On-line Joint Limit Avoidance for Torque Controlled Robots by Joint Space Parametrization

This paper proposes control laws ensuring the stabilization of a time-varying desired joint trajectory, as well as joint limit avoidance, in the case of fully-actuated manipulators. The key idea is to perform a parametrization of the feasible joint space in terms of exogenous states. It follows that the control of these states allows for joint limit avoidance. One of the main outcomes of this paper is that position terms in control laws are replaced by parametrized terms, where joint limits must be avoided. Stability and convergence of time-varying reference trajectories obtained with the proposed method are demonstrated to be in the sense of Lyapunov. The introduced control laws are verified by carrying out experiments on two degrees-of-freedom of the humanoid robot iCub.Comment: 8 pages, 4 figures. Submitted to the 2016 IEEE-RAS International Conference on Humanoid Robot

Methods to improve the coping capacities of whole-body controllers for humanoid robots

Current applications for humanoid robotics require autonomy in an environment specifically adapted to humans, and safe coexistence with people. Whole-body control is promising in this sense, having shown to successfully achieve locomotion and manipulation tasks. However, robustness remains an issue: whole-body controllers can still hardly cope with unexpected disturbances, with changes in working conditions, or with performing a variety of tasks, without human intervention. In this thesis, we explore how whole-body control approaches can be designed to address these issues. Based on whole-body control, contributions have been developed along three main axes: joint limit avoidance, automatic parameter tuning, and generalizing whole-body motions achieved by a controller. We first establish a whole-body torque-controller for the iCub, based on the stack-of-tasks approach and proposed feedback control laws in SE(3). From there, we develop a novel, theoretically guaranteed joint limit avoidance technique for torque-control, through a parametrization of the feasible joint space. This technique allows the robot to remain compliant, while resisting external perturbations that push joints closer to their limits, as demonstrated with experiments in simulation and with the real robot. Then, we focus on the issue of automatically tuning parameters of the controller, in order to improve its behavior across different situations. We show that our approach for learning task priorities, combining domain randomization and carefully selected fitness functions, allows the successful transfer of results between platforms subjected to different working conditions. Following these results, we then propose a controller which allows for generic, complex whole-body motions through real-time teleoperation. This approach is notably verified on the robot to follow generic movements of the teleoperator while in double support, as well as to follow the teleoperator\u2019s upper-body movements while walking with footsteps adapted from the teleoperator\u2019s footsteps. The approaches proposed in this thesis therefore improve the capability of whole-body controllers to cope with external disturbances, different working conditions and generic whole-body motions

Whole blood and apheresis donors in Quebec, Canada: Demographic differences and motivations to donate

AbstractThis study sought to compare demographics and donation motivations among plasma/platelet donors (PPDs) and whole blood donors (WBDs), in a voluntary and non-remunerated context. Motives to donate blood and demographic characteristics were collected through questionnaires completed by 795 WBDs and 473 PPDs. Comparison of WBDs and PPDs under chi-square tests showed that 17 out of 23 motivators were statistically different according to various demographic variables. These results demonstrate the existence of specific donor profiles both for WBDs and PPDs. Agencies should develop new recruitment strategies tailored to these donors, especially if they wish to convince WBDs to convert to apheresis donation

Blood donors in Montreal (Canada) : a typology based on their daily travel behaviours

Background and Aim Blood agencies are always looking for new ways to recruit and retain blood donors. Accordingly, most research have looked at individual motivation to give blood, but very few of them have studied the mobility and the daily space-time constraints of blood donors as a way to explain why people give blood. The aim of this article is to study the activity-space of blood donors. More specifically, we aim at a ..

Comportement et rendement scolaire au début du primaire : les attributions causales et d'intentions, des processus en jeu?

Mémoire numérisé par la Direction des bibliothèques de l'Université de Montréal

Étude de la biogenèse de l'autotransporteur AIDA-I d'Escherichia coli

Les autotransporteurs monomériques, appartenant au système de sécrétion de type V, correspondent à une famille importante de facteurs de virulence bactériens. Plusieurs fonctions, souvent essentielles pour le développement d’une infection ou pour le maintien et la survie des bactéries dans l’organisme hôte, ont été décrites pour cette famille de protéines. Malgré l’importance de ces protéines, notre connaissance de leur biogenèse et de leur mécanisme d’action demeure relativement limitée. L’autotransporteur AIDA-I, retrouvé chez diverses souches d’Escherichia coli, est un autotransporter multifonctionnel typique impliqué dans l’adhésion et l’invasion cellulaire ainsi que dans la formation de biofilm et d’agrégats bactériens. Les domaines extracellulaires d’autotransporteurs monomériques sont responsables de la fonctionnalité et possèdent pratiquement tous une structure caractéristique d’hélice β. Nous avons mené une étude de mutagenèse aléatoire avec AIDA-I afin de comprendre la base de la multifonctionnalité de cette protéine. Par cette approche, nous avons démontré que les domaines passagers de certains autotransporteurs possèdent une organisation modulaire, ce qui signifie qu’ils sont construits sous la forme de modules fonctionnels. Les domaines passagers d’autotransporteurs peuvent être clivés et relâchés dans le milieu extracellulaire. Toutefois, malgré la diversité des mécanismes de clivage existants, plusieurs protéines, telles qu’AIDA-I, sont clivées par un mécanisme qui demeure inconnu. En effectuant une renaturation in vitro d’AIDA-I, couplée avec une approche de mutagenèse dirigée, nous avons démontré que cette protéine se clive par un mécanisme autocatalytique qui implique deux acides aminés possédant un groupement carboxyle. Ces résultats ont permis la description d’un nouveau mécanisme de clivage pour la famille des autotransporteurs monomériques. Une des particularités d’AIDA-I est sa glycosylation par une heptosyltransférase spécifique nommée Aah. La glycosylation est un concept plutôt récent chez les bactéries et pour l’instant, très peu de protéines ont été décrites comme glycosylées chez E. coli. Nous avons démontré que Aah est le prototype pour une nouvelle famille de glycosyltransférases bactériennes retrouvées chez diverses espèces de protéobactéries. La glycosylation d’AIDA-I est une modification cytoplasmique et post-traductionnelle. De plus, Aah ne reconnaît pas une séquence primaire, mais plutôt un motif structural. Ces observations sont uniques chez les bactéries et permettent d’élargir nos connaissances sur la glycosylation chez les procaryotes. La glycosylation par Aah est essentielle pour la conformation d’AIDA-I et par conséquent pour sa capacité de permettre l’adhésion. Puisque plusieurs homologues d’Aah sont retrouvés à proximité d’autotransporteurs monomériques putatifs, cette famille de glycosyltranférases pourrait être importante, sinon essentielle, pour la biogenèse et/ou la fonction de nombreux autotransporteurs. En conclusion, les résultats présentés dans cette thèse apportent de nouvelles informations et permettent une meilleure compréhension de la biogenèse d’une des plus importantes familles de protéines sécrétées chez les bactéries Gram négatif.Monomeric autotransporters, a family of proteins that use the type V secretion pathway, are important mediators of virulence for many bacterial pathogens. Many functions important for host colonization and survival have been described for these proteins. Despite the recognized importance of this family of proteins, the mechanisms that are required for the biogenesis and functionality of monomeric autotransporters still remain poorly understood. The Escherichia coli adhesin involved in diffuse adherence (AIDA-I) is a classical multifunctional autotransporter protein that mediates bacterial aggregation and biofilm formation, as well as adhesion and invasion of cultured epithelial cells. Extracellular domains of autotransporters are responsible for the protein function and fold into a characteristic β-helical structure. We performed a random mutagenesis of the AIDA-I passenger domain in order to identify regions involved in the various phenotypes associated with the expression of this protein. Our study suggests that the passenger domain of AIDA-I possesses a modular organization, which means that AIDA-I is built with individual functional modules. Autotransporter passenger domains can be cleaved from the β-domain and released into the extracellular milieu. However, despite the fact that diverse cleavage mechanisms have been previously described, many autotransporters, like AIDA-I, are cleaved by an unknown mechanism. By monitoring the in vitro refolding and cleavage following by site-directed mutagenesis, we showed that AIDA-I processing is an autocatalytic event that involves two acidic residues. Our results unveil a new mechanism of auto-processing in the autotransporter family. AIDA-I is one of the few glycosylated proteins found in Escherichia coli. Glycosylation is mediated by a specific heptosyltransferase encoded by the aah gene, but little is known about the role of this modification and the mechanism involved. Our findings suggest that Aah represents the prototype of a new large family of bacterial protein O-glycosyltransferases that modify various substrates recognized through a structural motif. Furthermore, we showed that glycosylation occurs in the cytoplasm by a cotranslational mechanism. These observations are unique in bacteria and represent a significant advance in our comprehension of prokaryotic glycosylation. We also showed that glycosylation is required to ensure a normal conformation of AIDA-I and, as a consequence, is necessary for its cell-binding function. The finding that other autotransporters or large adhesin-encoding genes are linked to Aah homologue-encoding genes suggests that glycosylation may be important, if not essential, for the function of these proteins, as for AIDA-I. In conclusion, the results presented in this thesis bring new information about the autotransporter family and also give new insight into the mechanisms that are important for different aspects of the biogenesis of monomeric autotransporters