Online adaptation of reference trajectories for the control of walking systems

International audienceA simple and widely used way to make a robotic system walk without falling is to make it track a reference tra jectory in one way or another, but the stability obtained this way may be limited and even small perturbations may lead to a fall. We propose here a series of heuristics to improve the stability that can be obtained from such a tracking control law, through an online adaptation of the choice of the reference tra jectory being tracked. Encouraging simulations are obtained in the end on a simple planar biped model

Online adaptation of reference trajectories for the control of walking systems

A simple and widely used way to make a robotic system walkwithout falling is to make it track a reference trajectory in one way or another, but the stability obtained this way may be limited and even small perturbations may lead to a fall. We propose here a series of heuristics to improve the stability that can be obtained from such a tracking control law, through an online adaptation of the choice of the reference trajectory being tracked. Encouraging simulations are obtained in the end on a simple planar biped model

The Changing Landscape for Stroke\ua0Prevention in AF: Findings From the GLORIA-AF Registry Phase 2

Background GLORIA-AF (Global Registry on Long-Term Oral Antithrombotic Treatment in Patients with Atrial Fibrillation) is a prospective, global registry program describing antithrombotic treatment patterns in patients with newly diagnosed nonvalvular atrial fibrillation at risk of stroke. Phase 2 began when dabigatran, the first non\u2013vitamin K antagonist oral anticoagulant (NOAC), became available. Objectives This study sought to describe phase 2 baseline data and compare these with the pre-NOAC era collected during phase 1. Methods During phase 2, 15,641 consenting patients were enrolled (November 2011 to December 2014); 15,092 were eligible. This pre-specified cross-sectional analysis describes eligible patients\u2019 baseline characteristics. Atrial fibrillation disease characteristics, medical outcomes, and concomitant diseases and medications were collected. Data were analyzed using descriptive statistics. Results Of the total patients, 45.5% were female; median age was 71 (interquartile range: 64, 78) years. Patients were from Europe (47.1%), North America (22.5%), Asia (20.3%), Latin America (6.0%), and the Middle East/Africa (4.0%). Most had high stroke risk (CHA2DS2-VASc [Congestive heart failure, Hypertension, Age  6575 years, Diabetes mellitus, previous Stroke, Vascular disease, Age 65 to 74 years, Sex category] score  652; 86.1%); 13.9% had moderate risk (CHA2DS2-VASc = 1). Overall, 79.9% received oral anticoagulants, of whom 47.6% received NOAC and 32.3% vitamin K antagonists (VKA); 12.1% received antiplatelet agents; 7.8% received no antithrombotic treatment. For comparison, the proportion of phase 1 patients (of N = 1,063 all eligible) prescribed VKA was 32.8%, acetylsalicylic acid 41.7%, and no therapy 20.2%. In Europe in phase 2, treatment with NOAC was more common than VKA (52.3% and 37.8%, respectively); 6.0% of patients received antiplatelet treatment; and 3.8% received no antithrombotic treatment. In North America, 52.1%, 26.2%, and 14.0% of patients received NOAC, VKA, and antiplatelet drugs, respectively; 7.5% received no antithrombotic treatment. NOAC use was less common in Asia (27.7%), where 27.5% of patients received VKA, 25.0% antiplatelet drugs, and 19.8% no antithrombotic treatment. Conclusions The baseline data from GLORIA-AF phase 2 demonstrate that in newly diagnosed nonvalvular atrial fibrillation patients, NOAC have been highly adopted into practice, becoming more frequently prescribed than VKA in Europe and North America. Worldwide, however, a large proportion of patients remain undertreated, particularly in Asia and North America. (Global Registry on Long-Term Oral Antithrombotic Treatment in Patients With Atrial Fibrillation [GLORIA-AF]; NCT01468701

Incidence de la thrombose tardive de stent après implantation d'endoprothèse active (suivi à 4 ans d'une cohorte de 73 patients)

BORDEAUX2-BU Santé (330632101) / SudocPARIS-BIUM (751062103) / SudocSudocFranceF

Disposition du Bishpénol A chez le cheval (établissement d une relation allométrique chez les mammifères)

L objectif de cette thèse était de décrire les paramètres pharmacocinétiques du BPA chez le cheval, de façon à compléter l approche allométrique de la clairance du BPA précédemment établie à partir des données obtenues chez 5 espèces de mammifères et, à partir de cette approche, prédire la clairance du BPA chez l homme. La clairance moyenne du BPA chez le cheval a été évaluée à 6.1 L/min. Cette valeur nous a permis d estimer la clairance plasmatique de l homme par interpolation de la relation allométrique qui lie la clairance du BPA au poids corporel de l espèce, à 1,7 L/min, soit 24,74 mL/(kg.min), pour un Homme de 70 kg. Cette donnée pharmacocinétique est fondamentale pour interpréter les résultats des études de biosurveillance et prédire les niveaux d exposition interne au BPA chez l Homme dans le cadre du risque lié à l exposition de l homme à ce xénœstrogène.TOULOUSE-EN Vétérinaire (315552301) / SudocSudocFranceF

Sex-based and beauty-based objectification: Metadehumanization and emotional consequences among victims

We investigated how two forms of objectification (i.e., sex- and beauty-based objectification) relate to metadehumanization (i.e., the perception of being dehumanized) and emotional consequences for victims. Capitalizing on previous research, we hypothesized that sex-based objectification would induce animalistic metadehumanization and that beauty-based objectification would induce mechanistic metadehumanization. Our four studies showed that sex-based objectification elicits stronger mechanistic metadehumanization than beauty-based objectification, which also elicits higher mechanistic metadehumanization than non-objectifying control condition. Unexpectedly, animalistic metadehumanization did not vary across conditions. These findings suggest that, consistent with the social metaphor, objectified women feel mechanistically dehumanized, independently of the objectification type faced. Sex- and beauty-based objectifications also elicit more anger but less sadness than the control condition. However, only sex-based objectification increases guilt feelings. The general discussion contrasts perpetrators' vision of objectified women to women's own experience of objectification