Thèses sur le sujet « Train autonome »

Ce travail de thèse contribue au projet collaboratif "Train de Fret Autonome'' porté par la SNCF et a pour but d’automatiser la conduite du train de Fret afin de garantir une conduite autonome fiable et sécurisée dans toutes conditions environnementales. Dans ce contexte, nos contributions concernent le développement d’estimateurs permettant de reconstruire avec précision la position et la vitesse longitudinale du train dans des conditions variables d’adhérence roue-rail. La difficulté majeure provient du fait que les capteurs odométriques embarqués fournissent une mesure de la rotation des roues au niveau des essieux mais ne détectent pas directement le phénomène de glissement des roues, ce qui entraîne une grande imprécision au niveau de l’estimation de la vitesse longitudinale du train. Pour faire face à ce problème, il est nécessaire de faire un recalage précis en utilisant la position du train mesurée par des radio-balises installées sur le rail. Néanmoins, cette mesure est discrète avec une période d’échantillonnage variable. L’un des challenges est de considérer les mesures du train qui combinent à la fois des mesures considérées continues et des mesures apériodiquement échantillonnées. Ainsi, la principale contribution théorique de cette thèse est la conception d’un observateur continu-discret pour une classe de systèmes multi-entrées/multi-sorties avec des sorties continues entachées de bruits de mesures et des sorties apériodiquement échantillonnées. Cet observateur est conçu pour répondre au cahier de charge du projet ``Train de Fret Autonome'' afin d’estimer la vitesse du train dans des conditions variables d’adhérence. Les performances de cet observateur sont montrées en simulation et comparées avec d’autres approches d’estimation de la vitesse du train puis ensuite validées expérimentalement via une campagne d’essais réalisée au Centre d’Essai Ferroviaire de Tronville-en-Barrois
This thesis contributes to the collaborative project "Train de Fret Autonome'' led by the SNCF and aims to control autonomous freight trains in order to guarantee reliable and safe autonomous driving in all environmental conditions. In this context, our contributions concern the development of estimators for accurately reconstructing the train position and longitudinal speed under variable wheel-rail adhesion conditions. The major difficulty arises from the fact that on-board odometric sensors provide a measurement of wheel rotation at axle level, but do not directly detect the phenomenon of wheel slippage, resulting in inaccurate estimation of the longitudinal speed of the train. To overcome this problem, it is necessary to make a precise recalibration using the position of the train measured by radio beacons installed on the rail. Nevertheless, this measurement is discrete with a variable sampling period. One of the challenges is to consider train measurements that combine both continuous and aperiodically sampled measurements. Thus, the main theoretical contribution of this thesis is the design of a continuous-discrete observer for a class of multi-input/multi-output systems with continuous noisy outputs and aperiodically sampled outputs. This observer is designed to meet the specifications of the "Autonomous Freight Train" project, in order to estimate train speed under variable adhesion conditions. The performance of this observer is shown in simulation and compared with other approaches to train speed estimation, then validated experimentally via an experimental test program carried out at the Centre d'Essai Ferroviaire of Tronville-en-Barrois

La thèse aborde les défis du monitoring de l’environnement et de détection des anomalies, notamment des obstacles, pour un train de fret autonome. Bien que traditionnellement, les transports ferroviaires étaient sous la supervision humaine, les trains autonomes offrent des perspectives d’avantages en termes de coûts, de temps et de sécurité. Néanmoins, leur exploitation dans des environnements complexes pose d’importants enjeux de sûreté. Au lieu d’une approche supervisée nécessitant des données annotées onéreuses et limitées, cette recherche adopte une technique non supervisée, utilisant des données non étiquetées pour détecter les anomalies en s’appuyant sur des techniques capables d’identifier les comportements atypiques.Deux modèles de surveillance environnementale sont présentés : le premier, basé sur un autoencodeur convolutionnel (CAE), est dédié à l’identification d’obstacles sur la voie principale; le second, une version avancée incorporant le transformeur de vision (ViT), se concentre sur la surveillance générale de l’environnement. Tous deux exploitent des techniques d’apprentissage non supervisé pour la détection d’anomalies.Les résultats montrent que la méthode mise en avant apporte des éléments pertinents pour le monitoring de l’environnement du train de fret autonome, ayant un potentiel pour renforcer sa fiabilité et sécurité. L’utilisation de techniques non supervisées démontre ainsi l’utilité et la pertinence de leur adoption dans un contexte d’application pour le train autonome
The thesis addresses the challenges of monitoring the environment and detecting anomalies, especially obstacles, for an autonomous freight train. Although traditionally, rail transport was under human supervision, autonomous trains offer potential advantages in terms of costs, time, and safety. However, their operation in complex environments poses significant safety concerns. Instead of a supervised approach that requires costly and limited annotated data, this research adopts an unsupervised technique, using unlabeled data to detect anomalies based on methods capable of identifying atypical behaviors.Two environmental surveillance models are presented : the first, based on a convolutional autoencoder (CAE), is dedicated to identifying obstacles on the main track; the second, an advanced version incorporating the vision transformer (ViT), focuses on overall environmental surveillance. Both employ unsupervised learning techniques for anomaly detection.The results show that the highlighted method offers relevant insights for monitoring the environment of the autonomous freight train, holding potential to enhance its reliability and safety. The use of unsupervised techniques thus showcases the utility and relevance of their adoption in an application context for the autonomous train

Ce travail de thèse concerne la conception d'un système de supervision appliqué aux véhicules tout électriques autonomes à quatre roues motrices. Deux méthodes de surveillance à base de modèle sont développées en utilisant le modèle non linéaire du véhicule électrique: La première est basée sur La technique de multi observateurs pour détecter et isoler les défauts. La deuxième approche est la génération des relations de redondance analytique non linéaires (espace de parité non linéaire). En plus de la génération des résidus par la méthode de l'espace de parité, des observateurs différentiels à modes glissants sont intégrés pour l'estimation des dérivées successives des entrées et des sorties. Pour réaliser un train de trois véhicules, une commande longitudinale (commande de l'inter-distance) basée sur la mesure de l'écart inter véhiculaire est développée. La commande latérale est basée sur un suivi de trajectoire de référence qu'on impose pour tous les véhicules. Une commande de braquage est alors calculée en fonction de la différence entre la trajectoire mesurée et celle désirée. Enfin, quelques stratégies de reconfiguration sont développées pour le train de véhicules. Le principe de la reconfiguration est le choix de la stratégie à adopter pour le train de véhicules en fonction de type de défaut détecté
This work concerns the design of a supervision system applied to autonomous electric vehicle. Two based model monitoring methods are developed using the nonlinear model of electric vehicle: The first is based on multiple observers to detect and to isolate faults. The second approach is the generation of nonlinear analytical redundancy relations (nonlinear parity space). In addition to the generation of residuals by the method of parity space, differential sliding mode observers are integrated to estimate the successive derivatives of inputs and outputs. To make a train of three vehicles, a longitudinal control (control of the safety space) based on measuring the distance between vehicles is developed. The lateral control is based on a reference path tracking imposed for all vehicles. A steering command is then calculated based on the difference between the measured and the desired trajectory. Finally, some strategies are developed for the reconfiguration of the train of vehicles. The principle of the reconfiguration is the choice of strategy for the train of vehicles according to kind of detected fault

L'automobile est un moyen de transport de prédilection puisqu'elle confère beaucoup de liberté aux utilisateurs. Cependant, les coûts sociaux et économiques reliés aux accidents de la route, ainsi que les émissions polluantes produites par la combustion des hydrocarbures, représentent une problématique à laquelle le Réseau de centres d'excellence AUTO21 s'intéresse. Notamment, AUTO21 finance ce projet qui porte sur les architectures décisionnelles appliquées aux trains de véhicules. Un train de véhicule est un système de transport intelligent regroupant un ensemble de véhicules qui se suivent les uns derrière les autres, conservant une faible distance entre eux.L'architecture DCD est une architecture décisionnelle complète avec communication bidirectionnelle responsable de la prise de décision distribuée d'un groupe de véhicules opérant au sein d'un train de véhicules.L'architecture réalise la plupart des manoeuvres réalisables dans les trains de véhicules tels l'insertion ou le retrait d'un véhicule dans le train, ainsi que la gestion des situations d'urgences telles les collisions et la défaillance de certains capteurs. La validation de l'architecture est effectuée avec un groupe de quatre robots mobiles équipés d'un système de positionnement relatif qui permet de localiser les véhicules les uns par rapport aux autres. Un ensemble de 18 scénarios de tests, couvrant un large éventail des situations susceptibles de survenir dans les trains de véhicules, est réalisé. Les résultats obtenus indiquent que la prise de décision des véhicules, ainsi que la coordination des véhicules via la communication sont robustes et permettent l'exécution des manoeuvres attendues.

En France, il existe deux modes de traction pour les trains : la traction diesel ou la traction électrique. Chaque mode fait face à des problématiques qui lui sont propres. Dans le cas du diesel, les émissions de gaz à effet de serre étant de plus en plus contrôlées, il devient nécessaire de faire évoluer ce type de train vers une solution moins polluante. Dans le cas de la traction électrique, la consommation d’énergie entraine une chute de tension qui peut imposer un ralentissement des trains, empêchant ainsi le développement du trafic. La solution étudiée par la SNCF est l’hybridation des trains (ajout de systèmes de stockage en embarqué).Ces travaux de thèse ont pour objectif de mettre en place une méthode permettant de faire le pré-dimensionnement des systèmes de stockage embarqués dans le train. De plus, afin de tenir compte de l’influence réciproque de la gestion sur le dimensionnement, celle-ci est incluse dans le modèle de dimensionnement. La résolution du modèle global se fait à l’aide d’un algorithme d’optimisation.La méthode a été mise en place sur les deux modes de traction ferroviaire (diesel et électrique) et l’optimisation a été faite avec l’algorithme SQP (Sequential Quadratic Programming)
In France, there are two traction modes for railway: the diesel and electric traction. Each mode has its own issues. For diesel, the increasing control of the greenhouse gas emissions imposes to evolve this type of train to a less polluting solution. For electric traction, the energy consumption creates a voltage drop which can cause a traffic slowdown, which will limit the traffic development. The studied solution by SNCF is the hybridization of the train (adding storage system).Thus, these works have the objective to build a method to do the pre-sizing of storage systems embedded in trains. Moreover, to take into account the mutual influence of the sizing and the energy management, this last one is included in the sizing model. An optimization algorithm solves the global model.The method has been developed for the two traction modes (diesel and electric) and the optimization has been made with SQP algorithm (Sequential Quadratic Programming)

Interoception, the perception of the body's physiological state, is often studied in relation to emotion processing. Particularly, cardioception has been largely implicated in anxiety. Three related but distinct dimensions of interoception have recently emerged in the literature: sensibility (IS), accuracy (IAC), and awareness (IAW). Divergent findings regarding interoception and anxiety may result from lacking appreciation for interoceptive dimensions. Additionally, the role of cardiovascular afferent feedback in anxiety and interoception is largely unknown. Baroreflex sensitivity (BRS) has been implicated in interoceptive processes yet no known research directly measures this in relation to multidimensional cardioception. The present study aimed to assess the degree to which IS, IAC, IAW, and BRS predict trait anxiety at rest and during anticipatory anxiety. Results partially suggest increased IAC and BRS, but more variable IS and IAW in relation to trait anxiety. Overall, results show complex associations among factors, suggesting increased specificity among the constructs. Results highlight the importance of attention to construct validity and method variance in the study of interoceptive subdomains. Finally, the present study helps to pave the way for continued investigations concerning cardioception in enduring anxiety and the related role of the baroreflex in cardiac afferent processes.
PHD

Cette thèse, porte sur la jeunesse ouvrière aujourd'hui. A partir d'une enquête ethnographique approfondie et multiple (entretiens, observations, contacts informels, partage d'activités. . . ), j'ai essayé de comprendre, dans le temps, comment les identités sociales des jeunes ouvriers se façonnent avant d'entrer dans l'emploi public puis une fois qu'ils y entrent, dans l'atelier comme en dehors. Pour appréhender les enquêtés dans leur nuance et leur complexité, j'ai mêlé plusieurs champs de la sociologie : la sociologie du travail et de l'emploi mais aussi de l'école, de la culture. . . En inscrivant ce travail dans la durée, on se donne les moyens de comprendre comment les identités obéissent à des processus et se façonnent de manière singulière : des aspirations nourries lors du passage par l'école jusqu'aux premiers jours dans l'atelier, puis de la pérennité de la condition ouvrière jusqu'à des identités compensatrices permettant de dire qu'ils ne sont pas uniquement ouvriers, en tout cas pas comme la génération précédente. Leurs activités parallèles (cours du soir, musique, danse, vacances à l'UCPA. . . ) leur permettent, même s'ils se rendent compte qu'ils sont devenus ouvriers bien en-deça de ce qu'ils imaginaient, de pouvoir continuer à s'imaginer proches de ces classes moyennes souvent fantasmées dont ils n'ont, quand ils les ont côtoyé un certain temps à l'école, jamais totalement fait le deuil de ne pas faire partie. Cette situation révèle finalement un certain entre-deux qui questionne les représentations de la stratification sociale actuelle
This thesis focuses on today Young workers. Based on a thorough and multiple ethnographical investigation (interviews, observations, informal contacts, sharing of activities…), I’ve tried to sort out, in the long-term, how Young working-class social identities build themselves before joining public services and after they have integrated them, in and out of the factories. To understand the people I chose to interview within their specificity and complexity I mingled several sociology fields, which not only means work but also school, family, culture etc… Only an investigation within the long terme may help understand how identities obey to evolutions and take peculiar shapes : hopes developed throughout their scholarship until their very first days in the factories, then through the long-lasting working class condition to compensating identities that enable them to say they are not only workers, at least, not like the previous génération. Their parallel activities (evening class, music, dance, holidays with the UCPA…) help them considering themselves, even though they may some day realize they are not as qualified as the expected to be, familiar to this middle class they have often idealized and that they have never fully accepted not to be part of, when they have interacted with if for some time at school. This situation reveals a real ambiguity that questions the representations of social stratification that exist today

University of Central Florida College of Arts and Sciences Thesis
The study examined the nubmer of significant factors in the Hackman and Oldham (1980) job characteristics model. The original factors were: Skill Variety, Task Significance, Task Identity, Autonomy, and Feedback. Scores on these dimensions for 84 employees of the University of Central Florida (21 supervisory and 63 non-supervisory subjects) were used as the basis for this study through a mail administration of the Hackman and Oldham Job Diagnostic Survey (JDS) and their Job Rating Form (JRF). It was hypothesized that: (a) only four significant job dimensions would emerge from factor analysis of the data; (b) that the motiviating potential ratings from job incumbents would be significantly different from those provided by supervisors; and (c) that these motiviating potential scores would be significantly lower than the norm for the job families into which those positions fell. the data failed to lend support to any of the preceeding hypotheses. First, only one significant factor (Skill Variety) was extracted from the non-supervisory data while two factors (Skill Variety and Task Identity) were extracted from the supervisory data. Second, incumbents' ratings were not significantly different from those of their supervisors and third, the motivating potential scores of incumbents were found to be higher than the norm for most of hte job families sampled in the study.
M.S.;
Arts and Sciences;
Industrial/Organizational Psychology
89 p.
viii, 89 leaves, bound : ill. ; 28 cm.

En France, il existe deux modes de traction pour les trains : la traction diesel ou la traction électrique. Chaque mode fait face à des problématiques qui lui sont propres. Dans le cas du diesel, les émissions de gaz à effet de serre étant de plus en plus contrôlées, il devient nécessaire de faire évoluer ce type de train vers une solution moins polluante. Dans le cas de la traction électrique, la consommation d’énergie entraine une chute de tension qui peut imposer un ralentissement des trains, empêchant ainsi le développement du trafic. La solution étudiée par la SNCF est l’hybridation des trains (ajout de systèmes de stockage en embarqué).Ces travaux de thèse ont pour objectif de mettre en place une méthode permettant de faire le pré-dimensionnement des systèmes de stockage embarqués dans le train. De plus, afin de tenir compte de l’influence réciproque de la gestion sur le dimensionnement, celle-ci est incluse dans le modèle de dimensionnement. La résolution du modèle global se fait à l’aide d’un algorithme d’optimisation.La méthode a été mise en place sur les deux modes de traction ferroviaire (diesel et électrique) et l’optimisation a été faite avec l’algorithme SQP (Sequential Quadratic Programming)
In France, there are two traction modes for railway: the diesel and electric traction. Each mode has its own issues. For diesel, the increasing control of the greenhouse gas emissions imposes to evolve this type of train to a less polluting solution. For electric traction, the energy consumption creates a voltage drop which can cause a traffic slowdown, which will limit the traffic development. The studied solution by SNCF is the hybridization of the train (adding storage system).Thus, these works have the objective to build a method to do the pre-sizing of storage systems embedded in trains. Moreover, to take into account the mutual influence of the sizing and the energy management, this last one is included in the sizing model. An optimization algorithm solves the global model.The method has been developed for the two traction modes (diesel and electric) and the optimization has been made with SQP algorithm (Sequential Quadratic Programming)

Now and then train accidents occur. Collisions between trains and objects such as animals, humans, cars, and fallen trees can result in casualties, severe damage on the train, and delays in the train traffic. Thus, train collisions are a considerable problem with consequences affecting society substantially. The company Termisk Systemteknik AB has on commission by Rindi Solutions AB investigated the possibility to detect anomalies on the railway using a trainmounted thermal imaging camera. Rails are also detected in order to determine if an anomaly is on the rail or not. However, the rail detection method does not work satisfactory at long range. The purpose of this master’s thesis is to improve the previous rail detector at long range by using machine learning, and in particular deep learning and a convolutional neural network. Of interest is also to investigate if there are any advantages using cross-modal transfer learning. A labelled dataset for training and testing was produced manually. Also, a loss function tailored to the particular problem at hand was constructed. The loss function was used both for improving the system during training and evaluate the system’s performance during testing. Finally, eight different approaches were evaluated, each one resulting in a different rail detector. Several of the rail detectors, and in particular all the rail detectors using crossmodal transfer learning, perform better than the previous rail detector. Thus, the new rail detectors show great potential to the rail detection problem.

Building upon self-determination theory, this study sought to ascertain the reach of teacher autonomy support beyond its well-documented impact on student autonomy and engagement to include student competence and relatedness, as well as to parse apart specific teacher behaviors that comprise autonomy support (i.e., respect, choice, relevance, coercion) and their unique influences on the multiple motivational outcomes, surrounding the transition to middle school. These questions were examined using information from 224 fifth graders, 339 sixth graders, and 345 seventh graders attending elementary and middle schools in a predominantly Caucasian working and middle class school district. Regression analyses, predicting change in student motivation over time, revealed that students' experiences of their teachers' autonomy support in the fall predicted changes in student competence, relatedness, and engagement from fall to spring. Although teacher autonomy support was positively connected to student autonomy in correlational analyses, it did not predict changes in student autonomy from fall to spring. Unique effect analyses regressing each of these motivational outcomes on all four components of teacher autonomy-support revealed that respect, relevance, and coercion were unique predictors of each outcome concurrently, but that choice only made a unique contribution to autonomy and relatedness. Developmental patterns extracted from multiple regression analyses in all three grade samples indicate that respect is most predictive of fifth grade student motivation, respect and coercion are most salient for sixth grade motivation, and respect, coercion and relevance together are most central to seventh grade students. MANOVA analyses of mean levels showed the expected patterns of differences, namely: compared to fifth graders, sixth graders reported lower levels of teacher autonomy support (and every component) and seventh graders showed even lower levels still. Further, students reported lower levels of all four motivational outcomes with the same pattern as autonomy support differences. MANCOVA analyses examined whether grade differences in teacher autonomy support could account for this pattern of grade differences in motivational outcomes. When analyses controlled for levels of teacher autonomy support, mean levels of relatedness were no longer significantly different across grades. Although still significant, MANCOVA analyses for autonomy, competence, and engagement showed much smaller F-values when teacher autonomy-support was entered into the model. Together, these findings illustrate that teacher autonomy support does predict student competence and relatedness, in addition to autonomy and engagement. Additionally, it highlights the importance of several components of teacher autonomy support, especially for middle school students. Finally, it points to the need for further investigation on how teacher autonomy support, as an organizational construct and as separated by its components, impacts key motivational outcomes for students in different grades surrounding the middle school transition. Implications for researchers and educational practitioners are discussed.

Investigou-se a relação entre a inteligência emocional de traços e o bem-estar no trabalho, controlando o efeito da autonomia no trabalho. A amostra foi constituída por 171 trabalhadores de uma empresa de seguros e recolhida através de um processo de amostragem não-probabilístico por via de questionários de autorrelato. Os resultados atestam a existência de uma correlação positiva fraca entre a inteligência emocional de traços e o bem-estar no trabalho. Verificou-se também uma correlação positiva moderada entre a autonomia no trabalho e o bem-estar no trabalho. Cumpridos três dos quatro pressupostos do teste de mediação entre variáveis de Baron e Kenny, corroborou-se a existência de mediação parcial por parte da autonomia no trabalho sobre a relação entre a inteligência emocional de traços e o bem-estar no trabalho. Discutiu-se as implicações práticas e teóricas dos resultados observados, bem como as suas limitações, apresentando-se sugestões para investigação futura; Emotional Intelligence, Workplace autonomy and Workplace Well-being: A study in the insurance business. Abstract: The relationship between trait emotional intelligence and workplace well-being was investigated, controlling the effects of workplace autonomy. The sample consisted of 171 employees of an insurance company and was collected using a non-probabilistic sampling process with self-report questionnaires. The results indicate the existence of a positive and weak correlation between trait emotional intelligence and workplace well-being. A positive and moderate correlation between workplace autonomy and workplace well-being was also found. Three of the four assumptions of the mediation test between variables, from Baron and Kenny, suggested the existence of a partial mediation of the variable workplace autonomy over the correlation between trait emotional intelligence and workplace well-being. The practical and theoretical implications of these results were discussed, as well as the limitations of the study. Suggestions for future research were outlined.

Youth in foster care who experience disabilities face many challenges as they transition out of foster care and into adulthood. In order to assist these youth, it is crucial to understand factors that may impact their self-determination, which research links to positive transition outcomes for youth with disabilities (Wehmeyer, Palmer, Agran, Mithaug, & Martin, 2000). While much of the existing research on the correlates and outcomes of self-determination focuses on young people with disabilities overall, and little is known about whether factors such as abuse, family stressors and extended length of time in care, and frequent placement changes influence self-determination. Exploring predictors of self-determination in youth with disabilities in foster care can be beneficial to researchers and child welfare practitioners who seek to identify effective approaches for helping youth accomplish successful transitions into adulthood. This dissertation examined the extent to which physical and sexual abuse and family stressors, such as unemployment, domestic violence, and homelessness prior to entering care; as well as foster care placement instability and total length of time in care, impact a youth's self-determination. In addition, the influence of demographic features such as race and gender on these associations was examined. Increased understanding of factors that contribute to self-determination can facilitate targeted interventions and services that enhance the lives of youth as they exit out of the foster care system and into adulthood. Overall, the findings did not reveal significant associations between self-determination and physical and sexual abuse, family stressors, length of time in foster care or number of placement moves. Post hoc exploratory analysis, however, detected other significant relationships. For example, above and beyond the main effect association of length of time in care, youth who experienced physical abuse and stayed in care for long periods of time demonstrated higher levels of autonomy. Likewise, youth with a greater number of family stressors in their family of origin, and who experienced longer stays in foster care, also demonstrated significantly higher levels of autonomy above and beyond the main effects of family stressors. These relationships speak to the resiliency and the varying nature of self-determination.

Les robots sont l’avenir. Mais comment pouvons-nous leur apprendre de nouvelles compétences utiles? Ce travail couvre une variété de sujets, ayant tous pour but commun de faciliter l’entraînement des robots. La première composante principale de cette thèse est notre travail sur le transfert de modélisation sim2real. Lorsqu’une stratégie a été entièrement apprise en simulation, ses performances sont généralement considérablement inférieures à celles du vrai robot. Cela peut être dû à du bruit aléatoire, à des imprécisions ou à des effets non modélisés, tels que des réactions en retour. Nous introduisons une nouvelle technique pour apprendre la différence entre le simulateur et le vrai robot et pour l’utiliser afin de corriger le simulateur. Nous avons constaté que pour plusieurs de nos idées, aucune simulation appropriée n’était disponible. Par conséquent, pour la deuxième partie principale de la thèse, nous avons créé un ensemble de nouvelles simulations robotiques et de nouveaux environnements de test. Nous fournissons (1) plusieurs nouvelles simulations pour des robots existants, ainsi que des variantes d’environnements existants, qui permettent un ajustement rapide de la dynamique du robot. Nous avons également co-créé (2) le défi AIDO de Duckietown, qui est un concours de robotique en direct à grande échelle pour les conférences NIPS 2018 et ICRA 2019. Pour ce défi, nous avons créé l’infrastructure de simulation, qui permet aux participants d’entraîner leurs robots en simulation avec ou sans ROS. Il leur permet également d’évaluer automatiquement leurs soumissions sur des robots en direct dans un ”Robotarium”. Afin d’évaluer la compréhension et l’acquisition continue de langage par un robot, nous avons développé le (3) Test d’Interaction Multimodal Homme-Robot (MHRI). Cet ensemble de tests contient plusieurs heures d’enregistrements annotés de différentes personnes montrant et pointant des objets ménagers courants, le tout du point de vue d’un robot. La nouveauté et la difficulté de cette tâche découlent du bruit réaliste inclus dans le jeu de données: la plupart des personnes n’était pas de langue maternelle anglaise, certains objets étaient obstrués et personne n’avait reçu d’instructions détaillées sur la manière de communiquer avec le robot, entraînant des interactions très naturelles. Nous avons constaté un manque flagrant de simulations d’environnements domestiques réalistes, avec annotations sémantiques, qui permettraient à un agent d’acquérir les compétences nécessaires pour maîtriser une telle tâche. C’est pourquoi nous avons créé (4) HoME, une plate-forme de formation de robots domestiques à la compréhension du langage. L’environnement a été créé en encapsulant la base de données existante SUNCG 3D, composée de maisons, dans un moteur de jeu pour permettre aux agents simulés de parcourir ces dernières. Il intègre un moteur acoustique très détaillé et un moteur sémantique pouvant générer des descriptions d’objets en relation avec d’autres objets, meubles et pièces. La troisième et dernière contribution principale de ce travail prend en considération le fait qu’un robot peut se trouver dans un nouvel environnement non couvert par la simulation. Dans un tel cas, nous fournissons une nouvelle approche qui permet à l’agent de reconstruire une scène 3D à partir d’une seule image 2D en apprenant l’intégration d’objets. Le principal inconvénient de ce travail est qu’il ne prend actuellement pas en charge de manière fiable la reconstruction de couleur et de texture. Nous avons testé cette approche sur une tâche de rotation mentale, courante dans les tests de QI, et avons constaté que notre modèle arrivait nettement mieux à reconnaître et à faire pivoter des objets que plusieurs modèles de référence
Robots are the future. But how can we teach them useful new skills? This work covers a variety of topics, all with the common goal of making it easier to train robots. The first main component of this thesis is our work on model-building sim2real transfer. When a policy has been learned entirely in simulation, the performance of this policy is usually drastically lower on the real robot. This can be due to random noise, to imprecisions, or to unmodelled effects like backlash. We introduce a new technique for learning the discrepancy between the simulator and the real robot and using this discrepancy to correct the simulator. We found that for several of our ideas there weren’t any suitable simulations available. Therefore, for the second main part of the thesis, we created a set of new robotic simulation and test environments. We provide (1) several new robot simulations for existing robots and variations on existing environments that allow for rapid adjustment of the robot dynamics. We also co-created (2) the Duckietown AIDO challenge, which is a large scale live robotics competition for the conferences NIPS 2018 and ICRA 2019. For this challenge we created the simulation infrastructure, which allows participants to train their robots in simulation with or without ROS. It also lets them evaluate their submissions automatically on live robots in a ”Robotarium”. In order to evaluate a robot’s understanding and continuous acquisition of language, we developed the (3) Multimodal Human-Robot Interaction benchmark (MHRI). This test set contains several hours of annotated recordings of different humans showing and pointing at common household items, all from a robot’s perspective. The novelty and difficulty in this task stems from the realistic noise that is included in the dataset: Most humans were non-native English speakers, some objects were occluded and none of the humans were given any detailed instructions on how to communicate with the robot, resulting in very natural interactions. After completing this benchmark, we realized the lack of simulation environments that are sufficiently complex to train a robot for this task. This would require an agent in a realistic house settings with semantic annotations. That is why we created (4) HoME, a platform for training household robots to understand language. The environment was created by wrapping the existing SUNCG 3D database of houses in a game engine to allow simulated agents to traverse the houses. It integrates a highly-detailed acoustic engine and a semantic engine that can generate object descriptions in relation to other objects, furniture, and rooms. The third and final main contribution of this work considered that a robot might find itself in a novel environment which wasn’t covered by the simulation. For such a case we provide a new approach that allows the agent to reconstruct a 3D scene from 2D images by learning object embeddings, since especially in low-cost robots a depth sensor is not always available, but 2D cameras a common. The main drawback of this work is that it currently doesn’t reliably support reconstruction of color or texture. We tested the approach on a mental rotation task, which is common in IQ tests, and found that our model performs significantly better in recognizing and rotating objects than several baselines

Background: Work-related stress (WRS) is associated with musculoskeletal pain (MSP), changes in the autonomic nervous system (ANS) and anxiety. Objective: To determine the feasibility of a follow-up study and treatment efficacy of the Reaset Approach on MSP, ANS and State-Trait anxiety. Methods: 15 subjects with WRS and MSP were assigned into 3 groups (Body, Head-Neck, Head-Neck-Body). Each group received a single 25 minute ‘Reaset Approach’ intervention. Heart rate variability (HRV), electro-dermal activity (EDA), State Trait Anxiety (STAI) and MSP were measured. Results: HRV parameters: SDNN increased in 13 of 15 subjects while SD1 and SD2 increased in 12 of 15 subjects. EDA reduced in 10 of 14 subjects. State Anxiety reduced in all subjects and Trait Anxiety reduced in 14 of 15 subjects. MSP reduced in all subjects after the intervention and were still lower three days afterwards. Conclusions: This pilot study determined that a follow-up study can ensue provided minor modifications are implemented and that the ‘Reaset Approach’ has an influence on the ANS, anxiety and MSP. Results do differ between groups. The intervention groups including the head and neck modalities demonstrated better results
Hintergrund: Arbeitsbedingter Stress (ABS) ist verbunden mit muskelschmerzen, Veränderungen im autonomen Nervensystem (ANS) und Angst. Ziel: Machbarkeit einer Follow-up-Studie und Wirksamkeit der Behandlung des Reaset Ansatzes auf ANS, Muskelschmerzen und State und Trait- Angst bestimmen. Methoden: 15 Patienten mit ABS und Muskelschmerzen wurden in 3 Gruppen eingeteilt (Körper, Kopf-Hals, Kopf-Hals-Körper). Jede Gruppe erhielt eine einzige 25 Minuten dauernde 'Reaset Approach’-Behandlung. Herzfrequenzvariabilität (HRV), elektro-dermale Aktivität (EDA), State-Trait-Angstsinventar (STAI) und Muskelschmerzen (SF-MPQ) wurden gemessen. Ergebnisse: Die HRV-wert: SDNN ist bei 13 von 15 Probanden erhöht, während SD1 und SD2 bei 12 von 15 Probanden zugenommen hat. EDA war bei 10 von 14 Probanden reduziert. Die State-Angst hat bei allen Probanden und die Trait-Angst bei 14 der 15 Probanden abgenommen. Muskelschmerzen waren bei alle Probanden anschließend an und drei Tage nach der Intervention reduziert. Schlussfolgerung: Diese Pilotstudie hat gezeigt, dass eine Follow-up-Studie fortgesetzt werden kann, sofern kleinere Änderungen durchgeführt werden. Die 'Reaset Approach’ hat einen günstigen Einfluss auf die ANS, State-Trait-Angst und Muskelschmerzen. Ergebnisse zwischen den Gruppen sind unterschiedlich. Die Interventionsgruppen mit einschließlich der Kopf-Hals-Modalitäten zeigten bessere Ergebnisse

Le prochain secteur à être fortement automatisé est sans doute celui du transport routier. D’abord en environnement peu complexe comme c’est déjà le cas sur autoroute, puis à terme dans les scénarios les plus difficiles, comme ceux rencontrés au coeur du trafic urbain. Une étape intermédiaire consiste à introduire des véhicules autonomes en milieu urbain, mais hors du trafic, comme sur des sites fermés. Ces environnements présentent des caractéristiques particulières, comme un encombrement important. Alors, pour être en mesure de naviguer en toute autonomie, les véhicules doivent être à la fois agiles, précis et sûrs, mais aussi efficaces, donc rapides. Ce travail de thèse adresse deux problématiques clés de la navigation autonome en milieu encombré : la planification et le suivi de chemin pour les véhicules à deux trains directeurs (4WS). En effet, la cinématique 4WS est la réponse des constructeurs au besoin d’agilité et nécessite le développement de techniques de commande adaptées. La planification de chemin en temps-réel permet l’évitement d’obstacles, de façon à rendre le service robuste aux aléas de l’environnement. Le contrôle automatique de la direction permet ensuite de suivre ces chemins avec précision. La principale difficulté concernant la planification de chemin est le contraste entre la faible puissance de calcul embarquée sur le véhicule et la forte contrainte temporelle qu’impose le besoin de réactivité. Il s’agit donc de choisir l’approche adéquate et de mettre en place les simplifications algorithmiques les plus efficaces, c’est-à-dire qui réduisent la quantité de calculs nécessaires sans réduire la qualité des chemins générés. De plus, la planification de chemin en milieu encombré pose le problème des impasses dans lesquelles les méthodes les plus réactives restent coincées. De fait, l’approche retenue consiste à construire une fonction de navigation en deux dimensions dont est extrait le chemin. Au sens des critères choisis, il est optimal pour un véhicule circulaire. Des stratégies sont alors mises en place pour adapter cet algorithme aux véhicules 4WS de forme rectangulaire, comme la notion centrale de double-chemin qui permet de représenter la trajectoire d’un mobile à trois degrés de liberté dans un espace en deux dimensions. Enfin, d’autres stratégies et heuristiques sont introduites pour optimiser les performances de l’algorithme de planification et lui permettre de générer des manoeuvres efficaces. Concernant le développement du contrôleur de direction, il s’agit de choisir le modèle d’évolution qui retranscrit au mieux le comportement du véhicule vis-à-vis du double chemin qu’il doit suivre, puis d’en déduire les lois de commande des trains avant et arrière. Ayant été éprouvé par de nombreux travaux, le modèle bicyclette 4WS a été choisi. Ce modèle cinématique permet d’introduire facilement des angles de dérive utiles à la compensation des glissements des pneus sur le sol, qu’ils soient dus à un manque d’adhérence ou à une géométrie imparfaite des trains. Des lois de commande par retour d’état sont ensuite synthétisées et une stratégie de gestion de la saturation des actionneurs est proposée. Enfin, ce premier contrôleur est décliné en une version prédictive qui apporte un suivi de chemin d’une grande stabilité sur les véhicules réels. Les contributions ont toutes été évaluées en simulation et lors d’expérimentations en vraie grandeur sur l’EZ10, une navette électrique 4WS industrielle. Enfin, il se trouve que les performances obtenues dépassent les attentes initiales
The next sector to be highly automated is probably road transport. First in an uncomplicated environment as is already the case on highway, then eventually in the most difficult scenarios, such as those encountered at the heart of the urban traffic. An intermediate step is to introduce autonomous vehicles in urban areas, but outside traffic, as on closed sites. These environments have particular characteristics, they can be very cluttered. So to be able to navigate autonomously, the vehicles have to be agile, precise and safe, but also efficient, i.e. fast. This thesis addresses two key issues of autonomous navigation in cluttered environments: path planning and tracking for bi-steerable (4WS) vehicles. Indeed, the 4WS kinematics is the response of the manufacturers to the need for agility and requires the development of adapted control techniques. Real-time path planning allows the avoidance of obstacles in order to make the service robust to the vagaries of the environment. The automatic control of the direction then makes it possible to follow these paths with precision. The main difficulty about path planning is the contrast between the low onboard computing power and the high temporal constraints imposed by the need for reactivity. It is thus necessary to choose the appropriate approach and to implement the most efficient algorithmic simplifications, i.e. reducing the amount of calculations without reducing the quality of the generated paths. In addition, path planning in cluttered environment raises the problem of dead-ends in which the most reactive methods remain stuck. Then, the adopted approach consists in constructing a navigation function in two dimensions from which the path is extracted. In the sense of the chosen criteria, it is optimal for a circular vehicle. Strategies are then put in place to adapt this algorithm to 4WS vehicles of rectangular shape, such as the central dual-path concept which allows to represent the trajectory of a mobile with three degrees of freedom in a two-dimensional space. Finally, other strategies and heuristics are introduced to optimize the performance of the planning algorithm and allow it to generate efficient maneuvers. Concerning the development of the controller, it is about choosing the evolution model which best reflects the behavior of the vehicle with respect to the dual-path that it must follow and then deducing the front and rear control laws. The 4WS bicycle model has shown itself to be very effective. This kinematic model makes it possible to easily introduce useful side-slip angles allowing to compensate the slippage of the tires on the ground, whether due to a lack of grip or an imperfect geometry of the axles. State feedback control laws are then synthesized and a strategy for managing the saturation of the actuators is proposed. Finally, this first controller is declined in a predictive version that provides a very stable tracking on real vehicles.The contributions were all evaluated in simulation and in full-scale experiments on the EZ10, an industrial 4WS electric shuttle. Finally, it turns out that the performances exceed initial expectations

L'exposition à une situation de stress entraine des réactions cognitives, affectives, physiologiques et comportementales. Ce travail de thèse s'est attaché à examiner des réponses affectives et physiologiques induites par une situation de stress modéré, plus particulièrement l'état d'anxiété et la tension musculaire, et a également considéré les caractéristiques de la situation et le trait d'anxiété des individus. Une première étude a montré chez des individus de traits d'anxiété différents une réactivité physiologique similaire au cours de la situation stressante, bien que les individus de trait d'anxiété "haut" aient rapporté un état d'anxiété plus élevé que les individus de trait d'anxiété "bas". En revanche, après la situation stressante, les individus de trait d'anxiété "haut" ont montré un délai dans la récupération de certains paramètres végétatifs et musculaires. Ces résultats ont suggéré que des différences dans les réponses physiologiques entre des individus de traits d'anxiété différents pourraient émerger au cours de la période de récupération. Ainsi, les réponses, qu'elles soient affectives ou physiologiques, pourraient dépendre du niveau de trait d'anxiété des individus. Les deux autres études ont montré chez des individus de trait d'anxiété homogène soumis à la situation stressante des patrons d'activation musculaire différents selon les muscles. Ces résultats ont suggéré un lien entre les différentes réponses musculaires et le rôle fonctionnel des muscles. Par ailleurs, les résultats ont montré une diminution de l'état d'anxiété et de ces réponses musculaires au cours d'une deuxième exposition à la situation stressante, excepté pour le muscle trapèze qui semble avoir une réactivité particulière liée à sa fonction. Toutefois, l'adaptation des réponses des différents muscles et de l'état d'anxiété suggère que les réponses affectives et musculaires pourraient être influencées par les caractéristiques de la situation (nouveauté et répétition). Finalement, l'ensemble de ces résultats suggère qu'il est important de considérer les caractéristiques de l'environnement et la personnalité des individus dans l'étude des réponses affectives et physiologiques en situation de stress
Exposure to stressful situations is typically associated with cognitive, affective, physiological and behavioral responses. The aim of this work was to examine the affective and physiological responses to moderate stress, particularly state anxiety and muscle tension and also to consider the characteristics of the situation and the trait anxiety of the subjects.Our results showed that high anxious subjects have a higher level of state-anxiety than low anxious subjects during the stressful task, but no difference in physiological reactivity has been found between both groups. However, after exposure to the stressful situation, high anxious subjects have delayed physiological recovery. This suggests that physiological differences might emerge during the recovery period according to trait anxiety level. Thus, affective and physiological responses could depend on trait anxiety level. Furthermore, our results showed in individuals with homogeneous trait anxiety level that muscle tension induced by the stressful situation could differ depending on the muscles. This result suggests a relationship between the different muscular responses and the functional role of the muscles. Moreover, the results showed that state anxiety and these muscular responses decrease during a second exposure to the same stressful situation, except for the trapezius muscle which seems to have a particular reactivity to the stressor. However, adaptation of these muscular modifications and of state anxiety suggests that affective and muscular responses could be influenced by the characteristics of the situation (novelty and repetition).In conclusion, these findings highlight the importance of considering the environmental characteristics and the personality trait of individuals in research on stress responses

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This research analyzes and seeks to understand the increase in informal activities in general and mobile commerce as a particular case and the conflict between the public and employees of these itinerant trade. This analysis is performed as a result of the dynamics inherent in the capitalist system that is based on socioeconomic contradictions, among them the need to generate a surplus of labor to thus have its disposal an army reserve. In that sense this analysis takes into account the urbanization process as RMSP suffered by one of the promotion of unemployment which had their causes in several variables. The phenomenon of the increase in practice of these activities, named in this study as "independent work", practiced by itinerant workers in trains and other public spaces of RMSP, has widened from the 80's resulting from economic crises that hit the country causing huge recession unemployment and an economy that can be described as the results of politics applied at that moment. This unemployment is particularly accentuated in the 90s resulting from the economic opening process undertaken by the Brazilian Government as a way of integrating the country in the process of globalization. The way this integration, was made, marked by unbridled economic openness, reflected in several aspects of the economy of the country: it has a new territoriality of plants provided by the development of technical-scientific-media informational affectry RMSP mainly because this the most industrialized in the country, it also involves a process of productive restructuring in which the industrial sector loses its economic space and it is substituted by tertiary activities; as a consequence implemented a new model of administrative organization and the production process adopted by enterprises, the model flexible also called post-fordist, requiring a new profile with more and better professional qualifications to perform the tasks, now with a greater degree of complexity and flexibility. These changes reflected directly in the levels of unemployment now reaching ever higher rates. Informal activities in general and labor have become mobile, thus a way to ensure survival for the huge number of unemployed, to consolidate is not as alternatives but rather as a temporary work, by effective work. Just as the growing number of than practitioners in itinerant trade grew the conflicts that came to rely even violently with police actions undertaken. The territory of the CPTM trains as public spaces and great appeal to the trade due to the large flow of passengers, has become one of those places where this picture was reflected socioeconomic and conflict is fierce. This territory, which offers easier to enable practitioners of this activity a condition of legalization of the organization and activities to provide decent conditions for a significant number of workers was the locus chosen in this research as part of the complex and contradictory dynamics of capitalist economy
Esta pesquisa analisa e procura compreender o aumento das atividades informais de maneira geral e do comércio ambulante como um caso específico e os conflitos entre o poder público e esses trabalhadores do comércio ambulante. Esta análise é realizada enquanto resultante de uma dinâmica inerente ao próprio sistema capitalista que se assenta em contradições socioeconômicas, dentre elas a necessidade de geração de um excedente de mão-de-obra para, dessa maneira, ter a sua disposição um exército de reserva. Nesse sentido essa análise leva em consideração o processo de urbanização sofrido pela RMSP como um dos pressupostos de promoção do desemprego que teve suas causas em várias variáveis. O fenômeno do aumento na prática dessas atividades, denominadas nessa pesquisa como trabalho autônomo , praticada pelos trabalhadores ambulantes nos trens e outros espaços públicos da RMSP, se acentuou a partir das décadas de 80 resultantes de crises econômicas que atingiram o Brasil provocando enorme recessão econômica e um desemprego que pode ser caracterizado como conjuntural. Esse desemprego acentua-se de sobremaneira na década de 90 resultante do processo de abertura econômica empreendido pelo Estado brasileiro como forma de integração do País ao processo de globalização. A forma como se deu essa integração, marcada por uma abertura econômica desenfreada, repercutiu em vários aspectos da economia do País: empreendeu-se uma nova territorialidade das plantas industriais proporcionado pelo desenvolvimento dos meios técnico-científico-informacionais atingindo principalmente a RMSP por ser esta a mais industrializada do País; a mesma também passa por um processo de reestruturação produtiva em que perde espaço o caráter industrial e ganham espaço as atividades terciárias; implanta-se um novo modelo de organização administrativa e do processo de produção adotado pelas empresas, o modelo flexível também denominado pós-fordista, que exigem um novo perfil de profissional com maior e melhor qualificação para executar as tarefas, agora com um maior grau de complexidade e flexibilidade. Essas transformações repercutiram diretamente nos níveis de desemprego que passaram a atingir índices cada vez maiores. As atividades informais em geral e o trabalho ambulante tornaram-se, dessa forma, numa forma de garantir a sobrevivência para esse enorme contingente de desempregados, passando a se consolidarem não como alternativas temporárias e sim como trabalho de fato. Da mesma forma que crescia o número de praticantes no comércio ambulante cresciam os conflitos que passaram a contar inclusive com ações policiais empreendidas violentamente. O território dos Trens da CPTM, enquanto espaços públicos e de grande apelo para o comércio devido ao grande fluxo de passageiros, passou a ser um desses lugares onde este quadro socioeconômico se refletiu e os conflitos se acirraram. Esse território que oferece condições mais fáceis de possibilitar aos praticantes dessa atividade uma condição de organização e legalização da atividade visando proporcionar condições dignas a um número significativo de trabalhadores foi o lócus escolhido nesta pesquisa como uma das partes da complexa e contraditória dinâmica da economia capitalista

Investigations concerned with the autonomic characteristics of generalised anxiety disorder (GAD) patients indicate the influence of parasympathetic nervous system activity on heart rate is unresolved. As a result, the use of parasympathetic measures in GAD research may be of value. The functional physiology of respiration was reviewed and the importance of calibration procedures associated with respiratory inductive plethysmography for measuring respiratory mode excursions relative to volume changes was detailed. Findings from studies investigating involuntary respiratory changes indicate links exist between anxiety and fear states, personality predispositions and respiratory mode contribution differences. Specifically, rapid, shallow (thoracic (TH)) breathing may be associated with trait-anxiety. The conceptual framework of reversal theory is increasingly being used to explain the dynamics of emotion, stress and anxiety related behaviour. Experimental evidence demonstrates that telic dominance is associated with trait-anxiety. The process of inhibited reversal was used to explain how chronic anxiety could develop in telic dominant individuals.

Background: Work-related stress (WRS) is associated with musculoskeletal pain (MSP), changes in the autonomic nervous system (ANS) and anxiety. Objective: To determine the feasibility of a follow-up study and treatment efficacy of the Reaset Approach on MSP, ANS and State-Trait anxiety. Methods: 15 subjects with WRS and MSP were assigned into 3 groups (Body, Head-Neck, Head-Neck-Body). Each group received a single 25 minute ‘Reaset Approach’ intervention. Heart rate variability (HRV), electro-dermal activity (EDA), State Trait Anxiety (STAI) and MSP were measured. Results: HRV parameters: SDNN increased in 13 of 15 subjects while SD1 and SD2 increased in 12 of 15 subjects. EDA reduced in 10 of 14 subjects. State Anxiety reduced in all subjects and Trait Anxiety reduced in 14 of 15 subjects. MSP reduced in all subjects after the intervention and were still lower three days afterwards. Conclusions: This pilot study determined that a follow-up study can ensue provided minor modifications are implemented and that the ‘Reaset Approach’ has an influence on the ANS, anxiety and MSP. Results do differ between groups. The intervention groups including the head and neck modalities demonstrated better results.:I. Abstract (En) III II. Abstract (De) IV III. Table of Contents V IV. Index of figures VIII V. Index of tables IX VI. Index of abbreviations X 1 Introduction 1 2 Background 2 2.1 Work-related musculoskeletal pain 2 2.2 Work-related stress 3 2.3 Osteopathy and the autonomic nervous system 3 2.4 Stress, pain and osteopathy 4 3 Questions 6 3.1 Feasibility 6 3.2 Treatment effect 6 4 Methods 7 4.1 Study design 7 4.2 Participants 8 4.2.1 Inclusion criteria 8 4.2.2 Exclusion criteria 8 4.2.3 Recruitment 8 4.2.4 Randomization 10 4.3 Parameters 11 4.3.1 Heart rate variability 11 4.3.2 Electro-dermal activity 11 4.3.3 State anxiety 11 4.3.4 Trait anxiety 12 4.3.5 Perceived pain 12 4.4 Measuring Instruments 13 4.4.1 Heart rate variability 13 4.4.2 Electro-dermal Activity 13 4.4.3 State-Trait Anxiety Inventory 13 4.4.4 Short-Form McGill Pain Questionnaire 13 4.5 Interventions 14 4.5.1 Intervention ‘B’: Body 14 4.5.2 Intervention ‘HN’: Head and Neck 16 4.5.3 Intervention ‘HNB’: Head, Neck and Body 16 4.6 Study flow 18 4.7 Statistics 20 5 Results 21 5.1 Autonomic nervous system: Heart rate variability 21 5.1.1 SDNN 22 5.1.2 SD1 25 5.1.3 SD2 28 5.2 Autonomic Nervous System: Electro-dermal activity 31 5.3 Anxiety 34 5.3.1 State anxiety 34 5.3.2 Trait anxiety 37 5.4 Musculoskeletal pain 39 5.4.1 Visual analogue scale 40 5.4.2 Total Short-Form McGill Pain Questionnaire 43 6 Discussion 46 6.1 Discussion of the method 46 6.2 Discussion of the results 50 6.2.1 Autonomic nervous system 50 6.2.1.1 Heart rate variability 50 6.2.1.2 Electro-dermal activity 51 6.2.2 Anxiety 51 6.2.2.1 State anxiety 51 6.2.2.2 Trait Anxiety 52 6.2.3 Musculoskeletal pain 52 6.3 Suggestions for future research 53 7 Conclusion 54 8 Literature 55 9 Addendum 63 9.1 Table: SF-MPQ with Sensory, Affective and Evaluative dimension 63 9.2 Patient Information Sheet 64 9.3 Structured telephone interview 70 9.4 Structured pre-treatment interview 72 9.5 SF-MPQ permission 73 9.6 SF-MPQ 74 9.7 STAI License 76 9.8 STAI forms Y-1 and Y-2 77
Hintergrund: Arbeitsbedingter Stress (ABS) ist verbunden mit muskelschmerzen, Veränderungen im autonomen Nervensystem (ANS) und Angst. Ziel: Machbarkeit einer Follow-up-Studie und Wirksamkeit der Behandlung des Reaset Ansatzes auf ANS, Muskelschmerzen und State und Trait- Angst bestimmen. Methoden: 15 Patienten mit ABS und Muskelschmerzen wurden in 3 Gruppen eingeteilt (Körper, Kopf-Hals, Kopf-Hals-Körper). Jede Gruppe erhielt eine einzige 25 Minuten dauernde 'Reaset Approach’-Behandlung. Herzfrequenzvariabilität (HRV), elektro-dermale Aktivität (EDA), State-Trait-Angstsinventar (STAI) und Muskelschmerzen (SF-MPQ) wurden gemessen. Ergebnisse: Die HRV-wert: SDNN ist bei 13 von 15 Probanden erhöht, während SD1 und SD2 bei 12 von 15 Probanden zugenommen hat. EDA war bei 10 von 14 Probanden reduziert. Die State-Angst hat bei allen Probanden und die Trait-Angst bei 14 der 15 Probanden abgenommen. Muskelschmerzen waren bei alle Probanden anschließend an und drei Tage nach der Intervention reduziert. Schlussfolgerung: Diese Pilotstudie hat gezeigt, dass eine Follow-up-Studie fortgesetzt werden kann, sofern kleinere Änderungen durchgeführt werden. Die 'Reaset Approach’ hat einen günstigen Einfluss auf die ANS, State-Trait-Angst und Muskelschmerzen. Ergebnisse zwischen den Gruppen sind unterschiedlich. Die Interventionsgruppen mit einschließlich der Kopf-Hals-Modalitäten zeigten bessere Ergebnisse..:I. Abstract (En) III II. Abstract (De) IV III. Table of Contents V IV. Index of figures VIII V. Index of tables IX VI. Index of abbreviations X 1 Introduction 1 2 Background 2 2.1 Work-related musculoskeletal pain 2 2.2 Work-related stress 3 2.3 Osteopathy and the autonomic nervous system 3 2.4 Stress, pain and osteopathy 4 3 Questions 6 3.1 Feasibility 6 3.2 Treatment effect 6 4 Methods 7 4.1 Study design 7 4.2 Participants 8 4.2.1 Inclusion criteria 8 4.2.2 Exclusion criteria 8 4.2.3 Recruitment 8 4.2.4 Randomization 10 4.3 Parameters 11 4.3.1 Heart rate variability 11 4.3.2 Electro-dermal activity 11 4.3.3 State anxiety 11 4.3.4 Trait anxiety 12 4.3.5 Perceived pain 12 4.4 Measuring Instruments 13 4.4.1 Heart rate variability 13 4.4.2 Electro-dermal Activity 13 4.4.3 State-Trait Anxiety Inventory 13 4.4.4 Short-Form McGill Pain Questionnaire 13 4.5 Interventions 14 4.5.1 Intervention ‘B’: Body 14 4.5.2 Intervention ‘HN’: Head and Neck 16 4.5.3 Intervention ‘HNB’: Head, Neck and Body 16 4.6 Study flow 18 4.7 Statistics 20 5 Results 21 5.1 Autonomic nervous system: Heart rate variability 21 5.1.1 SDNN 22 5.1.2 SD1 25 5.1.3 SD2 28 5.2 Autonomic Nervous System: Electro-dermal activity 31 5.3 Anxiety 34 5.3.1 State anxiety 34 5.3.2 Trait anxiety 37 5.4 Musculoskeletal pain 39 5.4.1 Visual analogue scale 40 5.4.2 Total Short-Form McGill Pain Questionnaire 43 6 Discussion 46 6.1 Discussion of the method 46 6.2 Discussion of the results 50 6.2.1 Autonomic nervous system 50 6.2.1.1 Heart rate variability 50 6.2.1.2 Electro-dermal activity 51 6.2.2 Anxiety 51 6.2.2.1 State anxiety 51 6.2.2.2 Trait Anxiety 52 6.2.3 Musculoskeletal pain 52 6.3 Suggestions for future research 53 7 Conclusion 54 8 Literature 55 9 Addendum 63 9.1 Table: SF-MPQ with Sensory, Affective and Evaluative dimension 63 9.2 Patient Information Sheet 64 9.3 Structured telephone interview 70 9.4 Structured pre-treatment interview 72 9.5 SF-MPQ permission 73 9.6 SF-MPQ 74 9.7 STAI License 76 9.8 STAI forms Y-1 and Y-2 77