Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - CAPES / The breast tomosynthesis is appearing in several studies that aim to investigate most appropriate parameters to obtaining images of high quality with dose values of ionizing radiation within the limits imposed for digital mammography. The parameters are related to an angular range limited used in examinations, the number of projections, the X-rays beam energies, and the reconstruction of projections, using specific algorithm, mainly. The advantage of tomosynthesis while a new mammographic technology in relation to the other techniques that employ X-rays is its potential to reduced overlap effect of breast tissue. The contribution of variation of the angle of the beams on the dose in breast examined, due to a change in the geometry used in the examination, should be investigated. To determine the impact that this variation has on the dose in the breast and in other organs and tissues of the human body, an important tool is the Computational Simulation by Monte Carlo. The main proposal of this work was to use the code of Monte Carlo N-Particle eXtended (MCNPX) to study absorbed doses in breast and other organs of the patient during the examination of digital tomosynthesis mammary glands. For this reason, it was used an anthropomorphic female adult phantom with representation of the body, tissues and internal structures and realistic adult patient incorporated in a scenario of radiation from a commercial model of equipment of each. The values of absorbed doses found with the AGMS-M tomosynthesis meter were lower than in digital mammography, the differences between tomosynthesis and mammography were 12.3% using 24 kVp, 10.74% for 28 kVp and 11.21% for 30 kVp. Comparing the experimental and that found in the simulation, the values of the absorbed doses had a smaller difference verified to 24 kVp, of 3.3% and a greater difference to 28 kVp, of 6.2%. The results obtained for the colon and brain have presented relative error (R) above 10% due to the occurrence of natural shielding and distance of these components of the primary beam of radiation. The CCs of equivalent dose in this study show that the estimated dose in the simulator anthropomorphic adult female is much greater in each of which in mammography, because the configuration of the acquisition of different geometry between digital mammography and tomosynthesis, and the sweep time which is higher in each. / A tomossíntese mamária vem aparecendo em vários estudos que buscam investigar tanto parâmetros mais adequados para obtenção de imagens de qualidade quanto valores de doses de radiação ionizante dentro dos limites impostos para mamografia digital. Os parâmetros estão relacionados às energias dos feixes de raios X nos exames, ao intervalo angular das projeções, ao número de projeções, e à reconstrução dessas, principalmente. A reconstrução das imagens é realizada utilizando-se algoritmos específicos. A vantagem da tomossíntese enquanto nova tecnologia em relação as outras técnicas mamográficas que empregam raios X é o seu potencial de imageamento com reduzido efeito de sobreposição do tecido mamário. A contribuição da variação angular dos feixes sobre a dose na mama examinada, devido à alteração na geometria do exame, deve ser investigada. Para determinar o impacto que essa variação exerce sobre a dose na mama e nos demais órgãos e tecidos do corpo humano, uma importante ferramenta é a simulação computacional por Monte Carlo. A proposta principal deste trabalho foi utilizar o código de Monte Carlo N-Particle eXtended (MCNPX) para estudar as doses absorvidas na mama e demais órgãos do paciente durante o exame de tomossíntese digital mamária. Para isso, foi utilizado um simulador antropomórfico adulto feminino com representação dos órgão, tecidos e estruturas internas bem realista de paciente adulto incorporado em cenário de radiação de um modelo comercial de equipamento de tomossíntese. Os valores das doses absorvidas encontrados com o medidor AGMSM em tomossíntese mostrou-se menor do que na mamografia digital, as diferenças entre a tomossíntese e a mamografia foram 12,3% empregando-se 24 kVp, 10,74% para 28 kVp e 11,21% para 30 kVp. Comparando o experimental e o encontrado na simulação, os valores das doses absorvidas teve uma menor diferença verificada para 24 kVp, de 3,3% e uma maior diferença para 28 kVp, de 6,2%. Os resultados obtidos para o cólon e cérebro apresentaram erro relativo (R) acima de 10%, isso devido a decorrência de blindagem natural e da distância desses órgãos ao feixe primário de radiação. Os Coeficientes de conversão de dose equivalente obtidos mostraram que a dose estimada no simulador antropomórfico adulto feminino é maior na tomossíntese do que na mamografia digital, devido a configuração de aquisição de geometria diferente entre a mamografia e tomossíntese, e ao tempo de varredura, que é maior na tomossíntese.

Le travail décrit dans cette thèse porte sur l’évaluation du mode d’exposition externe et interne au xénon-133. Ce radionucléide est un des principaux produits de fission du combustible des réacteurs nucléaires. En cas de défaut de gaine combustible, le xénon-133 peut potentiellement exposer le personnel lors de ses interventions dans le bâtiment réacteur. En dosimétrie, les simulations Monte-Carlo sont des outils adaptés pour simuler le transport des rayonnements ionisants dans la matière. A partir des critères de radioprotection actuels, nous avons développé de nouvelles méthodes afin d’améliorer notre compréhension de l’exposition externe et interne auxénon-133 à l’intérieur d’un bâtiment réacteur. Ces nouvelles approches sont basées sur l’utilisation d’un fantôme anthropomorphe, d’une géométrie réaliste de bâtiment réacteur, de simulations Monte-Carlo GEANT4 et de modèles en compartiments. L’exposition externe dans un bâtiment réacteur a été menée en retenant un scénario d’exposition réaliste et conservatif. Nous avons quantifié le débit de dose efficace et le débit de dose équivalente au cristallin. L’exposition interne se produit lorsque le xénon-133 est inhalé. Les poumons sont les premiers organes exposés par l’inhalation du xénon-133, leur débit de dose équivalente a été quantifié. Un modèle biocinétique a été utilisé pour évaluer l’exposition interne au xénon-133. Cette thèse a permis de quantifier les grandeurs dosimétriques liées aux modes d’exposition externe et interne au xénon-133, d’étudier l’impact des changements de limites dosimétriques introduits par la Commission Internationale de Radioprotection prochainement retranscrits dans la réglementation française, et de comprendre la cinétique du xénon-133 dans le corps humain. Nous avons montré que les grandeurs dosimétriques sont nettement inférieures aux limites dosimétriques de la réglementation actuelle et future. / The work described in this thesis focuses on the external and internal dose assessment to xenon-133. During the nuclear reactor operation, fission products and radioactive inert gases, as ¹³³Xe, are generated and might be responsible for the exposure of workers incase of clad defect.Particle Monte Carlo transport code is adapted inradioprotection to quantify dosimetric quantities.The study of exposure to xenon-133 is conducted byusing Monte-Carlo simulations based on GEANT4, ananthropomorphic phantom, a realistic geometry of thereactor building, and compartmental models.The external exposure inside a reactor building isconducted with a realistic and conservative exposurescenario. The effective dose rate and the eye lensequivalent dose rate are determined by Monte-Carlosimulations. Due to the particular emission spectrum ofxenon-133, the equivalent dose rate to the lens of eyesis discussed in the light of expected new eye doselimits.The internal exposure occurs while xenon-133 isinhaled. The lungs are firstly exposed by inhalation, andtheir equivalent dose rate is obtained by Monte-Carlosimulations. A biokinetic model is used to evaluate theinternal exposure to xenon-133.This thesis gives us a better understanding to thedosimetric quantities related to external and internalexposure to xenon-133. Moreover the impacts of thedosimetric changes are studied on the current andfuture dosimetric limits. The dosimetric quantities arelower than the current and future dosimetric limits.

Après l’incorporation de radionucléides dans l’organisme, l’imagerie quantitative en médecine nucléaire et l’anthroporadiométrie sont utilisés pour quantifier l’activité retenue. L’étalonnage de ces systèmes in vivo peut être amélioré afin de tenir en compte de la variabilité individuelle. En vue d’optimiser la mesure de l’activité retenue, des fantômes d’étalonnage innovants ont été réalisés par impression 3D. L’infographie 3D a été utilisée pour la conception, en parallèle avec un travail d’ingénierie permettant l’inclusion de radionucléides et l’adaptation aux besoins des utilisateurs. Un jeu de fantômes thyroïdiens adapté à l’âge a été développé et utilisé pour améliorer la mesure anthroporadiométrique thyroïdienne des enfants. À la suite d’une étude systématique, les coefficients d’étalonnage des installations de routine et de crise de l’IRSN ont été déterminés pour l’adulte et les enfants de 5, 10 et 15 ans. Un fantôme thyroïdien pathologique a été développé en plus du jeu de fantômes thyroïdiens dédié à la crise pour améliorer la mesure de fixation thyroïdienne en médecine nucléaire. Une étude multicentrique a été réalisée pour optimiser l’étalonnage afin de mieux personnaliser le traitement des pathologies bénignes de la thyroïde. Pour l’anthroporadiométrie pulmonaire, une famille de fantômes de poitrine a été développée pour améliorer la surveillance des travailleuses du nucléaire. Finalement, ce travail de recherche a permis de développer des fantômes adaptés aux besoins et de démontrer leur utilité pour la quantification de l’activité en dosimétrie interne. / Following the incorporation of radionuclides in the body, quantitative imaging in nuclear medicine and in vivo spectrometry measurements are used to quantify the retained activity. The calibration of these in vivo systems can be improved to take account of individual variability. To optimize the measurements of the activity retained, innovative calibration phantoms were created and manufactured by 3D printing. 3D computer graphics were used for the design, coupled with an engineering work allowing the inclusion of radionuclides and the fit to users’ needs. A set of age-specific thyroid phantoms has been developed and used to improve the thyroid in vivo measurement of children. Following a systematic study, the calibration coefficients for IRSN emergency and routine installations were determined for adults and 5, 10 and 15 year old children. A pathological thyroid phantom has been developed in addition to the set of thyroid phantoms dedicated to the emergency to improve the thyroid uptake measurement in nuclear medicine. A multicentre study was carried out to optimize the calibration so that treatment of thyroid benign diseases moves towards a better personalization. For lung in vivo measurement, a set of breast phantoms has been developed to improve the monitoring of female workers. Finally, this research work has allowed developing several phantoms adapted to the needs and their usefulness was proven for the quantification of the activity in internal dosimetry.

In biomedical applications realistic phantoms are becoming more useful for validation and testing of precursor systems. These artificial phantoms require stable and flexible tissue-mimicking materials with realistic dielectric properties in order to properly model human tissues. We have fabricated a low-water-content, low cost, mechanically and electrically stable, good shelf life and multi-layered heterogeneous phantom consisting of skin, fat and muscle tissues. We have chosen semi-solid type phantom for each tissue layer. The size and thickness of the each layer is chosen based on the average thickness of human tissue. Altering the ingredient composition wisely we can alter its dielectric properties also. By reason of no osmosis occurrence, the tissues can be employed to construct heterogeneous phantoms or even anthropomorphic phantoms without causing any changes in geometry or electrical properties. The performance of the fabricated phantom is carried out using an open-ended coaxial slim probe system by Agilent Technologies. Nearly all previous studies were based on very high frequency( VHF), so we present ultra-wide band (UWB), 500MHz-20GHz multilayered phantoms. We have measured our phantom after 2 month time period and we got quite good results for the dielectric properties without having significant variations. Thus, our fabricated sets of ATE phantom have good long lasting properties with good physical and dielectric stability.

La locomotion anthropomorphe est un processus complexe qui met en jeu un très grand nombre de degrés de liberté, le corps humain disposant de plus de trois cents articulations contre une trentaine chez les robots humanoïdes. Pris dans leur ensemble, ces degrés de liberté montrent une certaine cohérence rendant possible la mise en mouvement du système anthropomorphe et le maintien de son équilibre, dans le but d'éviter la chute. Cette thèse met en lumière les fondements calculatoires à l'origine de cette orchestration. Elle introduit un cadre mathématique unifié permettant à la fois l'étude de la locomotion humaine, et la génération de trajectoires locomotrices pour les robots humanoïdes. Ce cadre consiste en une réduction de la dynamique corps-complet du système pour ne considérer que sa projection autour du centre de gravité, aussi appelée dynamique centroïdale. Bien que réduite, nous montrons que cette dynamique centroïdale joue un rôle central dans la compréhension et la formation des mouvements locomoteurs. Pour ce faire, nous établissons dans un premier temps les conditions d'observabilité de cette dynamique, c'est-à-dire que nous montrons dans quelle mesure cette donnée peut être appréhendée à partir des capteurs couramment employés en biomécanique et en robotique. Forts de ces conditions d'observabilité, nous proposons un estimateur capable de reconstruire la position non-biaisée du centre de gravité. A partir de cet estimateur et de l'acquisition de mouvements de marche sur divers sujets, nous mettons en évidence la présence d'un motif cycloïdal du centre de gravité dans le plan sagittal lorsque l'humain marche de manière nominale, c'est-à-dire sans y penser. La présence de ce motif suggère l'existence d'une synergie motrice jusqu'alors ignorée, soutenant la théorie d'une coordination générale des mouvements pendant la locomotion. La dernière contribution de cette thèse porte sur la locomotion multi-contacts. Les humains ont une agilité remarquable pour effectuer des mouvements locomoteurs qui nécessitent l'utilisation conjointe des bras et des jambes, comme lors de l'ascension d'une paroi rocheuse. Comment doter les robots humanoïdes de telles capacités ? La difficulté n'est certainement pas technologique, puisque les robots actuels sont capables de développer des puissances mécaniques suffisantes. Leurs performances, évaluées tant en termes de qualité des mouvements que de temps de calcul, restent très limitées. Dans cette thèse, nous abordons le problème de génération de trajectoires multi-contacts sous la forme d'un problème de commande optimale. L'intérêt de cette formulation est de partir du modèle réduit de la dynamique centroïdale tout en répondant aux contraintes d'équilibre. L'idée originale consiste à maximiser la vraisemblance de cette dynamique réduite vis-à-vis de la dynamique corps-complet. Elle repose sur l'apprentissage d'une mesure d'occupation qui reflète les capacités cinématiques et dynamiques du robot. Elle est effective : l'algorithmique qui en découle est compatible avec des applications temps réel. L'approche a été évaluée avec succès sur le robot humanoïde HRP-2, sur plusieurs modes de locomotions, démontrant ainsi sa polyvalence. / Anthropomorphic locomotion is a complex process that involves a very large number of degrees of freedom, the human body having more than three hundred joints against thirty in humanoid robots. Taken as a whole, these degrees of freedom show a certain coherence making it possible to set the anthropomorphic system in motion and maintain its equilibrium, in order to avoid falling. This thesis highlights the computational foundations behind this orchestration. It introduces a unified mathematical framework allowing both the study of human locomotion and the generation of locomotive trajectories for humanoid robots. This framework consists of a reduction of the body-complete dynamics of the system to consider only its projection around the center of gravity, also called centroid dynamics. Although reduced, we show that this centroidal dynamics plays a central role in the understanding and formation of locomotive movements. To do this, we first establish the observability conditions of this dynamic, that is to say that we show to what extent this data can be apprehended from sensors commonly used in biomechanics and robotics. Based on these observability conditions, we propose an estimator able to reconstruct the unbiased position of the center of gravity. From this estimator and the acquisition of walking motions on various subjects, we highlight the presence of a cycloidal pattern of the center of gravity in the sagittal plane when the human is walking nominally, that is, to say without thinking. The presence of this motif suggests the existence of a motor synergy hitherto unknown, supporting the theory of a general coordination of movements during locomotion. The last contribution of this thesis is on multi-contact locomotion. Humans have remarkable agility to perform locomotive movements that require joint use of the arms and legs, such as when climbing a rock wall. How to equip humanoid robots with such capabilities? The difficulty is certainly not technological, since current robots are able to develop sufficient mechanical powers. Their performances, evaluated both in terms of quality of movement and computing time, remain very limited. In this thesis, we address the problem of generating multi-contact trajectories in the form of an optimal control problem. The interest of this formulation is to start from the reduced model of centroid dynamics while responding to equilibrium constraints. The original idea is to maximize the likelihood of this reduced dynamic with respect to body-complete dynamics. It is based on learning a measurement of occupation that reflects the kinematic and dynamic capabilities of the robot. It is effective: the resulting algorithmic is compatible with real-time applications. The approach has been successfully evaluated on the humanoid robot HRP-2, on several modes of locomotion, thus demonstrating its versatility.

Abstract The pupose of the study was to increase knowledge about how anthropomorphism can support preschool children´s learning about the developmentstages of the butterfly in a teaching situation with anthropomorphic children´s literature, investigative booktalk and concrete material. To answer the purpose, questions were needed that povided answers to what kind of learning that occurred in relation to the prior knowledge and how the children´s learning was characterized in their retelling. The design of the study was based on a teaching sitauation that included a high-grade anthropomorphic children´s literature that was reading aloud with an investigative booktalk and concret material as didactic tools. The method was observation, and the theoretical basis was a socio-cultural perspective on learning that took place in interaction with the others in the childgroup. The results of the study showed that all groups of children learned the developmentstages of the butterfly as concepts and the concepts of the butterfly in the order of the stages. Anthropomorphism was the focus that branched out into anthropomorphic children`s literature, investigative booktalk and concrete material as didactic tools, all scaffolding were important for the learning. The childrens learning was characterized in their retelling either anthropomorphic or non-anthropomorphic, most of the childrens retelling were non-anthropomorphic. The conclusion therefore showes the role of anthropomorphism in preschool children´s learning as benficial when a non-human biological phenomenon is to be learned. Anthropomorphism serves as a support to explain bilogical processes that is different from human development. / Syftet med studien var att öka kunskapen om hur antropomorfism kan stöttaförskolebarns lärande om fjärilens stadier i en undervisningssituation medantropomorfisk barnlitteratur, undersökande boksamtal och konkret material.För att besvara syftet behövdes frågeställningar som gav svar på vilket lärandesom skett i förhållande till förkunskaperna och hur barnens lärandekaraktäriserades i deras återberättande. Studiens design utgick ifrån enundervisningssituation som innefattade högläsning av en höggradigantropomorfisk barnlitteratur med ett undersökande boksamtal och konkretmaterial som didaktiska verktyg. Metoden var observation och den teoretiskagrunden var ett sociokulturellt perspektiv på lärande genom samspel med deandra i barngruppen. Resultatet av studien visade att alla barngrupper tog tillsig det nya lärandet av fjärilens stadier som begrepp och begreppen larv, puppaoch fjäril i stadiernas ordning. Antropomorfism var huvudfokuset som grenadeut i antropomorfisk barnlitteratur, undersökande boksamtal och konkretmaterial som didaktiska verktyg, vilka alla hade betydelse för lärandet.Barnens lärande karaktäriserades i deras återberättande antingenantropomorfiskt eller icke-antropomorfiskt där det icke-antropomorfiska stodför majoriteten av det återberättande som skedde. Slutsatsen visar därförantropomorfismens roll i förskolebarns lärande som gynnsam när ett icke-mänskligt biologiskt fenomen ska läras in i förskolan. Antropomorfismenfungerar som stöttning för att förklara biologiska processer som inte liknar denmänskliga utvecklingen

Humans are social by nature, and the physical distancing due to COVID has converted many of our daily interactions into virtual ones. Among the negative consequences of this, we find the lack of an element that is essential to humans' well-being, which is the physical touch. With more interactions shifting towards the digital world of the metaverse, we want to provide individuals with the means to include the physical touch in their interactions. We explore the Digital Twin technology's prospect to support in reducing the impact of this on humans. We provide a definition of the concept of Robo Twin and explain its role in mediating human interactions. Besides, we survey research works related to Digital Twin's physical representation with a focus on under-actuated Digital Twin's robotic arms. In this thesis, we first provide findings from the literature, to support researchers' decisions in the adoption and use of designs and implementations of Digital Twin's robotic arms, and to inform future research on current challenges and gaps in existing research works. Subsequently, we design and implement two right-handed under-actuated Digital Twin's robotic arms to mediate the physical interaction between two individuals by allowing them to perform a handshake while they are physically distanced. This experiment served as a proof of concept for our proposed idea of Robo Twin. The findings are very promising as our evaluation shows that the participants are highly interested in using our system to make a handshake with their loved ones when they are physically separated. With this Robo Twin Arm system, we also find a correlation between the handshake characteristics and gender and/or personality traits of the participants from the quantitative handshake data collected during the experiment. Moreover, it is a step towards the design and development of Digital Twin's under-actuated robotic arms and ways to enhance the overall user experience with such a system.

We often see anthropomorphic designs in movies as highly intelligent robots, created to make our lives easier, but anthropomorphic is far more common than that. From cameras that look like eyes to face and voice recognition technology and avatars used by companies to support their brands. Despite this, relatively little research has been made about anthropomorphism in smart everyday products, and how that affects the anticipated user experience. Two provocative studies were conducted, where the participants provided their first impressions to picture prototypes. This generated an understanding of the general opinion of anthropomorphic designs, and when added a smart daily product. These studies showed that people are open to the idea of anthropomorphic designs, but the practicality and functionality are crucial. Through identification of multiple themes and thorough analysis, this study can serve as a blueprint to aid future studies about the anticipated user experience of smart daily products with anthropomorphic elements.

Dans l’Égypte pré- et protodynastique (3900-2700 av. J.-C.), l’imagerie anthropomorphe occupe une place de prime importance. Relevant de trois modes de communication – iconographique, ambigu et écrit – ces figurations humaines sont reproduites sur un large éventail de types de supports. Tandis que les études se focalisent habituellement sur une catégorie de source, ce travail se concentre sur un motif précis, la figure anthropomorphe, et propose ainsi une approche transversale de l’imagerie anthropomorphe pré- et protodynastique. Ainsi, cette étude vise à déterminer l’évolution des représentations anthropomorphes au cours de ces périodes, à travers elles, à dévoiler la manière dont se concevaient les premiers Égyptiens. La recherche se fonde sur l’élaboration de typologies des figures humaines et des motifs associés, couplée à une étude statistique des données ainsi réunies. Les résultats de ce travail ont permis de révéler une évolution chronologique des figurations humaines, avec une nette rupture se dessinant entre Prédynastique et Protodynastique. Cette transition est à mettre en lien avec l’introduction d’une monarchie royale, provoquant une dichotomie entre documentations royale et privée en raison d’une mainmise de l’État sur l’expression artistique. Les figurations anthropomorphes témoignent par ailleurs de l’émergence, outre l’identité collective préexistante, d’une identité personnelle, gage d’une individualisation grandissante. / During the Predynastic and Early Dynastic Periods (3900-2700 B.C.), anthropomorphic imagery is a theme of prime importance in Egyptian art. Human figures coming from the iconographic, ambiguous and written modes of communication are depicted on a large range of sources. While most of the studies focus on a single type of document, this work concentrates on a particular pattern, the human figure, by proposing a transversal approach of the anthropomorphic imagery. Therefore, this study aims to constrain the evolution of the human depictions during these periods. Through the inspection of the human figures, the study also aims to unravel the way the first Egyptians conceptualised themselves. This work is based on the creation of typologies for the human figures and associated patterns, analysed using statistical tools.The results reveal a chronological evolution of the human figures, with a distinct rupture between the Predynastic Period and the Early Dynastic Period. This transition relates to the introduction of a royal monarchy. This introduction causes a dichotomy between royal and private documentations owing to the appropriation of the art by the state. Besides, the anthropomorphic figures show the appearance of a personal identity in addition to the pre-existent collective identity. This feature is evidence of an increasing individuation.

Esta tese de Doutorado busca contribuir na formação de subsídios científicos tanto para o projeto de uma prótese antropomórfica para membros superiores, quanto para a criação de um ambiente de treinamento, ou seja, um ambiente virtual de ação e realimentação das sensações, que poderá incorporar os mecanismos, atuadores, sensores ou estimuladores desenvolvidos. Ao final desta pesquisa, foram projetados e testados os mecanismos, sensores e alguns dispositivos de realimentação que farão parte do desenvolvimento de uma prótese de mão, a Mão de São Carlos, que possuirá características antropomórficas, para reproduzir os movimentos naturais da mão humana com um controle simplificado para o paciente. A motivação principal deste trabalho é diminuir o índice de rejeição das próteses para membros superiores, facilitando seu processo de treinamento e controle / This Doctoral thesis should contribute to the gathering of scientific subsidies for the project of a multifunction anthropomorphic upper limb prosthesis, in special the artificial hand, and for the creation of a training software, i.e., a software for the sensory's action and feedback. At the end of this research, the mechanisms, sensors, actuators and some feedback devices were designed and tested, that will be part of the development of a hand prosthesis, the São Carlos Hand, which will possess anthropomorphic characteristics, a simplified control for the patient and will reproduce the natural movements of the human hand. The main motivation of this work is to reduce the rejection index of the upper limb prosthesis, facilitating training process and control