Contributions au développement d'une interface haptique à contacts intermittents

Haptic interfaces allow an operator to interact with a virtual environment through the sense of touch. Nowadays, most existing interfaces are mechanically connected to the user's hand throughout the simulation. Therefore he or she interacts with the virtual environment by means of a handle. Thus the interaction is neither natural nor intuitive, and the permanent connection between the robot and the operator is the source of perturbations which prevent the interaction from being perfectly transparent and realistic. The goal of this study is to increase transparency as much as possible by disconnecting the robot from the user when s/he is not in contact with the virtual environment, through the design of a dexterous haptic interface allowing for a more natural interaction than with a classical interface taking into account only one contact point. A state-of-the-art of dexterous haptic interfaces and another for intermittent contact devices are first gathered, and the human performances that should be taken into account for the design of a dexterous haptic interface are analysed. A bidirectional end-effector for intermittent contact is then devised. It is set up at the tip of a haptic interface and several solutions are tested for its control. The performances of six users are compared on the context of a contact detection task, first using the intermittent contact end-effector, then using a classical haptic device. A methodology for the choice of the hand contact areas that should be taken into account in the design of a dexterous haptic interface to enhance the naturalness of the interaction is proposed. Finally, some perspectives are given as for the extension of this study for the design of a dexterous encounter-type haptic interface.Les interfaces haptiques permettent à un opérateur d'interagir avec un environnement virtuel ou distant via le sens du toucher.La majorité des interfaces de l'état de l'art restent au contact de l’utilisateur pendant toute la durée de la manipulation. La liaison permanente entre le robot et l’opérateur nuit à la qualité de l’interaction, notamment en réduisant la transparence en espace libre. Ce problème est d’autant plus prégnant dans le cadre des interfaces haptiques dextres.Cette thèse a pour objectif d'étudier la possibilité d'augmenter la transparence et le réalisme de l'interaction à travers le développement d’interfaces à contacts intermittents. Il s’agit de déconnecter le robot de l'utilisateur lorsqu’aucun contact avec l’environnement n’est nécessaire. Un état de l’art des performances de la manipulation humaine, des interfaces haptiques dextres ainsi que des travaux relatifs au contact intermittent, est d’abord présenté. Un effecteur plan pour le contact intermittent est ensuite conçu. Il est installé à l’extrémité distale d'une interface haptique et plusieurs solutions sont envisagées pour sa loi de commande. Les performances de dix utilisateurs sont comparées dans le cadre d'une tâche de détection de contact en utilisant d'une part l'effecteur adapté au contact intermittent, d'autre part une interface haptique classique. L'élaboration d'une interface permettant une interaction plus naturelle avec l'environnement est ensuite initiée par l'élaboration d'une méthodologie de choix des zones de contact de la main à prendre en compte dans la conception d'une interface haptique. Des perspectives sont finalement données quant à l'extension de ces résultats à une interface haptique dextre à contacts intermittents

Novel reporter for faithful monitoring of ERK2 dynamics in living cells and model organisms

Uncoupling of ERK1/2 phosphorylation from subcellular localization is essential towards the understanding of molecular mechanisms that control ERK1/2-mediated cell-fate decision. ERK1/2 non-catalytic functions and discoveries of new specific anchors responsible of the subcellular compartmentalization of ERK1/2 signaling pathway have been proposed as regulation mechanisms for which dynamic monitoring of ERK1/2 localization is necessary. However, studying the spatiotemporal features of ERK2, for instance, in different cellular processes in living cells and tissues requires a tool that can faithfully report on its subcellular distribution. We developed a novel molecular tool, ERK2-LOC, based on the T2A-mediated coexpression of strictly equimolar levels of eGFP-ERK2 and MEK1, to faithfully visualize ERK2 localization patterns. MEK1 and eGFP-ERK2 were expressed reliably and functionally both in vitro and in single living cells. We then assessed the subcellular distribution and mobility of ERK2-LOC using fluorescence microscopy in non-stimulated conditions and after activation/inhibition of the MAPK/ERK1/2 signaling pathway. Finally, we used our coexpression system in Xenopus laevis embryos during the early stages of development. This is the first report on MEK1/ERK2 T2A-mediated coexpression in living embryos, and we show that there is a strong correlation between the spatiotemporal subcellular distribution of ERK2-LOC and the phosphorylation patterns of ERK1/2. Our approach can be used to study the spatiotemporal localization of ERK2 and its dynamics in a variety of processes in living cells and embryonic tissues

Oil spill effects on macrofaunal communities and bioturbation of pristine marine sediments (Caleta Valdés, Patagonia, Argentina): experimental evidence of low resistance capacities of benthic systems without history of pollution

The Patagonian coast is characterized by the existence of pristine ecosystems which may be particularly sensitive to oil contamination. In this study, a simulated oil spill at acute and chronic input levels was carried out to assess the effects of contamination on the macrobenthic community structure and the bioturbation activity of sediments sampled in Caleta Valdés creek. Superficial sediments were either noncontaminated or contaminated by Escalante crude oil and incubated in the laboratory for 30 days. Oil contamination induced adverse effects on macrobenthic community at both concentrations with, for the highest concentration, a marked decrease of approximately 40 and 55%of density and specific richness, respectively. Besides the disappearance of sensitive species, some other species like Oligochaeta sp. 1, Paranebalia sp., and Ostracoda sp. 2 species have a higher resistance to oil contamination. Sediment reworking activity was also affected by oil addition. At the highest level of contamination, nearly no activity was observed due to the high mortality of macroorganisms. The results strongly suggest that an oil spill in this protected marine area with no previous history of contamination would have a deep impact on the non-adapted macrobenthic community

A new Mars Climate Database v5.1

International audienceWhat is the Mars Climate Database? The Mars Climate Database (MCD) is a database of meteorological fields derived from General Circulation Model (GCM) numerical simulations of the Martian atmosphere and validated using available observational data. The MCD includes complementary post-processing schemes such as high spatial resolution interpolation of environmental data and means of reconstructing the variability thereof. The GCM is developed at Laboratoire de Météorologie Dynamique du CNRS (Paris, France) [1-3] in collaboration with the Open University (UK), the Oxford University (UK) and the Instituto de Astrofisica de Andalucia (Spain) with support from the European Space Agency (ESA) and the Centre National d'Etudes Spatiales (CNES). The MCD is freely distributed and intended to be useful and used in the framework of engineering applications as well as in the context of scientific studies which require accurate knowledge of the state of the Martian atmosphere. The MCD may be accessed either online (in a somewhat simplified form) via an interactive server available at http://www-mars.lmd.jussieu.fr (useful for moderate needs), or from the complete version which includes advanced access and post-processing software (contact [email protected] and/or [email protected] to obtain a free copy). Overview of MCDv5 contents: The MCD provides mean values and statistics of the main meteorological variables (atmospheric temperature, density, pressure and winds) as well as atmospheric composition (including dust and water vapor and ice content), as the GCM from which the datasets are obtained includes water cycle [4-6], chemistry [7,8], and ionosphere [9,10] models. The database extends up to and including the thermosphere[11-13] (~350km). Since the influence of Extreme Ultra Violet (EUV) input from the sun is significant in the latter, 3 EUV scenarios (solar minimum, average and maximum inputs) account for the impact of the various states of the solar cycle

FASER: ForwArd Search ExpeRiment at the LHC

FASER, the ForwArd Search ExpeRiment, is a proposed experiment dedicated to searching for light, extremely weakly-interacting particles at the LHC. Such particles may be produced in the LHC's high-energy collisions in large numbers in the far-forward region and then travel long distances through concrete and rock without interacting. They may then decay to visible particles in FASER, which is placed 480 m downstream of the ATLAS interaction point. In this work, we describe the FASER program. In its first stage, FASER is an extremely compact and inexpensive detector, sensitive to decays in a cylindrical region of radius R = 10 cm and length L = 1.5 m. FASER is planned to be constructed and installed in Long Shutdown 2 and will collect data during Run 3 of the 14 TeV LHC from 2021-23. If FASER is successful, FASER 2, a much larger successor with roughly R ~ 1 m and L ~ 5 m, could be constructed in Long Shutdown 3 and collect data during the HL-LHC era from 2026-35. FASER and FASER 2 have the potential to discover dark photons, dark Higgs bosons, heavy neutral leptons, axion-like particles, and many other long-lived particles, as well as provide new information about neutrinos, with potentially far-ranging implications for particle physics and cosmology. We describe the current status, anticipated challenges, and discovery prospects of the FASER program.Comment: 13 pages, 4 figures, submitted as Input to the European Particle Physics Strategy Update 2018-2020 and draws on FASER's Letter of Intent, Technical Proposal, and physics case documents (arXiv:1811.10243, arXiv:1812.09139, and arXiv:1811.12522

Mechanical properties and electrical surface charges of microfibrillated cellulose/imidazole-modified polyketone composite membranes

In the present work, microfibrillated cellulose (MFC) suspensions were produced by high-pressure homogenization and subsequently used to fabricate MFC membranes (C-1) by vacuum filtration followed by hot-pressing. A polyketone (PK50) was chemically modified by Paal-Knorr reaction to graft imidazole (IM) functional groups along its backbone structure. The resulting polymer is referred to as PK50IM80. By solution impregnation, C-1 was immersed in an aqueous solution of PK50IM80 and subsequently hot pressed, resulting in the fabrication of MFC/PK50IM80 composite membranes (C-IMP). Another method, referred to as solution mixing, consisted in adding MFC into an aqueous solution of PK50IM80 followed by vacuum filtration and hot-pressing to obtain MFC/PK50IM80 composite membranes (C-MEZC). C-IMP and C-MEZC were characterized by a wide range of analytical techniques including, X-ray photoelectron spectroscopy, Fourier-transform infrared chemical imaging, scanning electron microscopy, atomic force microscopy, dynamical mechanical analysis, tensile testing as well as streaming zeta potential, and compared to C-1 (reference material). The results suggested that C-IMP possess a more homogeneous distribution of PK50IM80 at their surface compared to C-MEZC. C-IMP was found to possess significantly enhanced Young's modulus compared to C-1 and C-MEZC. The tensile strength of C-IMP was found to improve significantly compared to C-1, whereas C-1 possessed significantly higher tensile index than C-IMP and C-MEZC. Furthermore, the presence of PK50IM80 at the surface of MFC was found to significantly shift the isoelectric point (IEP) of the membranes from pH 2.3 to a maximum value of 4.5 for C-IMP. Above the IEP, C-IMP and C-MEZC were found to possess significantly less negative electrical surface charges (plateau value of -25 mV at pH 10) when compared to C-1 (plateau value of -42 mV at pH 10). Our approach may have implication to broaden the range of filtration applications of MFC-based membranes

Technical Proposal for FASER: ForwArd Search ExpeRiment at the LHC

FASER is a proposed small and inexpensive experiment designed to search for light, weakly-interacting particles during Run 3 of the LHC from 2021-23. Such particles may be produced in large numbers along the beam collision axis, travel for hundreds of meters without interacting, and then decay to standard model particles. To search for such events, FASER will be located 480 m downstream of the ATLAS IP in the unused service tunnel TI12 and be sensitive to particles that decay in a cylindrical volume with radius R=10 cm and length L=1.5 m. FASER will complement the LHC's existing physics program, extending its discovery potential to a host of new, light particles, with potentially far-reaching implications for particle physics and cosmology. This document describes the technical details of the FASER detector components: the magnets, the tracker, the scintillator system, and the calorimeter, as well as the trigger and readout system. The preparatory work that is needed to install and operate the detector, including civil engineering, transport, and integration with various services is also presented. The information presented includes preliminary cost estimates for the detector components and the infrastructure work, as well as a timeline for the design, construction, and installation of the experiment.Comment: 82 pages, 62 figures; submitted to the CERN LHCC on 7 November 201

Enteric Delivery of Regenerating Family Member 3 alpha Alters the Intestinal Microbiota and Controls Inflammation in Mice With Colitis

Background & Aims Paneth cell dysfunction causes deficiencies in intestinal C-type lectins and antimicrobial peptides, which leads to dysbiosis of the intestinal microbiota, alters the mucosal barrier, and promotes development of inflammatory bowel diseases. We investigated whether transgenic (TG) expression of the human regenerating family member 3 alpha gene ( REG3A ) alters the fecal microbiota and affects development of colitis in mice. Methods We performed studies with C57BL/6 mice that express human regenerating family member 3 alpha (hREG3A) in hepatocytes, via the albumin gene promoter. In these mice, hREG3A travels via the bile to the intestinal lumen. Some mice were given dextran sodium sulfate (DSS) to induce colitis. Feces were collected from mice and the composition of the microbiota was analyzed by 16S ribosomal RNA sequencing. The fecal microbiome was also analyzed from mice that express only 1 copy of human REG3A transgene but were fed feces from control mice (not expressing hREG3A) as newborns. Mice expressing hREG3A were monitored for DSS-induced colitis after cohousing or feeding feces from control mice. Colitis was induced in another set of control and hREG3A-TG mice by administration of trinitrobenzene sulfonic acid; some mice were given intrarectal injections of the hREG3A protein. Colon tissues were collected from mice and analyzed by histology and immunohistochemistry to detect mucin 2, as well as by 16S ribosomal RNA fluorescence in situ hybridization, transcriptional analyses, and quantitative polymerase chain reaction. We measured levels of reactive oxygen species (ROS) in bacterial cultures and fecal microbiota using 2′,7′-dichlorofluorescein diacetate and flow cytometry. Results The fecal microbiota of mice that express hREG3A had a significant shift in composition, compared with control mice, with enrichment of Clostridiales (Ruminococcaceae, Lachnospiraceae) and depletion of Bacteroidetes (Prevotellaceae); the TG mice developed less-severe colitis following administration of DSS than control mice, associated with preserved gut barrier integrity and reduced bacterial translocation, epithelial inflammation, and oxidative damage. A similar shift in the composition of the fecal microbiota occurred after a few months in TG mice heterozygous for REG3A that harbored a wild-type maternal microbiota at birth; these mice developed less-severe forms of colitis following DSS administration. Cohoused and germ-free mice fed feces from REG3A- TG mice and given DSS developed less-severe forms of colitis and had reduced lipopolysaccharide activation of the toll-like receptor 4 and increased survival times compared with mice not fed feces from REG3A -TG mice. REG3A TG mice developed only mild colonic inflammation after exposure to 2,4,6-trinitrobenzene sulfonic acid, compared with control mice. Control mice given intrarectal hREG3A and exposed to 2,4,6-trinitrobenzene sulfonic acid showed less colon damage and inflammation than mice not given intrarectal hREG3A. Fecal samples from REG3A- TG mice had lower levels of ROS than feces from control mice during DSS administration. Addition of hREG3A to bacterial cultures reduced levels of ROS and increased survival of oxygen-sensitive commensal bacteria ( Faecalibacterium prausnitzii and Roseburia intestinalis ). Conclusions Mice with hepatocytes that express hREG3A, which travels to the intestinal lumen, are less sensitive to colitis than control mice. We found hREG3A to alter the colonic microbiota by decreasing levels of ROS. Fecal microbiota from REG3A -TG mice protect non-TG mice from induction of colitis. These findings indicate a role for reduction of oxidative stress in preserving the gut microbiota and its ability to prevent inflammation

Habitable Zones in the Universe

Habitability varies dramatically with location and time in the universe. This was recognized centuries ago, but it was only in the last few decades that astronomers began to systematize the study of habitability. The introduction of the concept of the habitable zone was key to progress in this area. The habitable zone concept was first applied to the space around a star, now called the Circumstellar Habitable Zone. Recently, other, vastly broader, habitable zones have been proposed. We review the historical development of the concept of habitable zones and the present state of the research. We also suggest ways to make progress on each of the habitable zones and to unify them into a single concept encompassing the entire universe.Comment: 71 pages, 3 figures, 1 table; to be published in Origins of Life and Evolution of Biospheres; table slightly revise

Equine Amplification and Virulence of Subtype IE Venezuelan Equine Encephalitis Viruses Isolated during the 1993 and 1996 Mexican Epizootics

To assess the role of horses as amplification hosts during the 1993 and 1996 Mexican Venezuelan equine encephalitis (VEE) epizootics, we subcutaneously infected 10 horses by using four different equine isolates. Most horses showed little or no disease and low or nonexistent viremia. Neurologic disease developed in only 1 horse, and brain histopathologic examination showed meningeal lymphocytic infiltration, perivascular cuffing, and focalencephalitis. Three animals showed mild meningoencephalitis without clinical disease. Viral RNA was detected in the brain of several animals 12-14 days after infection. These data suggest that the duration and scope of the recent Mexican epizootics were limited by lack of equine amplification characteristic of previous, more extensive VEE outbreaks. The Mexican epizootics may have resulted from the circulation of a more equine-neurotropic, subtype IE virus strain or from increased transmission to horses due to amplification by other vertebrate hosts or transmission by more competent mosquito vectors