Au large de Saint-Pierre – Recherche d’ l’Oiseau Blanc et du Ravenel

En 2009 et 2010, l’association « La Recherche de l’Oiseau Blanc » menée par B. Decré entame des recherches pour retrouver L’Oiseau Blanc, le premier avion a tenter de joindre sans escale Paris à New-York. Les deux pilotes français et héros de la Première Guerre, C. Nungesser et F. Coli, décollent du Bourget le 8 mai 1927. Ils n’arriveront pas à New-York et nul ne sait où le bi-plan a pu disparaître ni pour quelle raison (brume, givrage des ailes, méprise de la coast-guard...). La disparition ..

Direct forward gravure coating on unsupported web

YesThis experimental study of forward gravure coating considers the effects of operating variables on air entrainment, ribbing instabilities and the thickness of the film formed. The data show that this coating method can yield very thin films of thickness of order of 15 - 20% at most of the equivalent cell depth of a gravure roller. Air free and non ribbed stable uniform films can however only be obtained in a narrow window of operating conditions at very low substrate capillary number (CaS ~ 0.02) equivalent to substrate speeds typically less than 20m/min. The paper draws a similarity with flow features observed with smooth forward roll coating and slide coating. It is shown that the onset of ribbing and the flux distribution between the gravure roller and the substrate at the exit of the nip obey approximately the same rules as in smooth forward roll coating, whereas the onset of air entrainment actually corresponds to a low-flow limit of coatability similar to that observed in slide coating

FATROP : A Fast Constrained Optimal Control Problem Solver for Robot Trajectory Optimization and Control

Trajectory optimization is a powerful tool for robot motion planning and control. State-of-the-art general-purpose nonlinear programming solvers are versatile, handle constraints in an effective way and provide a high numerical robustness, but they are slow because they do not fully exploit the optimal control problem structure at hand. Existing structure-exploiting solvers are fast but they often lack techniques to deal with nonlinearity or rely on penalty methods to enforce (equality or inequality) path constraints. This works presents FATROP: a trajectory optimization solver that is fast and benefits from the salient features of general-purpose nonlinear optimization solvers. The speed-up is mainly achieved through the use of a specialized linear solver, based on a Riccati recursion that is generalized to also support stagewise equality constraints. To demonstrate the algorithm's potential, it is benchmarked on a set of robot problems that are challenging from a numerical perspective, including problems with a minimum-time objective and no-collision constraints. The solver is shown to solve problems for trajectory generation of a quadrotor, a robot manipulator and a truck-trailer problem in a few tens of milliseconds. The algorithm's C++-code implementation accompanies this work as open source software, released under the GNU Lesser General Public License (LGPL). This software framework may encourage and enable the robotics community to use trajectory optimization in more challenging applications

An optimal open-loop strategy for handling a flexible beam with a robot manipulator

Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation to measure vibrations. This paper develops a model-based method that overcomes these limitations. It relies on a simple pendulum-like model for modeling the beam, open-loop optimal control for suppressing vibrations, and does not require any exteroceptive sensors. We experimentally show that the proposed method drastically reduces residual vibrations -- at least 90% -- and outperforms the commonly used input shaping (IS) for the same execution time. Besides, our method can also execute the task faster than IS with a minor reduction in vibration suppression performance. The proposed method facilitates the development of new solutions to a wide range of tasks that involve dynamic manipulation of flexible objects.Comment: Submitted to ICRA 202

Ginger

https://digitalcommons.otterbein.edu/production_1999-2000/1004/thumbnail.jp

Improving productivity and worker conditions in assembly : part 2 : rapid deployment of learnable robot skills

Collaborative robots (cobots) have a strong potential to improve both productivity as well as the working conditions of assembly operators by assisting in their tasks and by decreasing their physical and cognitive stress. The use of cobots in factories however introduces multiple challenges: how should the overall assembly architecture look like? How to allocate specific (sub)tasks to the operator or the cobot? How to program and deploy the cobot? How to make changes to the robot program? In this paper dilogy, we briefly highlight our recent contributions to this field. In part I we presented our collaborative architecture for human-robot assembly tasks and discussed the working principles of our task allocation framework, based upon agent capabilities and ergonomic measurements. In this second part we focus on our programming by demonstration approach targeted at expediting the deployment of learnable robot skills

An efficient adaptive multigrid algorithm for predicting thin film flow on surfaces containing localised topographic features

Gravity-driven continuous thin film flow over a plane, containing well-defined single and grouped topographic features, is modelled as a Stokes flow using lubrication theory. The associated time dependent, nonlinear, coupled set of governing equations are solved using a Full Approximation Storage (FAS) Multigrid algorithm by employing automatic mesh adaptivity, the power efficiency and accuracy of which is demonstrated by comparing the results with corresponding global fine-mesh solutions.. These show that automatic grid refinement effectively restricts the use of find grids to regions of rapid flow development which, for flow over the topographies considered, includes the topography itself, the upstream Capillary ridge, downstream sure region, and the characteristic bow wave. It is shown that for the accurate solution of such flow problems, adaptive Multigridding offers increased flexibility together with a significant reduction in memory requirement. This is further demonstrated by solving the problem of transient flow over a trench topography, generated by a sinusoidally varying inlet condition

Curbing methicillin-resistant Staphylococcus aureus in 38 French hospitals through a 15-year institutional control program

BACKGROUND: The Assistance Publique-Hôpitaux de Paris (AP-HP) institution administers 38 teaching hospitals (23 acute care and 15 rehabilitation and long-term care hospitals; total, 23 000 beds) scattered across Paris and surrounding suburbs in France. In the late 1980s, the proportion of methicillin resistance among clinical strains of Staphylococcus aureus (MRSA) reached approximately 40% at AP-HP.METHODS: A program aimed at curbing the MRSA burden was launched in 1993, based on passive and active surveillance, barrier precautions, training, and feedback. This program, supported by the strong commitment of the institution, was reinforced in 2001 by a campaign promoting the use of alcohol-based hand-rub solutions. An observational study on MRSA rate was prospectively carried out from 1993 onwards. RESULTS: There was a significant progressive decrease in MRSA burden (-35%) from 1993 to 2007, whether recorded as the proportion (expressed as percentage) of MRSA among S aureus strains (41.0% down to 26.6% overall; 45.3% to 24.2% in blood cultures) or incidence of MRSA cases (0.86 down to 0.56 per 1000 hospital days). The MRSA burden decreased more markedly in intensive care units (-59%) than in surgical (-44%) and medical (-32%) wards. The use of ABHR solutions (in liters per 1000 hospital days) increased steadily from 2 L to 21 L (to 26 L in acute care hospitals and to 10 L in rehabilitation and long-term care hospitals) following the campaign. CONCLUSION: A sustained reduction of MRSA burden can be obtained at the scale of a large hospital institution with high endemic MRSA rates, providing that an intensive program is maintained for a long period