Conception et réalisation d'un microcontrôleur en technologie CMOSP18 pour la commande d'un microrobot

Le présent document décrit le développement, la conception et la validation d'un circuit intégré comprenant un microcontrôleur basé sur une architecture RISC et un décodeur Manchester. La fonction de ce circuit consiste en l'envoi de signaux permettant la commande des pattes d'un microrobot de taille millimétrique et biocompatible appelé BioMicroRobot. Ce circuit, grâce à l'inclusion de mémoires, est reprogrammable, ce qui permet le test et l'optimisation d'algorithmes de déplacement du BioMicroRobot. Le deuxième chapitre du mémoire constitue un survol des différentes technologies permettant la fabrication des transistors organiques et semi-organiques. Une revue de plusieurs matériaux possédant des caractéristiques de biocompatibilité avec le corps humain est montrée. Finalement, il est présenté l'état de la recherche sur plusieurs types de microrobots mobiles qui ne sont pas biocompatibles. Le troisième chapitre décrit les principales contraintes, ainsi que les solutions, reliées à l'implantation d'un circuit à l'intérieur d'un BioMicroRobot. Comme les technologies de transistors sur matériaux organiques et inorganiques biocompatibles sont encore à l'état de recherche, la conception de ce circuit intégré a été réalisée à l'aide des technologies à base de silicium. Les moyens de communication qui sont introduits dans ce circuit y sont également présentés. Le quatrième chapitre expose les différents aspects de la conception du circuit intégré. Ce chapitre décrit en détail les modules et sous-modules faisant partie du circuit, soit le microcontrôleur, le convertisseur série/parallèle et le décodeur Manchester. Le cinquième et dernier chapitre présente les résultats de simulation des différentes sections du circuit. Par la suite, ces résultats sont validés par une série de tests sur le circuit fabriqué

Development of an Hexapod BioMicroRobot with Nafion-Pt IPMC microlegs

This paper presents an artificial locomotion servo-system for an insect like hexapod BioMicroRobot (BMR). This servo-system, programmed with VHDL code, will act as a driver in a RISC architecture microcontroller to reproduce insect tripod walking. An overview of the robot control system, in accordance with the insect displacement principle, is demonstrated with timing parameters. A control algorithm of the six legs driving the robot in any direction versus Pulse Width Modulation (PWM) is reviewed. BMR microlegs are built with cylindrical Nafion-Pt Ionomeric Polymer-Metal Composite (IPMC) that have 2.5 degrees of freedom. Specific fabrication process for one leg is exposed. Dynamic behavior and microleg characteristics have been measured in deionized water using a laser vibrometer. BMR current consumption is an important parameter evaluated for each leg. Hardware test bench to acquired measurement is presented. The purpose of this design is to control a BMR for biomedical goals like implantation in human body. Experimental results on the proposed legs are conclusive for this type of bioinspired BMR

Conception d'un BioMicroRobot autonome

Cet article présente les avancements technologiques pour la conception théorique et pratique d'une architecture élémentaire et minimale d'un BioMicroRobot (BMR) hexapode autonome. L'autonomie minimale dépend du système de gestion des événements globaux, régionaux et locaux. Cette gestion est avant tout perçue par deux types de récepteurs : les extérocepteurs internes (vision) et ceux externes (système de repérage et de détection de l'environnement). La planification des événements dans un environnement confiné repose sur un système complexe qui incorpore un microcontrôleur d'architecture RISC, un système de propulsion bio-inspiré indépendant qui agit comme un pilote, un système d'alimentation et de communication et finalement un détecteur de proximité qui agit à titre d'extérocepteurs internes. L'avant dernière section présente un procédé de fabrication de la structure complète du BMR qui peut supporter une hiérarchie hybride à deux niveaux avec la logique floue

Proceedings of the 2019 Canadian Inflammatory Myopathy Study Symposium: Clinical Trial Readiness in Myositis.

The Canadian Inflammatory Myopathy Study (CIMS) is a multicenter prospective cohort recruiting in 8 centers across Canada. One of the aims of CIMS is to conduct and participate in clinical trials in autoimmune inflammatory myopathies (AIM). Conducting clinical trials in rare diseases such as AIM presents challenges. During this symposium, experts in the field presented different solutions to successfully conduct clinical trials in AIM, including the importance of collaboration and careful trial design, as well as training and mentoring of young investigators

A meta-analytic review of stand-alone interventions to improve body image

Objective Numerous stand-alone interventions to improve body image have been developed. The present review used meta-analysis to estimate the effectiveness of such interventions, and to identify the specific change techniques that lead to improvement in body image. Methods The inclusion criteria were that (a) the intervention was stand-alone (i.e., solely focused on improving body image), (b) a control group was used, (c) participants were randomly assigned to conditions, and (d) at least one pretest and one posttest measure of body image was taken. Effect sizes were meta-analysed and moderator analyses were conducted. A taxonomy of 48 change techniques used in interventions targeted at body image was developed; all interventions were coded using this taxonomy. Results The literature search identified 62 tests of interventions (N = 3,846). Interventions produced a small-to-medium improvement in body image (d+ = 0.38), a small-to-medium reduction in beauty ideal internalisation (d+ = -0.37), and a large reduction in social comparison tendencies (d+ = -0.72). However, the effect size for body image was inflated by bias both within and across studies, and was reliable but of small magnitude once corrections for bias were applied. Effect sizes for the other outcomes were no longer reliable once corrections for bias were applied. Several features of the sample, intervention, and methodology moderated intervention effects. Twelve change techniques were associated with improvements in body image, and three techniques were contra-indicated. Conclusions The findings show that interventions engender only small improvements in body image, and underline the need for large-scale, high-quality trials in this area. The review identifies effective techniques that could be deployed in future interventions

An interactive training programme to treat body image disturbance

Objectives: Anorexia nervosa (AN) is a life-threatening mental health condition. A core feature is a disturbance of body image, such that sufferers see themselves as fatter than they actually are. Design: We tested the effectiveness of a novel training program to recalibrate our participants’ perception of body size. Methods: In a novel adaptation of a cognitive bias training program, participants judged the body size of a series of female bodies and were given feedback to improve their accuracy over 4 daily training sessions. In Study 1, we recruited young women with high concerns about their body size for a randomised controlled study. In Study 2, we then applied the training program to a case series of women with atypical AN. Results: In Study 1, the training program significantly improved the body size judgements of women with high body concerns compared to controls. We also found evidence of improved body image and reduced eating concerns in this group. In Study 2, the program again recalibrated the body size judgements of women with atypical AN. We also saw evidence of a clinically meaningful reduction in their body size and eating disordered concerns. Conclusions: This training has the potential to be a valuable treatment used together with more traditional talking therapies

Butyrate Produced by Commensal Bacteria Down-Regulates Indolamine 2,3-Dioxygenase 1 (IDO-1) Expression via a Dual Mechanism in Human Intestinal Epithelial Cells

Commensal bacteria are crucial for the development and maintenance of a healthy immune system therefore contributing to the global well-being of their host. A wide variety of metabolites produced by commensal bacteria are influencing host health but the characterization of the multiple molecular mechanisms involved in host-microbiota interactions is still only partially unraveled. The intestinal epithelial cells (IECs) take a central part in the host-microbiota dialogue by inducing the first microbial-derived immune signals. Amongst the numerous effector molecules modulating the immune responses produced by IECs, indoleamine 2,3-dioxygenase-1 (IDO-1) is essential for gut homeostasis. IDO-1 expression is dependent on the microbiota and despites its central role, how the commensal bacteria impacts its expression is still unclear. Therefore, we investigated the impact of individual cultivable commensal bacteria on IDO-1 transcriptional expression and found that the short chain fatty acid (SCFA) butyrate was the main metabolite controlling IDO-1 expression in human primary IECs and IEC cell-lines. This butyrate-driven effect was independent of the G-protein coupled receptors GPR41, GPR43, and GPR109a and of the transcription factors SP1, AP1, and PPARγ for which binding sites were reported in the IDO-1 promoter. We demonstrated for the first time that butyrate represses IDO-1 expression by two distinct mechanisms. Firstly, butyrate decreases STAT1 expression leading to the inhibition of the IFNγ-dependent and phosphoSTAT1-driven transcription of IDO-1. In addition, we described a second mechanism by which butyrate impairs IDO-1 transcription in a STAT1-independent manner that could be attributed to its histone deacetylase (HDAC) inhibitor property. In conclusion, our results showed that IDO-1 expression is down-regulated by butyrate via a dual mechanism: the reduction of STAT1 level and the HDAC inhibitor property of SCFAs

Performance of CMS muon reconstruction in pp collision events at sqrt(s) = 7 TeV

The performance of muon reconstruction, identification, and triggering in CMS has been studied using 40 inverse picobarns of data collected in pp collisions at sqrt(s) = 7 TeV at the LHC in 2010. A few benchmark sets of selection criteria covering a wide range of physics analysis needs have been examined. For all considered selections, the efficiency to reconstruct and identify a muon with a transverse momentum pT larger than a few GeV is above 95% over the whole region of pseudorapidity covered by the CMS muon system, abs(eta) < 2.4, while the probability to misidentify a hadron as a muon is well below 1%. The efficiency to trigger on single muons with pT above a few GeV is higher than 90% over the full eta range, and typically substantially better. The overall momentum scale is measured to a precision of 0.2% with muons from Z decays. The transverse momentum resolution varies from 1% to 6% depending on pseudorapidity for muons with pT below 100 GeV and, using cosmic rays, it is shown to be better than 10% in the central region up to pT = 1 TeV. Observed distributions of all quantities are well reproduced by the Monte Carlo simulation.Comment: Replaced with published version. Added journal reference and DO