Rotorigami: A rotary origami protective system for robotic rotorcraft

Applications of aerial robots are progressively expanding into complex urban and natural environments. Despite remarkable advancements in the field, robotic rotorcraft is still drastically limited by the environment in which they operate. Obstacle detection and avoidance systems have functionality limitations and substantially add to the computational complexity of the onboard equipment of flying vehicles. Furthermore, they often cannot identify difficult-to-detect obstacles such as windows and wires. Robustness to physical contact with the environment is essential to mitigate these limitations and continue mission completion. However, many current mechanical impact protection concepts are either not sufficiently effective or too heavy and cumbersome, severely limiting the flight time and the capability of flying in constrained and narrow spaces. Therefore, novel impact protection systems are needed to enable flying robots to navigate in confined or heavily cluttered environments easily, safely, and efficiently while minimizing the performance penalty caused by the protection method. Here, we report the development of a protection system for robotic rotorcraft consisting of a free-to-spin circular protector that is able to decouple impact yawing moments from the vehicle, combined with a cyclic origami impact cushion capable of reducing the peak impact force experienced by the vehicle. Experimental results using a sensor-equipped miniature quadrotor demonstrated the impact resilience effectiveness of the Rotary Origami Protective System (Rotorigami) for a variety of collision scenarios. We anticipate this work to be a starting point for the exploitation of origami structures in the passive or active impact protection of robotic vehicles

A national cross-sectional study among drug-users in France: epidemiology of HCV and highlight on practical and statistical aspects of the design

<p>Abstract</p> <p>Background</p> <p>Epidemiology of HCV infection among drug users (DUs) has been widely studied. Prevalence and sociobehavioural data among DUs are therefore available in most countries but no study has taken into account in the sampling weights one important aspect of the way of life of DUs, namely that they can use one or more specialized services during the study period. In 2004–2005, we conducted a national seroepidemiologic survey of DUs, based on a random sampling design using the Generalised Weight Share Method (GWSM) and on blood testing.</p> <p>Methods</p> <p>A cross-sectional multicenter survey was done among DUs having injected or snorted drugs at least once in their life. We conducted a two stage random survey of DUs selected to represent the diversity of drug use. The fact that DUs can use more than one structure during the study period has an impact on their inclusion probabilities. To calculate a correct sampling weight, we used the GWSM. A sociobehavioral questionnaire was administered by interviewers. Selected DUs were asked to self-collect a fingerprick blood sample on blotting paper.</p> <p>Results</p> <p>Of all DUs selected, 1462 (75%) accepted to participate. HCV seroprevalence was 59.8% [95% CI: 50.7–68.3]. Of DUs under 30 years, 28% were HCV seropositive. Of HCV-infected DUs, 27% were unaware of their status. In the month prior to interview, 13% of DUs shared a syringe, 38% other injection parapharnelia and 81% shared a crack pipe. In multivariate analysis, factors independently associated with HCV seropositivity were age over 30, HIV seropositivity, having ever injected drugs, opiate substitution treatment (OST), crack use, and precarious housing.</p> <p>Conclusion</p> <p>This is the first time that blood testing combined to GWSM is applied to a DUs population, which improve the estimate of HCV prevalence. HCV seroprevalence is high, indeed by the youngest DUs. And a large proportion of DUs are not aware of their status. Our multivariate analysis identifies risk factors such as crack consumption and unstable housing.</p

Trajectoires de vie et prises de risques chez les femmes usagères de drogues

En France, la population des usagers de drogues est majoritairement masculine. Parmi ceux-ci, les profils et les pratiques des femmes sont mal connus. Entre 2004 et 2007, l'enquête Anrs-Coquelicot, alliant épidémiologie et socio-anthropologie, a permis de décrire les profils des usagers de drogues et d'analyser les situations à risque vis-à-vis du VIH et du VHC, en prenant en compte la problématique du genre. Les entretiens montrent que les femmes ont fréquemment connu des événements marquants durant l'enfance et l'adolescence (violences). C'est généralement dans ce contexte qu'elles s'initient aux drogues par le biais de rencontres amoureuses. Elles adoptent globalement plus de comportements à risque que les hommes et ont davantage recours à la prostitution. Ainsi, ces femmes ont des trajectoires encore plus chaotiques que celles des hommes. Elles sont confrontées à une double fragilité vis-à-vis du VIH et du VHC liée au contexte de leur consommation de drogues et de leur sexualité

: Women drug users and practices at risk of transmission of HIV and hepatitis. Complementary epidemiological and socio-anthropological approaches, Coquelicot Survey 2004-2007, France

Texte intégral du document sur le site InVS : http://www.invs.sante.fr/beh/2009/10_11/index.htmIn France, women who use drugs are essentially studied in terms of pregnancy and consequences of drug use on the unborn child. Few French studies attempted to study the profiles and the practices of the women DUs. Between 2004 and 2007, the Coquelicot Study, allowed to describe the profile of these women, risk practices towards HIV, HBV and HCV linked to drug use, and understand the context of risk-practices, taking into account the sexual dimension.En France, les femmes usagères de drogues sont essentiellement étudiées sous l'angle de la grossesse et des conséquences de l'usage de drogues de la mère sur l'enfant à naître. Peu d'études françaises se sont attachées à étudier les profils et les pratiques des femmes usagères de drogues. Entre 2004 et 2007, l'enquête Coquelicot a permis de décrire les profils de ces femmes, les situations à risque vis-à-vis du VIH, du VHB et du VHC auxquelles elles sont exposées lors de la consommation de drogues, et de comprendre le contexte des prises de risque, en prenant en compte la dimension sexuée

Le Parlement de Provence

Le Parlement de Provence aurait eu 500 ans en 2001 si la Révolution française n'avait mis fin à sa carrière en 1790. Pendant trois siècles, il a été la principale instance judiciaire de la province, et son histoire se confond avec celle de l'Ancien Régime provençal, Le Parlement constituait le tribunal supérieur du ressort de Provence. Il était aussi mêlé à l'Histoire nationale, et, à ce titre, il était un des intermédiaires entre le Roi et les Provençaux. Les parlementaires ont aussi marqué profondément de leur empreinte la capitale provençale, qui était leur siège. Cet ouvrage rassemble seize communications présentées au colloque tenu à Aix en avril 2001 : huit concernent le Parlement d'Mix, de son origine à sa mort et les affaires qui y ont été traitées ; cinq évoquent les parlementaires en tant que groupe social et à travers leurs attitudes religieuses et culturelles ; trois enfin élargissent le propos, avec des comparaisons sur la justice à l'époque des Lumières, notamment dans la péninsule ibérique