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"Poisson, G."
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السمكة الذهبية : رواية
تبدو رواية لو كليزيو \"السمكة الذهبية\" التي ترجمت إلى العربية عبارة عن سيرة لزوجته وأمها اللتين جاءتا من الصحراء، فما عادتا تعرفان شيئا عن وطنهما نتيجة هذه القطيعة. سيرة مشفرة لفتاة أحبها، اسمها ليلى تنتمي إلى بني هلال اختطفت وهي لا تتجاوز السادسة من عمرها. جالت في رحلتها الطويلة عوالم مختلفة من الملاحة في المغرب، إلى الولايات المتحدة، مرورا بفرنسا، لتعود في النهاية إلى قبيلة بني هلال في الصحراء جنوب المغرب حيث تصل إلى المكان الذي تتذكر ملامحه قبل اختطافها، بغية أن تجد حلا لمأساة لبست حياتها.
BOOK
Optimal synthesis of a spherical parallel mechanism for medical application
This paper introduces the design and the optimization of a probe holder robot for tele-echography applications. To define its kinematic architecture, an approach based on motion capture of an expert's gestures during ultrasound examinations was proposed. The medical gestures analyzed consisted of ultrasound probe movements and were used to characterize the kinematic specifications of the proposed manipulator. The selected architecture was a Spherical Parallel Mechanism (SPM) with 3 degrees of freedom (DoF) and its optimal synthesis was performed using real-coded Genetic Algorithms (GA). The optimization criteria and constraints were established thanks to the collaboration of medical experts and were successively formulated and solved using mono-objective and multi-objective functions.
Journal Article
سمكة من ذهب : رواية
الرواية حول فتاة سوداء تخطف وهي صغيرة من قريتها في المغرب، لتباع لسيدة يهودية مغاربية... وهكذا تبدأ رحلتها الطويلة مع الحياة والتشرد والهرب من البيوت والناس والتنقل من مكان لمكان، عابرة قارات، من المغرب لفرنسا لأمريكا ثم لفرنسا ثانية ثم المغرب ثم بحثا عن أهلها... الرواية تغوص في عالم المهمشين والمشردين والمسحوقين والمهاجرين غير الشرعيين وأطفال الشوارع... حياة مليئة بالبؤس والقسوة والظلم والقهر من كل نوع وشكل... ونحن ننتقل مع الصبية من مكان لمكان وهي تناور في هذه الغابة المقرفة المدنية... حيث البقاء للأقوى... هذه الصبية التي ما كانت تقبل إلا أن تكون حرة وسيدة نفسها في عالم الشوارع... ولولا حدة ذهنها ما كانت استطاعت تدبر أمرها...
Book
Process of optimisation for a 4 DOF tele-echography robot
This paper deals with processes of optimisation for the design of a four degree-of-freedom robot dedicated to remote ultrasound tele-echography. This robot is designed to track the medical gestures of a remote expert moving an ultrasound probe. The goal is to optimise the kinematic structure by fixing the geometric parameters; these have a significant role in robot configuration singularities, with respect to current medical gestures and mechanism compactness. After choosing a dedicated kinematic structure, several optimisations are presented. Then an optimal choice of geometrical parameters of a global function in relation with kinematic performance indices and compactness is proposed. This robot is soon to be used in the experimental medical phase of the Prosit project.
Journal Article
Spherical wrist dimensional synthesis adapted for tool-guidance medical robots
The objective of this article is to present the dimensional synthesis of serial and parallel spherical wrists, an important step in the design process of medical robots. This step is carried out to obtain optimal dimensions of tool-guidance medical robots. With this goal, we have first studied the specifications of two robots with different medical applications: one for tele-echography examination and one for minimally invasive surgery. Then, we have established that the medical needs expressed by the doctors were very different but the specifications in robotic terms have a lot of common points (kinematics, workspace, bulkiness). For both applications studied, robots need a mobility of three rotations around a fixed point (probe contact point on the patient’s skin or trocar incision). So, a spherical wrist architecture is adapted to their needs. An important constraint related to medical applications is that the robot must be compact in order to not obstruct or collide with its environment (medical personnel or patient). We perform dimensional synthesis allowing determination of dimensions of the mechanism for serial and parallel spherical wrists, for a tele-echography robot, and a serial wrist for a minimally invasive surgery robot. We use multi-criteria optimization methods minimizing a cost function to obtain both good kinematic performance and compactness for the architecture. The difficulty/challenge of this design process, depending of the studied applications, is the choice of efficient criteria describing the performances and the constraints of the robot. The design variables must faithfully represent the specifications of the robot so that its performance can respond to the medical requirements. We show, here, the different methods used for optimizing the chosen kinematic architecture for the particular medical application. These studies lead to prototypes which are validated after medical experiments. This process of dimensional synthesis will be applied to other medical applications with different sets of specified constraints.
Journal Article
Design Process of a Robotized Tele-Echography System
This paper deals with the design process of a particular mechatronic system: a tele-echography robot. First, we describe the principle of robotized tele-echography and the prototypes already designed. Then, after having chosen the design process, we show two medical gestures analysis performed to define the required specifications of a tele-echography robot. Several kinematic synthesis allow demonstrating that the serial spherical wrist is the most adapted structure to this medical application. The kinematic performance of this structure is limited by the singularity position located at the centre of the workspace. An inclined spherical wrist structure is proposed to displace the singularity position in a less used workspace zone that the normal direction to the patients skin. In the dimensional synthesis phase, this structure is optimized. Then, a collaborative design study with designers is presented to improve aesthetic and ergonomic of the robot. This step was very interesting because it brought innovative propositions. Finally, a detailed phase allows defining the PROSIT 1 robot. It was manufactured and will be soon tested in clinical environment.
Journal Article
Dietary docosahexaenoic acid affects stearic acid desaturation in spontaneously hypertensive rats
Docosahexaenoic acid (DHA, 22∶6n−3) is an n−3 polyunsaturated fatty acid which attenuates the development of hypertension in spontaneously hypertensive rats (SHR). The effects of DHA on delta‐9‐desaturase activity in hepatic microsomes and fatty acid composition were examined in young SHR. Two groups of SHR were fed either a DHA‐enriched diet or a control diet for 6 wk. Desaturase activity and fatty acid composition were determined in hepatic microsomes following the dietary treatments. Delta‐9‐desaturase activity was decreased by 53% in DHA‐fed SHR and was accompanied by an increase in 16∶0 and a reduction in 16∶1n−7 content in hepatic microsomes. The DHA diet also increased the levels of eicosapentaenoic acid (20∶5n−3) and DHA. The n−6 fatty acid content was also affected in DHA‐fed SHR as reflected by a decrease in gamma‐linolenic acid (18∶3n−6), arachidonic acid (20∶5n−6), adrenic acid (22∶4n−6), and docosapentaenoic acid (22∶5n−6). A higher proportion of dihomo‐gamma‐linolenic acid (20∶3n−6) and a lower proportion of 20∶4n−6 is indicative of impaired delta‐5‐desaturase activity. The alterations in fatty acid composition and metabolism may contribute to the antihypertensive effect of DHA previously reported.
Journal Article
Transcriptome comparison of winter and spring wheat responding to low temperature
Freezing tolerance in plants is a complex trait that occurs in many plant species during growth at low, nonfreezing temperatures, a process known as cold acclimation. This process is regulated by a multigenic system expressing broad variation in the degree of freezing tolerance among wheat cultivars. Microarray analysis is a powerful and rapid approach to gene discovery. In species such as wheat, for which large scale mutant screening and transgenic studies are not currently practical, genotype comparison by this methodology represents an essential approach to identifying key genes in the acquisition of freezing tolerance. A microarray was constructed with PCR amplified cDNA inserts from 1184 wheat expressed sequence tags (ESTs) that represent 947 genes. Gene expression during cold acclimation was compared in 2 cultivars with marked differences in freezing tolerance. Transcript levels of more than 300 genes were altered by cold. Among these, 65 genes were regulated differently between the 2 cultivars for at least 1 time point. These include genes that encode potential regulatory proteins and proteins that act in plant metabolism, including protein kinases, putative transcription factors, Ca(2+) binding proteins, a Golgi localized protein, an inorganic pyrophosphatase, a cell wall associated hydrolase, and proteins involved in photosynthesis.
Journal Article
The TERESA project : from space research to ground tele-echography
Ultrasound examinations represent one of the major diagnostic modalities of future healthcare. They are currently used to support medical space research but require a high skilled operator for both probe positioning on the patient's skin and image interpretation. TERESA is a tele-echography project that proposes a solution to bring astronauts and remotely located patients on ground quality ultrasound examinations despite the lack of a specialist at the location of the wanted medical act.
Journal Article
Fetal tele-echography using a robotic arm and a satellite link
OBJECTIVE: To design a method for conducting fetal ultrasound examinations in isolated hospital sites using a dedicated remotely controlled robotic arm (tele-echography). METHODS: Tele-echography was performed from our hospital (expert center) on 29 pregnant women in an isolated maternity hospital (patient site) 1700 km away, and findings were compared with those of conventional ultrasound examinations. At the patient site, a robotic arm holding the real ultrasound probe was placed on the patient's abdomen by an assistant with no experience of performing ultrasound. The robotic arm, remotely controlled with a fictive (expert) probe, reproduced the exact movements (tilting and rotating) of the expert hand on the real ultrasound probe. RESULTS: In 93.1% of the cases, all biometric parameters, placental location and amniotic fluid volume, were correctly assessed using the teleoperated robotic arm. In two cases, femur length could not be correctly measured. The mean duration of fetal ultrasound examination was 14 min (range, 10-18) and 18 min (range, 13-23) by conventional and tele-echography methods, respectively. The mean number of times the robotic arm was repositioned on the patient's abdomen was seven (range, 5-9). CONCLUSION: Tele-echography using a robotic arm provides the main information needed to assess fetal growth and the intrauterine environment within a limited period of time.
Journal Article