The contact region between three domains of the extracellular loop of ASIC1a is critical for channel function.

Acid-sensing ion channels are members of the epithelial Na(+) channel/degenerin family. They are neuronal nonvoltage-gated Na(+) channels that are activated by extracellular acidification. In this study, we investigated the role of a highly conserved region of the extracellular part of ASIC1a that forms the contact between the finger domain, the adjacent beta-ball, and the upper palm domain in ASIC1a. The finger domain contributes to the pH-dependent gating and is linked via this contact zone to the rest of the protein. We found that mutation to Cys of residues in this region led to decreased channel expression and current amplitudes. Exposure of the engineered Cys residues to Cd(2+) or to charged methane thiosulfonate sulfhydryl reagents further reduced current amplitudes. This current inhibition was not due to changes in acid-sensing ion channel pH dependence or unitary conductance and was likely due to a decrease of the probability of channel opening. For some mutants, the effect of sulfhydryl reagents depended on the pH of exposure in the range 7.4 to 6.8, suggesting that this zone undergoes conformational changes during inactivation. Our study identifies a region in ASIC1a whose integrity is required for normal channel function.

Theory of Wetting-Induced Fluid Entrainment by Advancing Contact Lines on Dry Surfaces

We report on the onset of fluid entrainment when a contact line is forced to advance over a dry solid of arbitrary wettability. We show that entrainment occurs at a critical advancing speed beyond which the balance between capillary, viscous, and contact-line forces sustaining the shape of the interface is no longer satisfied. Wetting couples to the hydrodynamics by setting both the morphology of the interface at small scales and the viscous friction of the front. We find that the critical deformation that the interface can sustain is controlled by the friction at the contact line and the viscosity contrast between the displacing and displaced fluids, leading to a rich variety of wetting-entrainment regimes. We discuss the potential use of our theory to measure contact-line forces using atomic force microscopy and to study entrainment under microfluidic conditions exploiting colloid-polymer fluids of ultralow surface tension.

Fully Distributed Cooperative Spectrum Sensing for Cognitive Radio Networks

Cognitive radio networks (CRN) sense spectrum occupancy and manage themselves to operate in unused bands without disturbing licensed users. The detection capability of a radio system can be enhanced if the sensing process is performed jointly by a group of nodes so that the effects of wireless fading and shadowing can be minimized. However, taking a collaborative approach poses new security threats to the system as nodes can report false sensing data to force a wrong decision. Providing security to the sensing process is also complex, as it usually involves introducing limitations to the CRN applications. The most common limitation is the need for a static trusted node that is able to authenticate and merge the reports of all CRN nodes. This paper overcomes this limitation by presenting a protocol that is suitable for fully distributed scenarios, where there is no static trusted node.

Sensor Fusion of Proprioception, Force and Vision in Estimation and Robot

Sensor-based robot control allows manipulation in dynamic environments with uncertainties. Vision is a versatile low-cost sensory modality, but low sample rate, high sensor delay and uncertain measurements limit its usability, especially in strongly dynamic environments. Force is a complementary sensory modality allowing accurate measurements of local object shape when a tooltip is in contact with the object. In multimodal sensor fusion, several sensors measuring different modalities are combined to give a more accurate estimate of the environment. As force and vision are fundamentally different sensory modalities not sharing a common representation, combining the information from these sensors is not straightforward. In this thesis, methods for fusing proprioception, force and vision together are proposed. Making assumptions of object shape and modeling the uncertainties of the sensors, the measurements can be fused together in an extended Kalman filter. The fusion of force and visual measurements makes it possible to estimate the pose of a moving target with an end-effector mounted moving camera at high rate and accuracy. The proposed approach takes the latency of the vision system into account explicitly, to provide high sample rate estimates. The estimates also allow a smooth transition from vision-based motion control to force control. The velocity of the end-effector can be controlled by estimating the distance to the target by vision and determining the velocity profile giving rapid approach and minimal force overshoot. Experiments with a 5-degree-of-freedom parallel hydraulic manipulator and a 6-degree-of-freedom serial manipulator show that integration of several sensor modalities can increase the accuracy of the measurements significantly.

Learning Robot Motions from Visual Sensing

Learning from demonstration becomes increasingly popular as an efficient way of robot programming. Not only a scientific interest acts as an inspiration in this case but also the possibility of producing the machines that would find application in different areas of life: robots helping with daily routine at home, high performance automata in industries or friendly toys for children. One way to teach a robot to fulfill complex tasks is to start with simple training exercises, combining them to form more difficult behavior. The objective of the Master’s thesis work was to study robot programming with visual input. Dynamic movement primitives (DMPs) were chosen as a tool for motion learning and generation. Assuming a movement to be a spring system influenced by an external force, making this system move, DMPs represent the motion as a set of non-linear differential equations. During the experiments the properties of DMP, such as temporal and spacial invariance, were examined. The effect of the DMP parameters, including spring coefficient, damping factor, temporal scaling, on the trajectory generated were studied.

Development and characterization of thin printed films for gas sensing applications

The monitoring and control of hydrogen sulfide (H2S) level is of great interest for a wide range of application areas including food quality control, defense and antiterrorist applications and air quality monitoring e.g. in mines. H2S is a very poisonous and flammable gas. Exposure to low concentrations of H2S can result in eye irritation, a sore throat and cough, shortness of breath, and fluid retention in the lungs. These symptoms usually disappear in a few weeks. Long-term, low-level exposure may result in fatigue, loss of appetite, headache, irritability, poor memory, and dizziness. Higher concentrations of 700 - 800 ppm tend to be fatal. H2S has a characteristic smell of rotten egg. However, because of temporary paralysis of olfactory nerves, the smelling capability at concentrations higher than 100 ppm is severely compromised. In addition, volatile H2S is one of the main products during the spoilage of poultry meat in anaerobic conditions. Currently, no commercial H2S sensor is available which can operate under anaerobic conditions and can be easily integrated in the food packaging. This thesis presents a step-wise progress in the development of printed H2S gas sensors. Efforts were made in the formulation, characterization and optimization of functional printable inks and coating pastes based on composites of a polymer and a metal salt as well as a composite of a metal salt and an organic acid. Different processing techniques including inkjet printing, flexographic printing, screen printing and spray coating were utilized in the fabrication of H2S sensors. The dispersions were characterized by measuring turbidity, surface tension, viscosity and particle size. The sensing films were characterized using X-ray photoelectron spectroscopy, X-ray diffraction, atomic force microscopy and an electrical multimeter. Thin and thick printed or coated films were developed for gas sensing applications with the aim of monitoring the H2S concentrations in real life applications. Initially, a H2S gas sensor based on a composite of polyaniline and metal salt was developed. Both aqueous and solvent-based dispersions were developed and characterized. These dispersions were then utilized in the fabrication of roll-to-roll printed H2S gas sensors. However, the humidity background, long term instability and comparatively lower detection limit made these sensors less favourable for real practical applications. To overcome these problems, copper acetate based sensors were developed for H2S gas sensing. Stable inks with excellent printability were developed by tuning the surface tension, viscosity and particle size. This enabled the formation of inkjet-printed high quality copper acetate films with excellent sensitivity towards H2S. Furthermore, these sensors showed negligible humidity effects and improved selectivity, response time, lower limit of detection and coefficient of variation. The lower limit of detection of copper acetate based sensors was further improved to sub-ppm level by incorporation of catalytic gold nano-particles and subsequent plasma treatment of the sensing film. These sensors were further integrated in an inexpensive wirelessly readable RLC-circuit (where R is resistor, L is inductor and C is capacitor). The performance of these sensors towards biogenic H2S produced during the spoilage of poultry meat in the modified atmosphere package was also demonstrated in this thesis. This serves as a proof of concept that these sensors can be utilized in real life applications.

Synthèse de brosses de polyélectrolytes par polymérisation initiée depuis une surface de mica et étude de leur réponse en fonction du pH et de la force ionique

Cette thèse rapporte le greffage chimique de brosses de polymères neutres de poly(acrylate de tert-butyle) (PtBA) et de brosses chargées d’acide polyacrylique (PAA) sur des substrats de mica afin d’étudier leur conformation en fonction de la densité de greffage, du pH et de la force ionique. Le greffage est réalisé par polymérisation contrôlée par transfert d’atome (ATRP) initiée depuis la surface de mica afin de contrôler la croissance du polymère et sa densité de greffage. L’étude de la conformation des brosses de PtBA et de PAA a été menée avec la technique AFM en mesurant les épaisseurs des films à sec et gonflés sous différentes conditions de solvant, de pH et de force ionique. Une monocouche d’amorceurs est tout d’abord greffée sur du mica porteur de groupes hydroxyles créés par plasma (Ar/H2O). Cette couche a été caractérisée par des mesures d’angle de contact et par la technique TOF-SIMS. L’amorceur greffé a ensuite permis d’initier l’ATRP directement depuis la surface pour former des brosses neutres de PtBA liés de façon covalente au mica. La croissance linéaire de l’épaisseur du film avec la masse molaire du polymère en solution et le taux de conversion montre que la polymérisation est contrôlée. De plus, la ré-initiation des chaînes greffées atteste du caractère vivant de la polymérisation. L’hydrolyse des brosses de PtBA, confirmée par des mesures d’angle de contact, d’épaisseur et par FT-IR, conduit à des brosses de PAA. Les différentes couches greffées sont stables à l’air, en milieu organique et en milieu aqueux et leur gonflement est réversible. Le degreffage de la couche de PAA est observé suite à une longue exposition à pH basique. Cette étude représente le premier exemple de brosses greffées chimiquement sur du mica par polymérisation initiée depuis la surface. La variation des paramètres de la réaction de greffage de l’amorceur, tels que la concentration et la durée de réaction, a permis de contrôler le taux de recouvrement de l’amorceur et la densité de greffage du polymère. Une grande gamme de taux de recouvrement de l’amorceur est accessible et se traduit par un intervalle de densités de greffage allant de faibles à élevées (e.g. 0,04 chaîne/nm2 à 0,5 chaîne/nm2). L’étude de la conformation des chaînes de PtBA dans le DMF montre que cet intervalle de densités recouvre le régime crêpe au régime brosse. Le gonflement de brosses de PAA et la variation de la hauteur de la brosse L ont été étudiés en fonction de la densité de greffage, du pH et du sel ajouté cs (NaCl). Une transition brusque de collapsée à étirée est observée avec l’augmentation du pH, indépendamment de la densité de greffage. A pH neutre, les brosses sont collapsées et se comportent comme des brosses neutres en mauvais solvant. A pH basique, les brosses sont gonflées et chargées et se trouvent dans un régime de Pincus caractéristique des polyélectrolytes forts. En présence de sel, les charges sont partiellement écrantées et les répulsions électrostatiques dominent toujours dans la brosse. Cette étude contribue à une meilleure compréhension du comportement complexe des brosses de polyélectrolytes faibles et apporte un soutien expérimental à la théorie sur le comportement de ces brosses.

L’usage de la force en contexte de crise : les interventions policières varient-elles selon le type de menace rencontré?

Le présent mémoire s’intéresse aux interventions policières en contexte de crise. Il s’attarde plus particulièrement à l’usage de la force par les structures d’intervention spécialisée. L’intérêt de cette étude découle principalement du manque de connaissances empiriques sur le sujet. L’objectif général de cette étude est de comprendre les éléments qui peuvent expliquer le recours à la force par les structures d’intervention spécialisées et de vérifier si ces facteurs varient selon le type de menace auquel font face les policiers. Nous nous sommes intéressés à 438 événements de crise suicidaire, de barricade et de prise d’otage qui se sont déroulés au Québec, de 1990 à 2011, et durant lesquels est intervenu le groupe tactique d’intervention (GTI) de la Sûreté du Québec (SQ). Pour une meilleure compréhension de cette problématique, il sera en premier lieu question de comparer, selon leur niveau de risque, les personnes présentant une menace uniquement pour elles-mêmes avec celles présentant une menace pour autrui et les personnes qui présentent une menace tant pour elles-mêmes que pour autrui. En second lieu, malgré le fait que près de 90 % des situations de crise se terminent par une reddition pacifique, il est pertinent de connaître les facteurs qui expliquent l’usage de la force de la part des policiers et de voir si ces facteurs varient selon le niveau de risque de l’individu. Des analyses descriptives ont permis d’établir que les situations où l’individu en crise présente uniquement une menace pour lui-même diffèrent des autres groupes sur la base de certaines variables. Cet individu est davantage jugé comme suicidaire et il possède plus souvent des antécédents psychiatriques. L’élément déclencheur est souvent associé aux problèmes conjugaux, ce qui coïncide avec le fait que c’est souvent la conjointe ou l’ex-conjointe qui appelle les autorités. Des analyses bivariées n’ont pas illustré de profils distincts selon la problématique de la crise. Or, certains facteurs se démarquent des autres de manière générale pour l’ensemble de l’échantillon et les différents groupes. La possession d’une arme par l’individu, le degré d’intoxication, la présence d’antécédents psychiatriques, la durée du premier contact avec les policiers et la qualité de la négociation sont effectivement des facteurs qui semblent influencer à un certain point les opérations. Les analyses de régression logistique indiquent que les policiers interviennent davantage lorsqu’il n’y aucun contact n’est établi avec l’individu. Nous observons également que ces derniers restent davantage en retrait lorsque l’individu, présentant une menace pour lui-même, est en possession d’une arme à feu. D’autre part, il semble que les policiers réagissent plus souvent auprès des individus présentant une menace pour autrui lorsque la négociation est jugée non satisfaisante. Nous pouvons en conclure qu’ils semblent davantage s’attarder à des facteurs précis qu’au type de menace, ce qui rejoint un certain segment de la littérature à ce sujet.

Le contact des policiers avec les citoyens : les perceptions de jeunes hommes noirs de la ville de Montréal

Les relations entre les policiers et les citoyens issus des communautés culturelles représentent un enjeu de taille pour le Service de Police de la Ville de Montréal (SPVM). En effet, les relations entre les policiers et les minorités ethniques sont au centre de débats et de consultations depuis plusieurs décennies. Force est de constater qu’encore aujourd’hui des tensions demeurent. Plusieurs recherches se sont penchées sur les perceptions des citoyens de leur service de police, mais peu se sont intéressées aux perceptions détaillées des jeunes hommes noirs. Il est pourtant démontré que ce groupe entretient les perceptions les moins favorables envers les policiers et que, par ailleurs, ils sont plus susceptibles d’avoir des contacts avec les policiers. Les perceptions pouvant avoir une réelle influence sur la réponse au contact policier, il appert qu'il est primordial de comprendre l’origine de ces perceptions. Ainsi, ce mémoire vise à identifier les éléments formateurs des perceptions de jeunes hommes noirs de la ville de Montréal âgés de 18 à 25 ans. Pour ce faire, l’approche qualitative a été retenue et des entretiens de type semi-directifs ont été effectués. L’analyse du discours des participants révèle principalement que les interactions personnelles avec les policiers forment les perceptions et/ou renforcent des perceptions déjà existantes. De plus, l’approche de l’agent de police lors de ce contact est mainte fois soulignée par les jeunes lors des entretiens réalisés démontrant que les premiers instants d’une interaction suffisent à l’instauration d’une perception positive ou négative. Il ressort aussi de l’étude que les expériences indirectes ont un impact certain dans la formation des perceptions surtout lorsque ces expériences ont été vécues par un proche. Ces expériences indirectes s’inscrivent d’ailleurs dans un contexte où l’appartenance culturelle du jeune et une certaine culture de quartier tendent à dicter ce que les jeunes se doivent de penser de l’organisation policière. De plus, une méconnaissance des enjeux sous-jacents aux perceptions de ces jeunes hommes par les corps policiers paraît être un obstacle à la mise en place d’interventions efficaces et significatives auprès de cette population.

Electrochemical deposition of praseodymium oxide on tin-doped indium oxide as a thin sensing film

Fabrication of a thin praseodymium oxide film is of great technological interest in sensor, semiconducting, and ceramic industries. It is shown for the first time that an ultrathin layer of praseodymium oxide can be deposited on tin-doped indium oxide surface (ITO) by applying a negative sweeping voltage (cathodic electrodeposition) to the aqueous solution containing Pr(NO3)(3) and H2O2 using cyclic voltammetry, followed by annealing the film at 500 S C for 1 h. X-ray diffraction suggested that the predominant phase of the film is Pr6O11 and atomic force microscopy and scanning electron microscopy characterizations indicated that this film is assembled with a monolayer coverage of spherical praseodymium oxide nanoparticles packed closely on the ITO surface. AC impedance measurements of the thin Pr6O11 film on ITO also revealed that the composite material displays a much higher electrical conductivity compared to the pure ITO. As a result, the material could suitably be used as a new chemical sensor. (c) 2006 The Electrochemical Society.

Force shading and bump mapping using the friction cone algorithm

Previous work has presented the friction cone algorithm, a generalised method to resolve forces on a simulated haptic object when two or more fingers are in contact. Two extensions to the friction cone algorithm are presented: force shading and bump mapping. Force shading removes the discontinuities that are present when transitioning from one face to the next, whilst bump mapping provides a mechanism for rendering haptic textures on polygonal surfaces. Both these extensions can be combined whilst still maintaining the friction cone algorithm's intrinsic ability to simulate arbitrarily complex friction models.

Force distribution in manipulation by a robot hand with equality and inequality constraints

The problem of the appropriate distribution of forces among the fingers of a four-fingered robot hand is addressed. The finger-object interactions are modelled as point frictional contacts, hence the system is indeterminate and an optimal solution is required for controlling forces acting on an object. A fast and efficient method for computing the grasping and manipulation forces is presented, where computation has been based on using the true model of the nonlinear frictional cone of contact. Results are compared with previously employed methods of linearizing the cone constraints and minimizing the internal forces.

Performance statistics of a head-operated force-reflecting rehabilitation robot system

Researchers in the rehabilitation engineering community have been designing and developing a variety of passive/active devices to help persons with limited upper extremity function to perform essential daily manipulations. Devices range from low-end tools such as head/mouth sticks to sophisticated robots using vision and speech input. While almost all of the high-end equipment developed to date relies on visual feedback alone to guide the user providing no tactile or proprioceptive cues, the “low-tech” head/mouth sticks deliver better “feel” because of the inherent force feedback through physical contact with the user's body. However, the disadvantage of a conventional head/mouth stick is that it can only function in a limited workspace and the performance is limited by the user's strength. It therefore seems reasonable to attempt to develop a system that exploits the advantages of the two approaches: the power and flexibility of robotic systems with the sensory feedback of a headstick. The system presented in this paper reflects the design philosophy stated above. This system contains a pair of master-slave robots with the master being operated by the user's head and the slave acting as a telestick. Described in this paper are the design, control strategies, implementation and performance evaluation of the head-controlled force-reflecting telestick system.

Calibration of closed loop controllers for setting impedances in force-reflecting systems

This paper discusses a new method of impedance control that has been successfully implemented on the master robot of a teleoperation system. The method involves calibrating the robot to quantify the effect of adjustable controller parameters on the impedances along its different axes. The empirical equations relating end-effector impedance to the controller's feedback gains are obtained by performing system identification tests along individual axes of the robot. With these equations, online control of end-effector stiffness and damping is possible without having to monitor joint torques or solving complex algorithms. Hard contact conditions and compliant interfaces have been effectively demonstrated on a telemanipulation test-bed using appropriate combinations of stiffness and damping settings obtained by this method.

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.