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Recursive Model Free Controller: Application to Friction Compensation and Trajectory Tracking
Haoping Wang,Christian Vasseur,Yang Tian,Vladan Koncar,Nicolaï Christov 제어·로봇·시스템학회 2011 International Journal of Control, Automation, and Vol.9 No.6
In this paper friction compensation and trajectory tracking scheme is proposed for an X-Y robot using a Recursive Model Free Controller (RMFC). This controller is based on the theory of piecewise continuous systems which are a particular class of hybrid systems with autonomous switchings and controlled impulses. RMFC uses only the robot position measurements and does not require knowledge of electromechanical system parameters. The proposed control scheme is validated on a real time X-Y robot system.
Nicolas Bouguennec,Philippe Colombet,Nicolas Graveleau,Stephane Jambou 대한슬관절학회 2019 대한슬관절학회지 Vol.31 No.2
Allergy to metal, especially to titanium, is a poorly known subject in orthopedic surgery and is mostly found after arthroplasty. Here, we describe an original case of titanium allergy that developed after an anterior cruciate ligament (ACL) reconstruction of the left knee in a patient with a history of severe atopic dermatitis. Three years after the surgery, he returned to the clinic with the femoral cortical button in his hand; he removed the device from the wound when the skin spontaneously opened at the lateral part of the thigh. The wound healed with dressings without use of any antibiotics. Clinical and functional results were favorable and magnetic resonance imaging signal of the graft was normal. We ruled out the possibility of infection and the final diagnosis was allergy to titanium. This case demonstrates the need to investigate the presence of allergy to metal, including titanium, before an ACL reconstruction.
Preclinical pharmacology of a lipophenol in a mouse model of light-induced retinopathy
Taveau Nicolas,Cubizolle Aurélie,Guillou Laurent,Pinquier Nicolas,Moine Espérance,Cia David,Kalatzis Vasiliki,Vercauteren Joseph,Durand Thierry,Crauste Céline,Brabet Philippe 생화학분자생물학회 2020 Experimental and molecular medicine Vol.52 No.-
Environmental light has deleterious effects on the outer retina in human retinopathies, such as ABCA4-related Stargardt’s disease and dry age-related macular degeneration. These effects involve carbonyl and oxidative stress, which contribute to retinal cell death and vision loss. Here, we used an albino Abca4−/− mouse model, the outer retina of which shows susceptibility to acute photodamage, to test the protective efficacy of a new polyunsaturated fatty acid lipophenol derivative. Anatomical and functional analyses demonstrated that a single intravenous injection of isopropyl-phloroglucinol-DHA, termed IP-DHA, dose-dependently decreased light-induced photoreceptor degeneration and preserved visual sensitivity. This protective effect persisted for 3 months. IP-DHA did not affect the kinetics of the visual cycle in vivo or the activity of the RPE65 isomerase in vitro. Moreover, IP-DHA administered by oral gavage showed significant protection of photoreceptors against acute light damage. In conclusion, short-term tests in Abca4-deficient mice, following single-dose administration and light exposure, identify IP-DHA as a therapeutic agent for the prevention of retinal degeneration.
Middle East and North African Integration: through the lens of Non-Tariff Measures
( Nicolas Peridy ),( Ahmed Ghoneim ) 세종대학교 경제통합연구소 2013 Journal of Economic Integration Vol.28 No.4
Non-Tariff Measures (NTMs) have recently become a central issue for economists and policy makers. Based on a new database developed by the World Bank on five Middle East and North African(MENA) countries at a very detailed product level, this article provides calculations of the average tariff equivalents (AVEs) of NTMs in these countries. A second contribution is the development of an original empirical model with detailed trade costs. This makes it possible to provide the assessment of these NTMs impacts as well as other trade costs ones on the trade of goods in these countries. This analysis is also extended to the trade of 15 service sectors, through the use of the updated GTAP database. Results show that NTMs are very significant in the selected MENA countries. The model also shows that NTMs are significantly trade reducing in almost all MENA countries, especially Sanitary and Phytosanitary(SPS) measures. NTMs in services are also significantly trade reducing, especially in Maghreb countries. The study shows that not all NTMs must necessarily been reduced or removed, but the ones which are particular trade-reducing must be paid particular attention. In addition, the governments should also progress toward either mutual recognition, or the adoption of international standards especially in relation to technical standards.
Hybrid displacement FE formulations including a hole
Nicolas Leconte,Bertrand Langrand,Eric Markiewicz 국제구조공학회 2009 Structural Engineering and Mechanics, An Int'l Jou Vol.31 No.4
The paper deals with the problem related to the modelling of riveted assemblies for crashworthiness analysis of full-scale complete aircraft structures. Comparisons between experiments and standard FE computations on high-energy accidental situations onto aluminium riveted panels show that macroscopic plastic strains are not sufficiently localised in the FE shells connected to rivet elements. The main reason is related to the structural embrittlement caused by holes, which are currently not modelled. Consequently, standard displacement FE models do not succeed in initialising and propagating the rupture in sheet metal plates and along rivet rows as observed in the experiments. However, the literature survey show that it is possible to formulate super-elements featuring defects that both give accurate singular strain fields and are compatible with standard displacement finite elements. These super-elements can be related to the displacement model of the hybrid-Trefftz principle of the finite element method, which is a kind of domain decomposition method. A feature of hybrid-Trefftz finite elements is that they are mainly used for elastic computations. It is thus proposed to investigate the possibility of formulating a hybrid displacement finite element, including the effects of a hole, dedicated to crashworthiness analysis of fullscale aeronautic structures.
Regional Integration and Real Convergence: Evidence from MENA Countries
( Nicolas Peridy ),( Corinne Bagoulla ) 세종대학교 경제통합연구소 2012 Journal of Economic Integration Vol.27 No.1
This article analyses and explains the real convergence process in MENA countries over the past 50 years. It provides a threefold contribution. Firstly, given the recent increasing attention paid to the Euro-Mediterranean area, it focuses on the convergence of MENA countries towards the EU per capita income. Second, it provides an econometric modelling of the determinants of convergence. Finally, it is based on a wide set of convergence indicators applied to various measures of per capita income as well as the Human Development Index (HDI). Results show that despite a lack of s-convergence for the MENA region taken as a whole, the convergence hypothesis is accepted using the g and β-convergence tests, especially for Tunisia, Egypt, Turkey and Morocco. However, there is evidence of divergence for Jordan and Algeria. It is also shown that the convergence process strongly depends on education, R&D, transport and infrastructure as well as public investment. By contrast, there is no direct impact of the regional integration process with the EU, although the EIB loans positively contribute to the convergence process. Finally, trade specialization and firm agglomeration have been detrimental to convergence of MENA countries.
Micropropagation of cocoyam (Xanthosoma sagittifolium L. Schott) in temporary immersion bioreactor
Nicolas Niemenak,Alexandre Mboene Noah,Denis Ndoumou Omokolo 한국식물생명공학회 2013 Plant biotechnology reports Vol.7 No.3
This study aims at establishing a temporaryimmersion technique for large-scale propagation ofcocoyam (Xanthosoma sagittifolium). Sucrose was experimentedwith as a determinant factor for shoot multiplicationin this culture system. The highest proliferation rate(68 ± 7) occurred with 20 g l-1 sucrose in the culturemedium. This concentration appeared to be the optimalamount due to its promoting effect on plantlet development. The acclimatized plantlets showed a continuouseffect of sucrose treatment during ex vitro growth, especiallyin low sucrose concentration. This fact is evidencedby the low survival rate (0.13 ± 0.12) and the poor chlorophyllcontent (1.180 ± 0.076 mg g-1) recorded onplantlets derived from 15 g l-1 of sucrose. The treatmentwith 60 g l-1 of sucrose prior to acclimatization was efficientfor roots induction and elongation. The analysis of pHrevealed a fluctuation from one subculture to another, withan overall pH decrease under all treatments tested and,thus, indicates that plants release proton during growth. This feature had an impact on in vitro plantlets growth. Thepotentiality of the temporary immersion technique to fosterthe production of Xanthosoma sagittifolium is discussed.
Foreign Direct Investment and Productivity Spillovers: the Experience of ASEAN Countries
( Nicolas Peridy ),( Nathapornpan Piyaareekul Uttama ) 세종대학교 경제통합연구소 (구 세종대학교 국제경제연구소) 2010 Journal of Economic Integration Vol.25 No.2
This paper aims at investigating the productivity spillover effects of FDI inflows to ASEAN countries. A first contribution is related to the development of an original theoretical model of complex multinational firms which simultaneously explores backward and forward linkages due to FDI. As a second contribution, the significance of vertical productivity spillovers in ASEAN countries is tested empirically. For that purpose, and given the lack of data at firm level, the causal relationship between FDI and productivity is investigated by using countryspecific data. Several alternative causality tests are implemented, including both direct and indirect approaches. The main results give strong evidence that FDI causes productivity growth in ASEAN countries. These results correlate the prediction of the theoretical model, which provide a strong support for the relationship between FDI and productivity spillovers.