickly extract valuable information and recognise patterns. This was an experimental design-oriented research study, set out to explore if an information visualization of microservice architecture relations combined with system health data could help developers at a Swedish digital rights management company (DRMC) to find root cause incidents, increase observability and decision support, i.e. simplifying the incident handling process. To explore this, a prototype was developed and user tests consisting of a set of tasks as well as a semi-structured interview was executed by ten developers at DRMC. The results concluded that the proposed solution provided a welcomed overview of service health and dependencies but that it lacked the ability to effectively focus on certain services, essentially making it difficult to find root causes. Visualizations like this seems to be best suited for overview-, rather than focused, comprehension. Further research could be conducted on how to efficiently render large complex datasets while maintaining focus and how to account for external factors.90% av alla data som finns idag har skapats under de senaste två åren. En del av datautrymmet skapas och samlas in av maskiner som genererar loggar innehållandes interna systemmätningar för att utvärdera felaktiga tjänster. För att effektivt förstå ett dataset krävs mer än bara tillgång till data, som Rickard Hamming har sagt; “Syftet med datoranvändning är insikt, inte siffror.” Ett verktyg för att förenkla ens uppfattning av komplexa dataset är informationsvisualisering. Det fungerar genom att transformera lager av information till ett visuellt medium, och på så sätt tillåta mänsklig perception att snabbt extrahera värdefull information och utläsa mönster. Det här var en experimentell, design-orienterad, forskningsstudie med syftet att utforska ifall en informationsvisualisering av mikrotjänsters relationer kombinerat med system-hälso-data kunde hjälpa utvecklare på ett svenskt förvaltningsföretag av digitala rättigheter (DRMC) att hitta grundorsaken till felaktiga mikrotjänster samt utöka observerbarhet och beslutstöd, d.v.s. förenkla felhanteringsprocessen. För att utforska detta problem så utvecklades en prototyp som testades genom att låta tio utvecklare på DRMC utföra ett antal olika uppgifter samt svara på en semi-strukturerad intervju. Resultatet visade på att den föreslagna lösningen möjliggjorde en välkommen överblick över systemets hälsa och relationer, men också att den saknade möjligheten att effektivt fokusera på specifika tjänster, vilket ledde till att grundorsaksproblem var svåra att hitta. Visualiseringar som denna verkar fungera bäst för att presentera en överblick av ett system, snarare än ett fokus på specifika tjänster. Framtida forskning skulle kunna utföras för att utreda hur visualiseringar effektivt kan återge komplexa dataset utan att förlora fokus på specifika delar, samt hur externa faktorer kan integreras.
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Alvarez, Flores Ricardo Andrés. "Réponses morphologiques et architecturales du système racinaire au déficit hydrique chez des Chenopodium cultivés et sauvages d'Amérique andine." Thesis, Montpellier 2, 2012. http://www.theses.fr/2012MON20138/document.
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Le genre Chenopodium comprend environ 150 espèces réparties sur l'ensemble du globe et établies dans une large gamme de milieux. En Amérique du Sud, différentes espèces, cultivées comme C. quinoa Willd. et C. pallidicaule Aellen, ou sauvages comme C. hircinum Schrader, sont distribuées sur des gradients pédoclimatiques allant du niveau de la mer au Chili, jusqu'à plus de 4000 m d'altitude sur l'altiplano boliviano-péruvien, sur des sols plus ou moins profonds et riches en nutriments, et sous des climats allant du tropical humide jusqu'au froid aride. Ces espèces sont phylogénétiquement apparentées, et on admet généralement que C. quinoa a été domestiqué à partir de C. hircinum et qu'une partie de son génome proviendrait de C. pallidicaule. Leur large distribution dans des écosystèmes naturels ou agricoles et leur plus ou moins grande tolérance aux contraintes du milieu, font de ce groupe d'espèces un modèle intéressant pour examiner la diversité des réponses des plantes, notamment face à la faible disponibilité en eau dans le sol. La totalité de l'eau nécessaire à la vie de ces plantes passant par le système racinaire, nous nous sommes intéressés aux variations intra- et interspécifiques de l'architecture et de la croissance des racines et à leurs réponses au déficit hydrique, en faisant l'hypothèse que les plantes provenant d'un milieu aride ou d'un système de culture à faible usage d'intrants, ont développé des traits racinaires qui leurs permettent d'accroître l'acquisition des ressources du sol. Pour tester cette hypothèse nous avons comparé la croissance et le développement racinaire de plantes de deux écotypes de C. quinoa de régions plus ou moins arides, et de populations de C. pallidicaule et de C. hircinum, placées dans des conditions de culture contrôlées non limitantes ou déficitaires en eau, en pots et en rhizotrons. Les principaux résultats de ce travail de thèse montrent que, malgré de grandes différences dans la production de biomasse et la morphologie aérienne, les populations étudiées présentent toutes la même typologie racinaire. Elles diffèrent entre elles par plusieurs traits d'architecture et de morphologie racinaire qui déterminent la capacité d'exploration et d'exploitation des ressources du sol. Certains de ces traits, comme la vitesse d'élongation de la racine principale, présentent une grande plasticité de réponse au déficit hydrique. D'autres traits, comme la longueur spécifique des racines, sont moins plastiques mais présentent des différences interspécifiques importantes. Ces variations de l'architecture des plantes forment des syndromes adaptatifs favorisant la survie des plantes dans les milieux les plus contraignants. Mots clés : Chenopodium quinoa, Chenopodium hircinum, Chenopodium pallidicaule, système racinaire, architecture racinaire, topologie racinaire, ontogénie, rhizotron, élongation racinaire, analyses de croissance, espèces cultivées, espèces sauvages, croissance racinaire, morphologie racinaireThe genus Chenopodium comprises about 150 species distributed all around the world and over a wide range of environments. In South America, differents species, either cultivated as C. quinoa Willd. and C. pallidicaule Aellen, or wild as C. hircinum Schrader, are distributed over pedoclimatic gradients from the sea level in Chile, up to an altitude of 4000 m in the altiplano of Bolivia and Peru, on soils more or less thick and rich in nutrients, and under climates from tropical humid to arid and cold. These species are phylogenetically related, and it is generally admitted that C. quinoa was domesticated from C. hircinum and that part of its genome comes from C. pallidicaule. Their wide distribution in natural and crop ecosystems and their more or less strong tolerance to environmental constraints, make this group of species an interesting model for examining the diversity of responses of the plants, in particular facing a low disponibility of resources in the soil. As all the water necessary for the life of the pass through the root system, we focused our interest in the intra- and interspecific variations in the root growth and architecture, and their responses to the water deficit, with the hypothesis that plants from arid habitats or from low-input agrosystems, developed root traits that allowed them to increase the acquisition of resources in the soil. To test this hypothesis we compared the root growth and development in plants of two ecotypes of C. quinoa from more or less arid regions, and of populations of C. pallidicaule and C. hircinum, placed under non-limiting or water deficit growth conditions, in pots and in rhizotrons. The main results of this research show that, despite large differences in biomass production and morphology of the aerial plant part, the studied populations showed the same root typology. They differed by several traits of root architecture and morphology which control the capacity of the plant to explore and exploit the soil resources. Some of these traits, such as the taproot elongation rate, showed a high plasticity in response to the water deficit. Other traits, like the specific root length, were less plastic but showed large interspecific differences. These variations in plant root architecture conforms adaptive syndromes that favor the plant survival in the most limiting environments. Key words : Chenopodium quinoa, Chenopodium hircinum, Chenopodium pallidicaule, root system, root architecture, topological index, ontogeny, rhizotron, root elongation, plant growth analysis, cultivated species, wild species, root growth, root morphology
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Chitic, Stefan-Gabriel. "Middleware and programming models for multi-robot systems." Thesis, Lyon, 2018. http://www.theses.fr/2018LYSEI018/document.
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Malgré de nombreuses années de travail en robotique, il existe toujours un manque d’architecture logicielle et de middleware stables pour les systèmes multi-robot. Un intergiciel robotique devrait être conçu pour faire abstraction de l’architecture matérielle de bas niveau, faciliter la communication et l’intégration de nouveaux logiciels. Cette thèse se concentre sur le middleware pour systèmes multi-robot et sur la façon dont nous pouvons améliorer les frameworks existantes dans un contexte multi-robot en ajoutant des services de coordination multi-robot, des outils de développement et de déploiement massif. Nous nous attendons à ce que les robots soient de plus en plus utiles car ils peuvent tirer profit des données provenant d’autres périphériques externes dans leur prise de décision au lieu de simplement réagir à leur environnement local (capteurs, robots coopérant dans une flotte, etc.). Cette thèse évalue d’abord l’un des intergiciels les plus récents pour robot(s) mobile(s), Robot operating system (ROS), suivi par la suite d’un état de l’art sur les middlewares couramment utilisés en robotique. Basé sur les conclusions, nous proposons une contribution originale dans le contexte multi-robots, appelé SDfR (Service discovery for Robots), un mécanisme de découverte des services pour les robots. L’objectif principal est de proposer un mécanisme permettant aux robots de garder une trace des pairs accessibles à l’intérieur d’une flotte tout en utilisant une infrastructure ad-hoc. A cause de la mobilité des robots, les techniques classiques de configuration de réseau pair à pair ne conviennent pas. SDfR est un protocole hautement dynamique, adaptatif et évolutif adapté du protocole SSDP (Simple Service Discovery Protocol). Nous conduisons un ensemble d’expériences, en utilisant une flotte de robots Turtlebot, pour mesurer et montrer que le surdébit de SDfR est limité. La dernière partie de la thèse se concentre sur un modèle de programmation basé sur un automate temporisé. Ce type de programmation a l’avantage d’avoir un modèle qui peut être vérifié et simulé avant de déployer l’application sur de vrais robots. Afin d’enrichir et de faciliter le développement d’applications robotiques, un nouveau modèle de programmation basé sur des automates à états temporisés est proposé, appelé ROSMDB (Robot Operating system Model Driven Behaviour). Il fournit une vérification de modèle lors de la phase de développement et lors de l’exécution. Cette contribution est composée de plusieurs composants : une interface graphique pour créer des modèles basés sur un automate temporisé, un vérificateur de modèle intégré basé sur UPPAAL et un générateur de squelette de code. Enfin, nous avons effectué deux expériences : une avec une flotte de drones Parrot et l’autre avec des Turtlebots afin d’illustre le modèle proposé et sa capacité à vérifier les propriétésDespite many years of work in robotics, there is still a lack of established software architecture and middleware for multi-robot systems. A robotic middleware should be designed to abstract the low-level hardware architecture, facilitate communication and integration of new software. This PhD thesis is focusing on middleware for multi-robot system and how we can improve existing frameworks for fleet purposes by adding multi-robot coordination services, development and massive deployment tools. We expect robots to be increasingly useful as they can take advantage of data pushed from other external devices in their decision making instead of just reacting to their local environment (sensors, cooperating robots in a fleet, etc). This thesis first evaluates one of the most recent middleware for mobile robot(s), Robot operating system (ROS) and continues with a state of the art about the commonly used middlewares in robotics. Based on the conclusions, we propose an original contribution in the multi-robot context, called SDfR (Service discovery for Robots), a service discovery mechanism for Robots. The main goal is to propose a mechanism that allows highly mobile robots to keep track of the reachable peers inside a fleet while using an ad-hoc infrastructure. Another objective is to propose a network configuration negotiation protocol. Due to the mobility of robots, classical peer to peer network configuration techniques are not suitable. SDfR is a highly dynamic, adaptive and scalable protocol adapted from Simple Service Discovery Protocol (SSDP). We conduced a set of experiments, using a fleet of Turtlebot robots, to measure and show that the overhead of SDfR is limited. The last part of the thesis focuses on programming model based on timed automata. This type of programming has the benefits of having a model that can be verified and simulated before deploying the application on real robots. In order to enrich and facilitate the development of robotic applications, a new programming model based on timed automata state machines is proposed, called ROSMDB (Robot Operating system Model Driven Behaviour). It provides model checking at development phase and at runtime. This contribution is composed of several components: a graphical interface to create models based on timed automata, an integrated model checker based on UPPAAL and a code skeleton generator. Moreover, a ROS specific framework is proposed to verify the correctness of the execution of the models and to trigger alerts. Finally, we conduct two experiments: one with a fleet of Parrot drones and second with Turtlebots in order to illustrates the proposed model and its ability to check properties
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Eysholdt-Derzsó, Emese [Verfasser], Margret [Akademischer Betreuer] Sauter, and Dietrich [Gutachter] Ober. "Ethylene Response Factor VII transcription factors control the reshaping of the root system architecture in response to hypoxia / Emese Eysholdt-Derzsó ; Gutachter: Dietrich Ober ; Betreuer: Margret Sauter." Kiel : Universitätsbibliothek Kiel, 2018. http://d-nb.info/1236287878/34.
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Saint, Cast Clément. "Modélisation du développement architectural, de l'acclimatation au vent dominant et de l'ancrage du système racinaire du pin maritime." Thesis, Bordeaux, 2019. http://www.theses.fr/2019BORD0018/document.
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Plus de la moitié des pertes de bois dans les forêts européennes sont dues aux tempêtes. Une connaissance des mécanismes impliqués dans la stabilité mécanique des arbres est alors capitale. L’ancrage de l’arbre dans le sol constitue l’une des composantes principales du maintien mécanique de l’arbre. Il est principalement déterminé par l’architecture du système racinaire et son interaction mécanique avec le sol. Au cours de son développement, l’arbre modifie ses dimensions et se complexifie. Plus particulièrement, le système racinaire semble s’acclimater (ex : croissance en diamètre plus importante) aux déformations engendrées par le vent. L’ensemble de ces modifications conduit à une évolution des mécanismes à l’origine de l’ancrage au cours du développement de l’arbre. L’étude expérimentale de cette fonction est compliquée car les racines sont difficilement mesurables en continu dans le sol. Nous avons alors mis au point une approche numérique pour décrire la croissance du système racinaire et la distribution des déformations dues au vent. Une grande base de données structurée en chronoséquence de systèmes racinaires numérisés (Pinus pinaster) a été mobilisée. Comme l’étude de la structure et des fonctions des racines est plus efficiente quand la différentiation entre racines est prise en compte, nous avons d’abord formalisé les types racinaires du système racinaire du pin maritime à partir d’une technique de classification (« k-means clustering ») réalisée avec quatre variables. La classification des racines latérales du pin maritime nous a permis d’identifier 5 types racinaires au cours du développement du pin maritime. Ce regroupement explique 70% de la variabilité de notre base de données. Chaque système racinaire est caractérisé par trois grosses racines horizontales émises par la souche. Les racines montrent une forte différentiation pour leur tropisme, avec une direction de croissance soit horizontale soit verticale. La structure de la partie centrale du système racinaire est pratiquement complète dès l'âge de 4 ans. Sur la base des types racinaires identifiés, nous avons calibré un modèle architectural (RootTyp ; Pagès et al. 2004) pour le pin maritime. Treize paramètres pour chaque type racinaire ont été estimés par l’intermédiaire de la base de données, d’informations issues de la littérature et d’une procédure d'optimisation. Une modélisation réaliste du système racinaire jusqu'à 50 ans n’a pu être obtenue qu'en implémentant au modèle RootTyp de nouveaux processus biologiques : la diminution de la ramification avec la croissance de la racine et la diminution de la vigueur des racines avec l'ordre de ramification. Malgré ces améliorations, les systèmes racinaires de la base de données présentent des diamètres plus importants à proximité de la souche par rapport aux systèmes racinaires simulés. Ce biais systématique est principalement attribué à l’acclimatation des racines au vent dominant. Les altérations de croissance dues aux contraintes pédologiques ont également été implémentées grâce à l’amélioration du module de sol du modèle architectural.Enfin, pour comprendre les mécanismes à l’origine de l’acclimatation des racines nous avons combiné plusieurs modèles pour prédire la distribution spatiale des déformations dans des maquettes simplifiées de systèmes racinaires à 4, 6 et 13 ans, pour trois régimes de vent spécifiques à la région étudiée. D’après les simulations, les déformations des racines sous l'effet du vent diminuent avec l’âge, en raison de l’augmentation de la rigidité des racines. Cela suggère une plus forte réponse thigmomorphogénétique aux stades jeunes. Les modifications structurelles et anatomiques du système racinaire par acclimatation au vent s’expliquent principalement par les distributions des déformations et des contraintes dans les racinesStorms cause more than 50% of the timber loss in European forests. However, forest tree anchorage mechanisms throughout their lifespan are not fully understood, especially the strong acclimation of root systems to common winds. This lack of knowledge is mainly due to technical difficulties: neither the root structure nor the mechanical contribution of the roots could be characterized continually. Thus we set up a numerical approach to model the development of the root system and to describe the strains resulting from common winds. This generic approach has been developed using Pinus pinaster grown in sandy soils as model species.Seven datasets of excavated root systems from 0 to 50 years were employed. The assessment of root structure and functions is more powerful if the differentiation of root system in several root types is considered. We first proposed an automatic classification of roots with the k-means clustering algorithm. Four root traits were chosen as classifiers, including three geometric architectural traits, which can be precisely assessed whatever the tree/root age. Clustering yielded similar five groups of laterals roots at all ages, explaining 70% of the variability. The three largest lateral roots per tree were all horizontal roots branching from stump and the other lateral roots show a large differentiation for tropism: nearly all the roots were horizontal or vertical roots. The framework of the central part of the root system can be almost completed in 4-year-old trees (3.5 cm collar diameter). We then calibrated the existing RootTyp (Pagès et al. 2004) architectural model for P. pinaster for each of the root types defined by the cluster analysis. We used the database combined with a literature review and an optimization method to get accurate values for 13 parameters by root types. We devoted effort to validate our model calibration. In order to model architecture of the root system, damping properties had to be implemented to yield realistic outputs up to the mature stage. Branching varied as a function of distance from the root base, and growth capacity decreased with branching order. Nevertheless, the root diameters of simulated root systems were generally underestimated. This was certainly due to root growth plasticity to the prevailing wind, an acclimation facet not taken into account at this calibration step. Growth alterations due to a cemented horizon were reproduced using the new calibrated soil module. Then, the wind acclimation of roots was numerically investigated by examining the root mechanical stimuli due to wind. A chain of biomechanical models was used to predict the spatial distribution of stress and strain in simplified root systems at 4, 6 and 13-year-old as a result of three levels of usual winds. According to simulations, the strain amplitude decreased with tree growth due to the increasing root system stiffness. This suggests larger thigmomorphogenetic responses at young stages. The modifications of the structural and wood root properties related to wind acclimation were largely explained by the stress and strain distribution in the root system
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Yang, Ming. "Ancrage racinaire des arbres : modélisation et analyses numériques des facteurs clés de la résistance au vent du Pinus pinaster." Thesis, Bordeaux, 2014. http://www.theses.fr/2014BORD0279/document.
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Les tempêtes hivernales causent des pertes en bois qui s’élèvent à 50% du volume des dégâts dans les forêts européennes. Les phénomènes de déracinement des arbres (chablis) sont les plus fréquents or ils sont encore mal compris. Cette thèse vise à mieux comprendre le processus de déracinement de l’arbre et à identifier les traits structuraux et matériels (racines, sol) ayant un effet du premier ordre sur l’ancrage racinaire dans le cas du Pinus pinaster. Un modèle d’éléments finis a été développé et permis de simuler et suivre la chronologie des ruptures successives au cours du déracinement. Un seuil de rupture globale de l’ancrage est ainsi défini comme une résultante de l’architecture et de la résistance des matériaux en jeu (racines, sol). Cela devrait permettre à terme d’améliorer les modèles de risque au vent qui actuellement n’incluent pas de relation mécaniste pour le chablis. Dans la même logique, nous nous sommes appuyés sur les données expérimentales pour construire une architecture simplifiée du système racinaire du P. pinaster. L’importance des différentes composantes sur le mécanisme d’ancrage a été étudiée et le rôle essentiel joué par le pivot et les racines traçantes montré. Ce résultat confirme de nombreuses études expérimentales et théoriques et pour la première fois permet de quantifier ces effets. Le nombre de paramètres pertinents pourra ainsi être réduit pour exprimer l’ancrage. Cela ouvre des perspectives intéressantes pour simplifier l’utilisation du modèle pour l’appliquer à d’autres espèces, d’autres conditions de sol et différentes pratiques sylvicolesWinter storms cause 50% of wood damage by volume to European forests. Tree uprooting isthe most frequent phenomenon during storms ; however the mechanism is not well understood.This thesis aims to better understand the tree uprooting process and to identify both rootstructural features and material properties which have first-order effects on tree anchoragestrength for the case ofPinus pinaster. A Finite Element Model has been developed and allowedsimulating and tracking the sequential root breakage during the course of tree overturning. Anoverall tree anchorage strength is thus defined as the resultant of contribution of root systemarchitecture and material strength (roots, soil). This would allow improving the risk modelswhich currently don’t include any mechanistic relationships to describe tree uprooting. In thesame spirit, we have relied on root architectural data to build a simplified root system patternwith features ofP. pinaster. Importance of different root components has been studied andthe essential role of the taproot and shallow roots demonstrated. This result has confirmednumerous experimental and theoretical studies and for the first time quantified these impacts.Therefore the number of relevant parameters can be reduced to express overall root anchorage.This opens new prospects to simplify the model in order to apply to other species under othersoil conditions and considering different silvicultural practices
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CASELLA, LAURA. "SNP ANALYSIS FOR DROUGHT-RELATED CANDIDATE GENES IN A GERMPLASM COLLECTION AND A TILLING POPULATION OF ITALIAN RICE." Doctoral thesis, Università degli Studi di Milano, 2012. http://hdl.handle.net/2434/203361.
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Rice is the most important food crop in the world, representing the main source of caloric intake for more than one third of the world’s population. Although a great part of the global rice production comes from the developing countries such as China, India, Indonesia and Bangladesh, northern Italy plays a relevant role in terms of rice production providing about 50% of the total European paddy rice production. Due to the nature of the area devoted to rice growth, characterized by large availability of water and an efficient water distribution net, rice in Italy developed in the last two centuries as a water demanding crop, completing its growth cycle under submersion. However in the last decades also these regions experienced a reduction in water availability, with consequences on production and quality. The development of new varieties able to cope with water scarcity is therefore becoming of utmost importance for a sustainable rice cultivation in Italy. This study aims at identifying new alleles with added value for the improvement of drought resistance in Italian rice. The EMS-induced genetic variability in drought-related candidate genes was then explored in a TILLING population developed in the Italian rice variety Volano. The Volano TILLING platform was validated through the screening of three relevant target genes. A mutation density of 1/374 kb was estimated, proving the effectiveness of this approach for targeted rice crop improvement of Italian germplasm. The collection, currently consisting of 1860 mutant lines that are being enlarged with new mutagenized lines, represents an interesting source of variation exploitable in terms of response to drought stress and directly of use for targeted breeding programs. The mutant lines identified, affecting genes shown to be involved in plant drought escape and avoidance strategies, not only are relevant for Volano breeding programs, but represent a powerful genetic material in view of breeding for drought improvement in Italian rice. The second part of the work aimed at understanding the genetic determinants of root system architecture in the Italian rice germplasm, considering the profound implications of root development on the ability of the plant to cope with water deficits. The first Genome-Wide Association study on root traits was then performed on a germplasm collection including local accessions representing the genetic diversity of rice cultivated in Italy and a set of foreign varieties from temperate areas adapted to Italian climatic conditions. Whole genome genotyping was performed at Cornell University using the GBS (Genotyping-by-Sequencing) approach, a novel NGS strategy previously applied with success to maize and barley that uses libraries based on reducing genome complexity by methylation-sensitive restriction enzymes. In parallel, a thorough phenotypic screening for root morphological features was performed under controlled greenhouse conditions using a novel root phenotyping method that combines an optimized plant growing system (plastic cylindrical baskets coupled with PVC pipes) with an efficient imaging analysis (WinRHIZO image analysis software). The results of genome-wide association analyses performed on a first set of root phenotypic traits were very encouraging. All the detected significant associations were co-localizing with root QTLs previously identified in bi-parental mapping populations. Moreover, four of the detected regions co-localized with drought-avoidance QTLs, strongly supporting the hypothesis of their possible involvement in plant ability to cope with water scarcity. This work provides an initial study paving the way towards improvement of Italian rice varieties in terms of drought resistance.
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Docker, Benjamin Brougham. "Biotechnical engineering on alluvial riverbanks of southeastern Australia: A quantified model of the earth-reinforcing properties of some native riparian trees." Thesis, The University of Sydney, 2003. http://hdl.handle.net/2123/1688.
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It is generally accepted that tree roots can reinforce soil and improve the stability of vegetated slopes. Tree root reinforcement is also recognised in riverbanks although the contribution that the roots make to bank stability has rarely been assessed due to the reluctance of geomorphologists to examine riverbank stability by geomechanical methods that allow for the inclusion of quantified biotechnical parameters. This study investigates the interaction between alluvial soil and the roots of four southeastern Australian riparian trees. It quantifies the amount and distribution of root reinforcement present beneath typically vegetated riverbanks of the upper Nepean River, New South Wales, and examines the effect of the reinforcement on the stability of these banks. The ability of a tree to reinforce the soil is limited by the spatial distribution of its root system and the strength that the roots impart to the soil during shear. These two parameters were determined for the following four species of native riparian tree: Casuarina glauca, Eucalyptus amplifolia, Eucalyptus elata, and Acacia floribunda. The four species all exhibit a progressive reduction in the quantity of root material both with increasing depth and with increasing lateral distance from the tree stem. In the vertical direction there are two distinct zones that can be described. The first occurs from between 0 and approximately 15 % of the maximum vertical depth and consists of approximately 80 % of the total root material quantity. In this zone the root system consists of both vertical and lateral roots, the size and density of which varies between species. The second zone occurs below approximately 15 % of the maximum vertical depth and consists primarily of vertical roots. The quantity of root material in this zone decreases exponentially with depth due to the taper of individual roots. The earth reinforcement potential in terms of both geometric extent and the quantity of root material expressed as the Root Area Ratio (RAR) varies significantly from species to species. E. elata exhibited the highest values of RAR in soil zones beneath it while E. amplifolia reinforced a greater volume of soil than any of the other species examined. The increased shear resistance (Sr) of alluvial soil containing roots was measured by direct in-situ shear tests on soil blocks beneath a plantation. For three of the species (C. glauca, E. amplifolia, E. elata) Sr increased with increasing RAR measured at the shear plane, in a similar linear relationship. The shear resistance provided by A. floribunda roots also increased with increasing RAR at the shear plane but at a much greater rate than for the other three species. This is attributable to A. floribunda’s greater root tensile strength and therefore pull-out resistance, as well as its smaller root diameters at comparative RARs which resulted in a greater proportion of roots reaching full tensile strength within the confines of the test. Tree roots fail progressively in this system. Therefore determining the increased shear strength from the sum of the pull-out or tensile strengths of all individual roots and Waldron’s (1977) and Wu et al’s (1979) simple root model, would result in substantial over estimates of the overall strength of the soil-root system. The average difference between Sr calculated in this manner and that measured from direct in-situ shear tests is 10.9 kPa for C. glauca, 19.0 kPa for E. amplifolia, 19.3 kPa for E. elata, and 8.8 kPa for A. floribunda. A riverbank stability analysis incorporating the root reinforcement effect was conducted using a predictive model of the spatial distribution of root reinforcement beneath riparian trees within the study area. The model is based on measurements of juveniles and observations of the rooting habits of mature trees. It indicates that while the presence of vegetation on riverbank profiles has the potential to increase stability by up to 105 %, the relative increase depends heavily on the actual vegetation type, density, and location on the bank profile. Of the species examined in this study the greatest potential for improved riverbank stability is provided by E. amplifolia, followed by E. elata, A. floribunda, and C. glauca. The presence of trees on banks of the Nepean River has the potential to raise the critical factor of safety (FoS) from a value that is very unstable (0.85) to significantly above 1.00 even when the banks are completely saturated and subject to rapid draw-down. It is likely then that the period of intense bank instability observed within this environment between 1947 and 1992 would not have taken place had the riparian vegetation not been cleared prior to the onset of wetter climatic conditions. Typical ‘present-day’ profiles are critically to marginally stable. The introduction of vegetation could improve stability by raising the FoS up to 1.68 however the selection of revegetation species is crucial. With the placement of a large growing Eucalypt at a suitable spacing (around 3-5 m) the choice of smaller understorey trees and shrubs is less important. The effect of riparian vegetation on bank stability has important implications for channel morphological change. This study quantifies the mechanical earth reinforcing effect of some native riparian trees, thus allowing for improved deterministic assessment of historical channel change and an improved basis for future riverine management.
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Fanton, Hervé. "Cartographie rapide de l'environnement local d'un robot mobile autonome." Grenoble INPG, 1989. http://www.theses.fr/1989INPG0130.
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Proposition d'une methode de carte locale destinee a la navigation d'un robot mobile autonome mettant en uvre un telemetre laser, une modelisation du monde par des grilles et une architecture parallele hybride de type nimo-simo
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Hao, Shilun. "IDS---Intelligent Dougong System: A Knowledge-based and Graphical Simulation of Construction Processes of China’s Song-style Dougong System." The Ohio State University, 2014. http://rave.ohiolink.edu/etdc/view?acc_num=osu1417702752.
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Chenlemuge, Tselmeg [Verfasser], Markus [Akademischer Betreuer] Hauck, Christoph [Akademischer Betreuer] Leuschner, and Dirk [Akademischer Betreuer] Gansert. "Drought Adaptation of the Fine Root System and Hydraulic Architecture of Larix sibirica at its Southern Distribution Limit General introduction / Tselmeg Chenlemuge. Gutachter: Markus Hauck ; Christoph Leuschner ; Dirk Gansert. Betreuer: Markus Hauck." Göttingen : Niedersächsische Staats- und Universitätsbibliothek Göttingen, 2015. http://d-nb.info/1065044720/34.
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El, Debbagh Nabil. "Analyse de la diversité de processus de développement racinaire chez les Prunus : aptitude au bouturage et réponses à la contrainte hydrique." Thesis, Avignon, 2016. http://www.theses.fr/2016AVIG0676/document.
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La sélection des nouveaux porte-greffes du genre Prunus a pour principal objectif d’utiliser lavariabilité génétique existant au sein des différentes espèces de Prunus afin de créer un matérielvégétal innovant, performant au plan agronomique et résistant à différentes contraintes biotiques etabiotiques. L’exploitation de la variabilité génétique s'appuie sur le phénotypage des différentsindividus présents dans les collections de ressources génétiques pour les caractères recherchés. Celapermet de sélectionner des génotypes spécifiques pour améliorer un trait donné.Dans cette étude constituée de deux parties, nous avons exploré la diversité génétique au seindu genre Prunus pour ce qui concerne deux traits importants : l’aptitude au bouturage et les réponsesde certains porte-greffes à la contrainte hydrique.Dans la première partie l’aptitude au bouturage ligneux a été explorée dans une collectiongénétique de 222 génotypes. Les résultats obtenus montrent une variabilité considérable entre les sousgenresAmygdalus et Prunophora et également une variabilité interspécifique au sein de chaque sousgenre.La réussite au bouturage est nettement améliorée chez les hybrides interspécifiques dont un desparents appartient à l’espèce P cerasifera.Dans la deuxième partie nous avons étudié les réponses à la contrainte hydrique chez neufgénotypes couramment utilisés comme porte-greffes. Nous avons comparé trois régimes hydriquesdifférents : témoins, stressés et recouvrés. L’humidité du substrat est maintenue à la capacité au champtout au long de l’expérience pour les plants témoins, par contre l’arrosage a été arrêté pendant 14 jourspour les plants stressés, puis il a été repris pendant 10 jours pour les plants recouvrés. Durant cetteexpérience, nous avons effectué des mesures morphologiques et physiologiques sur la partie aérienneainsi que des excavations à la fin de chaque phase pour examiner les modifications au niveau dusystème racinaire. Sur la partie aérienne, la contrainte hydrique a provoqué une diminutionsignificative de la photosynthèse nette, de la transpiration totale, de la conductance stomatique, et del’expansion des feuilles.Le système racinaire a répondu à cette contrainte par plusieurs modifications. D’abord, le ratio racines/pousses a augmenté pour 4 génotypes (GF305, GF677, Montclar et Myrobolan1254). Ensuite, lesdifférents traits de l’architecture racinaire ont montré des modifications sous l’effet de la contraintehydrique : la longueur de la zone apicale non ramifiée (LZANR) qui traduit l’élongation racinaire,ainsi que les diamètres apicaux des racines ont diminué chez tous les génotypes. Par conséquent lesracines se sont affinées et ont réduit leur croissance en longueur. Produire des racines plus finesaugmente la surface de contact entre les racines et le sol et améliore la capacité d’absorption. Unediminution de la distance inter-ramification a été observée chez les plants stressés. Cette modificationpourrait s’expliquer par le fait que les plantes produisent plus de racines latérales en profondeur oùl’eau est souvent plus disponible. De plus, les racines latérales produites étaient également plus fines.Au plan qualitatif, les génotypes ont eu des réponses semblables, mais l’intensité de la réponse a variéselon les génotypesIn breeding programs of Prunus rootstocks the aim is to use the existing genetic variabilitywithin Prunus species in order to create new rootstock genotypes with excellent agronomic traits, andimproved resistance to biotic and abiotic stresses.Exploitation of the genetic variability is based on the evaluation of phenotypic variation amongindividuals within genetic collections for desirable traits. This make possible to select specificgenotypes to improve a given trait.This study consists of two parts; we explored the genetic diversity within the genus Prunusregarding two important characteristics: rooting ability of hardwood cuttings and responses of somerootstocks to water stress.In the first part, rooting ability of hardwood cuttings was evaluated among 222 genotypespreserved in genetic collection. The results show considerable variability among the sub genusAmygdalus, Prunophora, and also an interspecific variability within each of them. Rooting ability byhardwood cutting was significantly improved in interspecific hybrids if one parent belongs to Pcerasifera species.In the second part of this study we studied the responses of nine genotypes, commonly usedrootstocks, to water stress. We applied three treatments: control, water stress and recovering.Soil moisture was maintained at field capacity through all stages of the experiment for the controlplants. On the contrary we stopped watering during 14 days for the stressed plants, and then we rewateredthe recovered plants for 10 days.During this experience, we performed morphological and physiological measurements on the aboveground parts of plants and we excavated plants at the end of each phase to observe root systemmodifications.Aboveground parts of plant responded to water stress by a significant decrease in net photosynthesis,total transpiration, stomatal conductance and leaf expansion.Root system responded to water stress by several modifications:Four genotypes (GF305, Montclar, GF677 and Myrobolan) showed a significant increase in root toshoot ratio under drought conditions. We also detected morphological modifications on the differenttraits of root architecture in response to water stress.The length of the apical unbranched zone LAUZ and the apical diameter were decreased forall genotypes, consequently, roots became finer and reduced their rate of elongation. Fine rootsenhance the surface of contact between roots and soil which in turn improve the acquisition of waterunder drought condition.The inter-branch distance also responded, and it tended to decrease under the water stress treatment.The decrease in inter-branch distance can be explained by a production of more lateral roots in deeplayers, where water was more available, moreover these new laterals roots were also finer.Qualitatively, a common response to water stress was observed on the different traits of the rootsystem architecture, but we showed a genotypic effect determining the level of the response
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Feitosa, Daniel. "SiMuS - Uma arquitetura de referência para sistemas multirrobóticos de serviço." Universidade de São Paulo, 2013. http://www.teses.usp.br/teses/disponiveis/55/55134/tde-18042013-151002/.
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Atualmente, os sistemas robóticos têm sido necessários para uma diversidade de novos produtos, como em robôs de serviço e em robôs para ambientes perigosos. Como consequência, um aumento da complexidade desses sistemas e observada, exigindo também atenção considerável para a qualidade e a produtividade. Vale destacar que a complexidade de parte desses sistemas decorre, parcial ou totalmente, da necessidade de se utilizar diversos robôs para compor a solução. Em outra perspectiva, arquiteturas de referência surgiram como um tipo especial de arquitetura de software que consegue agregar conhecimento de domínios específicos, facilitando o desenvolvimento, padronização e evolução de sistemas de software. Nessa perspectiva, arquiteturas de referência foram também propostas para o domínio de robótica e de têm sido consideradas como um elemento importante para o desenvolvimento de sistemas para esse domínio. No entanto, existe uma falta de arquiteturas de referência especializadas em sistemas multirrobóticos de serviço. Assim, a principal contribuição desse trabalho e o apoio ao desenvolvimento de sistemas multirrobóticos de serviço. Para isso, o principal resultado, aqui apresentado, e o estabelecimento da SiMuS, uma arquitetura de referência que agrega o conhecimento e a experiência de como organizar sistemas multirrobóticos de serviço, visando a escalabilidade, evolução e reuso. Para o estabelecimento dessa arquitetura, foi utilizado o ProSA-RA, um processo que sistematiza o projeto, representação e avaliação de arquiteturas de referência. Resultados alcançados por uma inspeção, por meio de checklist, e estudo de caso conduzidos evidenciam que a SiMuS e uma arquitetura de referência viável e reusável para o desenvolvimento de sistemas multirrobóticos de serviçoCurrently, robotic systems have been more and more required for a diversity of new products, such as in service robots and in robots for dangerous environments. As a consequence, an increase in the complexity of these systems is observed, requiring also considerable attention to their quality and productivity. One of the main complexities faced by systems is the problem of control multiple robots to complete a task. In another perspective, reference architectures have emerged as a special type of software architecture that achieves well-recognized understanding of specific domains, facilitating the development, standardization, and evolution of software systems. In this perspective, reference architectures have also been proposed for the robotic domain and they have been considered an important element to the development of systems for that domain. However, there is a lack of reference architectures specialized in multi-robotic systems for service robots. Thus, the main contribution of this work is to support the development of multi-robotic for service robots. For that, the main result presented here is the establishment of SiMuS, a reference architecture that combines the knowledge and experience of how to organize multi-robotic systems for service robots, aiming at scalability, evolution and reuse. For establishing this architecture, was used the ProSA-RA, a process that systematizes the design, representation and evaluation of reference architectures. Results achieved by a checklist inspection and case study conduction, show that the SiMuS is a viable and reusable reference architecture for developing multi-robotic systems service robots
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Abidi, Syeda Raaeha Tuz Zahra. "Socio-cultural characteristics and policies vis-à-vis seismic risk reduction throught post-quake rural reconstruction : a case study of Azad Jammu and Kashmir, Pakistan." Phd thesis, Université de Bretagne occidentale - Brest, 2013. http://tel.archives-ouvertes.fr/tel-00979304.
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This thesis is aimed at exploring the relation of socio-cultural characteristics and policies with post-quake reconstruction of rural areas of Azad Jammu & Kashmir, Pakistan. The primary concern of the study is limited to examine the traditional architectural practice ; dhajji-dewari and social composition of the community during and after reconstruction. It is analyzed that how the socio-cultural aspects of rural communities are affected by the policies, how policies are affected by the socio-cultural aspects of the community and how both of these can influence the final product. The thesis was rooted in the fact that 80% of the 600,000 damaged/destroyed buildings during 8th October, 2005 Kashmir earthquake were rural temporary (Katcha) houses. It was hence to be investigated that how far the Rural Housing Reconstruction Program (RHRP) has reduced (or increased) the vulnerability of the area for future. The impact of any policy launched during this program was not limited to few housing units rather more than 0.1 million dhajji houses could be affected through this. The rural Kashmir reconstruction was commenced with the in-hand knowledge of several previous post-quake reconstruction programs and was appreciated widely by experts. It was yet to be explored that which mistakes were committed/repeated by the stakeholders during policy making, delivery, implementation and post implementation phases. Covering the phases of policy making, delivery and implementation, the major findings of the thesis are categorized into three sections ; the sustainability generating aspects of reconstruction, vulnerability enhancing dimensions of reconstruction, and, those outcomes of reconstruction which are not yet categorized under "sustainability" or "vulnerability" by the experts focusing particularly rural Kashmir. Community satisfaction is given primary focus to rate different outcomes.The study concludes that ignoring socio-cultural aspects of the community during reconstruction may lead to vulnerability in post-reconstruction scenario. Considering the post implementation phase, the current trends are observed by examining under-construction houses. By pictorially presenting the architectural details of these houses it is examined that deviations from guidelines are in practice. People start forgetting the disaster impacts after few years and their immediate needs drive their decision priorities. It is suggested that after reconstruction program ends up, some authorities must be present in the reconstructed area to guide people for their current requirements and future needs and also to control the spread of non compliant construction.
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Solorio, Rigoberto. "A WEB-BASED TEMPERATURE MONITORING SYSTEM FOR THE COLLEGE OF ARTS AND LETTERS." CSUSB ScholarWorks, 2015. https://scholarworks.lib.csusb.edu/etd/129.
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In general, server rooms have restricted access requiring that staff possess access codes, keys, etc. Normally, only administrators are provided access to protect the physical hardware and the data stored in the servers. Servers also have firewalls to restrict outsiders from accessing them via the Internet. Servers also cost a lot of money. For this reason, server rooms also need to be protected against overheating. This will prolong the lifecycle of the units and can prevent data loss from hardware failure.
The California State University San Bernardino (CSUSB), Specifically the College of Arts and Letters server room has faced power failures that affected the Air Conditioning Unit (AC) and as a result the room became overheated for a long time, causing hardware failure to server units. This is why this project is important for the College and needs to be implemented as soon as possible.
The administrator’s old method of controlling server room temperature was by manually adjusting the temperature box inside of the server room. Now it can be controlled and monitored using remote access.
The purpose of A Web-Based Temperature Monitoring System for the College of Arts and Letters proposed in this project is to allow users to monitor the server room temperature through a website by using any computer or mobile device that has Internet access. Also, this system notifies users when the room attains a critical temperature by sending an email/text to the server room administrator.
A Web-Based Temperature Monitoring System for the College of Arts and Letters project is for the exclusive use of the College of Arts & Letters (CAL) server room. The administrator is the only person that can grant access to others by creating a proper account.
For this project three prototypes will be implemented, first to measure the current server room temperature, the second to show the temperature history of the room, and third to use the built-in search system to locate times that given temperatures were attained.
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Diaz, Nava Mario. "Proposition d'une méthodologie de conception de circuits intégrés de communication : réalisation d'un communicateur pour le réseau local FIP." Phd thesis, Grenoble INPG, 1986. http://tel.archives-ouvertes.fr/tel-00320454.
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FIP=Factory Instrumentation Protocol. On réalise un circuit intégré de communication pour le réseau FIP, projet national de communication entre automates réflexes, capteurs et actionneurs. Le circuit intégré est spécifié pour permettre soit la connexion de capteurs simples, soit la connexion de capteurs intelligents ou des automates de réseau. La conception de ce circuit intégré «à la demande» résulte d'une méthodologie originale. Cette méthodologie est orientée vers la conception de circuits VLSI de communication à partir d'une bibliothèque d'opérateurs flexibles, d'une part pour réduire le temps de conception, d'autre part pour donner la possibilité aux ingénieurs non spécialistes en conception de concevoir eux-mêmes leur circuit