Implicit Tensor-Mass solver on the GPU

International audienceThe realist and interactive simulation of deformable objects has become a challenge in Computer Graphics. For this, the Tensor-Mass model is a good candidate: it enables local solving of mechanical equations, making it easier to control deformations from collisions or tool interaction. In this paper, a GPU implementation is presented for the implicit integration scheme. Results show a notable speedup, especially for complex scenes

An Implicit Tensor-Mass solver on the GPU for soft bodies simulation

International audienceThe realistic and interactive simulation of deformable objects has become a challenge in Computer Graphics. In this paper, we propose a GPU implementation of the resolution of the mechanical equations, using a semi-implicit as well as an implicit integration scheme. At the contrary of the classical FEM approach, forces are directly computed at each node of the discretized objects, using the evaluation of the strain energy density of the elements. This approach allows to mix several mechanical behaviors in the same object. Results show a notable speedup of 30, especially in the case of complex scenes. Running times shows that this efficient implementation may contribute to make this model more popular for soft bodies simulations

Nonlinear position and stiffness Backstepping controller for a two Degrees of Freedom pneumatic robot

This paper presents an architecture of a 2 Degrees of Freedom pneumatic robot which can be used as a haptic interface. To improve the haptic rendering of this device, a nonlinear position and stiffness controller without force measurement based on a Backstepping synthesis is presented. Thus, the robot can follow a targeted trajectory in Cartesian position with a variable compliant behavior when disturbance forces are applied. An appropriate tuning methodology of the closed-loop stiffness and closed-loop damping of the robot is given to obtain a desired disturbance response. The models, the synthesis and the stability analysis of this controller are described in this paper. Two models are presented in this paper, the first one is an accurate simulation model which describes the mechanical behavior of the robot, the thermodynamics phenomena in the pneumatic actuators, and the servovalves characteristics. The second model is the model used to synthesize the controller. This control model is obtained by simplifying the simulation model to obtain a MIMO strict feedback form. Finally, some simulation and experimental results are given and the controller performances are discussed and compared with a classical linear impedance controller

Radiolytic alteration of biopolymers in the Mulga Rock (Australia) uranium deposit

We investigated the effect of ionizing radiation on organic matter (OM) in the carbonaceous uranium (U) mineralization at the Mulga Rock deposit, Western Australia. Samples were collected from mineralized layers between 53 and 58.5 m depths in the Ambassador prospect, containing <5300 ppm U. Uranium bears a close spatial relationship with OM, mostly finely interspersed in the attrinite matrix and via enrichments within liptinitic phytoclasts (mainly sporinite and liptodetrinite). Geochemical analyses were conducted to: (i) identify the natural sources of molecular markers, (ii) recognize relationships between molecular markers and U concentrations and (iii) detect radiolysis effects on molecular marker distributions. Carbon to nitrogen ratios between 82 and 153, and Rock–Eval pyrolysis yields of 316–577 mg hydrocarbon/g TOC (HI) and 70–102 mg CO2/g TOC (OI) indicate a predominantly lipid-rich terrigenous plant OM source deposited in a complex shallow swampy wetland or lacustrine environment. Saturated hydrocarbon and ketone fractions reveal molecular distributions co-varying with U concentration. In samples with <1700 ppm U concentrations, long-chain n-alkanes and alkanones (C27–C31) reveal an odd/even carbon preference indicative of extant lipids.Samples with ⩾1700 ppm concentrations contain intermediate-length n-alkanes and alkanones, bearing a keto-group in position 2–10, with no carbon number preference. Such changes in molecular distributions are inconsistent with diagenetic degradation of terrigenous OM in oxic depositional environments and cannot be associated with thermal breakdown due to the relatively low thermal maturity of the deposits (Rr = 0.26%). It is assumed that the intimate spatial association of high U concentrations resulted in breakdown via radiolytic cracking of recalcitrant polyaliphatic macromolecules (spores, pollen, cuticles, or algal cysts) yielding medium chain length n-alkanes (C13–C24). Reactions of n-alkenes with OH− radicals from water hydrolysis produced alcohols that dehydrogenated to alkanones or through carbonylation formed alkanones. Rapid reactions with hydroxyl radicals likely decreased the isomerization of n-alkenes and decreased alkanone diversity, such that the alkan-2-one isomer is predominant. This specific distribution of components generated by natural radiolysis enables their application as “radiolytic molecular markers”. Breaking of C–C bonds through radiolytic cracking at temperatures much lower than the oil window (<50 °C) can have profound implications on initiation of petroleum formation, paleoenvironmental reconstructions, mineral exploration and in tracking radiolysis of OM

Analytic solutions to determine critical magnetic fields for thermoelectric magnetohydrodynamics in alloy solidification

During alloy solidification, it has been observed that the morphology of microstructures can be altered by applying an external DC magnetic field. This structural change can be attributed to solutal convective transport introduced by thermoelectric magnetohydrodynamics (TEMHD) which drives fluid motion within the inter-dendritic region. Complex numerical models with grid resolutions on the microscopic scale have been constructed to solve the equations governing TEMHD. To complement these computationally intensive numerical models, analytic solutions were sought. Specifically, the analytic solutions presented herein are asymptotic solutions derived for TEMHD under low and high magnetic field intensities. Combination of these asymptotic solutions leads to simple formulae for estimating critical magnetic fields which can be readily evaluated in terms of characteristic lengths of materials that have been identified in experiments as key parameters of critical fields. Indeed, the critical magnetic fields predicted with the asymptotic solutions exhibit magnitudes consistent with those applied in current ongoing experiments where significant changes in microstructure have been observed. The capability to predict accurate results indicates that the analytic solutions described herein are valuable precursors not only for detailed numerical simulations but also for experimental design to study critical magnetic fields in alloy solidification

Telomere length regulation: coupling DNA end processing to feedback regulation of telomerase

The conventional DNA polymerase machinery is unable to fully replicate the ends of linear chromosomes. To surmount this problem, nearly all eukaryotes use the telomerase enzyme, a specialized reverse transcriptase that utizes its own RNA template to add short TG-rich repeats to chromosome ends, thus reversing their gradual erosion occurring at each round of replication. This unique, non-DNA templated mode of telomere replication requires a regulatory mechanism to ensure that telomerase acts at telomeres whose TG tracts are too short, but not at those with long tracts, thus maintaining the protective TG repeat cap at an appropriate average length. The prevailing notion in the field is that telomere length regulation is brought about through a negative feedback mechanism that counts TG repeat-bound protein complexes to generate a signal that regulates telomerase action. This review summarizes experiments leading up to this model and then focuses on more recent experiments, primarily from yeast, that begin to suggest how this counting mechanism might work. The emerging picture is that of a complex interplay between the conventional DNA replication machinery, DNA damage response factors, and a specialized set of proteins that help to recruit and regulate the telomerase enzyme

Extension de la méthode de cholesky pour la synthèse d'un signal 2-D à incréments autosimilaires 1

- Dans un contexte de synthèse de profil routier, cet article présente l'extension d'une méthode de synthèse monodimensionnelle à la génération d'un terrain fractal auto-similaire 2-D. L'objectif est de fournir un terrain dont la dimension fractale est isotrope en terme d'évolution spatiale. La méthode de synthèse s'appuie sur une décomposition de Cholesky. Nous montrons en outre le lien qu'il existe entre les matrices issues de la décomposition selon l'élongation longitudinale et transversale

An overview of treatment options for patients with relapsed/refractory multiple myeloma and renal impairment

Renal impairment (RI) is a relatively common complication of multiple myeloma, which increases in frequency as disease becomes more advanced and recovery of renal function becomes less likely as patients progress through lines of therapy. Clinical trials in the relapsed/refractory multiple myeloma (RRMM) setting have not uniformly included patients with RI or robustly reported their outcomes. Here, we review existing data among patients with RI and RRMM across drug classes (including immunomodulatory agents, proteasome inhibitors, monoclonal antibodies, antibody-drug conjugates, chimeric antigen receptor T-cell therapies, and exportin-1 inhibitor) to provide an improved understanding of available treatment options for this important population. We highlight data from pivotal clinical trials, including data relating to renal response (as defined by the International Myeloma Working Group) and discuss real-world experiences in patients with RI, where applicable. Despite substantial advances in RRMM treatment, the presence of RI remains associated with reduced overall survival. Consistent inclusion of patients with RI, and uniform reporting of their outcomes, should be encouraged in future prospective trials of treatments for RRMM

Top-quark rare decay t→cht\to c h in R-parity-violating SUSY

The flavor-changing top-quark decay $t\to c h$, where $h$ is the lightest CP-even Higgs boson in the minimal supersymmetric standard model, is examined in the R-parity-violating supersymmetric model. Within the existing bounds on the relevant R-parity-violating couplings, the branching fraction for $t\to c h$ can be as large as about $10^{-5}$ in some part of the parameter space.Comment: version to appear in Phys. Lett.