Conception et validation expérimentale d’un gant haptique alimenté par des actionneurs magnétorhéologiques pour la manipulation d’objets dans un environnement virtuel

En réalité virtuelle (VR), les systèmes haptiques sont en mesure de fournir un retour de force à l’utilisateur pour des applications de jeux et d’entrainement (simulation). Les interfaces haptiques pour la main sont limitées par les technologies d’actionnement d’aujourd’hui. En effet, la vaste majorité des systèmes robotiques est actionnée par des moteurs DC couplés à un ratio de démultiplication (« gearbox »). Ces systèmes font face à un compromis inévitable entre la densité de couple et la réponse dynamique. De récentes recherches ont démontrées que les embrayages magnétorhéologiques (MR) couplées à une source de puissance (ex : moteur DC) sont une alternative prometteuse pour l’obtention d’une haute réponse dynamique à un coût moindre. Jusqu’à présent, la technologie MR n’a pas été démontrée pour des systèmes robotiques ayant de multiple (6 et +) degrés-de-liberté (ddls). Ce mémoire a pour but d’étudier le potentiel de la technologie des embrayages MR pour des applications d’interfaces haptiques VR pour la main. D’abord, les requis de conception sont établis par la littérature. Ensuite, un système haptique complet permettant aux utilisateurs de manipuler des objets virtuels a été développé basé sur un actionnement à tendons alimentés par des embrayages MR (« tendon-driven manipulator powered by MR actuators », TDM-MR). Ce système haptique utilise un actionnent à configuration semi-distribuée qui permet à deux moteurs DC, couplés à un ratio de démultiplication, de fournir la puissance nécessaire pour alimenter 10 embrayages MR actionnant 7 ddls. Ce système haptique a d’ailleurs été testé expérimentalement. Les résultats démontrent d’excellentes réponses dynamiques, de hautes forces générées et une tolérance aux impacts. Pour finir, un jeu VR consistant à démonter la performance du prototype auprès de 10 utilisateurs a été développé et très bien reçu par ceux-ci

Near-Surface Wind Observation Impact on Forecasts: Temporal Propagation of the Analysis Increment

This study examines the assimilation of near-surface wind observations over land to improve wind nowcasting and short-term tropospheric forecasts. A new geostatistical operator based on geophysical model output statistics (GMOS) is compared with a bilinear interpolation scheme (Bilin). The multivariate impact on forecasts and the temporal evolution of the analysis increments produced are examined as well as the influence of background error covariances on different components of the prediction system. Results show that Bilin significantly degrades surface and upper-air fields when assimilating only wind data from 4942 SYNOP stations. GMOS on the other hand produces smaller increments that are in better agreement with the model state. It leads to better short-term near-surface wind forecasts and does not deteriorate the upper-air forecasts. The information persists longer in the system with GMOS, although the local improvements do not propagate beyond 6-h lead time. Initial model tendencies indicate that the mass field is not significantly altered when using static error covariances and the boundary layer parameterizations damp the poorly balanced increment locally. Conversely, most of the analysis increment is propagated when using flow-dependent error statistics. It results in better balanced wind and mass fields and provides a more persistent impact on the forecasts. Forecast accuracy results from observing system experiments (assimilating SYNOP winds with all observations used operationally) are generally neutral. Nevertheless, forecasts and analyses from GMOS are more self-consistent than those from both Bilin and a control experiment (not assimilating near-surface winds over land) and the information from the observations persists up to 12-h lead time

Cellular processes of v-Src transformation revealed by gene profiling of primary cells - Implications for human cancer

<p>Abstract</p> <p>Background</p> <p>Cell transformation by the Src tyrosine kinase is characterized by extensive changes in gene expression. In this study, we took advantage of several strains of the Rous sarcoma virus (RSV) to characterize the patterns of v-Src-dependent gene expression in two different primary cell types, namely chicken embryo fibroblasts (CEF) and chicken neuroretinal (CNR) cells. We identified a common set of v-Src regulated genes and assessed if their expression is associated with disease-free survival using several independent human tumor data sets.</p> <p>Methods</p> <p>CEF and CNR cells were infected with transforming, non-transforming, and temperature sensitive mutants of RSV to identify the patterns of gene expression in response to v-Src-transformation. Microarray analysis was used to measure changes in gene expression and to define a common set of v-Src regulated genes (CSR genes) in CEF and CNR cells. A clustering enrichment regime using the CSR genes and two independent breast tumor data-sets was used to identify a 42-gene aggressive tumor gene signature. The aggressive gene signature was tested for its prognostic value by conducting survival analyses on six additional tumor data sets.</p> <p>Results</p> <p>The analysis of CEF and CNR cells revealed that cell transformation by v-Src alters the expression of 6% of the protein coding genes of the genome. A common set of 175 v-Src regulated genes (CSR genes) was regulated in both CEF and CNR cells. Within the CSR gene set, a group of 42 v-Src inducible genes was associated with reduced disease- and metastasis-free survival in several independent patient cohorts with breast or lung cancer. Gene classes represented within this group include DNA replication, cell cycle, the DNA damage and stress responses, and blood vessel morphogenesis.</p> <p>Conclusion</p> <p>By studying the v-Src-dependent changes in gene expression in two types of primary cells, we identified a set of 42 inducible genes associated with poor prognosis in breast and lung cancer. The identification of these genes provides a set of biomarkers of aggressive tumor behavior and a framework for the study of cancer cells characterized by elevated Src kinase activity.</p

Sleeved Bending Actuators for Soft Grippers: A Durable Solution for High Force-to-Weight Applications

Soft grippers are known for their ability to interact with objects that are fragile, soft or of an unknown shape, as well as humans in collaborative robotics applications. However, state-of-the-art soft grippers lack either payload capacity or durability, which limits their use in industrial applications. In fact, high force density pneumatic soft grippers require high strain and operating pressure, both of which impair their durability. This work presents a new sleeved bending actuator for soft grippers that is capable of high force density and durability. The proposed actuator is based on design principles previously proven to improve the life of pneumatic artificial muscles, where a sleeve provides a uniform reinforcement that reduces local stresses and strains in the inflated membrane. The sleeved bending actuator features a silicone membrane and an external two-material sleeve that can support high pressures while providing a flexible grip. The proposed sleeved bending actuators are validated through two grippers, sized according to foreseen soft gripper applications: A small gripper for drone perching and lightweight food manipulation, and a larger one for the manipulation of heavy material (&gt;5 kg) of various weights and sizes. Performance assessment shows that these grippers have payloads up to 5.2 kg and 20 kg, respectively. Durability testing of the grippers demonstrates that the grippers have an expected lifetime ranging from 263,000 cycles to more than 700,000 cycles. The grippers are tested in various settings, including the integration of a gripper into a Phantom 2 quadcopter, a perching demonstration, as well as the gripping of light and heavy food items. Experiments show that sleeved bending actuators constitute a promising avenue for durable and strong soft grippers