Contributing authors

Contributing authors     

Characterization of Maximum Likelihood Solutions to Image Reconstruction in Photon Emission Tomography

For photon emission tomography, the maximum likelihood (ML) estimator for image reconstruction is generally solution to a nonlinear equation involving the vector of measured data. No explicit closed-form solution is known in general for such a nonlinear ML equation, and numerical resolution is usually implemented, with a very popular iterative method formed by the expectation-maximization algorithm. The numerical character of such resolutions usually makes it difficult to obtain a general characterization of the performance of the ML solution. We show that the nonlinear ML equation can be replaced by an equivalent system of two dual linear equations nonlinearly coupled. This formulation allows us to exhibit explicit (to some extent) forms for the solutions to the ML equation, in general conditions corresponding to the various possible configurations of the imaging system, and to characterize their performance with expressions for the mean-squared error, bias and Cramér-Rao bound. The approach especially applies to characterize the ML solutions obtained numerically, and offers a theoretical framework to contribute to better appreciation of the capabilities of ML reconstruction in photon emission tomography.     

Multi-contact vertical ladder climbing with an HRP-2 humanoid

We describe the research and the integration methods we developed to make the HRP-2 humanoid robot climb vertical industrial-norm ladders. We use our multi-contact planner and multi-objective closed-loop control formulated as a QP (quadratic program). First, a set of contacts to climb the ladder is planned off-line (automatically or by the user). These contacts are provided as an input for a finite state machine. The latter builds supplementary tasks that account for geometric uncertainties and specific grasps procedures to be added to the QP controller. The latter provides instant desired states in terms of joint accelerations and contact forces to be tracked by the embedded low-level motor controllers. Our trials revealed that hardware changes are necessary, and parts of software must be made more robust. Yet, we confirmed that HRP-2 has the kinematic and power capabilities to climb real industrial ladders, such as those found in nuclear power plants and large scale manufacturing factories (e.g. aircraft, shipyard) and construction sites.     

A method to select a successful interoperability solution through a simulation approach

Enterprise applications and software systems need to be interoperable in order to achieve seamless business across organizational boundaries and thus realize virtual networked organizations. Our proposition can be considered as an interoperability project selection approach and is based on three steps: (1) Modelling both collaborative business processes and potential related interoperability projects; (2) Evaluating the accessibility of each project regarding the current state of the organization; (3) Simulating each project and assessing the associated performance. These results are finally projected on a comparison matrix used as a decision support to select the most appropriate interoperability solution. An application case extracted from the French aerospace sector demonstrates the applicability and the benefits of the proposition.     

How do designers represent to themselves the users' needs?

This paper reports on an ergonomic study carried out during the design of a cutting machine-tool for the composite material in carbody parts casting. During this design process, the users’ needs were inferred by the designers on the basis of their own mental representations of the use of the new device. These representations of the users’ needs, correct or false, play a decisive role in the choice of a solution. The aim of the study is to identify their particularity. Analyzing the design meetings, we have highlighted that users are considered either as subsystems or basic design principles or elements of an imagined scenario. We have shown that these representations are linked to the types of meetings held during the design process. Accordingly, a diversification of the types of meetings should be promoted by the project leader, so that designers extend their points of view of the operators.     

Effective Tension Active Cross-Section of Reinforced Concrete Beams After Cracking

In the design of concrete structures, estimation of the deflection of the structural members under the service loads is often a critical factor. Strains and displacements are linked to the tension stiffening effect, which is not quantified in the standards. The CEB-FIP model code proposes an interesting simplified method for evaluating the concrete tension stiffening effect on reinforced concrete behavior. One of the parameters which enables the mechanical contribution of the concrete to be quantified is the effective tensile active section of the reinforced concrete beams. In this paper, a new method for calculating the effective tensile active section A _ct.ef is proposed. The calculation is based on an analytical model of stress distribution in the full depth of the concrete section. An experimental study on several reinforced concrete beams is reported. The results show that the new proposed model enhances the accuracy of the beam deflection predictions significantly.     

Failure mechanisms in granular media: a discrete element analysis

This paper attempts to numerically validate the concept of diffuse failure using a discrete element method. First, the theoretical background is reviewed, and it is shown how the kinetic energy of a system, initially at rest after a loading history, is likely to abruptly increase under the effect of disturbances. The vanishing of the second-order work thus constitutes a basic ingredient, related to both the pioneering work of Hill (J Mech Phys Solids (6):236–249, 1958) and the notion of bifurcation applied to geomechanics (Vardoulakis and Sulem in Bifurcation analysis in geomechanics, Chapman & Hall Publisher, London, 1995). Discrete numerical simulations were performed on homogeneous three-dimensional specimens, and the three basic conditions that must be satisfied in order to observe a failure mechanism are numerically checked. Finally, this work illustrates the phenomena that are likely to affect in situ slopes, for instance, when the loading (due to weather conditions or human activities) meets the three basic conditions for a failure mechanism to develop.     

Assembly and Characterizations of Bifunctional Fluorescent and Magnetic Microneedles With One Decade Length Tunability

This report presents the fabrication of bifunctional magnetic and fluorescent microneedles (µNDs) made of a ternary mixture of magnetic nanoparticles (NPs), quantum dots (QDs), and polyelectrolyte. The assembly relies on the electrostatic complexation of negatively charged NPs with positively charged polymer strands and is controlled by the charge ratio between the nanoparticle building blocks and the polymer mortar. The resulting 1D objects can be actuated using an external magnetic field and can be imaged using fluorescence microscopy, thanks to the fluorescent and superparamagnetic properties inherited from their NP constituents. Using a combination of core and surface characterizations and a state‐of‐the‐art image analysis algorithm, the dependence of the brightness and length on the ternary composition is thoroughly investigated. In particular, statistics on hundreds of µNDs with a range of compositions show that the µNDs have a log‐lormal length distribution and that their mean length can be robustly tuned in the 5–50 µm range to match the relevant length scales of various applications in micromixing, bioassays or biomechanics.