Dissertations / Theses on the topic 'Contrôle du corps entier'
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Penco, Luigi. "Whole-body Teleoperation of Humanoid Robots." Electronic Thesis or Diss., Université de Lorraine, 2022. https://docnum.univ-lorraine.fr/ulprive/DDOC_T_2022_0059_PENCO.pdf.
This thesis aims to investigate systems and tools for teleoperating a humanoid robot. Robot teleoperation is crucial to send and control robots in environments that are dangerous or inaccessible for humans (e.g., disaster response scenarios, contaminated environments, or extraterrestrial sites). The term teleoperation most commonly refers to direct and continuous control of a robot. In this case, the human operator guides the motion of the robot with her/his own physical motion or through some physical input device. One of the main challenges is to control the robot in a way that guarantees its dynamical balance while trying to follow the human references. In addition, the human operator needs some feedback about the state of the robot and its work site through remote sensors in order to comprehend the situation or feel physically present at the site, producing effective robot behaviors. Complications arise when the communication network is non-ideal. In this case the commands from human to robot together with the feedback from robot to human can be delayed. These delays can be very disturbing for the human operator, who cannot teleoperate their robot avatar in an effective way.Another crucial point to consider when setting up a teleoperation system is the large number of parameters that have to be tuned to effectively control the teleoperated robots. Machine learning approaches and stochastic optimizers can be used to automate the learning of some of the parameters.In this thesis, we proposed a teleoperation system that has been tested on the humanoid robot iCub. We used an inertial-technology-based motion capture suit as input device to control the humanoid and a virtual reality headset connected to the robot cameras to get some visual feedback. We first translated the human movements into equivalent robot ones by developping a motion retargeting approach that achieves human-likeness while trying to ensure the feasibility of the transferred motion. We then implemented a whole-body controller to enable the robot to track the retargeted human motion. The controller has been later optimized in simulation to achieve a good tracking of the whole-body reference movements, by recurring to a multi-objective stochastic optimizer, which allowed us to find robust solutions working on the real robot in few trials.To teleoperate walking motions, we implemented a higher-level teleoperation mode in which the user can use a joystick to send reference commands to the robot. We integrated this setting in the teleoperation system, which allows the user to switch between the two different modes.A major problem preventing the deployment of such systems in real applications is the presence of communication delays between the human input and the feedback from the robot: even a few hundred milliseconds of delay can irremediably disturb the operator, let alone a few seconds. To overcome these delays, we introduced a system in which a humanoid robot executes commands before it actually receives them, so that the visual feedback appears to be synchronized to the operator, whereas the robot executed the commands in the past. To do so, the robot continuously predicts future commands by querying a machine learning model that is trained on past trajectories and conditioned on the last received commands
Bouzigon, Romain. "Développement d'une nouvelle technologie de cryothérapie Corps Entier." Thesis, Besançon, 2016. http://www.theses.fr/2016BESA2055/document.
This thesis has been completed as part of a CIFRE agreement between the research and development department of the Cryantal Company (Lognes, France) and the C3S (EA4660) and MOVE (EA6314) laboratories from the Universities of Franche-Comté and Poitiers. The aim of the thesis was the development of a new technology of whole-body Cryotherapy (WBC) chamber. The various studies that we conducted centred on : – the identification of technological and methodological requirements from field studies and the analysis of scientific literature; – the development of a WBC chamber prototype according to the identified requirements; – the technological validation of the prototype to its industrialization; and – the evolution of the prototype toward a marketable version. The thesis was divided into two parts. The first part highlights the practical applications and the technological requirements to identify the limits and the advantages of the existing methodologies and technologies in order to develop a new WBC chamber device. Studies performed in the field during competitions showed that WBC is well tolerated by athletes and can be used during heavy competition periods and/or during training periods. We also demonstrated that female athletes with lower body-mass indexes seem to be much more sensitive to cold than female athletes with higher body-mass indexes. The literature review reported a lack of data concerning the actual temperature inside the WBC chamber and cabin. The lack of methodological information for the exposure protocol was also pointed out. It creates the link between the field of application of the WBC and the different technology used. The second part presents the technological development of the new WBC chamber prototype, its validation, and its optimisation in order to be commercialized. This part includes a validation study of the prototype based on the effects of a 3-minute exposure on the skin temperature decrease of exposed individuals. The results showed a similar decrease to those observed with other WBC existing technologies. This is certainly due to the homogeneity of the temperature of exposure and the new technology developed. Preliminary measurements of the prototype allowed for the prospect of the commercialization of this new WBC chamber
Lin, Chieh. "Imagerie fonctionelle corps entier dans les hémopathies lymphoïdes." Thesis, Paris Est, 2009. http://www.theses.fr/2009PEST0053.
Three components regarding whole-body functional imaging in lymphoid malignancies have been studies in this thesis. We first demonstrated retrospectively in a series of 92 patients with diffuse large B-cell lymphoma (DLBCL) that 14 patients (15%) considered as positive on visual analysis on FDG-PET after only 2 cycles of chemotherapy could have been correctly re-classified as good responders by measuring the percentage reduction of maximum standardized uptake value (SUVmax); in a subgroup of 80 patients, SUV-based assessment was equivalent to visual analysis at 4 cycles for patient outcome prediction. We secondly developed a whole-body 5-station dynamic contrast- enhanced MR protocol and time-signal intensity curves for the bone marrow and the focal lesions were successfully obtaines in 21 patients with plasma cell disorders included in the feasibility study; later in a pilot prospective study with 30 patients with multiple myeloma who received systemic therapy, we showed that this novel whole-body functional MR technique can be used to assess treatment response and helps to delect residual active disease after completion of therapy when clinically no or only minimum monoclonal protein can be identified. We thirdly optimized a whole-body diffusion-weighted MR protocol with respiratory gating in order to determine apparent diffusion coefficient (ADC) value on a whole-body scale. Pilot study was performed in 15 patients with DLBCL for both staging and response assessment at 4 cycles of chemotherapy, with FDG PET/CT as the standard of reference
Grenet, Pierre. "Système de reconstruction cinématique corps entier : fusion et exploitation de données issues de MEMS." Poitiers, 2011. http://theses.univ-poitiers.fr/26762/2011-Grenet-Pierre-These.pdf.
Democratization of MEMS has enabled the development of attitude control : group of sensors enabling to measure ones orientation relatively to Earth's frame. There are several types of sensors used in attitude control : accelerometers, magnetometers and gyroscopes. Only the combination accelerometers - magnetmeters - gyros allows a satisfying estimation of the kinematics orientation without any a priori knowledge on the mouvement, that is to say, the estimation of the orientation in presence of an unknown acceleration. The aim of the thesis is, within the context of whole body motion capture, to add a priori knowledge in order to reduce the number of gyroscopes used, or even to eliminate them completely. This a priori knowledge is the fact that sensors are attached to a skeleton and so that their relative motions can only be combination of rotations. To test the efficiency of this method, we first apply it to a simple pendulum with one degree of freedom, then a pendulum with three degrees of freedom, then on groups of segments (shoulder - arm - forearm for example) and finally on a whole body system. This thesis develops the theory and the results obtained for different methodologies of resolution
Focone, Florian. "Le mouvement expressif du corps entier : variabilités intra-individuelles dans des contextes affectifs et interactifs." Thesis, Université Paris-Saclay (ComUE), 2015. http://www.theses.fr/2015SACLS229/document.
Movement is a major component of our daily life. Every day we use it to both perform simple and essential task and to communicate. Intentionnal or not our movements sign our intraindividual and interindividual differences liked to our status, intentions and affects. In the same day, the cinematic of our movements evolve and adapt according of our social environnement. Distinction between movements of robot – virtual character and human movement is that the latter can vary. Indeed an identical movement made twice by a human will not be perfectly the same. However this specificity tends to change. From Darwin’s first works studying the impact of affect on movement to recent studies about movement expressivity in various interactive context (e.g. man-woman, student-professor interaction) and various applications (e.g. Autism, Exergames) researchers and entreprises seek to implement this human specificity in human computer interaction (HCI). Based on social science, movement science and computer science, this multidisciplinary work contributes to the understanding of action and perception of expressive movements thanks to three studies in coach-student sport context interaction. The first study aims at understanding how the perceived affect impact the expressivity of human movement. In the second study we examine dyadic interactions involving different status of participants and social set-up. Finaly we desgined an expressive full-body virtual agent and used it in an interactive trask. The main contribution of this PhD thesis is to show that expressivity features computed from different time-series (Energy, Caractère franc,rigidité and sptatial extent) are relevant to discriminate participants’ affects, status and thoughts. One goal and possible application of this work is the design of a virtual trainer allowing credible and dynamic full-body interactions thanks to its expressive movements
Elfahem, Rim. "Modélisation numérique CFD du comportement thermique cutané humain en Cryothérapie Corps Entier à -110°C." Electronic Thesis or Diss., Reims, 2023. http://www.theses.fr/2023REIMS023.
This thesis presents the CFD modelling of human cutaneous thermal behaviour in whole-body cryotherapy (WBC), a cold treatment that involves exposing the entire body to very low temperatures (-110°C) for 3 to 4 minutes. The objective is to optimize cryotherapy protocols that are specific and tailored to everyone. Experimental approaches (cutaneoustemperature mapping by infrared thermography) and measurements of actual temperatures in the main cryotherapy chamber are carried out to provide input boundary conditions for simulations, on the one hand, and to validate numerical results on the other hand. A mathematical model has been developed to predict the cooling of skin temperature in different body areas during a whole-body cryotherapy (WBC) session for various populations and morphotypes.Numerical simulations were conducted to determine the thermo-aerodynamic behaviour of both the empty and occupied cryotherapy chamber. These simulations revealed that the presence of a person disrupts the thermal and airflow fields within the chamber during the WBC session, leading to an increase in chamber temperature due to heat dissipation bythe person. This phenomenon becomes more pronounced as the number of subjects increases. Further simulations were carried out to investigate the cutaneous cooling kinetics for different morphotypes during WBC sessions. The numericalmodels were validated against experimental results, demonstrating a good agreement between the two results
Dermy, Oriane. "Prédiction du mouvement humain pour la robotique collaborative : du geste accompagné au mouvement corps entier." Thesis, Université de Lorraine, 2018. http://www.theses.fr/2018LORR0227/document.
This thesis lies at the intersection between machine learning and humanoid robotics, under the theme of human-robot interaction and within the cobotics (collaborative robotics) field. It focuses on prediction for non-verbal human-robot interactions, with an emphasis on gestural interaction. The prediction of the intention, understanding, and reproduction of gestures are therefore central topics of this thesis. First, the robots learn gestures by demonstration: a user grabs its arm and makes it perform the gestures to be learned several times. The robot must then be able to reproduce these different movements while generalizing them to adapt them to the situation. To do so, using its proprioceptive sensors, it interprets the perceived signals to understand the user's movement in order to generate similar ones later on. Second, the robot learns to recognize the intention of the human partner based on the gestures that the human initiates. The robot can then perform gestures adapted to the situation and corresponding to the user’s expectations. This requires the robot to understand the user’s gestures. To this end, different perceptual modalities have been explored. Using proprioceptive sensors, the robot feels the user’s gestures through its own body: it is then a question of physical human-robot interaction. Using visual sensors, the robot interprets the movement of the user’s head. Finally, using external sensors, the robot recognizes and predicts the user’s whole body movement. In that case, the user wears sensors (in our case, a wearable motion tracking suit by XSens) that transmit his posture to the robot. In addition, the coupling of these modalities was studied. From a methodological point of view, the learning and the recognition of time series (gestures) have been central to this thesis. In that aspect, two approaches have been developed. The first is based on the statistical modeling of movement primitives (corresponding to gestures) : ProMPs. The second adds Deep Learning to the first one, by using auto-encoders in order to model whole-body gestures containing a lot of information while allowing a prediction in soft real time. Various issues were taken into account during this thesis regarding the creation and development of our methods. These issues revolve around: the prediction of trajectory durations, the reduction of the cognitive and motor load imposed on the user, the need for speed (soft real-time) and accuracy in predictions
Dermy, Oriane. "Prédiction du mouvement humain pour la robotique collaborative : du geste accompagné au mouvement corps entier." Electronic Thesis or Diss., Université de Lorraine, 2018. http://www.theses.fr/2018LORR0227.
This thesis lies at the intersection between machine learning and humanoid robotics, under the theme of human-robot interaction and within the cobotics (collaborative robotics) field. It focuses on prediction for non-verbal human-robot interactions, with an emphasis on gestural interaction. The prediction of the intention, understanding, and reproduction of gestures are therefore central topics of this thesis. First, the robots learn gestures by demonstration: a user grabs its arm and makes it perform the gestures to be learned several times. The robot must then be able to reproduce these different movements while generalizing them to adapt them to the situation. To do so, using its proprioceptive sensors, it interprets the perceived signals to understand the user's movement in order to generate similar ones later on. Second, the robot learns to recognize the intention of the human partner based on the gestures that the human initiates. The robot can then perform gestures adapted to the situation and corresponding to the user’s expectations. This requires the robot to understand the user’s gestures. To this end, different perceptual modalities have been explored. Using proprioceptive sensors, the robot feels the user’s gestures through its own body: it is then a question of physical human-robot interaction. Using visual sensors, the robot interprets the movement of the user’s head. Finally, using external sensors, the robot recognizes and predicts the user’s whole body movement. In that case, the user wears sensors (in our case, a wearable motion tracking suit by XSens) that transmit his posture to the robot. In addition, the coupling of these modalities was studied. From a methodological point of view, the learning and the recognition of time series (gestures) have been central to this thesis. In that aspect, two approaches have been developed. The first is based on the statistical modeling of movement primitives (corresponding to gestures) : ProMPs. The second adds Deep Learning to the first one, by using auto-encoders in order to model whole-body gestures containing a lot of information while allowing a prediction in soft real time. Various issues were taken into account during this thesis regarding the creation and development of our methods. These issues revolve around: the prediction of trajectory durations, the reduction of the cognitive and motor load imposed on the user, the need for speed (soft real-time) and accuracy in predictions
Tessier, Sarah. "Contrôle de la sumoylation par les corps nucléaires PML." Thesis, Sorbonne Paris Cité, 2018. http://www.theses.fr/2018USPCC169/document.
PML drives assembly of PMLNuclear Bodies (NBs) where it recruits hundreds of serendipitously-identified proteins, among which the key UBC9 E2-sumoylation enzyme. Interferons (through transcriptional PML induction) and arsenic or oxidative stress (through PML aggregation) dramatically enhance NB assembly. Here we directly investigated any role for PML in stress-responsive sumoylation in vivo. We demonstrate that PML very rapidly promotes arsenic/interferon-responsive sumoylation in mouse liver or mouse embryonic stem cells. Similarly, in Acute Promyelocytic Leukemia (APL), where PML NBs are disorganized in the basal state, arsenic therapy promoted NB-reformation and broad SUMO-conjugation. Label free quantitative proteomic analysis of His10-SUMO2-conjugates revealed a comprehensive list of therapy-responsive sumoylated proteins, among which TRIM28 and other proteins belonging to the same epigenetic complex. PML NBs-regulated sumoylation also drives ubiquitination and proteasome-dependent degradation of some targets. Finally, by expressing conjugation-resistant SUMO2, we demonstrate that PML NBs promotes processive SUMO2/3 chain elongation, thus explaining PML role in partner degradation. Collectively, our findings highlight the key activity of NBs in stress-regulated sumoylation/degradation in vivo
Pasqualini, Marion. "Les effets des vibrations corps entier sur l’appareil musculosquelettique : efficacité ou science-fiction ? : De l’étude animale à l’essai clinique." Thesis, Saint-Etienne, 2013. http://www.theses.fr/2013STET004T.
The postmenopausal osteoporosis is generally handled by a medicinal strategy with anti-résorptive aim, coupled with relatively effective exercises of body-building / proprioception to maintain the muscular mass and prevent the risk of fall. These last years, although numerous animal and clinical studies suggested an osteogenic effect of the whole-body vibrations (WBV), the not always decisive results and the very heterogeneous protocols make difficult the interpretation. In this work, we studied the importance of the frequency of vibration in the bone effects induced by WBV on adult rats. We have shown that bone stimulation was dependent on the dose frequency, with a particularly important that the frequency is high osteogenic effect and a detrimental effect of low frequency. The high frequency system (90Hz) improves the control of the microarchitecture cortical bone (cortical thickening, reduced porosity) and trabecular bone (bone augmentation, number of spans), and stimulate bone formation (bone formation rate increased), while the low frequency regime (8Hz) decouples training and mineralization, causing a decrease in cortical and trabecular BMD, characteristic of osteomalacia. In this study, the more pronounced the vertebrae vs long bones (femur and tibia) osteogenic response suggests a role of the fat in the bone marrow response to WBV. The clinical study later postmenopausal women, confirms the ability of WBV to stimulate cortical and trabecular bone formation (cortical thickening, increased cortical area, maintaining porosity, trabecular bone volume increase) with a systemic effect of WBV (bearing and non-bearing bones). The study of the propagation of the vibration signal in animals and humans shows an amplification of the signal in the low frequency characteristic of a resonance effect, and a greater transmission of vibrations beyond 40Hz, explaining part of the effects according to the WBV frequency. Our results suggest the use of WBV as non-pharmacological means of prevention, or even treatment, of bone fragility
Fourrié, Grégoire. "Caractérisation pariétale instationnaire et contrôle de l'écoulement autour d'un corps épais." Valenciennes, 2011. http://ged.univ-valenciennes.fr/nuxeo/site/esupversions/386b2c0b-a910-4e2b-af9d-aaa9b93e38f6.
To be efficient, strategies aiming at reducing automotive vehicles aerodynamic drag have to be based on an increased knowledge of the physical phenomena present in the flow around the vehicle. This experimental work intends to contribute to the understanding of these phenomena by focusing on the flow around a generic vehicle model, the Ahmed body. This flow is characterized by the development of a recirculation bubble surrounded by two longitudinal vortex structures in the immediate neighborhood of the model rear window. At first, this flow is studied by polarographic method in a water tunnel, this method permits the unsteady wall shear stress measurement. This physical quantity is particularly sensitive to the presence of coherent structures in the near-wall region. By the use of different analysis methods, we highlight the presence of marked unsteadinesses in the flow strongly participating in the complex dynamics of the vortex structures. A flow control using a deflector is then studied. The increase in the separated bubble on the rear window by the device allows, under certain conditions, a drag reduction of about 9%. We focus on the understanding of the physical mechanisms involved in this modification of the aerodynamic stresses, in particular by characterizing the influence of the control on the flow topology. The modification of the balance existing between the separated zone on the window and the longitudinal vortex structures developing at its contact allows the decrease in their contribution to the aerodynamic drag. We show that the increase imposed in the recirculation bubbles allows the weakening, then the destruction, of the longitudinal vortices. This study shows that it is necessary to take all the vortex structures into account around this kind of three-dimensional configuration in order to design more efficient flow control strategies
Joseph, Pierric. "Application du contrôle par jets pulsés à un corps non profilé." Phd thesis, Paris 6, 2012. http://www.theses.fr/2012PA066218.
This manuscript describes the research conducted within the CARAVAJE project (« Contrôle de l’AéRodynAmique externe des Véhicules Automobile par JEts pulsés », i. E. Control of the external aerodynamic of automotive vehicles by pulsed jets). The main objective is to develop a usable strategy for active control on a production car, in accordance with industry standards. As part of this thesis work, various control strategies using pulsed jets have been tested on a reduced scale simplified vehicle, the Ahmed body, using both classical solenoid actuators and MEMS actuators. With the solenoid valves, drag reductions between 6% and 12% were obtained for various strategies, and various links were found with the wall pressure evolutions and the wake modifications. Correspondences were also observed between the natural frequencies present in the recirculation bubble and the most effective control frequencies. MEMS actuators were then characterized, and drag reductions up to 9% have been obtained on the Ahmed body. A hybrid MEMS / solenoid system has finally been used on a full scale vehicle (Citroën C6), and the micro-jets have modified favorably the pressure distribution on the slant
Joseph, Pierric. "Application du contrôle par jets pulsés à un corps non profilé." Phd thesis, Université Pierre et Marie Curie - Paris VI, 2012. http://pastel.archives-ouvertes.fr/pastel-00757966.
Lienhard, Karin. "Effet de l'exercice physique par vibration du corps entier sur l'activité musculaire des membres inférieurs : approche méthodologique et applications pratiques." Thesis, Nice, 2014. http://www.theses.fr/2014NICE4080/document.
The aim of this thesis was to analyze the effect of whole-body vibration (WBV) exercise on lower limb muscle activity and to give methodological implications and practical applications. Two methodological studies were conducted that served to evaluate the optimal method to process the surface electromyography (sEMG) signals during WBV exercise and to analyze the influence of the normalization method on the sEMG activity. A third study aimed to gain insight whether the isolated spikes in the sEMG spectrum contain motion artifacts and/or reflex activity. The subsequent three investigations aimed to explore how the muscle activity is affected by WBV exercise, with a particular focus on the vibration frequency, platform amplitude, additional loading, platform type, knee flexion angle, and the fitness status of the WBV user. The final goal was to evaluate the minimal required vertical acceleration to stimulate the muscle activity of the lower limbs. In summary, the research conducted for this thesis provides implication for future investigations on how to delete the excessive spikes in the sEMG spectrum and how to normalize the sEMG during WBV. The outcomes of this thesis add to the current literature in providing practical applications for exercising on a WBV platform
Maréchal, Hervé. "L'absorptiometrie bienergetique a rayons x corps entier : donnees normatives et evaluation de son interet dans les osteopathies diffuses ou focales." Lyon 1, 1993. http://www.theses.fr/1993LYO1M325.
Lalla, Laetitia. "Interaction cortico-striatale lors du contrôle moteur." Thesis, Aix-Marseille, 2017. http://www.theses.fr/2017AIXM0219/document.
The striatum, the main input nucleus of the basal ganglia, is known to play an important role in the learning and expression of adaptive behaviors. Such general function is assumed to derive, in part, from the fact that this brain region receives massive and organized excitatory inputs from the entire neocortex. Yet, how behaviorally-relevant information is transferred and processed from the neocortex to the striatum is largely unknown. It has been proposed that information transferbetween two brain regions could be mediated via the coordinated oscillatory activity of ensemble of neurons. In the laboratory, a new task has been recently developed in which rats, running on a motorized treadmill, develop through trial-and-error a stereotyped adaptive running sequence. Recordings of the spiking activity in the sensorimotor region of striatum suggested that this brain region encodes task-relevant sensorimotor information. Thus, the original goal of this thesis was to investigate the possible interaction between sensorimotor cortex and striatum while rats performedthe learned running sequence. To capture the activity of ensemble of neurons in both regions, we recorded local field potentials (LFPs) oscillations, that are believed to reflect synchronized synaptic activity of local neuronal populations. First, we observed prominent LFP oscillations in the thetaband (6–10 Hz) in these two regions, while rats were running on the treadmill. Theta oscillations have been previously observed in dorsal striatal regions of rodents in different behavioral conditions and assumed to reflect local network activity. Still we examined if, in our experimental conditions, the theta LFP oscillation recorded from the sensorimotor striatum was locally generated or was volume-conducted from other distal brain areas. Using complementary spectral analysis methods (re-referencing, spike-LFP relationship, coherence and Granger causality analyses), several arguments were found against a striatal generation of the field. The most parsimonious interpretation of these results is that theta oscillations observed in striatal LFPs are largely contaminated by volume conducted signals. We propose that striatal LFPs are not optimal proxies of network dynamics in the striatum and should be interpreted with caution.ii
Reinhold, Emilie. "Le corps organisé, entre contrôle et débordement : Le cas des professions intellectuelles." Thesis, Paris 9, 2014. http://www.theses.fr/2014PA090059/document.
As only very few studies have investigated how intellectual (and hence mainly digital) work affects our embodiment, my case, a dance intervention in a bank involving employees, was a good way to study bodies in action. During their work with the artist, employees were standing on the boundary between work and leisure, hesitating between professional and personal embodiment. Observations, interviews and an analysis of their gestures relying on various visual data give a complete description of their embodiment process in this specific moment. On the one hand, bodies remain very constrained, distant and closed, but on the other hand, some employees open up to play, displaying rare and sometimes risky gestures. My findings suggest that the body’s boundaries are much more unstable than we think and that artistic experimentation is one way to understand what a body can do at work. Embodied play is not only an individual experience; it also has the potential to criticize dominating bodily norms existing in an organisation. Alternative embodiments thus propose a way out of organisation
Chrétien, Benjamin. "Optimisation semi-infinie sur GPU pour le contrôle corps-complet de robots." Thesis, Montpellier, 2016. http://www.theses.fr/2016MONTT315/document.
A humanoid robot is a complex system with numerous degrees of freedom, whose behavior is subject to the nonlinear equations of motion. As a result, planning its motion is a difficult task from a computational perspective.In this thesis, we aim at developing a method that can leverage the computing power of GPUs in the context of optimization-based whole-body motion planning. We first exhibit the properties of the optimization problem, and show that several avenues can be exploited in the context of parallel computing. Then, we present our approach of the dynamics computation, suitable for highly-parallel processing architectures. Next, we propose a many-core GPU implementation of the motion planning problem. Our approach computes the constraints and their gradients in parallel, and feeds the result to a nonlinear optimization solver running on the CPU. Because each constraint and its gradient can be evaluated independently for each time interval, we end up with a highly parallelizable problem that can take advantage of GPUs. We also propose a new parametrization of contact forces adapted to our optimization problem. Finally, we investigate the extension of our work to model predictive control
Fdili, Alaoui Sarah. "Analyse du geste dansé et retours visuels par modèles physiques : apport des qualités de mouvement à l'interaction avec le corps entier." Phd thesis, Université Paris Sud - Paris XI, 2012. http://tel.archives-ouvertes.fr/tel-00805519.
Parriaux, Jérémy. "Contrôle, synchronisation et chiffrement." Thesis, Université de Lorraine, 2012. http://www.theses.fr/2012LORR0129/document.
This thesis deals with the synchronization of dynamical systems. The synchronization considered is called master-slave, that is, the dynamical systems are connected in a unidirectional way. This configuration is of interest because it corresponds to an architecture encountered in secured communications of type one-to-one or one-to-many. A special attention is paid to self-synchronization. A behaviour that characterizes synchronization achieved with a simple master-slave coupling and so, without any external control. It is a central feature of self-synchronizing stream ciphers. The study of self-synchronization in the cryptographic context relies on control theory. An original connection between self-synchronization and encryption/decryption is provided. It is based on the flatness property of dynamical systems, a property borrowed from automatic control. It is shown that flat dynamical systems completly define the set of all self-synchronizing systems and thus, enlarge the existing structures of self-synchronizing stream ciphers. Flatness is first of all studied for the case of two nonlinear systems: switched linear systems and linear parameter-varying (LPV) systems. Flatness caracterization is based on the concept of nilpotent semigroups and an efficient algorithm is provided. A constructive approach for self-synchronizing master-slave structures is proposed. It relies on the construction of flat systems as well as on left and right invertibility also borrowed from control theory. Then, self-synchronization is studied in the Boolean context which is preferred in cryptography. Self-synchronization is caracterized through the notion of influence. Several matrix representations of Boolean functions are proposed. These representations are especially interesting for security analysis. A connection between self-synchronization and the eigenstructures of these matrices is established. Then, a graph oriented approach is provided. New self-synchronizing constructions are deduced and security elements are discussed. Eventually, the description of a realized FPGA based test plateform is provided
Guillaud, Étienne. "Contribution vestibulaire au contrôle des mouvements du bras lors d'une rotation du corps." Thesis, Université Laval, 2006. http://www.theses.ulaval.ca/2006/23976/23976.pdf.
Recent studies in human motor control have shown that vestibular signals can be used to control goal directed arm movements when an unexpected body displacement occurs during the movement. In this thesis, we investigated the specific functions of the vestibular signals to this control, and the mechanisms that are involved. This was done through behavioural studies performed with healthy human subjects and one deafferented patient, and biomechanical modelling. Our results highlight the remarkable computationnal capabilities of the brain which can process vestibular information to predict the consequences of body rotation on reaching movements. The vestibular control of arm movement i) is characterised by short latencies, ii) operates efficiently in darkness, iii) is largely automatic and iv) defines the temporal aspect of the movement. The control of the arm through vestibular information has therefore common characteristics with the vestibular control of ocular, cephalic and postural movements. Our findings bring important new insights about the functions of the vestibular because they suggest that there is a general principle underlying the contribution of vestibular signal to motor control. Keywords: Arm movements, Body rotation, Vestibular information, Multisensorial integration, Biomechanical modelling, Deafferentation.
Guillaud, Etienne. "Contribution vestibulaire au contrôle des mouvements du bras lors d'une rotation du corps." Aix-Marseille 2, 2006. http://theses.univ-amu.fr.lama.univ-amu.fr/2006AIX22063.pdf.
Recent studies in human motor control have shown that vestibular signals can be used to control goal directed arm movements when an unexpected body displacement occurs during the movement. In this thesis, we investigated the specific functions of the vestibular signals to this control, and the mechanisms that are involved. This was done through behavioural studies performed with healthy human subjects and one deafferented patient, and biomechanical modelling. Our results highlight the remarkable computationnal capabilities of the brain which can process vestibular information to predict the consequences of body rotation on reaching movements. The vestibular control of arm movement i) is characterised by short latencies, ii) operates efficiently in darkness, iii) is largely automatic and iv) defines the temporal aspect of the movement. The control of the arm through vestibular information has therefore common characteristics with the vestibular control of ocular, cephalic and postural movements. Our findings bring important new insights about the functions of the vestibular because they suggest that there is a general principle underlying the contribution of vestibular signal to motor control
Colombani, Julien. "Effets de la nutrition sur le contrôle de la croissance chez Drosophila melanogaster." Nice, 2004. http://www.theses.fr/2004NICE4039.
Ferhi, Omar. "Effets du stress oxydant sur les corps nucléaires PML et contrôle de la SUMOylation." Sorbonne Paris Cité, 2015. http://www.theses.fr/2015USPCC284.
Nuclear Bodies (NBs) are involved in numerous biological processes, many of whose biochemical functions remain enigmatic. These domains are sensitive to ROS, and are focal points of numerous proteins, of which the PML protein is the organizer. The oxidation of PML strengthens its multimerization and favors its SUMOylation via the recruitment of Ubc9. This modification allows the recruitment of numerous partners via their SIM domains, leading to their SUMOylation, subsequent polyubiquitination by the RNF4 ubiquitin ligase, and ultimately their degradation by the proteasome. PML NBs are also induced by IFN, which stimulates the expression of genes encoding transcription factors that are SUMOylated and/or ubiquitinylated. IFN and ROS may act synergistically to control SUMOylation and induce proteolysis. These results are important for defining the bases of future therapies, whose underlying mode of action is the degradation of specific proteins. For example, the targeting of Tax in the treatment of ATL, and SCA7 in neurodegenerative diseases. Following stress, PML activates an antioxidant response driven by PTMs, via proteins in the NBs. Hepatic steatose, induced by fasting and activation of the P53 pathway, occurs in the absence of DNA damage, but is absolutely dependant on the PML protein. PML is a sensor of oxidizing stress and directly activates the P53 pathway. These studies allow us to understand the biochemical role of NBs, which serve as a platform for the PTM of groups of proteins, stabilizing these complexes, and linking their biological roles
Eulalie, Yoann. "Étude aérodynamique et contrôle de la traînée sur un corps de Ahmed culot droit." Thesis, Bordeaux, 2014. http://www.theses.fr/2014BORD0310/document.
This present work is focused on the analysis of control solutions that reduce the aerodynamic drag and therefore the fuel consumption of vehicles. The selected vehicle geometries are closed to a bluff body such as Estate, van, SUV, commercial vehicles or even truck trailers. This work is then focused on the academic geometry of Ahmed body with square back in order to avoid style diversity. The reference velocity flow is equal to 30m/s, which is closed to a vehicle speed on a highway, and induces a highly turbulent wake flow. This work mainly numerical is divided in two parts. The first one is dedicated to the validation of the numerical model with experimental wind tunnel measurements. The second part looks for numerical configurations of flow control solution, mixing periodic jet and deflector both acting on the wake. Most effective solutions lead to drag reduction of about 10%
Tounsi, Nabil. "Contribution expérimentale au contrôle d'écoulement d'un corps épais par jets synthétiques : application à l'aérodynamique automobile." Phd thesis, Université de Valenciennes et du Hainaut-Cambresis, 2012. http://tel.archives-ouvertes.fr/tel-00828001.
Thirree, Richard. "Mesure des compartiments corporels par bio-impédance électrique : A propos du contrôle chez quarante sujets témoins." Aix-Marseille 2, 1991. http://www.theses.fr/1991AIX20213.
Dechaumet, Benoît. "Effets des troubles métaboliques et du surpoids liés à l’obésité sur le système musculo-squelettique murin arthrosique ou non : traitement potentiel par vibration corps entier." Thesis, Lyon, 2017. http://www.theses.fr/2017LYSES045/document.
Obesity is associated with a risk of musculoskeletal fragility, especially osteoarthritis (OA). Our goal is to explore their contributions of metabolic and overweight conditions. MM obesity (mechanical and metabolic) is obtained through a diet. Obesity M (mechanical) is mimed by hypergravity at 2g. OA is induced by surgery. We explored the effects of MM and M obesity on the non-OA mouse musculoskeletal system. MMs have preserved trabecular bone, deteriorated cortical bone and weakened muscles. In M, bone is preserved and muscles are strengthened. Metabolic disorders are responsible for the weakening of cortical bone and muscle. In a second part, the consequences of OA are evaluated in non-obese mice, MM or M. OA in non-obese only weakens the trabecular bone. OA in MM accentuates the decrease in cortical thickness. OA in M mice further weakens cortical bone and muscle than in MM mice. However, if we consider only the OA mice, the MM component is always more deleterious than the M component. Finally, we tested entire body vibrations during the last 4 weeks as a potential treatment for musculoskeletal deterioration of MM, whether or not coupled to OA. Vibrations do not affect obesity and OA. A muscular effect is observed at the molecular level, these decreases being greater in OA. No change in muscle mass is observed. The bone tissue is not influenced
Hernandez, Yanez Carmen Rosa. "Effet de masquage fréquentiel dans les vibrations du corps pour un sujet assis." Phd thesis, INSA de Lyon, 2012. http://tel.archives-ouvertes.fr/tel-00838762.
Weiss, Pierre-Elie. "Simulation numérique et analyse physique d'un écoulement d'arrière-corps axisymétrique et application au contrôle des charges latérales." Paris 6, 2010. http://www.theses.fr/2010PA066102.
Roumeas, Mathieu. "Contribution à l'analyse et au contrôle des sillages de corps épais par aspiration ou soufflage continu." Phd thesis, Toulouse, INPT, 2006. http://oatao.univ-toulouse.fr/7493/1/roumeas.pdf.
Chaligné, Sébastien. "Contrôle du sillage d'un corps non profilé : application expérimentale à une maquette simplifiée de véhicule industriel." Phd thesis, Ecole Centrale de Lyon, 2013. http://tel.archives-ouvertes.fr/tel-00995837.
Parriaux, Jeremy. "Contrôle, synchronisation et chiffrement." Phd thesis, Université de Lorraine, 2012. http://tel.archives-ouvertes.fr/tel-00749151.
Parriaux, Jérémy. "Contrôle, synchronisation et chiffrement." Electronic Thesis or Diss., Université de Lorraine, 2012. http://www.theses.fr/2012LORR0129.
This thesis deals with the synchronization of dynamical systems. The synchronization considered is called master-slave, that is, the dynamical systems are connected in a unidirectional way. This configuration is of interest because it corresponds to an architecture encountered in secured communications of type one-to-one or one-to-many. A special attention is paid to self-synchronization. A behaviour that characterizes synchronization achieved with a simple master-slave coupling and so, without any external control. It is a central feature of self-synchronizing stream ciphers. The study of self-synchronization in the cryptographic context relies on control theory. An original connection between self-synchronization and encryption/decryption is provided. It is based on the flatness property of dynamical systems, a property borrowed from automatic control. It is shown that flat dynamical systems completly define the set of all self-synchronizing systems and thus, enlarge the existing structures of self-synchronizing stream ciphers. Flatness is first of all studied for the case of two nonlinear systems: switched linear systems and linear parameter-varying (LPV) systems. Flatness caracterization is based on the concept of nilpotent semigroups and an efficient algorithm is provided. A constructive approach for self-synchronizing master-slave structures is proposed. It relies on the construction of flat systems as well as on left and right invertibility also borrowed from control theory. Then, self-synchronization is studied in the Boolean context which is preferred in cryptography. Self-synchronization is caracterized through the notion of influence. Several matrix representations of Boolean functions are proposed. These representations are especially interesting for security analysis. A connection between self-synchronization and the eigenstructures of these matrices is established. Then, a graph oriented approach is provided. New self-synchronizing constructions are deduced and security elements are discussed. Eventually, the description of a realized FPGA based test plateform is provided
Depeyras, Delphine. "Contrôles actifs et passifs appliqués à l'aérodynamique automobile." Thesis, Bordeaux 1, 2009. http://www.theses.fr/2009BOR13874/document.
In the present environmental urgency, the european community which is alive to the air quality and fossil resources rarefaction determines a clear and ambitious objective to the car makers for the greenhouse gas emissions. The carbon gas discharges will not exceed 120g/km for the year 2015 and probably 90g around the year 2018. The thesis work lies within this urgent dynamics of the carbon dioxide emissions. It is question of reducing the aerodynamic drag of the order of 20% to manage to the environmental limits of the year 2015 and also to better understand the vortex dynamics in order to improve the control solutions. In practical terms, it consists in coupling two flow control methods : a passive control with a wall modification using porous media and an active control with the use of blowing and/or sucking actuators at the car back wall. The study is lead in 2D for the square back Ahmed body and next in 3D for the Ahmed body with a rear window inclined at 25° with a direct resolution of the Navier-Stokes equations
Brazille, Patricia. "Intérêt de la scintigraphie au citrate de gallium-67, corps entier au cours de la maladie de Horton : étude prospective portant sur 64 patients suspects de cette maladie." Paris 7, 2001. http://www.theses.fr/2001PA072079.
Bouaouina, Lalouani. "Etude du décollement et du contrôle de la couche limite laminaire tridimensionnelle autour d’un corps fuselé en incidence." Valenciennes, 2000. https://ged.uphf.fr/nuxeo/site/esupversions/cc6b2971-4ebd-43a3-8247-edf3b89c467a.
Dupaux, Jean-Jacques. "Contrôle des corps et autonomie des lycéens : gymnastique, éducation physique et sport au lycée de Besançon (1850-1935)." Thesis, Bourgogne Franche-Comté, 2018. http://www.theses.fr/2018UBFCC007.
Physical activities were introduced into the high school curriculum in the 19th century by physicians and the military. Institutional historians show how physical activities were included in the course called Physical Education and how they evolved. Surprisingly, however, historians who have studied this material never mention the body, which is at the center of this discipline. Michel de Certeau wrote, “Each society has its own body, just as it has its own language made up of a more or less refined system of choice from among countless phonetic, lexical and syntactic possibilities". This thesis studies the reasons that led the French Ministry of Public Education to include Physical Education in students’ scheduling; it uses the case of a high school in Besançon, France. (The students of all high schools during the period studied came from bourgeois families.) Thesis research focuses on the representations of the body, the expectations of the families of the students and the expectations of the politicians who introduced physical education into schools. Research tools developed by Michel Foucault were adapted for studying power over the body. Alain Ehrenberg’s concept of autonomy was used to understand how knowledge is acquired (pedagogy). Research results are presented for three periods: from 1850 to 1890 when autonomy was non-existent in physical education; from 1890 to World War I, when sport was introduced into high schools but physical education policies were just as strict; and from 1918 to 1935 when toleration of autonomy was obligatory but the institution could take back control when it was deemed necessary
Giraud, Tom. "Full Body Interaction : Toward an integration of Individual Differences." Thesis, Paris 11, 2015. http://www.theses.fr/2015PA112044/document.
In human computer interaction, virtual humans are now established as a specific object of research. They build on human to human interaction routines to serve various application goals. Although Virtual Humans (VH) have bodies, current researches suffer from two major limitations which impair the experienced credibility: modeled bodily behaviors lack of social interactivity and do not account for individual differences. Recent developments in human sciences call for a more integrative approach with at its heart the constitutive role of social interaction. Of particular importance is the central and interdisciplinary position of virtual humans in this new research agenda: they are both a way to better investigate the various socially interactive phenomena (VH as experimental tools) and potential solutions for societal challenges (VH as applications). The main goal of this PhD thesis is to contribute to both computer and human sciences by studying together bodily interaction and individual differences. Central to this study is the long term objective to develop interactive virtual humans at the interface of these domains, with the idea that requirements from both fields would constrain positively future propositions. To limit the scope of the thesis, we focused on body movements (not considering static bodily aspects or other modalities), low level coupling mechanisms and the moderating role of individual differences with the aim to propose proof of concept of virtual human prototypes (rather than complete functional software) embedding full body dyadic interaction models. Our research methodology can be summarized in four main steps. First, models and hypotheses linking social interaction processes and individual differences emerged from a review of the literature in both computer and human sciences. As the identified relevant individual differences appeared barely theoretically associated, our second step aimed at investigating their interrelatedness in a large scale study. Thirdly, bodily interactions were analyzed in two case studies which present application and experimental interests. In both cases, corpuses were collected with full body interacting dyads and individual differences measured. The final phase was to develop virtual human prototypes inspired by previous analyses and based on the collected data. The proposed general model of individual differences was shown to be consistent with real word data (collected by self-report questionnaires): dispositions in pro-social orientations, empathy and emotion regulation were closely related. The two case studies partially confirmed our initial hypotheses: various individual differences modulated the bodily interactive processes. These studies enabled the definition of parsimonious virtual human interactive models. The main critical contribution of the two case studies to the proposed model of individual differences is the clear necessity to take into consideration the task context before drawing any hypotheses. Future directions of research are proposed including an integration of individual differences identified in case studies
Koenig, Maxime. "Réduction de bruit de jet par injection fluidique en corps central tournant." Poitiers, 2011. http://www.theses.fr/2011POIT2324.
In this study, we explore a novel jet noise reduction device involving the steady injection of fluid from two diametrically-opposed ports on a rotating centerbody. We observe noise reductions over a low-frequency range up to the rotation frequency for the rotation speeds currently possible. Flow measurements are made with timeresolved stereo PIV for the baseline jet and three control cases with different rotation frequencies (Rotation Strouhal numbers are St=0. 06, St=0. 12 and St=0. 23). Results suggest that the flow can be loosely decomposed into a perturbation area, where changes of the flow are monotonic with the rotation frequency, and a jet response area where the role of the instability modes seems prevailing. It appears that the actuator is efficient in driving a high-intensity mode 2 in the flow. Comparisons are made with the spatial linear stability theory of Michalke. Results suggest : (1) that the noise reduction mechanism may be due to the most unstable flow modes (axisymmetric mode m = 0) being deprived of fluctuation energy due to an excitation of less unstable modes (azimuthal mode m = 2 driven at St=0. 23). (2) Non-linear mechanisms in the flow for the St=0. 12 case lead to an increase of jet noise radiation in the far field. (3) The deformation of the mean axial velocity profile for the St=0. 23 case leads to a mode 0 which is less unstable and this case allows to introduce turbulence in the jet response area rather than wavepackets
Bové, Claire. "Pratiques de contrôle de poids et préférences alimentaires d'adolescents d'un collège de la banlieue bordelaise." Bordeaux 2, 2000. http://www.theses.fr/2000BOR2M010.
Tran, Minh Tuan. "Approche neuro-robotique pour le contrôle des systèmes anthropomorphiques." Phd thesis, Université Paul Sabatier - Toulouse III, 2009. http://tel.archives-ouvertes.fr/tel-00446797.
Olaya, Sébastien. "Contribution à la modélisation multi-physique et au contrôle optimal d'un générateur houlomoteur : application à un système "deux corps"." Thesis, Brest, 2016. http://www.theses.fr/2016BRES0051/document.
In this thesis, we perform a study on a self-reacting point absorber, project FUI 12 “EM BILBOQUET”, in order to optimise energy extraction from incoming waves. Main researches use seabed for providing reference to a floating body, called buoy. However, as it is well-known that ocean energy is greater far away from the shore, sea-depth becomes a constraint. In this thesis a damping plate attached to a spar keel is proposed to allow the floating body to react against it. Energy resulting from the relative motion between the two concentric bodies i.e. the buoy and the spar is harnessed by a rack-and-pinion, which drive a permanent magnet synchronous generator through a gearbox. In the first part of the thesis we have developed a wave-to-wire model i.e. a model of the whole electro-mechanical chain from sea to grid. To this purpose we have developed our own hydrodynamic code, based on linear potential theory and on a semianalytical approach, solving the seakeeping problem. The hydrodynamic coefficients obtained such as added mass, radiation damping, and wave excitation forces are required for solving the dynamic equation based on Cummins formulation. The second part of the thesis focuses on the self-reacting point-absorber optimal control strategy and the Model Predictive Control (MPC) formulation is proposed. Objective function attempting to optimise the power generation is directly formulated as an absorbed power maximisation problem and thus no optimal references, such as buoy and/or spar velocity, are required. However, rather than using the full-order WEC model in the optimisation problem, that can be time-consuming due to its high order, and also because of the linear assumptions, we propose the use of a “phenomenologically" one-body equivalent model derived from the Thévenin’s theorem
Berret, Bastien. "Intégration de la force gravitaire dans la planification motrice et le contrôle des mouvements du bras et du corps." Dijon, 2008. http://www.theses.fr/2008DIJOS065.
This thesis is aimed at better understanding how the Central Nervous System (CNS) plans and controls movements and, in particular, how the gravity field is integrated within these processes. To perform rapid movements, the CNS must anticipate the effects of gravity on the moving limb. To tackle this, experiments in humans and modeling works have been undertaken. The experimental paradigms used here are pointing movements toward a target involving only the arm or the whole body. Concerning the arm movements, our work was grounded on a singular observation showing that upward and downward movements exhibit significant differences, suspected to be due to gravity. In order to test this hypothesis, a theory based upon the minimization of the absolute work of forces produced by muscles has been developed. It postulates that human movements are optimal and minimize in particular an energetic quantity. The main theoretical result is the demonstration of an equivalence between the minimization of a criterion including the absolute work of forces and the presence of simultaneous inactivation periods of agonistic and antagonistic muscles acting at a joint. Experiments have confirmed the existence of such periods of silence in muscular activities at the times predicted by the model. Therefore, we have concluded that the optimality criterion used by the brain to plan movements includes a term similar to the absolute work. A by-product of this result is that both gravitational and inertial forces are integrated into the same motor plan, within the minimization of energy expenditure. However, in most daily-life motor tasks, minimizing energy can not be the only goal of the action; preserving balance or be precise must also be taken into account. An experimental protocol has been elaborated in order to clarify how the CNS coordinates the control of posture and movement for whole-body pointing tasks. Our results confirm the idea of a modular organization of movements for such multi-goal tasks, i. E. Performed from the combination of pre-programmed sequences. In conclusion, this work suggests that the CNS integrates the biomechanical properties of the body and the environmental constraints within a single motor plan. Depending on the task, the CNS could optimize a compromise between energy consumption, safety, or movement precision. Moreover, these results reinforce the idea that an internal model of gravity exists and is strongly implied in human motricity
Gnyubkin, Vasily. "Effects of continuous and intermittent hypergravity on skeleton." Thesis, Saint-Etienne, 2015. http://www.theses.fr/2015STET002T/document.
The main focus of the research project was to further study fundamental mechanisms underlying bone adaptation to gravity-induced mechanical loading and to assess effects of two different hypergravity models on skeleton of young healthy mice. Same duration of the experiments and the use of animals of the same type and age allowed us to make comparisons between different skeleton adaptations to continuous hypergravity generated by centrifugation and to intermittent one generated by WBV. We observed that centrifugation reduced resorption and increased formation in trabecular bone, whereas WBV did not uncoupled resorption and formation activities and stimulated both of them simultaneously. Centrifugation resulted in reorganized trabecular microarchitecture in femur and vertebra but had no effect on cortical bone mass-structural parameters. In contrast, WBV stimulated cortical bone geometrical expansion in 3-week experiment and increased cortical mineral density in 9 weeks. Both hypergravity models resulted in lower Sclerostin and higher DMP1 expressions in femoral cortex. Also, both models resulted in higher number of blood vessels in femoral metaphysis, however only centrifugation increased vessels volume. In relation to technical objects of the research project, we successfully developed a method of quantitative IHC, which allowed us to detect and verify statistically even modest alterations of osteocyte protein expressions in our experiments. We believe that IHC results should always be quantitatively analyzed and we provide a tool for both mice and human bone samples embedded in paraffin or MMA
Díaz, Orozco Carmen. "La luxure sous contrôle : corps et sexualité citoyenne selon les manuels d'urbanité dans le Vénézuela du XIXe siècle : 1825-1854." Toulouse 2, 2003. http://www.theses.fr/2003TOU20041.
After gaining independence from Spain, Venezuelan upper classes had to establish the theoretical basis of the new republic, as well as elaborate the new legal and political foundations. Also the character of the citizenship should be shaped according to the new values, since the old ones were considered barbarian. In this context appeared a number of writings which were committed to the task of forming the new sensibilities. Known as "manuals to be urbane", they were meant to sanitize the ways of using the body and the language of individuals, as well as ratifying the due respect to hierarchy and regulate the contact between genders. Within this writings stands out the "Manual de Urbanidad" by Manuel Antonio Carreño, who presents an interpretation of Christian thinking related to sexuality. In spite that the term sexuality does not appear in the manual, our analysis show that, in the effort to mold the citizen of the new republic, the argument in behalf of good manners is used by Carreño to put order in the primary sexual drive of individuals, restricting them to exercise it only within the confines of legitimate marriage, in behalf of the values of a civilized society
Khatchatourov, Armen. "La technique, le corps, l'espace : Une lecture de Husserl, Heidegger et Merleau-Ponty." Compiègne, 2005. http://www.theses.fr/2005COMP1557.
The intertwining between technics and the living body, such is the question addressed by the profusion of technical devices. Traditionally, this articulation is conceived on the basis of the lived body, seen as original and constitutive. This perpetuates to some extent the figure of Subject, and, correlatively, views technics as a mere instrument prolonging its power. Grounded in the traditional primacy of consciousness and temporality, this approach does not conceptualize the intertwining between technics and body. The body, intrinsically spatial, cannot be understood in terms of temporal synthesis alone ; the intertwining should be approached through the spatiality, as the very place of the constitution of the body. Technics play here an essential role; it is not a mere modification of the original lived-body by an instrument in-hand, but rather the organisation of the body (as a power of action, furthermore as a sensibility) by the technics already-there
Leclerc, Cédric. "Réduction de la trainée d'un véhicule automobile simplifié à l'aide du contrôle actif par jet synthétique." Toulouse, INPT, 2008. http://ethesis.inp-toulouse.fr/archive/00000657/.
The actif flow control by synthetic jet is proposed on an automotive wake flow. The numerical and experimental studies validate the developped actuator potential to reduce the drag coefficient of a simplified hatchback geometry (Ahmed body). With a rear window tilted at 25°, drag reductions between 6% and 10% are reached for upstream flow velocities between 10 and 40 m. S-1. The control allows to reattache dynamically the recirculated flow on the rear window and to balance the toroidal vortex structure at the base. For giving farfield velocity, the parameters determining the flow control efficiency are the momentum coefficient and the synthetic jet slot location
Esqueda, Merino Donovan Manuel. "Contrôle/Commande avancé pour l'optimisation du confort thermique d'un véhicule électrifié." Phd thesis, Supélec, 2013. http://tel.archives-ouvertes.fr/tel-00969132.
Evrard, Paul. "Contrôle d'humanoïdes pour réaliser des tâches haptiques en coopération avec un opérateur humain." Phd thesis, Université Montpellier II - Sciences et Techniques du Languedoc, 2009. http://tel.archives-ouvertes.fr/tel-00807094.