Approche micromécanique statistique-probabiliste de la multifissuration des fils transversaux d'un CMC tissé = Micromechanical and stochastic approach to transverse multiple cracking in a woven CMC

National audienceCet article propose une approche statistique-probabiliste de la multi fissuration des fils transversaux au sein d'un composite tissé à matrice céramique (CMC). Des simulations par une approche d'Essai Virtuel fondée sur la méthode des Éléments Finis appliquée à des cellules de calcul permettent d'identifier les populations de défauts. La microstructure fibres/pores/matrice est explicitement représentée et placée entre deux éléments de renfort. Un second type de cellules dans lesquelles la microstructure est remplacée par un matériau homogène élastiquement équivalent (MHE) permet d'aborder une stratégie de changement d'échelle. La transition d'échelle est basée sur une analyse statistique de la distribution des défauts dans la microstructure. Les fonctions caractéristiques sont identifiées et permettent de décrire les séquences de fissuration et de éterminer les probabilités d'apparition de fissures. Ces fonctions statistiques sont ensuite utilisées pour générer des tirages aléatoires de perturbations couplés aux simulations sur les cellules avec MHE. Une comparaison des deux approches permet ensuite de valider la représentativité des populations de défauts identifiées

3D position tracking for all-terrain robots

Rough terrain robotics is a fast evolving field of research and a lot of effort is deployed towards enabling a greater level of autonomy for outdoor vehicles. Such robots find their application in scientific exploration of hostile environments like deserts, volcanoes, in the Antarctic or on other planets. They are also of high interest for search and rescue operations after natural or artificial disasters. The challenges to bring autonomy to all terrain rovers are wide. In particular, it requires the development of systems capable of reliably navigate with only partial information of the environment, with limited perception and locomotion capabilities. Amongst all the required functionalities, locomotion and position tracking are among the most critical. Indeed, the robot is not able to fulfill its task if an inappropriate locomotion concept and control is used, and global path planning fails if the rover loses track of its position. This thesis addresses both aspects, a) efficient locomotion and b) position tracking in rough terrain. The Autonomous System Lab developed an off-road rover (Shrimp) showing excellent climbing capabilities and surpassing most of the existing similar designs. Such an exceptional climbing performance enables an extension in the range of possible areas a robot could explore. In order to further improve the climbing capabilities and the locomotion efficiency, a control method minimizing wheel slip has been developed in this thesis. Unlike other control strategies, the proposed method does not require the use of soil models. Independence from these models is very significant because the ability to operate on different types of soils is the main requirement for exploration missions. Moreover, our approach can be adapted to any kind of wheeled rover and the processing power needed remains relatively low, which makes online computation feasible. In rough terrain, the problem of tracking the robot's position is tedious because of the excessive variation of the ground. Further, the field of view can vary significantly between two data acquisition cycles. In this thesis, a method for probabilistically combining different types of sensors to produce a robust motion estimation for an all-terrain rover is presented. The proposed sensor fusion scheme is flexible in that it can easily accommodate any number of sensors, of any kind. In order to test the algorithm, we have chosen to use the following sensory inputs for the experiments: 3D-Odometry, inertial measurement unit (accelerometers, gyros) and visual odometry. The 3D-Odometry has been specially developed in the framework of this research. Because it accounts for ground slope discontinuities and the rover kinematics, this technique results in a reasonably precise 3D motion estimate in rough terrain. The experiments provided excellent results and proved that the use of complementary sensors increases the robustness and accuracy of the pose estimate. In particular, this work distinguishes itself from other similar research projects in the following ways: the sensor fusion is performed with more than two sensor types and sensor fusion is applied a) in rough terrain and b) to track the real 3D pose of the rover. Another result of this work is the design of a high-performance platform for conducting further research. In particular, the rover is equipped with two computers, a stereovision module, an omnidirectional vision system, an inertial measurement unit, numerous sensors and actuators and electronics for power management. Further, a set of powerful tools has been developed to speed up the process of debugging algorithms and analyzing data stored during the experiments. Finally, the modularity and portability of the system enables easy adaptation of new actuators and sensors. All these characteristics speed up the research in this field

Eccentric Exercise Activates Novel Transcriptional Regulation of Hypertrophic Signaling Pathways Not Affected by Hormone Changes

Unaccustomed eccentric exercise damages skeletal muscle tissue, activating mechanisms of recovery and remodeling that may be influenced by the female sex hormone 17β-estradiol (E2). Using high density oligonucleotide based microarrays, we screened for differences in mRNA expression caused by E2 and eccentric exercise. After random assignment to 8 days of either placebo (CON) or E2 (EXP), eighteen men performed 150 single-leg eccentric contractions. Muscle biopsies were collected at baseline (BL), following supplementation (PS), +3 hours (3H) and +48 hours (48H) after exercise. Serum E2 concentrations increased significantly with supplementation (P<0.001) but did not affect microarray results. Exercise led to early transcriptional changes in striated muscle activator of Rho signaling (STARS), Rho family GTPase 3 (RND3), mitogen activated protein kinase (MAPK) regulation and the downstream transcription factor FOS. Targeted RT-PCR analysis identified concurrent induction of negative regulators of calcineurin signaling RCAN (P<0.001) and HMOX1 (P = 0.009). Protein contents were elevated for RND3 at 3H (P = 0.02) and FOS at 48H (P<0.05). These findings indicate that early RhoA and NFAT signaling and regulation are altered following exercise for muscle remodeling and repair, but are not affected by E2

Triglyceride-rich lipoproteins and high-density lipoprotein cholesterol in patients at high risk of cardiovascular disease: evidence and guidance for management

Even at low-density lipoprotein cholesterol (LDL-C) goal, patients with cardiometabolic abnormalities remain at high risk of cardiovascular events. This paper aims (i) to critically appraise evidence for elevated levels of triglyceride-rich lipoproteins (TRLs) and low levels of high-density lipoprotein cholesterol (HDL-C) as cardiovascular risk factors, and (ii) to advise on therapeutic strategies for management. Current evidence supports a causal association between elevated TRL and their remnants, low HDL-C, and cardiovascular risk. This interpretation is based on mechanistic and genetic studies for TRL and remnants, together with the epidemiological data suggestive of the association for circulating triglycerides and cardiovascular disease. For HDL, epidemiological, mechanistic, and clinical intervention data are consistent with the view that low HDL-C contributes to elevated cardiovascular risk; genetic evidence is unclear however, potentially reflecting the complexity of HDL metabolism. The Panel believes that therapeutic targeting of elevated triglycerides (≥1.7 mmol/L or 150 mg/dL), a marker of TRL and their remnants, and/or low HDL-C (<1.0 mmol/L or 40 mg/dL) may provide further benefit. The first step should be lifestyle interventions together with consideration of compliance with pharmacotherapy and secondary causes of dyslipidaemia. If inadequately corrected, adding niacin or a fibrate, or intensifying LDL-C lowering therapy may be considered. Treatment decisions regarding statin combination therapy should take into account relevant safety concerns, i.e. the risk of elevation of blood glucose, uric acid or liver enzymes with niacin, and myopathy, increased serum creatinine and cholelithiasis with fibrates. These recommendations will facilitate reduction in the substantial cardiovascular risk that persists in patients with cardiometabolic abnormalities at LDL-C goal

3D-Odometry for rough terrain -- Towards real 3D navigation

Up to recently autonomous mobile robots were mostly designed to run within an indoor, yet partly structured and flat, environment. In rough terrain many problems arise and position tracking becomes more difficult. The robot has to deal with wheel slippage and large orientation changes. In this paper we will first present the recent developments on the off-road rover Shrimp. Then a new method, called 3D-Odometry, which extends the standard 2D odometry to the 3D space will be developed. Since it accounts for transitions, the 3D-Odometry provides better position estimates. It will certainly help to go towards real 3D navigation for outdoor robots