Physiology, ecological niches and species distribution

Although many studies have debated the theoretical links between physiology, ecological niches and species distribution, few studies have provided evidence for a tight empirical coupling between these concepts at a macroecological scale. We used an ecophysiological model to assess the fundamental niche of a key-structural marine species. We found a close relationship between its fundamental and realized niche. The relationship remains constant at both biogeographical and decadal scales, showing that changes in environmental forcing propagate from the physiological to the macroecological level. A substantial shift in the spatial distribution is detected in the North Atlantic and projections of range shift using IPCC scenarios suggest a poleward movement of the species of one degree of latitude per decade for the 21st century. The shift in the spatial distribution of this species reveals a pronounced alteration of polar pelagic ecosystems with likely implications for lower and upper trophic levels and some biogeochemical cycles.

Vortex entanglement in Bose-Einstein condensates coupled to Laguerre-Gauss beams

We study the establishment of vortex entanglement in remote Bose-Einstein condensates (BECs). We consider a two-mode photonic resource entangled in its orbital angular momentum (OAM) degree of freedom and, by exploiting the process of light-to-BEC OAM transfer, demonstrate that such entanglement can be efficiently passed to the matterlike systems. Our proposal thus represents a building block for novel dissipation-free and long-memory communication channels based on OAM. We discuss issues of practical realizability, stressing the feasibility of our scheme, and present an operative technique for the indirect inference of the set vortex entanglement.

Adaptive Dialogue Strategy Selection through Imprecise Probabilistic Query Answering

In a human-computer dialogue system, the dialogue strategy can range from very restrictive to highly flexible. Each specific dialogue style has its pros and cons and a dialogue system needs to select the most appropriate style for a given user. During the course of interaction, the dialogue style can change based on a user’s response and the system observation of the user. This allows a dialogue system to understand a user better and provide a more suitable way of communication. Since measures of the quality of the user’s interaction with the system can be incomplete and uncertain, frameworks for reasoning with uncertain and incomplete information can help the system make better decisions when it chooses a dialogue strategy. In this paper, we investigate how to select a dialogue strategy based on aggregating the factors detected during the interaction with the user. For this purpose, we use probabilistic logic programming (PLP) to model probabilistic knowledge about how these factors will affect the degree of freedom of a dialogue. When a dialogue system needs to know which strategy is more suitable, an appropriate query can be executed against the PLP and a probabilistic solution with a degree of satisfaction is returned. The degree of satisfaction reveals how much the system can trust the probability attached to the solution.

Context-Aware Body Area Networks (CABAN) for interactive smart environments:Interference characterization

Body Area Networks are unique in that the large-scale mobility of users allows the network itself to travel across a diverse range of operating domains or even to enter new and unknown environments. This network mobility is unlike node mobility in that sensed changes in inter-network interference level may be used to identify opportunities for intelligent inter-networking, for example, by merging or splitting from other networks, thus providing an extra degree of freedom. This paper introduces the concept of context-aware bodynets for interactive environments using inter-network interference sensing. New ideas are explored at both the physical and link layers with an investigation based on a 'smart' office environment. A series of carefully controlled measurements of the mesh interconnectivity both within and between an ambulatory body area network and a stationary desk-based network were performed using 2.45 GHz nodes. Received signal strength and carrier to interference ratio time series for selected node to node links are presented. The results provide an insight into the potential interference between the mobile and static networks and highlight the possibility for automatic identification of network merging and splitting opportunities. © 2010 ACM.

Using Instrumented Vehicles To Detect Damage in Bridges

Bridge structures are subject to continuous degradation due to the environment, ageing and excess loading. Monitoring of bridges is a key part of any maintenance strategy as it can give early warning if a bridge is becoming unsafe. This paper will theoretically assess the ability of a vehicle fitted with accelerometers on its axles to detect changes in damping of bridges, which may be the result of damage. Two vehicle models are used in this investigation. The first is a two degree-of-freedom quarter-car and the second is a four degree-of-freedom halfcar. The bridge is modelled as a simply supported beam and the interaction between the vehicle and the bridge is a coupled dynamic interaction algorithm. Both smooth and rough road profiles are used in the simulation and results indicate that changes in bridge damping can be detected by the vehicle models for a range of vehicle velocities and bridge spans.

A Low Complexity Detector with MRC Diversity Reception for MCIK-OFDM

Multi-carrier index keying (MCIK) is a recently developed transmission technique that exploits the sub-carrier indices as an additional degree of freedom for data transmission. This paper investigates the performance of a low complexity detection scheme with diversity reception for MCIK with orthogonal frequency division multiplexing (OFDM). For the performance evaluation, an exact and an approximate closed form expression for the pairwise error probability (PEP) of a greedy detector (GD) with maximal ratio combining (MRC) is derived. The presented results show that the performance of the GD is significantly improved when MRC diversity is employed. The proposed hybrid scheme is found to outperform maximum likelihood (ML) detection with a substantial reduction on the associated computational complexity.

Approximating fractional derivatives through the generalized mean

This paper addresses the calculation of fractional order expressions through rational fractions. The article starts by analyzing the techniques adopted in the continuous to discrete time conversion. The problem is re-evaluated in an optimization perspective by tacking advantage of the degree of freedom provided by the generalized mean formula. The results demonstrate the superior performance of the new algorithm.

Les décisions d'hospitalisation et de soins psychiatriques sans le consentement des patients dans des contextes clinique et judiciaire: une étude du pluralisme normatif appliqué

Thèse de doctorat réalisée en cotutelle avec l'Institut du social et du politique de l'École Normale supérieure de Cachan.

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.

Passive and Active Grasping with a Prehensile Robot End-Effector

This report presents a design of a new type of robot end-effector with inherent mechanical grasping capabilities. Concentrating on designing an end-effector to grasp a simple class of objects, cylindrical, allowed a design with only one degree of actuation. The key features of this design are high bandwidth response to forces, passive grasping capabilities, ease of control, and ability to wrap around objects with simple geometries providing form closure. A prototype of this mechanism was built to evaluate these features.

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.

Estudio de correlación entre la PaO2/FiO2 y la SO2/FiO2 en niños en ventilación mecánica de la Fundación Cardioinfantil en Bogotá entre Abril y Junio de 2011

Objetivos: Determinar si existe correlación entre las variables SaFiO2 y PaFiO2 de pacientes con patología respiratoria aguda en la unidad de Cuidado Intensivo Pediátrico, en la Fundación Cardioinfantil en la ciudad de Bogotá D.C. Materiales y métodos: Se analizaron las variables cuantitativas con medidas de tendencia central como la media y medidas de dispersión como la desviación estándar. Se utilizó un nivel de confiabilidad del 95% y un poder estimado 80%, para prueba de hipótesis de una proporción. Se realizó un análisis de correlación para medir la fuerza de la relación entre las variables PaO2/FiO2 y SO2/FiO2 a través del coeficiente de correlación. Resultados: Se incluyeron 12 pacientes y se tomaron un total de 65 registros de SO2/FiO2 y PaO2/FiO2 encontrando que existe relación positiva entre las variables SaO2/FIO2 y PaO2/FIO2, la cual es variable dependiendo de la fracción inspirada de oxigeno con el cual se encuentre el paciente. De acuerdo a las observaciones realizadas, la variable SaO2/FIO2 está moderadamente correlacionada (r = 0,602) con la PaO2/FIO2, cuando la FIO2 está entre 0.35 y 0.55; un grado de correlación aceptable (r = 0,319) cuando la FIO2 está entre 0.60 – 0.80 y 0.81 – 1 (r = 0,318). Conclusiones: Los métodos no invasivos en la evaluación de la oxigenación podrían ser una alternativa para el seguimiento clínico en niños con lesión pulmonar aguda o síndrome de dificultad respiratorio agudo. Se requiere de estudios analíticos que brinden una mejor evidencia científica que pueda ser extrapolable a la población infantil objeto de este estudio.

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.