Modulation de la transmission sensorielle par la région locomotrice mésencéphalique

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

Rôle de la neurotensine dans le phénomène de sensibilisation à la morphine

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

Comparaison du patron locomoteur entre les patients ayant subi une arthroplastie de resurfaçage de la hanche et les sujets contrôles

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

Stimulation électrique de la moelle épinière lombaire pour déclencher la marche chez le chat spinal

Thèse numérisée par la Direction des bibliothèques de l'Université de Montréal.

Plasticity following spinalization and step-training in the cat

Thèse numérisée par la Direction des bibliothèques de l'Université de Montréal.

Systematics of African Amphicyonidae, with descriptions of new material from Napak (Uganda) and Grillental (Namibia)

The Early Miocene Napak XV locality (ca 20.5 Ma), Uganda, has yielded an interesting assemblage of fossils, including the very well represented amphicyonid Hecubides euryodon. The remarkable find of a nearly complete mandible, unfortunately with poorly preserved dentition, together with new dental remains allow us to obtain a better idea about the morphology and variability of this species. Additionally, we describe a newly discovered mandible of Hecubides euryodon from the Grillental-VI locality (Sperrgebiet, Namibia), which is the most complete and diagnostic Amphicyonidae material found in this area. Comparisons with Cynelos lemanensis from Saint Gérand le Pouy (France), the type locality, and with an updated sample of the species of amphicyonids described in Africa leads us to validate the genus Hecubides. Hecubides would be phylogenetically related to the medium and large size species of Amphicyonidae from Africa, most of them now grouped into the genera Afrocyon and Myacyon, both endemic to this continent.

Cyber Enigmas? Passive Detection and Pedagogical Agents: Can Students Spot the fake?

This paper presents a study that was undertaken to examine human interaction with a pedagogical agent and the passive and active detection of such agents within a synchronous, online environment. A pedagogical agent is a software application which can provide a human like interaction using a natural language interface. These may be familiar from the smartphone interfaces such as ‘Siri’ or ‘Cortana’, or the virtual online assistants found on some websites, such as ‘Anna’ on the Ikea website. Pedagogical agents are characters on the computer screen with embodied life-like behaviours such as speech, emotions, locomotion, gestures, and movements of the head, the eye, or other parts of the body. The passive detection test is where participants are not primed to the potential presence of a pedagogical agent within the online environment. The active detection test is where participants are primed to the potential presence of a pedagogical agent. The purpose of the study was to examine how people passively detected pedagogical agents that were presenting themselves as humans in an online environment. In order to locate the pedagogical agent in a realistic higher education online environment, problem-based learning online was used. Problem-based learning online provides a focus for discussions and participation, without creating too much artificiality. The findings indicated that the ways in which students positioned the agent tended to influence the interaction between them. One of the key findings was that since the agent was focussed mainly on the pedagogical task this may have hampered interaction with the students, however some of its non-task dialogue did improve students' perceptions of the autonomous agents’ ability to interact with them. It is suggested that future studies explore the differences between the relationships and interactions of learner and pedagogical agent within authentic situations, in order to understand if students' interactions are different between real and virtual mentors in an online setting.

Increase in Hippocampal Theta Oscillations during Spatial Decision Making

The processing of spatial and mnemonic information is believed to depend on hippocampal theta oscillations (5–12 Hz). However, in rats both the power and the frequency of the theta rhythm are modulated by locomotor activity, which is a major confounding factor when estimating its cognitive correlates. Previous studies have suggested that hippocampal theta oscillations support decision-making processes. In this study, we investigated to what extent spatial decision making modulates hippocampal theta oscillations when controlling for variations in locomotion speed. We recorded local field potentials from the CA1 region of rats while animals had to choose one arm to enter for reward (goal) in a four-arm radial maze. We observed prominent theta oscillations during the decision-making period of the task, which occurred in the center of the maze before animals deliberately ran through an arm toward goal location. In speed-controlled analyses, theta power and frequency were higher during the decision period when compared to either an intertrial delay period (also at the maze center), or to the period of running toward goal location. In addition, theta activity was higher during decision periods preceding correct choices than during decision periods preceding incorrect choices. Altogether, our data support a cognitive function for the hippocampal theta rhythm in spatial decision making

Développement d’un système d’actionnement utilisant la combustion d’une source d’énergie chimique pour la robotique mobile

Les systèmes d’actionnement couramment utilisés sur les systèmes de robotiques mobiles tels que les exosquelettes ou les robots marcheurs sont majoritairement électriques. Les batteries couplées à des moteurs électriques souffrent toutefois d’une faible densité de stockage énergétique et une faible densité de puissance, ce qui limite l’autonomie de ces dispositifs pour une masse de système donnée. Une étude comparative des systèmes d’actionnement potentiels a permis de déterminer que l’utilisation d’une source d’énergie chimique permettait d’obtenir une densité de stockage énergétique supérieure aux batteries. De plus, il a été déterminé que l’utilisation de la combustion directement dans un actionneur pneumatique souple permettrait d’obtenir une densité de puissance beaucoup plus élevée que celle des moteurs électriques. La conception, la fabrication et la caractérisation de plusieurs types d’actionneurs pneumatiques pressurisés directement par la combustion d’une source d’énergie chimique ont permis d’évaluer la faisabilité de l’approche, dans un contexte de robotique mobile, plus précisément pour des tâches de locomotion. Les paramètres permettant d’obtenir une efficacité énergétique élevée ont été étudiés. Il a été démontré que le ratio de compression et le ratio d’expansion doivent être optimisés. De plus, comme les pertes thermiques sont le mécanisme de perte dominant, le ratio d’équivalence devrait être réduit au minimum. Parmi les carburants usuels, l’hydrogène permet d’atteindre les valeurs de ratio d’équivalence les plus faibles, ce qui en fait un choix de carburant idéal. Les résultats expérimentaux ont été utilisés pour corréler un modèle analytique d’un actionneur pneumatique à combustion. Ce modèle analytique est par la suite utilisé pour vérifier la faisabilité théorique de l’utilisation de l’approche d’actionnement pour fournir la puissance à un dispositif d’assistance à la locomotion.

Determination of a Total Body Model of Efficiency Applied to a Rowing Movement in Humans

Efficiency represents the ratio of work done to energy expended. In human movement, it is desirable to maximise the work done or minimise the energy expenditure. Whilst research has examined the efficiency of human movement for the lower and upper body, there is a paucity of research which considers the efficiency of a total body movement. Rowing is a movement which encompasses all parts of the body to generate locomotion and is a useful modality to measure total body efficiency. It was the aim of this research to develop a total body model of efficiency and explore how skill level of participants and assumptions of the modelling process affected the efficiency estimates Three studies were used to develop and evaluate the efficiency model. Firstly, the efficiency of ten healthy males was established using rowing, cycling and arm cranking. The model included internal work from motion capture and efficiency estimates were comparable to published literature, indicating the suitability of the model to estimate efficiency. Secondly, the model was developed to include a multi-segmented trunk and twelve novice and twelve skilled participants were assessed for efficiency. Whilst the efficiency estimates were similar to published results, novice participants were assessed as more efficient. Issues such as the unique physiology of trained rowers and a lack of energy transfers in the model were considered contributing factors. Finally the model was redeveloped to account for energy transfers, where skilled participants had higher efficiency at large workloads. This work presents a novel model for estimating efficiency during a rowing motion. The specific inclusion of energy transfers expands previous knowledge of internal work and efficiency, demonstrating a need to include energy transfers in the assessment of efficiency of a total body action.

Mobilidade sustentável : interação entre veículos motorizados e utentes vulneráveis da via pública

O automóvel tem sido nas últimas décadas o principal meio de transporte para a realização de deslocações diárias. Este é um panorama tanto a nível Nacional como Europeu e deve-se ao crescimento económico e aos investimentos centrados em infraestruturas rodoviárias. A organização das atividades e o planeamento nos meios urbanos está, muitas vezes, projetada em função do automóvel e pouco preparado para outras formas de mobilidade, nomeadamente para peões e ciclistas. Existe uma necessidade de mudança deste panorama e a necessidade de uma sociedade que privilegie os modos de transporte suave. No entanto, surge a necessidade de garantir a segurança dos utentes mais vulneráveis da via pública. Esta dissertação de Mestrado tem como principal objetivo analisar de que forma a sinistralidade viária para peões e ciclistas tem evoluído nas freguesias abrangidas pela atividade da Polícia de Segurança Pública (PSP) de Aveiro e quais as principais dificuldades que estes enfrentam nas suas deslocações diárias. Para alcançar este objetivo foram analisados dados de sinistralidade viária fornecidos pela PSP do comando distrital de Aveiro que envolviam a interação de veículos motorizados e utentes vulneráveis da via pública (peões ou ciclistas). Numa segunda fase foi elaborado um inquérito, com o objetivo de perceber as principais dificuldades encontradas pelos utentes da Universidade que privilegiam os modos de deslocação suave nas suas viagens diárias. Este estudo revelou que para a área em estudo, no concelho de Aveiro, o número de acidentes que envolvem a interação de veículos motorizados com utentes vulneráveis da via pública aumentou 5% de 2012 a 2013 e 4% de 2013 a 2014. Os utentes com idades superiores a 55 anos revelaram-se os mais vulneráveis, não só em termos de número de ocorrências mas também na gravidade de lesões, representando 50% de mortes e feridos graves, Em termos de atropelamento de peões existe uma forte tendência para peões do sexo feminino (73%), em oposição ao perfil do condutor atropelante onde 69% são do sexo masculino Em relação a acidentes envolvendo ciclistas, 68% dos lesados são do sexo masculino. Uma possível explicação poderá consistir numa maior utilização de bicicletas por parte dos mesmos, como foi comprovado na amostra recolhida no inquérito, mas não existem mais estatísticas em Aveiro sobre a distribuição por género dos utilizadores de bicicleta. Do inquérito efetuado conclui-se que os principais problemas encontrados pelos utentes inquiridos são, à semelhança de peões e ciclistas, a falta de sensibilização dos automobilistas e as condições meteorológicas. Em terceiro lugar encontra-se, para os peões, o aumento do risco de atos de vandalismo e assaltos e, para os ciclistas, a falta de vias dedicadas. Por outro lado, as principais motivações são, tanto para peões como para ciclistas, o custo reduzido ou nulo e a facilidade de locomoção.

Evaluating alternative gait strategies using evolutionary robotics

Evolutionary robitics is a branch of artificial intelligence concerned with the automatic generation of autonomous robots. Usually the form of the robit is predefined an various computational techniques are used to control the machine's behaviour. One aspect is the spontaneous generation of walking in legged robots and this can be used to investigate the mechanical requiements for efficient walking in bipeds. This paper demonstrates a bipedal simulator that spontaneously generates walking and running gaits. The model can be customized to represent a range of hominoid morphologies and used to predict performance paramets such as preferred speed and metabolic energy cost. Because it does not require any motion capture data it is particularly suitable for investigating locomotion in fossil animals. The predictoins for modern humans are highly accurate in terms of energy cost for a given speend and thus the values predicted for other bipeds are likely to be good estimates. To illustrate this the cost of transport is calculated for Australopithecus afarensis. The model allows the degree of maximum extension at the knee to be varied causing the model to adopt walking gaits varying from chimpanzee-like to human=like. The energy costs associated with these gait choices can thus be calculated and this information used to evaluate possible locomotor strategies in early hominids

Predicting the metabolic energy costs of bipedalism using evolutionary robotics

To understand the evolution of bipedalism among the homnoids in an ecological context we need to be able to estimate theenerrgetic cost of locomotion in fossil forms. Ideally such an estimate would be based entirely on morphology since, except for the rare instances where footprints are preserved, this is hte only primary source of evidence available. In this paper we use evolutionary robotics techniques (genetic algoritms, pattern generators and mechanical modeling) to produce a biomimentic simulation of bipedalism based on human body dimensions. The mechnaical simulation is a seven-segment, two-dimensional model with motive force provided by tension generators representing the major muscle groups acting around the lower-limb joints. Metabolic energy costs are calculated from the muscel model, and bipedal gait is generated using a finite-state pattern generator whose parameters are produced using a genetic algorithm with locomotor economy (maximum distance for a fixed energy cost) as the fitness criterion. The model is validated by comparing the values it generates with those for modern humans. The result (maximum efficiency of 200 J m-1) is within 15% of the experimentally derived value, which is very encouraging and suggests that this is a useful analytic technique for investigating the locomotor behaviour of fossil forms. Initial work suggests that in the future this technique could be used to estimate other locomotor parameters such as top speed. In addition, the animations produced by this technique are qualitatively very convincing, which suggests that this may also be a useful technique for visualizing bipedal locomotion.

DESIGN, MODELING, AND FABRICATION OF MICROROBOT LEGS

This dissertation presents work done in the design, modeling, and fabrication of magnetically actuated microrobot legs. Novel fabrication processes for manufacturing multi-material compliant mechanisms have been used to fabricate effective legged robots at both the meso and micro scales, where the meso scale refers to the transition between macro and micro scales. This work discusses the development of a novel mesoscale manufacturing process, Laser Cut Elastomer Refill (LaCER), for prototyping millimeter-scale multi-material compliant mechanisms with elastomer hinges. Additionally discussed is an extension of previous work on the development of a microscale manufacturing process for fabricating micrometer-sale multi-material compliant mechanisms with elastomer hinges, with the added contribution of a method for incorporating magnetic materials for mechanism actuation using externally applied fields. As both of the fabrication processes outlined make significant use of highly compliant elastomer hinges, a fast, accurate modeling method for these hinges was desired for mechanism characterization and design. An analytical model was developed for this purpose, making use of the pseudo rigid-body (PRB) model and extending its utility to hinges with significant stretch component, such as those fabricated from elastomer materials. This model includes 3 springs with stiffnesses relating to material stiffness and hinge geometry, with additional correction factors for aspects particular to common multi-material hinge geometry. This model has been verified against a finite element analysis model (FEA), which in turn was matched to experimental data on mesoscale hinges manufactured using LaCER. These modeling methods have additionally been verified against experimental data from microscale hinges manufactured using the Si/elastomer/magnetics MEMS process. The development of several mechanisms is also discussed: including a mesoscale LaCER-fabricated hexapedal millirobot capable of walking at 2.4 body lengths per second; prototyped mesoscale LaCER-fabricated underactuated legs with asymmetrical features for improved performance; 1 centimeter cubed LaCER-fabricated magnetically-actuated hexapods which use the best-performing underactuated leg design to locomote at up to 10.6 body lengths per second; five microfabricated magnetically actuated single-hinge mechanisms; a 14-hinge, 11-link microfabricated gripper mechanism; a microfabricated robot leg mechansim demonstrated clearing a step height of 100 micrometers; and a 4 mm x 4 mm x 5 mm, 25 mg microfabricated magnetically-actuated hexapod, demonstrated walking at up to 2.25 body lengths per second.

Increase in Hippocampal Theta Oscillations during Spatial Decision Making

The processing of spatial and mnemonic information is believed to depend on hippocampal theta oscillations (5–12 Hz). However, in rats both the power and the frequency of the theta rhythm are modulated by locomotor activity, which is a major confounding factor when estimating its cognitive correlates. Previous studies have suggested that hippocampal theta oscillations support decision-making processes. In this study, we investigated to what extent spatial decision making modulates hippocampal theta oscillations when controlling for variations in locomotion speed. We recorded local field potentials from the CA1 region of rats while animals had to choose one arm to enter for reward (goal) in a four-arm radial maze. We observed prominent theta oscillations during the decision-making period of the task, which occurred in the center of the maze before animals deliberately ran through an arm toward goal location. In speed-controlled analyses, theta power and frequency were higher during the decision period when compared to either an intertrial delay period (also at the maze center), or to the period of running toward goal location. In addition, theta activity was higher during decision periods preceding correct choices than during decision periods preceding incorrect choices. Altogether, our data support a cognitive function for the hippocampal theta rhythm in spatial decision making