FASTKIT: A Mobile Cable-Driven Parallel Robot for Logistics

International audienceThe subject of this paper is about the design, modeling, control and performance evaluation of a low cost and versatile robotic solution for logistics. The robot under study, named FASTKIT, is obtained from a combination of mobile robots and a Cable-Driven Parallel Robot (CDPR). FASTKIT addresses an industrial need for fast picking and kitting operations in existing storage facilities while being easy to install, keeping existing infrastructures and covering large areas. The FASTKIT prototype consists of two mobile bases that carry the exit points of the CDPR. The system can navigate autonomously to the area of interest. Once the desired position is attained, the system deploys the CDPR in such a way that its workspace corresponds to the current task specification. The system calculates the required mobile base position from the desired workspace and ensures the controllability of the platform during the deployment. Once the system is successfully deployed, the set of stabilizers are used to ensure the prototype structural stability. Then the prototype gripper is moved accurately by the CDPR at high velocity over a large area by controlling the cable tension

Abnormal T-cell phenotype in episodic angioedema with hypereosinophilia (Gleich's syndrome): frequency, clinical implication and prognosis

BACKGROUND: Episodic Angioedema with eosinophilia (EAE, Gleich\u27s syndrome) is a rare disorder consisting of recurrent episodes of angioedema, hypereosinophilia and frequent elevated serum Immunoglobin M. METHODS: We conducted a retrospective multicenter nationwide study regarding the clinical spectrum and therapeutic management of patients with EAE in France. RESULTS: Thirty patients were included with a median age at diagnosis of 41 years [5-84]. The median duration of each crisis was 5.5 days [1-90] with swelling affecting mainly the face and the upper limbs. Total serum IgM levels were increased in 20 patients (67%). Abnormal T-cell immunophenotypes were detected in 12 patients (40%) among which 5 (17%) showed evidence of clonal TCR γ gene rearrangement. Median follow-up duration was 53 months [31-99]. The presence of an abnormal T-cell population was the sole factor associated with a shorter time to flare (hazard ratio 4.15 [CI 95% 1.18-14.66; p=0.02). At last follow-up, 3 patients (10%) were able to withdraw all treatments and 11 (37%) were in clinical and biological remission with less than 10 mg of daily prednisone. CONCLUSION: EAE is a heterogeneous condition that encompasses several disease forms. Although patients usually respond well to glucocorticoids, those with evidence of abnormal T-cell phenotype have a shorter time to flare

Twenty years of satellite and in situ observations of surface chlorophyll-a from the northern Bay of Biscay to the eastern English Channel. Is the water quality improving?

Thevariabilityofthephytoplanktonbiomassderivedfromdailychlorophyll-a(Chl-a)satelliteimageswasinvestigated over the period 1998–2017 in the surface waters of the English Channel and the northern Bay of Biscay. Merged satellite (SeaWiFS-MODIS/Aqua-MERIS-VIIRS) Chl-a wascalculated using the OC5 Ifremeralgorithm which is optimized for moderately-turbid waters. The seasonal cycle in satellite-derived Chl-a was comparedwithinsitumeasurementsmadeatsevencoastalstationslocatedinthesouthernsideoftheEnglish ChannelandinthenorthernBayofBiscay.TheresultsfirstlyshowedthatthesatelliteChl-aproduct,derived from a suite of space-borne marine reflectance data, is in agreement with the coastal observations. For compliancewiththedirectivesoftheEuropeanUniononwaterquality,time-seriesof6-yearmovingaverageofChlawereassessedovertheregion.Acleardeclinewasobservedinthemeanand90thpercentileofChl-aatstations locatedinthemixedwatersoftheEnglishChannel.Thetime-seriesatthestationslocatedintheBayofBiscay showedyearlyfluctuationswhichcorrelatedwellwithriverdischarge,butnooverallChl-atrendwasobserved. IntheEnglishChannel,theshapeoftheseasonalcycleinChl-achangedovertime.Narrowerpeakswereobservedinspringattheendofthestudiedperiod,indicatinganearlierlimitationbynutrients.Monthlyaverages of satellite Chl-a, over theperiods 1998–2003and2012–2017,exhibitedspatial andtemporalpatternsin the evolutionofthephytoplanktonbiomasssimilartotheseobservedatthesevencoastalstations.Boththeinsitu andsatelliteChl-atimes-seriesshowedadecreaseinChl-aintheEnglishChannelinMay,JuneandJuly.This trendinphytoplanktonbiomassiscorrelatedwithlowerriverdischargesattheendoftheperiodandaconstant reduction in the riverine input of phosphorus through improvements in the water quality of the surrounding rivercatchments

Antiretroviral-naive and -treated HIV-1 patients can harbour more resistant viruses in CSF than in plasma

Objectives The neurological disorders in HIV-1-infected patients remain prevalent. The HIV-1 resistance in plasma and CSF was compared in patients with neurological disorders in a multicentre study. Methods Blood and CSF samples were collected at time of neurological disorders for 244 patients. The viral loads were >50 copies/mL in both compartments and bulk genotypic tests were realized. Results On 244 patients, 89 and 155 were antiretroviral (ARV) naive and ARV treated, respectively. In ARV-naive patients, detection of mutations in CSF and not in plasma were reported for the reverse transcriptase (RT) gene in 2/89 patients (2.2%) and for the protease gene in 1/89 patients (1.1%). In ARV-treated patients, 19/152 (12.5%) patients had HIV-1 mutations only in the CSF for the RT gene and 30/151 (19.8%) for the protease gene. Two mutations appeared statistically more prevalent in the CSF than in plasma: M41L (P = 0.0455) and T215Y (P = 0.0455). Conclusions In most cases, resistance mutations were present and similar in both studied compartments. However, in 3.4% of ARV-naive and 8.8% of ARV-treated patients, the virus was more resistant in CSF than in plasma. These results support the need for genotypic resistance testing when lumbar puncture is performe

Operationalizing Urban Resilience to Floods in Island Territories—Application in Punaauia, French Polynesia

In the context of climate change and increasing urbanization, Small Island Developing States are increasingly vulnerable to natural disasters. In response to urbanization in at risk areas, the concept of territorial resilience has potential as an approach to urban flood issues. The objective of this research is to develop a spatial decision support tool based on a collaborative assessment method of territorial resilience. The proposed methodology consists of: the adaptation to the French Polynesian context, three existing resilience assessment methods applied to a case study in the Punaruu Valley’s (Punaauia, French Polynesia) and the use of geovisualization techniques: use of GIS for data processing and analysis, visualization, mapping and model processing. This methodology integrates the technical, urban and social components of the territory, while highlighting the various levers available to improve territorial resilience and facilitate its understanding through collaborative work efforts and the use of a visual tool. The results demonstrate the reproducibility of these methods for assessing resilience in French Polynesia. They underline the potential of a collaborative approach to highlight critical infrastructures and generate possible decision support to improve the territory’s ability to function despite a disruption and the ability to rebuild following this disruption

Contribution à la commande des robots parallèles à câbles à redondance d'actionnement

Cable-driven parallel robots (CDPR) are particularly well adapted for some applications such as handling of heavy payloads over large workspaces. However, in order to fully control all the degrees of freedomof the mobile platformand to obtain large workspace to footprint ratios, redundant actuation may be required, which implies the determination of feasible cable tension distributions. In this thesis, in the case of CDPR with two degrees of actuation redundancy, real-time compatible algorithms capable of efficiently calculating various continuous tension distribution are introduced. Furthermore, efficient control schemes are proposed in order to increase the CDPR tracking performances. First, an dual-space feedforward control scheme is introduced to compensate for the plate-formeand whinches dynamics. In order to deal with parametric variations and incertainties in the models, an adaptive dual-space motion control scheme for CDPR is finally presented. Experimental results validate the reel-time efficiency of the proposed tension distribution algorithmand control schemes as well as their stability along the tracked trajectory.Les Robots Parallèles à Câbles (RPC) sont particulièrement adaptés pour des applications telles que le transport de charges lourdes au travers de grands espaces de travail. Afin de contrôler l'ensemble des degrés de liberté de la plate-forme tout en optimisant la taille de l'espace de travail du robot par rapport au volume de sa structure, la redondance d'actionnement est nécessaire. Dans cette thèse, un algorithme de distribution des tensions des câbles compatible temps-réel est introduit. Il permet de calculer efficacement différentes solutions optimales au problème de la distribution des tensions des RPC à deux degrés de redondance. Des schémas de commande adaptés aux RPC, intégrant l'algorithme de distribution des tensions, sont ensuite proposés. Un schéma de commande en espace double est introduit pour compenser la dynamique de la plate-forme et des enrouleurs. Afin de pallier les incertitudes et les variations des paramètres des modèles, une commande adaptative en espace double est finalement proposée. Des résultats expérimentaux prouvent la compatibilité temps-réel des algorithmes et des lois de commande développés dans cette thèse, ainsi que leur stabilité le long de la trajectoire suivie

Contribution to the control of redundantly actuated cable-driven parallel robots

Les Robots Parallèles à Câbles (RPC) sont particulièrement adaptés pour des applications telles que le transport de charges lourdes au travers de grands espaces de travail. Afin de contrôler l'ensemble des degrés de liberté de la plate-forme tout en optimisant la taille de l'espace de travail du robot par rapport au volume de sa structure, la redondance d'actionnement est nécessaire. Dans cette thèse, un algorithme de distribution des tensions des câbles compatible temps-réel est introduit. Il permet de calculer efficacement différentes solutions optimales au problème de la distribution des tensions des RPC à deux degrés de redondance. Des schémas de commande adaptés aux RPC, intégrant l'algorithme de distribution des tensions, sont ensuite proposés. Un schéma de commande en espace double est introduit pour compenser la dynamique de la plate-forme et des enrouleurs. Afin de pallier les incertitudes et les variations des paramètres des modèles, une commande adaptative en espace double est finalement proposée. Des résultats expérimentaux prouvent la compatibilité temps-réel des algorithmes et des lois de commande développés dans cette thèse, ainsi que leur stabilité le long de la trajectoire suivie.Cable-driven parallel robots (CDPR) are particularly well adapted for some applications such as handling of heavy payloads over large workspaces. However, in order to fully control all the degrees of freedomof the mobile platformand to obtain large workspace to footprint ratios, redundant actuation may be required, which implies the determination of feasible cable tension distributions. In this thesis, in the case of CDPR with two degrees of actuation redundancy, real-time compatible algorithms capable of efficiently calculating various continuous tension distribution are introduced. Furthermore, efficient control schemes are proposed in order to increase the CDPR tracking performances. First, an dual-space feedforward control scheme is introduced to compensate for the plate-formeand whinches dynamics. In order to deal with parametric variations and incertainties in the models, an adaptive dual-space motion control scheme for CDPR is finally presented. Experimental results validate the reel-time efficiency of the proposed tension distribution algorithmand control schemes as well as their stability along the tracked trajectory

Comportements des patients infectés par le VIH vis-à-vis de leur partenaire stable (enquête au CHU de Pointe-à-Pitre, Guadeloupe)

AIX-MARSEILLE2-BU Méd/Odontol. (130552103) / SudocPARIS-BIUM (751062103) / SudocSudocFranceF

Prise en charge diagnostique et thérapeutique des patients co-infectés VIH-VHC au CHU de Pointe à Pitre ( étude rétrospective à propos de 98 cas)

La prévalence nationale actuelle des patients séropositifs VIH infectés par le VHC est d'environ 30 %. Depuis l'avènement des trithérapies en 1996, le devenir des patients a été transformé, propulsant ainsi l'hépatite C en tête des causes de morbi-mortalité des patients co-infectés. Devant l'absence d'étude sur ce sujet dans la Caraïbe, et suite aux récents progrès thérapeutiques sur le VHC, nous avons réalisé une étude rétrospective décrivant la prise en charge des séropositifs contaminés par le VHC suivis au CHU de Pointe à Pitre de Janvier 1997 à juin 2003, dans le but d'améliorer notre pratique médicale. Nous avons inclus 98 patients dans notre étude. Leur moyenne d'âge était de 43,6 ans avec un sex-ratio de 2,3. Plus des 2/3 des contaminations l'ont été par toxicomanie intra-veineuse (patients majoritairement métropolitains, la toxicomanie étant rare en Guadeloupe). Les paramètres immuno-virologiques des patients sont maîtrisés (79 % des patients sous HAART). L'ARN VHC a été demandé pour 75 % des patients et s'est avéré positif dans 86 % des cas. Le génotype majoritaire est le 1 (52 %), puis le 3 (31 %). Parmi les co-infectés, 40 % ont eu une PBH, 13 % avaient une cirrhose et 32 % ont été traités. Contrairement à ce qui a été retrouvé dans la littérature, dans notre enquête la prévalence du VHC+ était de 16 %, les proportions de patients perdus de vue (39 %), et en situation de précarité (53 %), étaient plus importantes. Le taux de réponse prolongée de 20 % chez les sujets traités est très inférieur aux données publiées, mais s'explique par l'impossibilité de reproduire dans la "vraie vie" les conditions des patients inclus dans les enquêtes cliniques. La prise en charge du patient co-infecté au sein d'un réseau multidisciplinaire et l'adjonction au dossier médical d'une fiche de suivi spécifique pour les co-infectés pourraient être des moyens d'optimiser notre suivi.BORDEAUX2-BU Santé (330632101) / SudocPARIS-BIUM (751062103) / SudocSudocFranceF