Développement et validation d'un modèle de simulation numérique personnalisé à une athlète de plongeon

Les entraîneurs en sports acrobatiques disposent de peu d’outils permettant d’améliorer leur compréhension des saltos vrillés et la performance des athlètes. L’objectif de ce mémoire était de développer un environnement graphique de simulation numérique réaliste et utile des acrobaties aériennes. Un modèle composé de 17 segments et de 42 degrés de liberté a été développé et personnalisé à une athlète de plongeon. Un système optoélectronique échantillonné à 300 Hz a permis l’acquisition de huit plongeons en situation réelle d’entraînement. La cinématique articulaire reconstruite avec un filtre de Kalman étendu a été utilisée comme entrée du modèle. Des erreurs quadratiques moyennes de 20° (salto) et de 9° (vrille) entre les performances simulées et réelles ont permis de valider le modèle. Enfin, une formation basée sur le simulateur a été offerte à 14 entraîneurs en sports acrobatiques. Une augmentation moyenne de 11 % des résultats aux questionnaires post-test a permis de constater le potentiel pédagogique de l’outil pour la formation.

Méthode numérique d'estimation du mouvement des masses molles

L’analyse biomécanique du mouvement humain en utilisant des systèmes optoélectroniques et des marqueurs cutanés considère les segments du corps comme des corps rigides. Cependant, le mouvement des tissus mous par rapport à l'os, c’est à dire les muscles et le tissu adipeux, provoque le déplacement des marqueurs. Ce déplacement est le fait de deux composantes, une composante propre correspondant au mouvement aléatoire de chaque marqueur et une composante à l’unisson provoquant le déplacement commun des marqueurs cutanés lié au mouvement des masses sous-jacentes. Si nombre d’études visent à minimiser ces déplacements, des simulations ont montré que le mouvement des masses molles réduit la dynamique articulaire. Cette observation est faite uniquement par la simulation, car il n'existe pas de méthodes capables de dissocier la cinématique des masses molles de celle de l’os. L’objectif principal de cette thèse consiste à développer une méthode numérique capable de distinguer ces deux cinématiques. Le premier objectif était d'évaluer une méthode d'optimisation locale pour estimer le mouvement des masses molles par rapport à l’humérus obtenu avec une tige intra-corticale vissée chez trois sujets. Les résultats montrent que l'optimisation locale sous-estime de 50% le déplacement des marqueurs et qu’elle conduit à un classement de marqueurs différents en fonction de leur déplacement. La limite de cette méthode vient du fait qu'elle ne tient pas compte de l’ensemble des composantes du mouvement des tissus mous, notamment la composante en unisson. Le second objectif était de développer une méthode numérique qui considère toutes les composantes du mouvement des tissus mous. Plus précisément, cette méthode devait fournir une cinématique similaire et une plus grande estimation du déplacement des marqueurs par rapport aux méthodes classiques et dissocier ces composantes. Le membre inférieur est modélisé avec une chaine cinématique de 10 degrés de liberté reconstruite par optimisation globale en utilisant seulement les marqueurs placés sur le pelvis et la face médiale du tibia. L’estimation de la cinématique sans considérer les marqueurs placés sur la cuisse et le mollet permet d'éviter l’influence de leur déplacement sur la reconstruction du modèle cinématique. Cette méthode testée sur 13 sujets lors de sauts a obtenu jusqu’à 2,1 fois plus de déplacement des marqueurs en fonction de la méthode considérée en assurant des cinématiques similaires. Une approche vectorielle a montré que le déplacement des marqueurs est surtout dû à la composante à l’unisson. Une approche matricielle associant l’optimisation locale à la chaine cinématique a montré que les masses molles se déplacent principalement autour de l'axe longitudinal et le long de l'axe antéro-postérieur de l'os. L'originalité de cette thèse est de dissocier numériquement la cinématique os de celle des masses molles et les composantes de ce mouvement. Les méthodes développées dans cette thèse augmentent les connaissances sur le mouvement des masses molles et permettent d’envisager l’étude de leur effet sur la dynamique articulaire.

The PHD: A Planar, Harmonic Drive Robot for Joint Torque Control

This thesis details the development of a model of a seven degree of freedom manipulator for position control. Then, it goes on to discuss the design and construction of a the PHD, a robot built to serve two purposes: first, to perform research on joint torque control schemes, and second, to determine the important dynamic characteristics of the Harmonic Drive. The PHD, is a planar, three degree of freedom arm with torque sensors integral to each joint. Preliminary testing has shown that a simple linear spring model of the Harmonic Drive's flexibility is suitable in many situations.

Head-controlled assistive telerobot with extended physiological proprioception capability

People with disabilities such as quadriplegia can use mouth-sticks and head-sticks as extension devices to perform desired manipulations. These extensions provide extended proprioception which allows users to directly feel forces and other perceptual cues such as texture present at the tip of the mouth-stick. Such devices are effective for two principle reasons: because of their close contact with the user's tactile and proprioceptive sensing abilities; and because they tend to be lightweight and very stiff, and can thus convey tactile and kinesthetic information with high-bandwidth. Unfortunately, traditional mouth-sticks and head-sticks are limited in workspace and in the mechanical power that can be transferred because of user mobility and strength limitations. We describe an alternative implementation of the head-stick device using the idea of a virtual head-stick: a head-controlled bilateral force-reflecting telerobot. In this system the end-effector of the slave robot moves as if it were at the tip of an imaginary extension of the user's head. The design goal is for the system is to have the same intuitive operation and extended proprioception as a regular mouth-stick effector but with augmentation of workspace volume and mechanical power. The input is through a specially modified six DOF master robot (a PerForceTM hand-controller) whose joints can be back-driven to apply forces at the user's head. The manipulation tasks in the environment are performed by a six degree-of-freedom slave robot (the Zebra-ZEROTM) with a built-in force sensor. We describe the prototype hardware/software implementation of the system, control system design, safety/disability issues, and initial evaluation tasks.

Prosthesis grasp reflex via peripheral nerve control: an in vitro study

Here we present an economical and versatile platform for developing motor control and sensory feedback of a prosthetic hand via in vitro mammalian peripheral nerve activity. In this study, closed-loop control of the grasp function of the prosthetic hand was achieved by stimulation of a peripheral nerve preparation in response to slip sensor data from a robotic hand, forming a rudimentary reflex action. The single degree of freedom grasp was triggered by single unit activity from motor and sensory fibers as a result of stimulation. The work presented here provides a novel, reproducible, economic, and robust platform for experimenting with neural control of prosthetic devices before attempting in vivo implementation.

Reactions to peripheral image motion using a head/eye platform

The authors demonstrate four real-time reactive responses to movement in everyday scenes using an active head/eye platform. They first describe the design and realization of a high-bandwidth four-degree-of-freedom head/eye platform and visual feedback loop for the exploration of motion processing within active vision. The vision system divides processing into two scales and two broad functions. At a coarse, quasi-peripheral scale, detection and segmentation of new motion occurs across the whole image, and at fine scale, tracking of already detected motion takes place within a foveal region. Several simple coarse scale motion sensors which run concurrently at 25 Hz with latencies around 100 ms are detailed. The use of these sensors are discussed to drive the following real-time responses: (1) head/eye saccades to moving regions of interest; (2) a panic response to looming motion; (3) an opto-kinetic response to continuous motion across the image and (4) smooth pursuit of a moving target using motion alone.

Averaging, slaving and balance dynamics in a simple atmospheric model

We report numerical results from a study of balance dynamics using a simple model of atmospheric motion that is designed to help address the question of why balance dynamics is so stable. The non-autonomous Hamiltonian model has a chaotic slow degree of freedom (representing vortical modes) coupled to one or two linear fast oscillators (representing inertia-gravity waves). The system is said to be balanced when the fast and slow degrees of freedom are separated. We find adiabatic invariants that drift slowly in time. This drift is consistent with a random-walk behaviour at a speed which qualitatively scales, even for modest time scale separations, as the upper bound given by Neishtadt’s and Nekhoroshev’s theorems. Moreover, a similar type of scaling is observed for solutions obtained using a singular perturbation (‘slaving’) technique in resonant cases where Nekhoroshev’s theorem does not apply. We present evidence that the smaller Lyapunov exponents of the system scale exponentially as well. The results suggest that the observed stability of nearly-slow motion is a consequence of the approximate adiabatic invariance of the fast motion.

On Hamiltonian balanced dynamics and the slowest invariant manifold

The concept of a slowest invariant manifold is investigated for the five-component model of Lorenz under conservative dynamics. It is shown that Lorenz's model is a two-degree-of-freedom canonical Hamiltonian system, consisting of a nonlinear vorticity-triad oscillator coupled to a linear gravity wave oscillator, whose solutions consist of regular and chaotic orbits. When either the Rossby number or the rotational Froude number is small, there is a formal separation of timescales, and one can speak of fast and slow motion. In the same regime, the coupling is weak, and the Kolmogorov–Arnold-Moser theorem is shown to apply. The chaotic orbits are inherently unbalanced and are confined to regions sandwiched between invariant tori consisting of quasi-periodic regular orbits. The regular orbits generally contain free fast motion, but a slowest invariant manifold may be geometrically defined as the set of all slow cores of invariant tori (defined by zero fast action) that are smoothly related to such cores in the uncoupled system. This slowest invariant manifold is not global; in fact, its structure is fractal; but it is of nearly full measure in the limit of weak coupling. It is also nonlinearly stable. As the coupling increases, the slowest invariant manifold shrinks until it disappears altogether. The results clarify previous definitions of a slowest invariant manifold and highlight the ambiguity in the definition of “slowness.” An asymptotic procedure, analogous to standard initialization techniques, is found to yield nonzero free fast motion even when the core solutions contain none. A hierarchy of Hamiltonian balanced models preserving the symmetries in the original low-order model is formulated; these models are compared with classic balanced models, asymptotically initialized solutions of the full system and the slowest invariant manifold defined by the core solutions. The analysis suggests that for sufficiently small Rossby or rotational Froude numbers, a stable slowest invariant manifold can be defined for this system, which has zero free gravity wave activity, but it cannot be defined everywhere. The implications of the results for more complex systems are discussed.

CLUSTER MODEL FOR REACTIONS INDUCED BY WEAKLY BOUND AND/OR EXOTIC HALO NUCLEI WITH MEDIUM-MASS TARGETS

An experimental overview of reactions induced by the stable, but weakly-bound nuclei (6)Li, (7)Li and (9)Be, and by the exotic, halo nuclei (6)He, (8)B, (11)Be and (17)F On medium-mass targets, such as (58)Ni, (59)Co or (64)Zn, is presented. Existing data on elastic scattering, total reaction cross sections, fusion, breakup and transfer channels are discussed in the framework of a CDCC approach taking into account the breakup degree of freedom.

Reaction mechanisms for weakly-bound, stable nuclei and unstable, halo nuclei on medium-mass targets

An experimental overview of reactions induced by the stable, but weakly-bound nuclei (6)Li, (7)Li and (9)Be, and by the exotic, halo nuclei (6)He, (8)B, (11)Be and (17)F on medium-mass targets, such as (58)Ni, (59)Co or (64)Zn, is presented. Existing data on elastic scattering, total reaction cross sections, fusion processes, breakup and transfer channels are discussed in the framework of a CDCC approach taking into account the breakup degree of freedom.

Switching off the reservoir through nonstationary quantum systems

In this paper, we demonstrate that the inevitable action of the environment can be substantially weakened when considering appropriate nonstationary quantum systems. Beyond protecting quantum states against decoherence, an oscillating frequency can be engineered to make the system-reservoir coupling almost negligible. Differently from the program for engineering reservoir and similarly to the schemes for dynamical decoupling of open quantum systems, our technique does not require previous knowledge of the state to be protected. However, differently from the previously-reported schemes for dynamical decoupling, our technique does not rely on the availability of tailored external pulses acting faster than the shortest timescale accessible to the reservoir degree of freedom.

Cellular automaton model for molecular traffic jams

We consider the time evolution of an exactly solvable cellular automaton with random initial conditions both in the large-scale hydrodynamic limit and on the microscopic level. This model is a version of the totally asymmetric simple exclusion process with sublattice parallel update and thus may serve as a model for studying traffic jams in systems of self-driven particles. We study the emergence of shocks from the microscopic dynamics of the model. In particular, we introduce shock measures whose time evolution we can compute explicitly, both in the thermodynamic limit and for open boundaries where a boundary-induced phase transition driven by the motion of a shock occurs. The motion of the shock, which results from the collective dynamics of the exclusion particles, is a random walk with an internal degree of freedom that determines the jump direction. This type of hopping dynamics is reminiscent of some transport phenomena in biological systems.

Dominância fiscal e suas implicações sobre a política monetária no Brasil: uma análise do período 1999 - 2005

O grau de liberdade da política monetária é uma questão muito relevante em um país que decide adotar um regime de metas inflacionárias e câmbio flutuante. Caso a autoridade monetária desse país não tenha liberdade para atuar, o regime de metas pode ser ineficiente. Em especial, caso esse país se encontre numa situação de Dominância Fiscal, a política monetária pode ter efeitos perversos sobre a relação dívida/PIB, aumentando seu prêmio de risco soberano e causando um aumento na probabilidade de default implícita em seus títulos soberanos. O intuito desse trabalho é realizar o teste de dominância a partir de um modelo proposto por Olivier Blanchard em 2004, e testar primeiro se o país se encontrava em dominância em 2002, 2003 e depois analisar o resultado desse modelo até novembro de 2005. Algumas modificações de variáveis utilizadas, medidas de risco e taxa de juros são propostas e é acrescido ao modelo um teste de estabilidade de coeficientes e a incerteza causada no período eleitoral em 2002. Além disso, é analisada a reação do Banco Central no período, para identificar se sua reação compartilhava da visão de dominância que o modelo original apresentava ou não. A conclusão é que o Brasil, mesmo após as alterações sugeridas, ainda se encontra numa situação de dominância fiscal segundo a descrição do modelo. Porém, o resultado final é cerca de 20% do originalmente observado em 2004, resultando em uma liberdade de atuação significativamente maior para a autoridade monetária no Brasil em 2002 e 2003. O Banco Central parece ter reagido a mudanças de expectativa de inflação e não parecia compartilhar um diagnóstico de dominância fiscal ao longo de 2002. As eleições foram significativas para explicar aumento da probabilidade de default, mas não alteram significativamente o resultado do teste após as mudanças de variáveis. A medida de risco proposta resulta em um modelo melhor para medir dominância no Brasil. A mensagem final é que o Brasil ainda precisa se preocupar com as restrições fiscais, mas elas são menores que o modelo original propunha.

A perceived human development index

The objective of the paper is to build a Perceived Human Development Index (PHDI) framework by assembling the HDI components, namely indicators on income, health and education on their subjective version. We propose here to introduce a fourth dimension linked to perceptions on work conditions, given its role in the “happiness” literature and in social policy making. We study how perceptions on satisfaction about the individual’s satisfaction with income, education, work and health are related to their objective counterparts. We use a sample of LAC countries where we take advantage of a larger set of questions on the four groups of social variables mentioned included in the Gallup World Poll by the IADB. We emphasize the impacts of objective income and age on perceptions. Complementarily, in the appendix we use the full sample of 132 countries where a smaller set of variables can be included, which provides a greater degree of freedom to study the impact of objective HDI components observed at country level on the formation of individual’s perception on income, education, work, health and life satisfaction. These exercises provide useful insights about the workings of beneficiaries’ point of view to understand the transmission mechanism of key social policy ingredients into perceptions. In particular, the so-called PHDI may provide a complementary subjective reference to the HDI. We also study how one’s satisfaction with life is established, measuring the relative importance given to income vis-à-vis health and education. Estimating these “instantaneous happiness functions” will help to assess the relative weights attributed to income, health and education in the HDI, which is a benchmark in the multidimensional social indicators toolbox used in practice.

Influência de parâmetros moleculares em funções de correlação temporal na dinâmica de solvatação mecânica

No presente trabalho descrevemos nossos resultados relativos à investigação da dinâmica de solvatação mecânica por meio de simulações por dinâmica molecular, respeitando o regime da resposta linear, em sistemas-modelo de argônio líquido com um soluto monoatômico ou diatômico dissolvido. Estudamos sistematicamente a influência dos parâmetros moleculares dos solutos (tamanho, polarizabilidade) e da densidade frente a vários modelos de solvatação. Funções de Correlação Temporal da Energia de Solvatação foram calculadas com relação à correlações de n-corpos (n = 2; 3) distinguindo interações repulsivas e atrativas para ambos os sistemas líquidos. Também obtivemos segundas derivadas temporais dessas funções referindo-se à parcelas translacionais, rotacionais e roto-translacionais na solução do diatômico. Encontramos que funções de correlação temporal coletivas podem ser razoavelmente bem aproximadas por correlações binárias a densidades baixas e, a densidades altas, correlações ternárias tornam-se mais importantes produzindo um descorrelacionamento mais rápido das funções coletivas devido a efeitos de cancelamento parciais. As funções de correlação para interações repulsivas e atrativas exibem comportamentos dinâmicos independentes do modelo de solvatação devido a fatores de escalonamento linear que afetam apenas as amplitudes das dessas funções de correlação temporal. Em geral, os sistemas com grau de liberdade rotacional apresentam tempos de correlação mais curtos para a dinâmica coletiva e tempos de correlação mais longos para as funções binárias e ternárias. Finalmente, esse estudo mostra que os sistemas contendo o diatômico relaxam-se predominantemente por mecanismos translacionais binários em modelos de solvatação envolvendo alterações apenas na polarizabilidade do soluto, e por mecanismos rotacionais atrativos binários em modelos envolvendo alterações no comprimento de ligação.