Nos moluscos da classe Bivalvia, a margem do manto (ou palial) é geralmente organizada em três pregas e representa um ponto chave na compreensão da irradiação evolutiva do grupo e na conquista de novos nichos ecológicos. Na subclasse Pteriomorphia, agrupamento que reúne bivalves como ostras, vieiras e mexilhões, a margem do manto é amplamente diversa. Além disso, algumas linhas de evidência apontam para a associação entre estruturas paliais e diversificação de hábitos de vida, de modo que essa região anatômica representa uma importante fonte de dados para estudos de adaptação e correlação fenótipo-ambiente. A pesquisa desenvolvida investigou a diversidade morfológica da margem do manto em Pteriomorphia, por meio de abordagens comparativas e funcionais, a fim de inferir a evolução dessa região anatômica e testar hipóteses de homologia, convergência e correlação. A metodologia abrangeu: (1) inferência filogenética de Pteriomorphia com base em 187 espécies e até cinco genes; (2) morfologia comparada de 209 espécies utilizando-se espécimes depositados em coleções científicas, levantamento de caracteres chave do manto e emprego de métodos filogenéticos comparativos; e (3) anatomia detalhada da margem do manto em representantes de 12 espécies das principais famílias de Pteriomorphia, que foram coletados e analisados por meio de histologia, microscopia eletrônica de varredura e microscopia confocal. A análise filogenética de Pteriomorphia indica que o grupo é monofilético e organizado em quatro ordens contidas em dois clados principais (Arcida+Pectinida e Ostreida+Mytilida). A evolução da margem do manto abrange o surgimento de cinco tipos de órgãos fotorreceptores em diferentes linhagens epifaunais, com subsequente perda desses órgãos principalmente em grupos que se tornaram infaunais. Convergências evolutivas foram recorrentes na irradiação dos Pteriomorphia, como é o caso dos tentáculos paliais. Algumas dessas convergências estão correlacionadas a transições para o hábito de vida infaunal, como demonstrado pela hipertrofia da prega interna do manto em representantes de Arcida e Mytilida. A caracterização da inervação, musculatura, atividade secretora e ciliação da margem do manto contribuiu para a compreensão da anatomia funcional das pregas, ocelos, tentáculos, glândulas e demais estruturas associadas. Em suma, os resultados obtidos permitem compreender a evolução da margem do manto em Pteriomorphia associada a mudanças nos hábitos de vida, fornecendo evidências importantes para se explorar questões macroecológicas na irradiação dos bivalves e do bentos marinho como um todo / The mantle margin in bivalve mollusks typically comprises three folds, being considered a key element in the evolutionary radiation of the class and occupancy of novel ecological niches. In the subclass Pteriomorphia, which includes oysters, scallops, and mussels, the mantle margin is significantly diverse. In addition, several lines of evidence suggest the association between mantle structures and diversification of lifestyles, making the mantle margin a suitable anatomical region for studies focused on adaptations and phenotype-environment correlations. The present investigation evaluated the morphological diversity of the mantle margin in Pteriomorphia, by means of comparative and functional approaches, to infer the evolution of this anatomical region, and test hypotheses of homology, convergence and correlation. The methodology included: (1) phylogenetic inference of Pteriomorphia based on 187 taxa and up to five genes; (2) comparative morphology of 209 species based on observations of archived specimens, survey of key mantle traits and subsequent use of phylogenetic comparative methods; and (3) detailed anatomy of the mantle margin in representatives of 12 species from the most diverse pteriomorphian families, which were collected and analyzed by means of histology, scanning electron microscopy and confocal microscopy. Phylogenetic analyses of Pteriomorphia corroborate its monophyly and indicate it is comprised of four orders divided in two main clades (Arcida+Pectinida and Ostreida+Mytilida). The inferred evolution of the mantle margin suggests the origin of five types of photoreceptor organs in independent epifaunal lineages, with subsequent loss of eyespots mostly in groups that became infaunal. Evolutionary convergences were pervasive in pteriomorphian radiation, as illustrated by multiple gains of mantle tentacles. Some convergences are correlated with transitions to infaunal lifestyles, as demonstrated by the hypertrophy of the inner mantle fold in lineages within Arcida and Mytilida. In addition, the detailed investigation of musculature, innervation, secretory activity and cilia of the mantle margin permitted inferring possible functions performed by mantle folds, eyespots, tentacles, glands and further associated structures. Altogether, the results shed light on the evolution of the mantle margin in Pteriomorphia in association with lifestyle shifts, therefore providing bases to explore macroecological questions in the evolutionary radiation of bivalves and the marine benthos as a whole

Continuum robots are biologically inspired robots that capture the extraordinary abilities of biological structures such as elephant trunks, octopus tentacles, and mamma-lian tongues. They are given the term continuum robots due to their ability to bend conti-nuously rather than at specific joints such as with traditional rigid link robots. They are used in applications such as search and rescue operations, nuclear reactor repairs, colo-noscopies, minimal invasive surgeries, and steerable needles. In this thesis, a model that predicts the shape of a continuum robot is presented and verified. A verification system to verify the validity and accuracy of the model is presented which allows easy and accu-rate measurement of a continuum robot tip position. The model was verified against a flexible rod, the core component of a continuum robot, resulting in an accuracy of 0.61%. Finally, this thesis introduces a novel robot design, consisting of a single rod for the backbone which can be manipulated by applying external forces and torques.

Les travaux de cette thèse portent sur la navigation des véhicules autonomes, notamment la planification de trajectoires et le contrôle du véhicule. En premier lieu, un modèle véhicule plan est développé en utilisant une technique de modélisation qui assimile le véhicule à un robot constitué de plusieurs corps articulés. La description géométrique du véhicule est basée sur la convention de Denavit-Hartenberg modifiée. Le modèle dynamique du véhicule est ensuite calculé en utilisant la méthode récursive de Newton-Euler, qui est souvent utilisée dans le domaine de robotique. La validation du modèle a été conduite sur le simulateur Scaner-Studio développé par Oktal pour les applications automobiles. Le modèle du véhicule développé est ensuite utilisé pour la synthèse de lois de commande couplées pour les dynamiques longitudinale et latérale du véhicule. Deux correcteurs sont proposés dans ce travail : le premier est basé sur les techniques de commande par Lyapunov, le second utilise une approche ”Immersion et Invariance”. Ces deux contrôleurs ont pour objectifs de suivre une trajectoire de référence donnée avec un profil de vitesse désirée, tout en tenant compte du couplage existant entre les dynamiques longitudinale et latérale du véhicule. En effet, le contrôle couplé est nécessaire pour garantir la sécurité du véhicule autonome surtout lors de l’exécution des manœuvres couplées comme les manœuvres de changement de voie, les manœuvres d’évitement d’obstacles et les manœuvres exécutées dans les situations de conduite critiques. Les contrôleurs développés ont été validés en simulation sous Matlab/Simulink en utilisant des données expérimentales. Par la suite, ces contrôleurs ont été validés expérimentalement en utilisant le véhicule démonstrateur robotisé (Renault-Zoé) du laboratoire Heudiasyc financé par l’Equipex Robotex. En ce qui concerne la planification de trajectoires, une méthode de planification basée sur la méthode des tentacules sous forme de clothoides a été développée. En outre, une méthode de planification de manœuvres qui s’intéresse essentiellement à la manœuvre de dépassement a été mise en place, afin d’améliorer et de compléter la méthode locale des tentacules. Le planificateur local et le planificateur de manœuvres ont été ensuite combinés pour établir une stratégie de navigation complète. Cette stratégie a été validée par la suite sous Matlab/Simulink en utilisant le modèle de véhicule développé et le contrôleur basé sur Lyapunov. / In this thesis, the trajectory planning and the control of autonomous vehicles are addressed. As a first step, a multi-body modeling technique is used to develop a four wheeled vehicle planar model. This technique considers the vehicle as a robot consisting of articulated bodies. The geometric description of the vehicle system is derived using the modified Denavit Hartenberg parameterization and then the dynamic model of the vehicle is computed by applying a recursive method used in robotics, namely Newton-Euler based Algorithm. The validation of the developed vehicle model was then conducted using an automotive simulator developed by Oktal, the Scaner-Studio simulator. The developed vehicle model is then used to derive coupled control laws for the lateral and the longitudinal vehicle dynamics. Two coupled controllers are proposed in this thesis: In the first controller, the control is designed using Lyapunov control techniques while in the second one an Immersion and Invariance approach is used. Both of the controllers aim to ensure a robust tracking of the reference trajectory and the desired speed while taking into account the strong coupling between the lateral and the longitudinal vehicle dynamics. In fact, the coupled controller is a key step for the vehicle safety handling, especially in coupled maneuvers such as lane-change maneuvers, obstacle avoidance maneuvers and combined maneuvers in critical driving situations. The developed controllers were validated in simulation under Matlab/Simulink using experimental data. Subsequently, an experimental validation of the proposed controllers was conducted using a robotized vehicle (Renault-ZOE) present in the Heudiasyc laboratory within the Equipex Robotex project. Concerning the trajectory planning, a local planning method based on the clothoid tentacles method is developed. Moreover, a maneuver planning strategy focusing on the overtaking maneuver is developed to improve and complete the local planning approach. The local and the maneuver planners are then combined in order to establish a complete navigation strategy. This strategy is then validated using the developed robotics vehicle model and the Lyapunov based controller under Matlab/Simulink.

Le travail présenté porte sur le développement d’une nouvelle technologie innovante, nommée PAT Friday®, visant à produire des protéines recombinantes au sein des sécrétions extracellulaires de plantes carnivores génétiquement modifiées. Deux objectifs ont été fixés : Réaliser la preuve de concept de la technologie sur le modèle expérimental Drosera rotundifolia, en transformant la plante avec des gènes marqueurs et humains afin de mettre en évidence la présence des protéines recombinantes dans la glu ; et développer, après évaluation, la technologie sur un modèle potentiellement industrialisable, Nepenthes alata. Les résultats ont indiqué la présence des deux protéines marqueurs GFP et GUS dans les tissus et dans la glu de Drosera rotundifolia transformées. Les plantes ont également été transformées génétiquement avec les gènes humains de l’interféron gamma et du facteur intrinsèque. Les protéines recombinantes humaines ont été mises en évidence au sein des tissus végétaux. Le potentiel industriel du modèle Nepenthes alata a ensuite été étudié : 10 à 15 kg de protéines totales par hectare et par an peuvent être produits, grâce notamment à des récoltes successives non destructrices, et la possibilité de contrôler l’activité des protéases digestives naturelles. L’élaboration d’un protocole de régénération de la plante a été entreprise par embryogénèse somatique et organogénèse indirecte, en vue de sa transformation génétique. La technologie PAT Friday®, avec des étapes simplifiées d’extraction et de purification des protéines d’intérêt produites dans le liquide digestif, offre de nouvelles perspectives dans le domaine des protéines thérapeutiques produites à partir de plantes / The present work focuses on the development of a new innovating technology, called PAT Friday®, aiming at producing recombinant proteins into the extra-foliar fluid of modified carnivorous plants. Two objectives were assigned to this work : 1- to realize a proof of concept of the technology on the experimental model Drosera rotundifolia, transformed with marker and human genes, to confirm the occurence of the recombinant proteins into glu ; and 2 - to evaluate and develop, the technology on the model Nepenthes alata, more adapted to industrial scaling-up. The results indicate the presence of two marker proteins GUS and GFP inside the tissues and into the glu of modified Drosera rotundifolia plants. The same plant species has also been transformed with human gamma interferon and intrinsic factor genes. The corresponding human recombinant proteins have been detected into the plant tissues. Potential industrial scaling-up has been studied with the species Nepenthes alata. The results show a potential productivity of 10 to 15 kg of total proteins per hectare per year, thanks to non-destructive repeated harvests, and possibility to efficiently control the natural proteinase activity. The elaboration of a regeneration protocol has been undertaken through indirect organogenesis and somatic embryogenesis, with a view to transform genetically this plant. PAT Friday® technology, with simplified extraction and purification methods of the proteins of interest targeted into the liquid secretions, opens new perspectives in the field of therapeutical proteins produced in plants