<p>Human skeletal muscles possess thixotropic, i.e. history-dependent mechanical properties. This means that the degree of passive muscle stiffness and resting tension is dependent on the immediately preceding history of contractions and length changes. Athletes, for instance, reduce passive muscle stiffness by various types of ‘limbering-up’ procedures, whereas muscle stiffness gradually increases during inactivity.</p><p>Passive resistance of antagonistic muscles may significantly add to the total load during voluntary muscle contractions. This resistance may vary from one moment to another, depending on immediately preceding events. This research was conducted to determine whether history-dependent variations in passive muscular forces influence motor control of voluntary joint movements and steady maintenance of joint positions in healthy subjects. </p><p>In study I, the EMG signal revealed motor compensations for history-dependent variations in passive stiffness of the antagonists during slow voluntary wrist joint movements. Studies II and III demonstrated that the voluntary muscle activity required to maintain a certain wrist joint position was highly influenced by previous changes in forearm muscle length and contractions. Study IV showed that rapid voluntary movements varied in speed and onset time depending on the prevailing degree of muscle resistance, and in addition that the central nervous reaction time required to execute rapid movements was highly influenced by immediately preceding muscle-conditioning procedures.</p><p>History-dependent variations in passive muscular forces seem to be effectively compensated by the motor control system. Presumably, voluntary motor commands to the muscles are automatically adjusted in strength to history-dependent changes in passive muscular forces. Such adjustments occur within the central nervous system, which receives information about the mechanical state of the muscles. Several issues in connection with muscle thixotropy remain unaddressed. For instance, do alterations in the normal thixotropic mechanical behaviour of the muscles impose a particular problem in patients with certain neuromuscular diseases? </p>

Human skeletal muscles possess thixotropic, i.e. history-dependent mechanical properties. This means that the degree of passive muscle stiffness and resting tension is dependent on the immediately preceding history of contractions and length changes. Athletes, for instance, reduce passive muscle stiffness by various types of ‘limbering-up’ procedures, whereas muscle stiffness gradually increases during inactivity. Passive resistance of antagonistic muscles may significantly add to the total load during voluntary muscle contractions. This resistance may vary from one moment to another, depending on immediately preceding events. This research was conducted to determine whether history-dependent variations in passive muscular forces influence motor control of voluntary joint movements and steady maintenance of joint positions in healthy subjects. In study I, the EMG signal revealed motor compensations for history-dependent variations in passive stiffness of the antagonists during slow voluntary wrist joint movements. Studies II and III demonstrated that the voluntary muscle activity required to maintain a certain wrist joint position was highly influenced by previous changes in forearm muscle length and contractions. Study IV showed that rapid voluntary movements varied in speed and onset time depending on the prevailing degree of muscle resistance, and in addition that the central nervous reaction time required to execute rapid movements was highly influenced by immediately preceding muscle-conditioning procedures. History-dependent variations in passive muscular forces seem to be effectively compensated by the motor control system. Presumably, voluntary motor commands to the muscles are automatically adjusted in strength to history-dependent changes in passive muscular forces. Such adjustments occur within the central nervous system, which receives information about the mechanical state of the muscles. Several issues in connection with muscle thixotropy remain unaddressed. For instance, do alterations in the normal thixotropic mechanical behaviour of the muscles impose a particular problem in patients with certain neuromuscular diseases?

The first and most imperative step when designing a biologically inspired robot is to identify the underlying mechanics of the system or animal of interest. It is most common, perhaps, that this process generates a set of coupled nonlinear ordinary or partial differential equations. For this class of systems, the models derived from morphology of the skeleton are usually very high dimensional, nonlinear, and complex. This is particularly true if joint and link flexibility are included in the model. In addition to complexities that arise from morphology of the animal, some of the external forces that influence the dynamics of animal motion are very hard to model. A very well-established example of these forces is the unsteady aerodynamic forces applied to the wings and the body of insects, birds, and bats. These forces result from the interaction of the flapping motion of the wing and the surround- ing air. These forces generate lift and drag during flapping flight regime. As a result, they play a significant role in the description of the physics that underlies such systems. In this research we focus on dynamic and kinematic models that govern the motion of ground based robots that emulate flapping flight. The restriction to ground based biologically inspired robotic systems is predicated on two observations. First, it has become increasingly popular to design and fabricate bio-inspired robots for wind tunnel studies. Second, by restricting the robotic systems to be anchored in an inertial frame, the robotic equations of motion are well understood, and we can focus attention on flapping wing aerodynamics for such nonlinear systems. We study nonlinear modeling, identification, and control problems that feature the above complexities. This document summarizes research progress and plans that focuses on two key aspects of modeling, identification, and control of nonlinear dynamics associated with flapping flight. / Ph. D. / In this work we focus on modeling flapping flight mechanics by focusing our attention in two aspects of modeling. We first model the behavior of aerodynamic forces in charge of keeping the flying animal airborn. We present a mathematical model for history dependent profile of these forces. Also, we propose a novel adaptive controller to compensate these unknown forces in the dynamic model of the system. We also propose an algorithm to derive dynamic equations of the animal motion by using video data. We expect the model derived by this novel method to emulate the animal motion closely.

No / This chapter seeks to clarify the definition of trust and its conceptualization specifically at the team or workgroup level, as well as discussing the similarities and differences between interpersonal and team level trust. Research on interpersonal trust has shown that individual perceptions of others trustworthiness and their willingness to engage in trusting behavior when interacting with them are largely history‐dependent processes. Thus, trust between two or more interdependent individuals develops as a function of their cumulative interaction. The chapter describes a multilevel framework with individual, team and organizational level determinants and outcomes of team trust. It aims to clarify core variables and processes underlying team trust and to develop a better understanding of how these phenomena operate in a system involving the individual team members, the team self and the organizational contexts in which the team operates. The chapter concludes by reviewing and proposing a number of directions for future research and future‐oriented methodological recommendations.

Le sujet de cette thèse porte sur quelques résultats de convergence pour les inéquations variationnelles avec applications dans l'étude des problèmes aux limites décrivant le contact entre un corps déformable et une fondation. La thèse est composée de deux parties. Dans la première partie, nous nous intéressons à l'analyse des inéquations quasivariationnelles, avec ou sans opérateurs de mémoire, dans un espace de Hilbert. Nous prouvons plusieurs résultats de convergence liés à la perturbation de l'ensemble des contraintes ainsi qu'à une méthode de pénalisation. Aussi, pour une classe d'inéquations quasivariationnelles avec opérateurs de mémoire nous étudions une formulation duale pour laquelle nous présentons des résultats d'existence, d'unicité et d'équivalence. La deuxième partie est consacrée à l'application de ces résultats abstraits dans l'étude de six problèmes de contact pour des matériaux élastiques, viscoélastiques et viscoplastiques, dans le cas statique ou quasistatique. Les lois de contact considérées sont la loi de Signorini, la loi de contact avec compliance normale et contrainte unilatérale et la loi de contact avec contrainte unilatérale et seuil critique. Enfin, nous étudions un nombre de problèmes de contrôle optimal associés aux certains modèles de contact. Pour ces problèmes nous obtenons des résultats d'existence et de convergence. / The topic of this thesis concerns some convergence results for variational inequalities with applications in the study of boundary value problems which describe the contact between a deformable body and a foundation. The thesis is divided into two parts. In the first part, we are interested in the analysis of quasivariational inequalities, with or without history-dependent operators, in Hilbert spaces. We prove some convergence results related to a perturbation of the set of constraints and a penalty method, as well. Moreover, for a class of history-dependent quasivariational inequalities we study a dual formulation for which we present existence, uniqueness and equivalence results. The second part is devoted to applications of these abstract results in the study of six contact problems with elastic, viscoelastic and viscoplastic materials, both in the static or quasistatic case. The contact conditions we consider are the Signorini condition, the normal compliance condition with unilateral constraint, the unilateral constraint condition with yield limit. Finally, we study a number of optimal control problems associated to some contact models. For these problems we provide existence and convergence results.

Le but de cette étude est d'améliorer les performances, en termes d'espace mémoire et de temps de calcul, des simulations actuelles de l'Interaction mécanique Pastille-Gaine (IPG), phénomène complexe pouvant avoir lieu lors de fortes montées en puissance dans les réacteurs à eau sous pression. Parmi les méthodes de raffinement de maillage, méthodes permettant de simuler efficacement des singularités locales, une approche multi-grille locale a été choisie car elle présente l'intérêt de pouvoir utiliser le solveur en boîte noire tout en ayant un faible nombre de degrés de liberté à traiter par niveau. La méthode Local Defect Correction (LDC), adaptée à une discrétisation de type éléments finis, a tout d'abord été analysée et vérifiée en élasticité linéaire, sur des configurations issues de l'IPG, car son utilisation en mécanique des solides est peu répandue. Différentes stratégies concernant la mise en oeuvre pratique de l'algorithme multi-niveaux ont également été comparées. La combinaison de la méthode LDC et de l'estimateur d'erreur a posteriori de Zienkiewicz-Zhu, permettant d'automatiser la détection des zones à raffiner, a ensuite été testée. Les performances obtenues sur des cas bidimensionnels et tridimensionnels sont très satisfaisantes, l'algorithme proposé se montrant plus performant que des méthodes de raffinement h-adaptatives. Enfin, l'algorithme a été étendu à des problèmes mécaniques non linéaires. Les questions d'un raffinement espace/temps mais aussi de la transmission des conditions initiales lors du remaillage ont entre autres été abordées. Les premiers résultats obtenus sont encourageants et démontrent l'intérêt de la méthode LDC pour des calculs d'IPG. / The aim of this study is to improve the performances, in terms of memory space and computational time, of the current modelling of the Pellet-Cladding mechanical Interaction (PCI),complex phenomenon which may occurs during high power rises in pressurised water reactors. Among the mesh refinement methods - methods dedicated to efficiently treat local singularities - a local multi-grid approach was selected because it enables the use of a black-box solver while dealing few degrees of freedom at each level. The Local Defect Correction (LDC) method, well suited to a finite element discretisation, was first analysed and checked in linear elasticity, on configurations resulting from the PCI, since its use in solid mechanics is little widespread. Various strategies concerning the implementation of the multilevel algorithm were also compared. Coupling the LDC method with the Zienkiewicz-Zhu a posteriori error estimator in orderto automatically detect the zones to be refined, was then tested. Performances obtained on two-dimensional and three-dimensional cases are very satisfactory, since the algorithm proposed is more efficient than h-adaptive refinement methods. Lastly, the LDC algorithm was extended to nonlinear mechanics. Space/time refinement as well as transmission of the initial conditions during the remeshing step were looked at. The first results obtained are encouraging and show the interest of using the LDC method for PCI modelling.

This dissertation presents research in the development and use of a multi-modal visual and haptic virtual model in higher education. The model, named Chemical Force Feedback (CFF), represents molecular recognition through the example of protein-ligand docking, and enables students to simultaneously see and feel representations of the protein and ligand molecules and their force interactions. The research efforts have been divided between educational research aspects and development of haptic feedback techniques. The CFF model was evaluated in situ through multiple data-collections in a university course on molecular interactions. To isolate possible influences of haptics on learning, half of the students ran CFF with haptics, and the others used the equipment with force feedback disabled. Pre- and post-tests showed a significant learning gain for all students. A particular influence of haptics was found on students reasoning, discovered through an open-ended written probe where students' responses contained elaborate descriptions of the molecular recognition process. Students' interactions with the system were analyzed using customized information visualization tools. Analysis revealed differences between the groups, for example, in their use of visual representations on offer, and in how they moved the ligand molecule. Differences in representational and interactive behaviours showed relationships with aspects of the learning outcomes. The CFF model was improved in an iterative evaluation and development process. A focus was placed on force model design, where one significant challenge was in conveying information from data with large force differences, ranging from very weak interactions to extreme forces generated when atoms collide. Therefore, a History Dependent Transfer Function (HDTF) was designed which adapts the translation of forces derived from the data to output forces according to the properties of the recently derived forces. Evaluation revealed that the HDTF improves the ability to haptically detect features in volumetric data with large force ranges. To further enable force models with high fidelity, an investigation was conducted to determine the perceptual Just Noticeable Difference (JND) in force for detection of interfaces between features in volumetric data. Results showed that JNDs vary depending on the magnitude of the forces in the volume and depending on where in the workspace the data is presented.