A seleção de genitores para cruzamentos constitui-se em uma das etapas mais importantes em programas de melhoramento genético, pois com isso evita-se o desenvolvimento de populações pouco promissoras. Com o advento dos marcadores moleculares surgiu a possibilidade de predizer o desempenho das populações com base nas distâncias genéticas entre os genitores, mas os resultados disponíveis são contraditórios. O objetivo deste trabalho foi avaliar a possibilidade de predizer a variabilidade de cruzamentos de soja a partir de medidas de distâncias genéticas obtidas com marcadores moleculares AFLP. Foram realizados seis cruzamentos biparentais, entre cultivares recomendados para o Estado de São Paulo, com diferentes graus de distâncias genéticas (DG): baixo (DG£ 0,20), médio (DG@ 0,44) e alto (DG@ 0,65). Para cada cruzamento foram obtidas 100 progênies F2:3, que foram avaliadas em delineamentos em látice simples e parcelas lineares de 2 m espaçadas de 0,5 m, contendo 30 plantas após o desbaste, no ano agrícola de 2007/08. Foram avaliados os caracteres: número de dias para florescimento (DF), altura das plantas no florescimento (AF), número de dias para maturação (DM), altura das plantas na maturação (AM), acamamento (AC) e produção de grãos (PG). Para cada cruzamento foi estimada a variância genética entre progênies ( 2 p ), o coeficiente de herdabilidade entre médias de progênies ( 2 X h ), e a amplitude das médias individuais das progênies ( 3 : 2 F ) para todos os caracteres. Para a produção de grãos (PG) foi estimada ainda a proporção esperada de linhagens superiores (PS) e a heterose (h). Observou-se um aumento na magnitude da variância genética ( 2 p ), do coeficiente de herdabilidade ( 2 X h ) e da amplitude das médias das progênies ( 3 : 2 F ) com o aumento da distância genética (DG), principalmente para PG, DM e AF, evidenciado pelas correlações entre estas estimativas e DG ( = r 0,60 a 1,00). Para os demais caracteres as correlações foram ligeiramente inferiores. Além disso, para PG observou-se também uma correlação alta com a proporção esperada de linhagens superiores ( = r 0,77) e com a heterose ( = r 0,83). Estes resultados indicam claramente um aumento da variabilidade genética com o aumento da distância genética entre os genitores, sendo possível uma seleção prévia de genitores, da ordem de 50%, com base nas distâncias genéticas obtidas com marcadores moleculares AFLP, com o intuito de reduzir o número de populações a ser avaliado. / The selection of parents for crossings is one of the most important steps in plant breeding programs, in order to avoid the development of unfavorable populations. The population performance can be predicted by using genetics distances based on molecular markers, but the reported results are not consistent. Thus, the objective of this work was to investigate the possibility of predicting genetic variability of soybean crosses, based on genetic distances between parents derived from AFLP molecular markers. Six two-way crosses of soybean were performed between cultivars adapted to the state of São Paulo, Brazil, with different levels of molecular genetic distances (DG): low (DG£ 0,20); intermediate (DG@ 0.44) and high (DG@ 0.65). For each cross 100 F2:3 progenies were evaluated in a simple lattice design and plots 2 meter long spaced by 0.5 meter, containing 30 plants after thinning, in the 2007/08 growing season. The following traits were evaluated: days to flowering (DF), plant height at flowering (AF), days to maturity (DM), plant height at maturity (AM), lodging (AC) and grain yield (PG). For each cross the following parameters were estimated: genetic variance among progenies ( 2 p ), heritability among progeny means ( 2 X h ) and amplitude of the individual progeny means ( 3 : 2 F ) for all traits. For grain yield the expected proportion of superior inbred lines (PS) and heterosis (h) were also estimated. It was observed an increasing of genetic variance ( 2 p ), heritability ( 2 X h ) and amplitude of the progeny means ( 3 : 2 F ), with the genetic distance (DG) increasing, mainly for PG, DM and AF, as can be seen by the correlation coefficients between those estimates and DG ( = r 0.60 to 1.00). For the other traits, the correlation coefficients were smaller. Besides, a correlation of DG with the proportion of superior inbred lines ( = r 0.77) and with heterosis ( = r 0.83) were also observed for PG. General results indicate clearly an increasing of genetic variability following the increasing of genetic distances between the parents, and thus, a previous selection of parents of around 50%, based on AFLP genetic distances, is possible, in order to reduce the number of populations to be evaluated.

La recherche d’une locomotion performante sur des terrains accidentés constitue encore à l’heure actuelle un défi pour les systèmes robotisés de toutes sortes s’y attelant. Les robots hybrides de type “roues-pattes”, qui tentent d’allier l’efficacité énergétique des roues à l’agilité des pattes, en sont un exemple aux capacités potentiellement très prometteuses. Malheureusement, le contrôle de telles structures s’avère rapidement problématique du fait des redondances cinématiques, mais aussi et surtout de la difficulté que pose la connaissance exacte de la géométrie du sol à mesure que le robot avance. Cette thèse propose alors une réponse à la complexité des systèmes roulants reconfigurables par une approche synergique entre compliance et actionnement. Pour cela, nous proposons d’exploiter une décomposition idéalement orthogonale entre les différentes formes de compliances qui réalisent la suspension du robot. Ainsi, l’actionnement au sein de la structure est ici dédié à un contrôle des efforts verticaux s’exerçant sur les roues, tandis que les déplacements horizontaux de ces dernières sont le fait d’une raideur passive combinée à une modulation locale des vitesses d’entraînement. La posture du robot est maîtrisée via l’asservissement des forces verticales fournies par un actionnement de type série-élastique. Ceci permet de garantir une adaptation spontanée de la hauteur des roues tout en conservant l’ascendant sur la distribution de la charge. La faisabilité d’un tel système de locomotion est validée à travers un prototype reposant sur quatre “roues-pattes” compliantes. Celui-ci, entièrement conçu dans le cadre de cette étude, approche la décomposition fonctionnelle proposée tout en répondant aux contraintes de réalisation et de robustesse. Tirant parti de la décomposition fonctionnelle proposée pour la structure, deux procédés de commande sont présentés afin de réaliser le franchissement des obstacles : le premier vise à exploiter l’inertie du châssis pour réaliser une modification locale des forces verticales appliquées aux roues, tandis que le second est basé sur la sélection d’un mode de répartition des efforts adaptés à la poursuite d’une évolution quasi-statique en toutes circonstances. Pour cette dernière commande, deux méthodes de synthèse sont abordées : l’une via un algorithme d’apprentissage de type “Q-learning” et l’autre par détermination de règles expertes paramétrées. Ces commandes, validées par des simulations dynamiques dans des situations variées, se basent exclusivement sur des données proprioceptives accessibles immédiatement par la mesure des variables articulaires de la structure. De cette manière, le robot réagit directement au contact des obstacles, sans avoir besoin de connaître à l’avance la géométrie du sol. / Performing an efficient locomotion on rough terrains is still a challenge for robotic systems of all kinds. “Wheel-on-leg” robots that try to combine energy efficiency of wheels with leg agility are an example with potentially very promising capabilities. Unfortunately, control of such structures turns out to be problematic because of the kinematic redundanciesand, above all, the difficulty of precisely evaluating the ground geometry as the robot advances. This thesis proposes a solution to the complexity of reconfigurable rolling systems by a synergic approach between compliance and actuation.To this purpose, we propose to exploit an ideally orthogonal decomposition between the different movements enabled by the robot suspension due to compliant elements. Then, the structure actuation is here dedicated to controlling the vertical forces applied on wheels, while the horizontal wheel displacements are due to a passive stiffness combined with a local modulation of wheel speed. The robot posture is controlled through the vertical forces servoing provided by a series elastic actuation. This ensures a spontaneous adaptation of wheel heights while keeping the control on load distribution. The feasibility of such a locomotion system is validated through a prototype based on four compliant “wheel-legs”. Entirely conceived as part of this study, this one approximates the proposed functional decomposition while meeting the realization and robustness constraints. We also present two control methods that take advantage of the functional decompositionproposed for the structure in order to cross obstacles. The first one aims to exploit the chassis inertia in order to perform a local modification of the vertical forces applied on wheels, while the second one is based on the selection of proper ways of distributing forces in order to be able to pursue a quasi-static advance in all circumstances. Two approaches are given for the production of the last control : either with a “Q-learning” algorithm or by determining parameterized expert rules. Validated by dynamic simulations in various situations, these controls rely only on proprioceptive data immediately provided by the measurement of articular variables. This way, the robot directly reacts when it touches obstacles, without having to know the ground geometry in advance.

Kyoto University (京都大学) / 0048 / 新制・課程博士 / 博士(工学) / 甲第17595号 / 工博第3754号 / 新制||工||1572(附属図書館) / 30361 / 京都大学大学院工学研究科高分子化学専攻 / (主査)教授 伊藤 紳三郎, 教授 赤木 和夫, 教授 金谷 利治 / 学位規則第4条第1項該当

La recombinaison méiotique via les Crossing-Overs (COs) est le principal mécanisme permettant le brassage de la diversité génétique. Cependant, le nombre et la position des COs entre paires de chromosomes homologues sont strictement régulés, limitant la séparation des loci en sélection variétale. Dans le cas du colza B. napus, l’utilisation d’allotriploïdes (AAC, 2n=3x=29), issus du croisement entre le colza (AACC, 2n=4x=38) et l’un de ses progéniteurs B. rapa (AA, 2n=2x=20), permet d’augmenter considérablement le nombre de COs entre chromosomes homologues A. L’objectif de cette étude était de déterminer les conséquences d’une telle variation sur la distribution des COs le long des chromosomes ainsi que d’identifier des facteurs régulant ce phénomène. Suite à la production et à la caractérisation cytogénétiques d’hybrides F1 présentant différents caryotypes, la recombinaison homologue a été évaluée par des analyses génétiques via des marqueurs SNPs physiquement ancrés sur l’ensemble duNous avons montré que l’addition du génome C chez les allotriploïdes conduit toujours à (1) la formation de COs surnuméraires, dont le nombre varie fonction des méioses mâle/femelle et du fond génétique, (2) une modification des profils de recombinaison, notamment au voisinage des centromères, et (3) une réduction de l’intensité d’interférence. De plus, nous avons révélé que le contrôle génétique de ces variations est imputé à des chromosomes C spécifiques et aurait divergé dans un contexte polyploïde. Nous avons donc identifié un levier permettant d’optimiser le brassage de la diversité gén / Meiotic recombination via crossovers (COs) is the main mechanism responsible for mixing genetic diversity. However, the number and position of COs between the pairs of homologous chromosomes are strictly regulated, limiting the loci separation in plant breeding. In the case of the rapeseed B. napus, the use of allotriploids (AAC, 2n=3x=29), resulting from the cross between rapeseed (AACC, 2n=4x=38) and one of its progenitors B. rapa (AA, 2n=2x=20), allows a substantial increase of the number of COs between homologous A chromosomes. The objective of this study was to determine the consequences of such a variation on the distribution of COs along the chromosomes and to identify factors regulating this phenomenon. Following the production and cytogenetic characterization of F1 hybrids with different karyotypes, homologous recombination was assessed by genetic analyzes via SNPs markers physically anchored on the whole A genome.We showed that the additional C genome in allotriploids always leads to (1) the formation of extra COs, for which the number depends on the male/female meiosis and the genetic background, (2) the modification of the recombination landscapes, especially in the vicinity of centromeres, and (3) the decrease of CO interference. In addition, we revealed that the genetic control of these variations is assigned to specific C chromosomes and could have evolved in a polyploid context. We have therefore identified a way to optimize the shuffling of genetic diversity in rapeseed breeding.

Let F be a family of sets. A graph G is an intersection graph of sets from the family F if there exists a mapping f : V (G)→ F such that, An interval graph is an intersection graph of a family of closed intervals on the real line. Interval graphs find application in diverse fields ranging from DNA analysis to VLSI design. An interval on the real line can be generalized to a k dimensional box or k-box. A k-box B = (R1.R2….Rk) is defined to be the Cartesian product R1 × R2 × …× Rk, where each Ri is a closed interval on the real line. If each Ri is a unit length interval, we call B a k-cube. Thus, an interval is a 1-box and a unit length interval is a 1-cube. A graph G has a k-box representation, if G is an intersection graph of a family of k-boxes in Rk. Similarly, G has a k-cube representation, if G is an intersection graph of a family of k-cubes in Rk. The boxicity of G, denoted by box(G), is the minimum positive integer k such that G has a k-box representation. Similarly, the cubicity of G, denoted by cub(G), is the minimum positive integer k such that G has a k-cube representation. Thus, interval graphs are the graphs with boxicity equal to 1 and unit interval graphs are the graphs with cubicity equal to 1. The concepts of boxicity and cubicity were introduced by F.S. Roberts in 1969. Deciding whether the boxicity (or cubicity) of a graph is at most k is NP-complete even for a small positive integer k. Box representation of graphs finds application in niche overlap (competition) in ecology and to problems of fleet maintenance in operations research. Given a low dimensional box representation, some well known NP-hard problems become polynomial time solvable. Attempts to find efficient box and cube representations for special classes of graphs can be seen in the literature. Scheinerman [6] showed that the boxicity of outerplanar graphs is at most 2. Thomassen [7] proved that the boxicity of planar graphs is bounded from above by 3. Cube representations of special classes of graphs like hypercubes and complete multipartite graphs were investigated in [5, 3, 4]. In this thesis, we present several bounds for boxicity and cubicity of special classes of graphs in terms of other graph parameters. The following are the main results shown in this work. 1. It was shown in [2] that, for a graph G with maximum degree Δ, cub(G) ≤ [4(Δ+ 1) log n]. We show that, for a k-degenerate graph G, cub(G) ≤ (k + 2)[2e log n]. Since k is at most Δ and can be much lower, this clearly is a stronger result. This bound is tight up to a constant factor. 2. For a k-degenerate graph G, we give an efficient deterministic algorithm that runs in O(n2k) time to output an O(k log n) dimensional cube representation. 3. Crossing number of a graph G is the minimum number of crossing pairs of edges, over all drawings of G in the plane. We show that if crossing number of G is t, then box(G) is O(t1/4 log3/4 t). This bound is tight up to a factor of O((log t)1/4 ). 4. We prove that almost all graphs have cubicity O(dav log n), where dav denotes the average degree. 5. Boxicity of a k-leaf power is at most k -1. For every k, there exist k-leaf powers whose boxicity is exactly k - 1. Since leaf powers are a subclass of strongly chordal graphs, this result implies that there exist strongly chordal graphs with arbitrarily high boxicity 6. Otachi et al. [8] conjectured that chordal bipartite graphs (CBGs) have boxicity at most 2. We disprove this conjecture by exhibiting an infinite family of CBGs that have unbounded boxicity. We first prove that the bipartite power of a tree (which is a CBG) is a CBG and then show that there exist trees whose bipartite powers have high boxicity. Later in Chapter ??, we prove a more generic result in bipartite powering. We prove that, for every k ≥ 3, the bipartite power of a bipartite, k-chordal graph is bipartite and k-chordal thus implying that CBGs are closed under bipartite powering. 7. Boxicity of a line graph with maximum degree Δ is O(Δ log2 log2 Δ). This is a log2 Δ log log Δ factor improvement over the best known upper bound for boxicity of any graph [1]. We also prove a non-trivial lower bound for the boxicity of a d-dimensional hypercube.

L'approche moderne des Traversées Alpines s'est fondée sur un postulat de corrélation de trois dynamiques : l'accélération, la concentration et l'extériorisation. Il convient aujourd'hui de le réinterroger. Les cadres d'étude récents des phénomènes de Traversées Alpines ont enfermé ce champs dans des approches spatiales segmentées (corridor, axe ; découpage courant Alpes occidentales/centrales/orientales). Ce contexte épistémologique révèle la prédominance du versant nord comme prisme de considération du phénomène. Il renforce le paradoxe animant le fond des Traversées Alpines : alors que l'Italie est le dénominateur commun à tous les axes de franchissement, ce pays est le plus absent tant dans la littérature que dans la menée politique des conditions d'exercice des flux. Le contexte géopolitique explique pour partie cette situation. Le jeu politique des Traversées témoigne d'une forme de « complexe de centralité » animant l'Autriche et plus encore la Suisse. Ce paradoxe remet en cause un premier postulat moderne, la course à l'extériorisation. Si les nœuds associés au franchissement se retrouvent aujourd'hui jusqu'à Mannheim voire Rotterdam, le cadre politique n'est, lui, pas dépassé. Le cadre technique, caractérisé par une recherche de continuités réticulaires (libéralisations, interopérabilités, tunnels de base), se concrétise au contact du cadre politique par l'émergence d'un mouvement nodal contraire. L'ouverture des tunnels de base comme la mise en place des réseaux de production des nouveaux acteurs sur le marché ferroviaire inventent et réactivent des nœuds à l'intérieur du massif. Cette nodogenèse interroge ainsi le présupposé répandu d'effacement, corollaire de cette ère affirmée des Nouvelles Traversées Alpines. L'accélération portée par les tunnels de base ne produit alors pas uniquement, à l'échelle des territoires alpins, une dynamique d'extériorisation ; il en va de même en ce qui concerne la concentration. L'itinéraire nouvellement ouvert n'efface pas les itinéraires précédents. Le tunnel de base du Lötschberg est exploité de concert avec la ligne de faîte. Il en sera de même avec le Gothard ou le Brenner. Si bien que la question de l'agencement vertical des logiques de franchissement se pose dans ce contexte d'éclatement des linéaires. Réintériorisation, éclatement, accélération apparaît comme le nouveau tryptique à l'œuvre autour des Traversées Alpines. L'enjeu de la nouveauté est de remettre en cause les acquis d'une lecture moderniste et de questionner la profondeur du tournant actuel. Tout ne change pas : la dimension nationale reste prédominante, l'Italie reste en retrait. Les Traversées Alpines restent un ensemble de systèmes nationaux cospatiaux, en recherche d'interspatialités entre eux et avec les territoires traversés. Une configuration territoriale émerge, la basse vallée, comme espace de conflictualités en mal de médiations. La basse vallée accueille la nodogenèse, est le théâtre des oppositions aux projets actuels comme dans le Val de Suse, porte la majeure partie des chantiers des tunnels de base… Cet espace, hier considéré comme intermédiaire, réinvente la notion de piedmont en se posant en potentielle intermédiation entre des dimensions verticales toujours plus centrifuges. La « nouveauté » est ainsi à chercher dans cette nouvelle donne spatiale. / The modern approach of Alpine Crossing was based on the correlation between three processes: acceleration, concentration and exteriorization. It can be interrogated once again at present time. The recent spatial studies of the phenomenon have enclosed it into an addition of partial considerations. This epistemological context reveals the importance of the northern part of Alps. It reinforces the paradox animating the intellectual ground of the Alpine Crossings system: Italy is the spatial common reference of the entire axis but this country is quite not concerned in the scientific literature and the political invention of the technical conditions. The geopolitical context explains partly this situation. Political frame testifies systemof centrality animating Austria and moreover Switzerland. This paradox takes issue to the first pillar of the modern intellectual approach of the phenomenon, exteriorization. If nodal points associated to the crossing can be identified from Mannheim to Rotterdam, this study focus into the borders of the alpine states. The technical ground and the research of reticular continuities, takes sense in a special political frame characterized by a movement of reinteriozation. Basis tunnels and transport liberalization into alpine area give new functionalities to former crossing nodal points. This new nodogenesis interrogates the idea of cancellation encpsuled in “New Alpine Crossings” era. Acceleration brought by the basis tunnels doesn't product exteriorization and concentration. New itinerary doesn't cancel the former ones. Lötschberg basis tunnel is managed together with the mountain line. It should be the same with Gothard and Brenner axis. Basically, the question of the vertical organization of crossing logics is asserted in a context of itineraries' split. Reinteriozation, itineraries' split, acceleration appears as the new tryptic of the Alpine Crossings. Novelty issue is to question the modern inherited meaning. First of all, Alpine Crossings remain an addition of national systems going to interspatiality increasing performance. Intermediation appears as a new territorial configuration, which could be illustrated by Italian lower valleys. This area was considered as an in-between space, but reinvents now the notion of piedmont. Novelty maybe found into this new territorial context.

京都大学 / 0048 / 新制・課程博士 / 博士(理学) / 甲第21559号 / 理博第4466号 / 新制||理||1641(附属図書館) / 京都大学大学院理学研究科物理学・宇宙物理学専攻 / (主査)教授 川合 光, 教授 田中 貴浩, 教授 高柳 匡 / 学位規則第4条第1項該当 / Doctor of Science / Kyoto University / DFAM

<div> <div> <div> <p>For pedestrians and autonomous vehicles (AVs) to co-exist harmoniously and safely in the real-world, AVs will need to not only react to pedestrian actions, but also anticipate their intentions. In this thesis, we propose to use rich visual and pedestrian-environment interaction features to improve pedestrian crossing intention prediction from the ego-view. We do so by combining visual feature extraction, graph modeling of scene objects and their relationships, and feature encoding as comprehensive inputs for an LSTM encoder-decoder network. </p> <p>Pedestrians react and make decisions based on their surrounding environment, and the behaviors of other road users around them. The human-human social relationship has already been explored for pedestrian trajectory prediction from the bird’s eye view in stationary cameras. However, context and pedestrian-environment relationships are often missing in current research into pedestrian trajectory, and intention prediction from the ego-view. To map the pedestrian’s relationship to its surrounding objects we use a star graph with the pedestrian in the center connected to all other road objects/agents in the scene. The pedestrian and road objects/agents are represented in the graph through visual features extracted using state of the art deep learning algorithms. We use graph convolutional networks, and graph autoencoders to encode the star graphs in a lower dimension. Using the graph en- codings, pedestrian bounding boxes, and human pose estimation, we propose a novel model that predicts pedestrian crossing intention using not only the pedestrian’s action behaviors (bounding box and pose estimation), but also their relationship to their environment. </p> <p>Through tuning hyperparameters, and experimenting with different graph convolutions for our graph autoencoder, we are able to improve on the state of the art results. Our context- driven method is able to outperform current state of the art results on benchmark dataset Pedestrian Intention Estimation (PIE). The state of the art is able to predict pedestrian crossing intention with a balanced accuracy (to account for dataset imbalance) score of 0.61, while our best performing model has a balanced accuracy score of 0.79. Our model especially outperforms in no crossing intention scenarios with an F1 score of 0.56 compared to the state of the art’s score of 0.36. Additionally, we also experiment with training the state of the art model and our model to predict pedestrian crossing action, and intention jointly. While jointly predicting crossing action does not help improve crossing intention prediction, it is an important distinction to make between predicting crossing action versus intention.</p> </div> </div> </div>

Point of this diploma thesis is analyzing of three railroad crossing controlled by institutions of South-Moravian region, which are chosen by author. For analysis were chosen problematic railroad crossing where happened in last five years traffic accidents with consequences of death. Next criterion of choosing was type of security device. Chosen railroads crossing are representing all types of normally used security devices. That is why was chose railroad crossing with only warning crosses, light security device and last one with light security device with barrier beam. Theoretical part aims on: Basic parameters, dividing, numbering, system of function and marking of railroad crossing. In practical part, there are used mathematical calculations for assessment of safety on chosen railroad crossing and for determination of possibilities of averting a collision of both participants. Corrective measures are made for each railroad crossing taking to account it’s financial conditions. For each railroad crossing is made polygon with help of program Virtual Crash 3.

A master’s thesis deals with a problem of traffic accidents on pedestrian crossings. A theoretical part describes causes and following responsibilities of all participants of the traffic accident. Furthermore, the theoretical part analyzes a traffic system and its individual parts. A practical part of this thesis describes all measuring tools used for collection of data during the analysis. The data was obtained during a real traffic on chosen pedestrian crossing in Brno A tool used for analysis is called eyetracer. Furthermore, an evaluation of collected data and following analysis were carried out. Eventually, results were compared with reports about accidents which happened on chosen pedestrian crossings.