Verification of users’ identities are normally carried out via PIN-codes or ID- cards. Biometric identification, identification of unique body features, offers an alternative solution to these methods. Fingerprint scanning is the most common biometric identification method used today. It uses a simple and quick method of identification and has therefore been favored instead of other biometric identification methods such as retina scan or signature verification. In this report biometric security systems have been evaluated based on fingerprint scanners. The evaluation method focuses on copies of real fingers, artificial fingers, as intrusion method but it also mentions currently used algorithms for identification and strengths and weaknesses in hardware solutions used. The artificial fingers used in the evaluation were made of gelatin, as it resembles the surface of human skin in ways of moisture, electric resistance and texture. Artificial fingers were based on ten subjects whose real fingers and artificial counterpart were tested on three different fingerprint scanners. All scanners tested accepted artificial fingers as substitutes for real fingers. Results varied between users and scanners but the artificial fingers were accepted between about one forth and half of the times. Techniques used in image enhancement, minutiae analysis and pattern matching are analyzed. Normalization, binarization, quality markup and low pass filtering are described within image enhancement. In minutiae analysis connectivity numbers, point identification and skeletonization (thinning algorithms) are analyzed. Within pattern matching, direction field analysis and principal component analysis are described. Finally combinations of both minutiae analysis and pattern matching, hybrid models, are mentioned. Based on experiments made and analysis of used techniques a recommendation for future use and development of fingerprint scanners is made.

Les études couplant des observations provenant des marges passives actuelles et d’analogues fossiles ont permis de mieux appréhender les mécanismes d’extension de la lithosphère. Néanmoins, l’évolution spatiale et temporelle des processus de rupture continentale et de formation de croûte océanique reste mal contrainte. Le Golfe de Gascogne et les Pyrénées sont utilisés dans ce travail comme laboratoire naturel pour étudier la formation et la réactivation des systèmes de rift. Le développement et l’application d’une approche terre-mer a permis d’identifier, caractériser et cartographier les domaines de rift formés lors de l’ouverture du Golfe de Gascogne et partiellement intégrés à l’orogène Pyrénéenne. Cette cartographie révèle l’architecture complexe de la limite de plaque Ibérie-Europe résultant d’une évolution fortement polyphasée. Plusieurs systèmes de rift spatialement distincts sont préservés à des stades d’évolution différents. Une segmentation importante partiellement héritée de la structuration prérift contrôle la formation des systèmes de rift ce qui a des implications pour la cinématique régionale. Plusieurs étapes de la déformation compressive ont pu être distinguées et mises en relation avec l’architecture héritée du rift. La réactivation est initiée dans le domaine de manteau exhumé. Après lasubduction de croûte hyper-amincie, la collision continentale est contrôlée par les domaines proximaux et de necking qui jouent le rôle de buttoirs. Ces résultats soulignent l’interaction étroite entre l’héritage pré-rift et l’évolution spatiale des systèmes de rift ainsi que l’importance de l’architecture du rift pour comprendre la formation des orogènes. / Knowledge on lithosphere extensional mechanisms has greatly benefited from studies made both at presentday rifted margins and onshore fossil analogues. Nevertheless, the spatial and temporal evolution of the processes leading to continental break-up and oceanic crust formation remains poorly constrained. The Bay of Biscay and Pyrenees is used in this study as a natural laboratory to investigate the formation and reactivation of rift systems. A new offshore-onshore approach is developed and applied to identify, characterize and map the rift domains inherited from the Bay of Biscay opening and partly integrated into the Pyrenean orogen. This mapping reveals the complex architecture of European-Iberian plate boundary resulting from a strongly polyphased evolution. Several rift systems spatially distinct are preserved at different evolutionary stages. An important segmentation partially inherited from the pre-rift structuration controls the formation of the rift systems, an observation that has important implications for regional kinematic restorations. Several steps in compressional deformation can be distinguished and related to the rift inherited architecture. Reactivation is initiated in the exhumed mantle domain. Following the subduction of hyperthinned crust, continental collision processes are controlled by the proximal and necking domains acting as buttresses. These results emphasize the role of pre-rift inheritance for the spatial evolution of rift systems and the importance of the rift-related architecture to unravel the formation of collisional orogen.

This thesis was carried through as objective to study the growth and the yield of a stand of Pinus taeda L., implanted in 1987, in an initial spacing of 3 x 2 meters, located in the Farming Farm of the Ipê Ltda, in the city of Canela RS. This stand was management in high shaft system, with thinning underneath, for the wooden yield of great dimensions. To reach to the considered objectives two experimental hypotheses in submitted population to one had been formulated and two thinnings, beyond a control sample, without thinning. The thinnings had been carried through underneath with reduction of the basal area for levels of 28 m2ha-1. The growth in diameter, height and volume of the trees was adjusted with excellent precision for the Richards model of growth, presented a determination coefficient always superior of 0.97 and a low error standard of the estimate. To the 17 years, the total yield of the control sample, without thinning, was of 886.3 m3ha-1; with the accomplishment of one it roughs-hew of 756.6 m3ha-1, having resulting losses of yield in relation the 14,6% witness; with two thinnings, the yield was of 732.9 m3ha-1, having provoking losses of yield in relation the control sample, without thinning, of 17.3%. The executed thinnings had allowed a significant profit in diameter, until the 17 years of age, with the execution of one thinning an average diameter of 33.4 cm; with two thinnings an average diameter of 33.5 cm; e, an average diameter of 24.3 cm in the control sample, without thinning. / Esta dissertação foi realizada com o objetivo de estudar o crescimento e a produção de um povoamento de Pinus taeda L., implantado em 1987, num espaçamento inicial de 3 x 2 metros, localizado na Agropecuária Fazenda do Ipê Ltda, no município de Canela RS. Este povoamento foi manejado em sistema de alto fuste, com desbaste por baixo, para a produção de madeira de grandes dimensões. Para atingir aos objetivos propostos, foram formuladas duas hipóteses experimentais em população submetida a um e dois desbastes, além de uma testemunha, sem desbaste. Os desbastes foram realizados por baixo com redução da área basal para níveis de 28 m2ha-1. O crescimento em diâmetro, altura e volume das árvores foi ajustado com ótima precisão pelo modelo de crescimento de Richards, apresentando um coeficiente de determinação sempre superior a 0,97 e um baixo erro padrão da estimativa. Aos 17 anos, a produção total das parcelas testemunhas, sem desbaste, foi de 886,3 m3ha-1; com a realização de um desbaste foi de 756,6 m3ha-1, tendo resultado perdas de produção em relação a testemunha de 14,6 %; com dois desbastes, a produção foi de 732,9 m3ha-1, tendo provocado perdas de produção em relação à testemunha, sem desbaste, de 17,3 %. Os desbastes executados permitiram um ganho significativo em diâmetro, até os 17 anos de idade, com a execução de um desbaste, obteve-se um diâmetro médio de 33,4 cm; com dois desbastes, um diâmetro médio de 33,5 cm; e, um diâmetro médio de 24,3 cm na testemunha, sem desbaste.

Conselho Nacional de Desenvolvimento Científico e Tecnológico / The objective of the work was to study the relationship between the density of trees per hectare and the average diameter to a Deciduous Forest, as well as adjust the model to describe this behavior Reineke. The study area is located in the town of Silveira Martins, in the central region of Rio Grande do Sul and is in early stages of succession after agriculture. The information about the number of the trees per hectare and the average diameter were obtained by the method of density-off proposed by Spurr. These plots were sampled in the early stages of a secondary forest, picking up areas where the predominant Camboatá-vermelho (Cupania vernalis). As natural forests have irregular spacing, density is highly variable, therefore, to select only high-density plots were chosen in areas that there was the occurrence of dead individuals. Were tested different methods to estimate the upper limit of the self thinning line: regression analysis (for all data and relative density greater than 60%), correcting the intercept so that the wastes were negative, the manual adjustment, the relative density (DR> 90%) and stochastic frontier analysis. The method that estimated the maximum density was regression analysis with data from at least 60% of maximum density, obtaining a slope of -1.563 for the model of Reineke. There was no significant difference between the powers provided by the different methods. The maximum Stand Density Index was 1779 trees per hectare, to a dg of 25 cm. The density management diagram was constructed on the basis of basal area, number of trees per hectare and diameter of the tree of average basal area. Were used the densities of 15% and 60%, to close the canopy, and the induction of mortality, respectively. The densities were determined proportionally to the maximum density by stand density index (PDI) for a reference diameter of 25 cm in different classes of index 200, since the IDP 1700, to a minimum of 300. Populations whose density is greater than 60% of the maximum were considered overstocked, between 60 and 15% fully stocked, and below 15% under stocked. They recommended a combination of Dendrogram generated in this study with the method of Spurr to guide interventions in the Deciduous Forest. / O objetivo deste trabalho foi estudar a relação entre a densidade de árvores por hectare e o diâmetro médio para uma Floresta Estacional Decidual, bem como, ajustar o modelo Reineke para descrever este comportamento. A área de estudo localiza-se no município de Silveira Martins, na região central do Rio Grande do Sul e encontra-se em estágio inicial de sucessão, após uso agrícola. As informações referentes ao número de árvores por hectare e o diâmetro médio foram obtidas por meio do método de densidade pontual proposto por Spurr. Estas parcelas foram amostradas nos estágios iniciais de uma floresta secundária, escolhendo-se áreas onde predominava o camboatá-vermelho (Cupania vernalis). Como as florestas naturais apresentam espaçamento irregular, a densidade é bastante variável, assim sendo, para selecionar apenas parcelas em alta densidade, foram escolhidas áreas em que se verificava a ocorrência de indivíduos mortos. Foram testados diferentes métodos para estimar o limite superior da linha de autodesbaste: a análise de regressão (para todos os dados e densidade relativa maior que 60%), corrigindo o intercepto para que os resíduos fossem negativos; o ajuste manual; o de densidade relativa (DR>90%) e a análise de fronteira estocástica. O método que melhor estimou a máxima densidade foi a análise de regressão com dados de no mínimo 60% da densidade máxima, obtendo um coeficiente angular de -1,563 para o modelo de Reineke. Não houve diferença significativa entre as potências fornecidas pelos diferentes métodos. O Índice de Densidade de Povoamento máximo foi de 1779 árvores por hectare, para o dg de 25 cm. O diagrama de manejo da densidade foi construído em função da área basal, do número de árvores por hectare e do diâmetro da árvore de área basal média. Foram utilizadas as densidades de 15% e 60%, para o fechamento das copas, e a indução da mortalidade, respectivamente. Os níveis de densidade foram determinados, proporcionalmente, à máxima densidade por índice de densidade do povoamento (IDP), para um diâmetro de referência de 25 cm, em classes de índice de 200, desde o IDP de 1700, até o mínimo de 300. Populações cuja densidade for maior que 60% da máxima foram consideradas superestocadas, entre 60 e 15% estocadas, e abaixo de 15% subestocadas. Recomendou-se a combinação do Dendrograma gerado neste estudo com o método de Spurr para guiar as intervenções na Floresta Estacional Decidual.

Conselho Nacional de Desenvolvimento Científico e Tecnológico / This work was developed with the aim of studying the efficiency of the models that express the relationship of density and diameter in evenaged stands of Pinus taeda L., managed in full density and highly stocked for a bioeconomic model of production. For this, were tested density and diameter models, using data derived from 50 permanent plots, measured annually until 18 age, allocated to settlements established in the spacing of 1.5x1.0 m, 2.5x 1.0 m, 1.5x2.0 m, 2.0x2.0 m, 1.5x3.0 m, 2.5x2.0 m, 2.0x3.0 m and 2.5x3.0 m, kept at full density, in Otacílio Costa, physiographic region of Santa Catarina State plateau.The results of the bioeconomic modeling of production, based on the density management diagram system for tall trees, we concluded that the models proposed by Reineke, Yoda, Zeide and Tang showed a good statistical precision, with a determination coefficient higher than 0,88 and coefficient of variation less than 1.25 % but the model of Tang was more accurate and efficient. The size of the diameter at the point where you start self-thinning in the population varies considerably with the density of trees established per hectare. For all plant spacings analyzed did not prove the value of the slope of -3/2 law of self-thinning proposed by Tang and is a result of the initial spacing. The limit of self-thinning in less dense populations, occurs with a diameter slightly less than in maximum density, which is directly proportional to the density of trees when the implementation of the forest. The model of self-thinning described the management zones of great individuals in the population, between 0.45 and 0.55 limits the maximum density of the forest. The annual increment in diameter between 6 and 7 years, when related to relative density (G/d0,5622) identified five areas of growth, defined by: excessive space - trees grow free of competition;free growth - where growth in diameter is maximum; increased competition- when the diameter increment begins to decrease; full density - when productivity of the stand is maximum; and imminent death - begins when individuals have died by excessive density and high competition. The Diagrams Density Management of the variables mean diameter, basal area, volume by the Population Density Index was efficient and to estimate thisis values with accuracy, showed an efficiency of 0.99. The lines demarcating the areas of competition allow us to project the trajectory of the diameter and density, with the definition of the clearcutting. The Normal, Lnnormal, Weibull and Gamma probability distributions, described accurately the variation of the density of the stands, but the Weibull function with two parameters was comparable to the adjustment by the simplicity and efficiency in the prognosis of frequencies for diameter in time. The shape of the trunk was adjusted by the polynomial of five degree, allowed the best estimates than other models. The net present value of R$ 15587.60 ha-1 was given to the management regime with three thinnings at 9, 13 and 18 years and cut at 22 years, higher than the other schemes simulated. A comparison of management regimes for the equivalence of planning horizons for 28 years, determined by the equivalent annual value, said the management regime with three thinned and cut at 22 years, such as greater economic efficiency, with a value of R$ 1380.10 ha-1. The internal rate of return in any simulated management regimes was highly attractive, with varying from 14.83 % per year in managed regimes stands with three thinning and cut to 22 years to 14.25 % per year in managed regimes stands with threethinning and cut to 18 years. The biggest benefit/costs ratio was 2.81, obtained in the management regime with three thinnings, at 9, 13 and 18 years and final cutting at 22 years. / Este trabalho foi desenvolvido com o objetivo de estudar a eficiência dos modelos que expressam a relação de densidade e diâmetro em povoamentos equiâneos de Pinus taeda L., manejados em densidade completa e altamente estocados, para obtenção de um modelo bioeconômico da produção. Para isso, foram testados modelos de densidadee diâmetro, através de dados originados de 50 parcelas permanentes, medidas anualmente até os 18 anos, alocados em povoamentos implantados em espaçamentos de 1,5x1,0 m, 2,5x1,0 m, 1,5x2,0 m, 2,0x2,0 m, 1,5x3,0 m, 2,5x2,0 m, 2,0x3,0 m e 2,5x3,0 m, mantidos em densidade completa, em Otacílio Costa, região fisiográfica do planalto do estado de Santa Catarina. Os resultados obtidos da modelagem bioeconômica da produção, baseada no Diagrama de Manejo da Densidade para sistema de alto fuste, permitiram concluir que os modelos propostos por Reineke, Yoda, Zeide e Tang apresentaram uma boa precisão estatística, com um coeficiente de determinação superior a 0,88 e um coeficiente de variação inferior a 1,25%, porém o modelo de Tang mostrou-se mais preciso e eficiente. A dimensão do diâmetro médio no ponto em que inicia o autodesbaste na população varia consideravelmente com a densidade de árvores implantadas por hectare. Para todos os espaçamentos de plantio analisados, não se comprovou o valor do coeficiente angular de -3/2 da lei de autodesbaste proposto por Tang, sendo uma decorrência do espaçamento inicial. O limite de autodesbaste de populações menos densas ocorre com um diâmetro médio pouco inferior ao obtido em máxima densidade, sendo este diretamente proporcional à densidade de árvores quando da implantação da floresta. O modelo de autodesbaste descreveu as zonas de manejo ótimo dos indivíduos na população entre limites de 0,45 e 0,55 da densidade máxima da floresta. O incremento corrente anual em diâmetro entre o 6º e o 7º ano, quando relacionado com a densidade relativa (G/d0,5622), permitiu identificar cinco zonas de crescimento, definidas por: espaço excessivo as árvores crescem livre de concorrência; crescimento livre o incremento em diâmetro é máximo; aumento da competição o incremento em diâmetro começa a diminuir; estoque completo a produtividade do povoamento é máxima; e iminente mortalidade começa a haver morte de indivíduos por densidade excessiva e alta concorrência. Os Diagramas de Manejo da Densidade com as variáveis diâmetro médio, área basal e volume por Índice de Densidade do Povoamento foram eficientes e permitiram estimar estes valores com acurácia, para uma eficiência igual a 0,99. As linhas que delimitam as zonas de concorrência permitem projetar a trajetória do diâmetro por densidade populacional, com definição da idade de corte final. As distribuições de probabilidade Normal, Ln-normal, Weibull e Gama descreveram com acurácia a variação da densidade dos povoamentos, masa função de Weibull, com dois parâmetros, foi compatível pela simplicidade ao ajuste e à eficiência na prognose das frequências por diâmetro no tempo. A forma de tronco ajustada pelo polinômio do 5º grau apresentou melhores estimativas que outros modelos. O Valor Presente Líquido de R$ 15.587,60 ha-1 foi determinado para o regime de manejo com três desbastes, aos 9, 13 e 18 anos e corte final aos 22, superior aos demais regimes simulados. A comparação dos regimes de manejo pela equivalência dos horizontes de planejamento em 28 anos, determinado pelo Valor Anual Equivalente, indicou o regime de manejo com três desbastes e corte final aos 22 anos como o de maior eficiência econômica, com um valor de R$ 1.380,10 ha-1. A taxa interna de retorno em qualquer dos regimes de manejo simulados foi altamente atrativa, tendo variado de 14,83 % a.a. em povoamentos manejados com três desbastes e corte final aos 22 anos a 14,25 % a.a. em povoamentos manejadoscom dois desbastes e corte final aos 18 anos. A maior razão benefício sobre os custos foi de 2,81, obtida no regime de manejo com três desbastes, aos 9, 13 e 18 anos e corte final aos 22.

Although mango (Mangifera indica L.) has been studied for many years, numerous problems still elude researchers. The objectives of the current trials were to study the effects of some cultural practices (fruit thinning, panicle/ bud/ renewal/ post-harvest pruning) and chemicals (Corasil.E, potassium nitrate/urea, paclobutrazol) on various vegetative, floral, yield and quality parameters. The study meant to address problems of both South African and Ethiopian mango growers. The thinning (on ‘Sensation’) and pruning (on ‘Tommy Atkins’ and ‘Keitt’) experiments were conducted for two seasons (2001-2003) at Bavaria Fruit Estate in South Africa. Effects of Paclobutrazol and Potassium nitrate were studied on ‘Tommy Atkins’ during 2002-2003 season at Upper Awash Agro-industry Enterprise in Ethiopia. Complementary effects of paclobutrazol and potassium nitrate on floral induction were studied in growth chamber experiments at the experimental farm of University of Pretoria on ‘Tommy Atkins’ and ‘Keitt’ mango. Where fruit on ‘Sensation’ were thinned to one and two fruit per panicle, a significant increase was obtained for most of the fruit quantitative parameters. The treatments where one fruit and two fruit per panicle were retained and 50% panicles removed, produced a significant increase in size of the fruit, fruit qualitative parameters and fruit retention percentage. Corasil.E produced very small sized fruit with a considerable percentage of “mules” (fruit without seed). Trees subjected to severe thinning intensities showed earlier revival of starch reserves and better vegetative growth. Applications of paclobutrazol (1- (4-chlorophenyl) –4,4-dimethyl-2- (1,2,4- triazol-1-yl) pentan-3-ol) at rates of 5.50 and 8.25 g a.i. per tree, both as a soil drench and spray applications, on ‘Tommy Atkins’ mango were effective in suppressing vegetative growth as compared to the control. Consequently, the trees from these treatments had higher total non-structural carbohydrate in their shoots before flowering which led to higher results of percentages of shoots flowering, number of panicles produced, percentages of hermaphrodite flowers, yield and quality of the fruit. Trees that received panicle pruning (during full bloom) treatment at the point of apical bud attachment, were observed to be induced for synchronized re-flowering and also attained more fruit per panicle. On the other hand, trees on which renewal pruning (early in the season) and post-harvest pruning (especially for early cultivars) treatments were applied, have been observed for the development of an adequate number of productive inflorescences. Post-harvest pruning treatments also resulted in greater vegetative growth on both cultivars. The responses to pruning treatments were greater especially in ‘Tommy Atkins’ than ‘Keitt’. The trend for the interaction of duration and chemicals in Tommy Atkins and Keitt mango cultivars revealed the possible floral induction complementary effect of PBZ after the trees were induced only for 15 days at 10/15 oC temperature. Higher potassium nitrate concentrations especially in combination with urea (5 litre solution of 4% KNO3+0.5 g urea tree-1 and 5 litres of 4% KNO3+1 g urea tree-1 ) produced higher results for most of the flowering and yield parameters in ‘Tommy Atkins’. / Thesis (DPhil (Horticulture))--University of Pretoria, 2006. / Plant Production and Soil Science / unrestricted

Cette thèse porte sur l’optimisation des stratégies de reroutage dans les réseaux de télécommunications. Plus précisément, l’objectif est de proposer ou d’adapter des mécanismes permettant de router le trafic du réseau après une panne partielle, c’est-à-dire, après une baisse de la bande passante d’un ou plusieurs liens du réseau, tout en minimisant le coût de dimensionnement du réseau. Nos contributions principales sont la proposition de deux stratégies de protection/routage nommée Flow Thinning et Elastic Flow Rerouting. La thèse est organisée en trois parties. Dans la première partie, nous présentons la problématique de la thèse avant de passer en revue les stratégies de protection et reroutage de la littérature, leur modélisation et méthode de résolution. La deuxième partie présente en détails la première stratégie de protection appelée Flow-Thinning. Cette stratégie gère les pannes partielles en diminuant la bande passante de certain flots qui passent par le ou les arc(s) perturbés. Cela implique un surdimensionnement du routage nominal permettant d’assurer le trafic en cas de perturbations. La troisième et dernière partie concerne la deuxième stratégie de routage dénommée Elastic Flow Rerouting. Cette stratégie est un peu plus complexe que la première dans le sens où, en cas de panne, une distinction est faite entre les demandes perturbées ou non. Si une demande est perturbée, elle peu augmenter le trafic sur ces chemins. Si elle ne l’est pas, elle peut libérer de la bande passante sous la condition qu’elle ne devienne pas perturbée à son tour. Notons que ces deux stratégies sont assez difficiles du point de vue de leur complexité. Cette thèse a fait l’objet de divers travaux écrits : trois articles (acceptés ou en révision) dans des journaux (Fouquet et al. (2015b), Pióro et al. (2015), Shinko et al. (2015)), deux articles invités (Fouquet and Nace (2015), Fouquet et al. (2014c)) et huit articles dans des conférences internationales (Fouquet et al. (2015a; 2014d;a;b;e), Pióro et al. (2013b;a), Shinko et al. (2013)). Notons que Pióro et al. (2013b) a reçu le "Best Paper Award" de la conférence RNDM 2013. Pour finir, notons que cette thèse a été réalisée au laboratoire Heudiasyc de l’Université de Technologie de Compiègne (UTC). Elle a été financée par le Ministère de l’enseignement et de la recherche français3 avec le soutien du labex MS2T4 de l’UTC. / This thesis summaries the work we have done in optimization of resilient communication networks. More specifically, the main goal is to propose appropriated recovery mechanisms for managing the demand traffic in a network under partial failures, i.e. when some part of the network (one or some links and/or nodes) is operational with reduced capacity. The main criterion in deciding the efficiency of the proposed recovery scheme is the dimensioning cost of the network while keeping the management cost at reasonable levels. Our main contribution is the design of two restoration strategies named Flow Thinning and Elastic Flow Rerouting. This document is organized in three main parts. In the first part, we present the problematic of the thesis. It includes an introduction on the protection and rerouting state-of-art strategies, together with their mathematical models and resolution methods. The second part presents in depth the first protection strategy named Flow Thinning. This strategy manages partial failures by decreasing appropriately the bandwidth on some flows routed through one of perturbed links. This implies overdimensionning of the network in the nominal state to ensure demand traffic in all failure states. The third and last part deals with the second rerouting strategy called Elastic Flow Rerouting. This strategy is a bit more complex than the first one because, in a failure state, we need to distinguish demands which are disturbed and the one which are not. If a demand is disturbed, it can increase the traffic on some of its paths. If it is not disturbed, it can release bandwidth on paths at the condition it remains non-disturbed. All this allows for further reducing the dimensioning cost but at a higher cost in terms of recovery process management. Note that the dimensioning problems for each strategy are shown to be NP-hard in their general form. The work of the thesis has been published in: three journal articles (Fouquet et al. (2015b), Pióro et al. (2015), Shinko et al. (2015)), two invited articles (Fouquet and Nace (2015), Fouquet et al. (2014c)) and height articles in international conferences (Fouquet et al. (2015a; 2014d;a;b;e), Pióro et al. (2013b;a), Shinko et al. (2013)). Note that Pióro et al. (2013b) has been rewarded by a "Best Paper Award" from the RNDM conference. To conclude, note that this thesis was realized in the Heudiasyc laboratory, from the Université de Technologie de Compiègne (UTC). It was financed by the French Ministry of Higher Education and Research1 with the support of the Labex MS2T2 of the UTC.

För att kontrollera så gallringar utförs på ett korrekt sätt genomförs kontinuerliga kvalitetskontroller, dels som enkla egenuppföljningar av maskinförarna men även som mer omfattande gallringsuppföljningar av skogsbolag och skogsägarföreningar. Eftersom dessa kontroller är tidskrävande så görs i dagsläget enbart stickprovskontroller. Skogforsk har utvecklat ett program vid namn hprGallring, som utifrån skördardata beräknar beståndsvariabler och gör en prognos för det kvarvarande beståndet. Syftet med den här studien har varit att undersöka om precisionen i hprGallring är tillräckligt bra för att vara tillfredsställande och på så vis kunna minska ner det manuella arbetet. Resultaten pekar på att hprGallring nästan alltid överskattar grundytan och volym något. Allra tydligast blir det i gallringar som är riktade mot ett visst trädslag, dvs. när trädslagsfördelningen i gallringsuttaget skiljer sig avsevärt från trädslagsfördelningen i det ursprungliga beståndet. I dessa fall stämmer även den prognostiserade trädslagsfördelningen i det kvarvarande beståndet dåligt. / Continuous controls are made to see if the thinning is done as specified. This is made by self-controls by the harvester drivers or more comprehensive controls by the logging companies. Those controls are done by random samples since they are very time consuming. Skogforsk has developed software named hprGallring, which uses harvester data and mathematical algorithms to calculate stand variables and forecasting the remaining stand after thinning. The purpose with this study has been to investigate if hprGallrings forecast is good enough to reduce the manual work. The results show that hprGallring seems to overestimate the basal area and volume. This is most obvious in stands were the thinning are concentrated against a specific sort of wood. The forecast for tree composition in the remaining stand are in these cases very inaccurate.

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Growing forests are extremely valuable for the climate, for our shift towards a non-fossil-based society as well as to our economy. In order to create a healthy and lucrative forest that can cope with increasing future demands and challenges, certain forestry actions are required in which pre-commercial thinning is the most important one. Studies show that pre-commercial thinning today suffers from an acute shortage of available workforce with necessary qualifications. This project investigates the possibilities of creating a forest machine that can perform pre-commercial thinning autonomously. This project resulted in a concept called CURO. CURO is a fully autonomous robot that carries out pre-commercial thinning in young forest stands. It is designed to be agile and compact to be able to move around easily in the forest. For an autonomous forest machine to be able to perform successfully in a difficult terrain, lots of data is needed. Information about the forest is gathered over time when different forestry actions are carried out in the area. This information is shared with CURO. It combines all the collected information with data perceived from its own sensors to make the best suitable decision for each individual forest stand.