A Method for Modeling Analytical Stiffness of a Lower Mobility Parallel Manipulator

International audienceThe H4 robot is a parallel machine with four degrees of freedom. The purpose of this work is to evaluate the H4 stiffness, ie the displacement response of the tool controlled point when it is submitted to a given force using an analytical method. A stiffness analysis based on analytical calculations is performed. It has the advantage to be rather fast and easy to integrate into a design optimization. This method allows to compute stiffness matrix of parallel robots and takes into account particularity of parallel robots with articulated traveling plate. Some numerical results are shown at the end of this paper for the H4 first prototype

QD-RL: Efficient Mixing of Quality and Diversity in Reinforcement Learning

We propose a novel reinforcement learning algorithm,QD-RL, that incorporates the strengths of off-policy RL algorithms into Quality Diversity (QD) approaches. Quality-Diversity methods contribute structural biases by decoupling the search for diversity from the search for high return, resulting in efficient management of the exploration-exploitation trade-off. However, these approaches generally suffer from sample inefficiency as they call upon evolutionary techniques. QD-RL removes this limitation by relying on off-policy RL algorithms. More precisely, we train a population of off-policy deep RL agents to simultaneously maximize diversity inside the population and the return of the agents. QD-RL selects agents from the diversity-return Pareto Front, resulting in stable and efficient population updates. Our experiments on the Ant-Maze environment show that QD-RL can solve challenging exploration and control problems with deceptive rewards while being more than 15 times more sample efficient than its evolutionary counterparts

A Method for Modeling Analytical Stiffness of a Lower Mobility Parallel Manipulator

Abstract-The H4 robot is a parallel machine with four degrees of freedom. The purpose of this work is to evaluate the H4 stiffness, ie the displacement response of the tool controlled point when it is submitted to a given force using an analytical method. A stiffness analysis based on analytical calculations is performed. It has the advantage to be rather fast and easy to integrate into a design optimization. This method allows to compute stiffness matrix of parallel robots and takes into account particularity of parallel robots with articulated traveling plate. Some numerical results are shown at the end of this paper for the H4 first prototype

An essential role for decorin in bladder cancer invasiveness

Muscle-invasive forms of urothelial carcinomas are responsible for most mortality in bladder cancer. Finding new treatments for invasive bladder tumours requires adequate animal models to decipher the mechanisms of progression, in particular the way tumours interact with their microenvironment. Herein, using the murine bladder tumour cell line MB49 and its more aggressive variant MB49-I, we demonstrate that the adaptive immune system efficiently limits progression of MB49, whereas MB49-I has lost tumour antigens and is insensitive to adaptive immune responses. Furthermore, we unravel a parallel mechanism developed by MB49-I to subvert its environment: de novo secretion of the proteoglycan decorin. We show that decorin overexpression in the MB49/MB49-I model is required for efficient progression, by promoting angiogenesis and tumour cell invasiveness. Finally, we show that these results are relevant to muscle-invasive human bladder carcinomas, which overexpress decorin together with angiogenesis- and adhesion/migration-related genes, and that decorin overexpression in the human bladder carcinoma cell line TCCSUP is required for efficient invasiveness in vitro. We thus propose decorin as a new therapeutic target for these aggressive tumours.Fil: El Behi, Mohamed. Institute Curie; Francia. Centre de Recherche de I; Francia. Inserm; FranciaFil: Krumeich, Sophie. Institute Curie; Francia. Inserm; FranciaFil: Lodillinsky, Catalina. Institute Curie; Francia. Universidad de Buenos Aires. Facultad de Medicina. Instituto de Oncología "Ángel H. Roffo"; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Kamoun, Aurélie. Institute Curie; FranciaFil: Tibaldi, Lorenzo. Institute Curie; Francia. Inserm; FranciaFil: Sugano, Gaël. Institute Curie; Francia. Inserm; FranciaFil: de Reynies, Aurélien. Ligue Nationale Contre le Cancer; FranciaFil: Chapeaublanc, Elodie. Institute Curie; Francia. Centre National de la Recherche Scientifique; FranciaFil: Laplanche, Agnès. Centre National de la Recherche Scientifique; Francia. Institut de Cancérologie Gustave Roussy; FranciaFil: Lebret, Thierry. Hôpital Foch. Service d; Francia. Université de Versailles; FranciaFil: Allory, Yves. Inserm; FranciaFil: Radvanyi, François. Institute Curie; Francia. Centre National de la Recherche Scientifique; FranciaFil: Lantz, Olivier. Institute Curie; Francia. Inserm; FranciaFil: Eijan, Ana Maria. Universidad de Buenos Aires. Facultad de Medicina. Instituto de Oncología "Ángel H. Roffo"; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Bernard Pierrot, Isabelle. Institute Curie; Francia. Centre National de la Recherche Scientifique; FranciaFil: Théery, Clotilde. Institute Curie; Francia. Inserm; Franci