Reproduction de : Thèse d'exercice : Médecine vétérinaire : Toulouse 3 : 2008. / Titre provenant de l'écran titre. Bibliogr. p. 103-111.

While Weimaraner size may assist in the performing of tasks of a sporting dog, it also makes the breed more susceptible to hip dysplasia. However, this breed has a lower rate of dysplasia. This may be due to selected gait velocity and mechanics specific to the breed, but gait analysis of Weimaraners is lacking. Study objectives were to define normal trotting mechanics and to determine the influence of velocity on gait. Dogs were trotted at a slow and fast trot and at both velocities. The trot had a diagonal footfall sequence with a 2-beat rhythm alternating between diagonal bipedal support and suspension. Velocity increase was achieved with significant increases in stride length and head, withers, fore, and hind paw displacements (P < 0.05). Range of motion of the elbow and hip significantly increased with increasing velocity (P < 0.05). These parameters will assist in gait evaluation and detection of lameness.

Made available in DSpace on 2014-06-11T19:27:15Z (GMT). No. of bitstreams: 0 Previous issue date: 2011-01-17Bitstream added on 2014-06-13T20:55:58Z : No. of bitstreams: 1 otoni_cc_me_botfmvz.pdf: 422383 bytes, checksum: 372df1aa36dbf032d8012cf26aee64e3 (MD5) / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / O trabalho teve por objetivos avaliar padrões cinemáticos dos membros torácicos e pélvicos em cães hígidos da raça poodle. Para tanto, foram utilizados nove cães não castrados, sendo quatro machos e cinco fêmeas, com peso entre 4,8 e 7,3 kg, e idade entre 2 e 6 anos. Foram posicionados 11 marcadores esféricos reflexivos usando fita adesiva de dupla face. Para a análise da cinemática foi utilizado equipamento com 3 câmeras, sendo o estudo efetuado com os marcadores posicionados primeiro no lado direito e após no lado esquerdo. A velocidade da esteira foi mantida entre 1,4 m/s e 1,6 m/s. Para cada cão, no mínimo cinco ensaios válidos foram completados para os lados direito e esquerdo. Os dados foram analisados com um programa de análise de movimento (Vicon® Motus 9). Foram registrados os valores angulares (máximo, mínimo e amplitude) a velocidade angular (máximo, mínimo e amplitude) e a aceleração angular (máximo, mínimo e amplitude) das articulações do ombro, cotovelo, do carpo, coxofemoral, joelho e do tarso. Foi usado o teste T para amostras independentes para comparar os parâmetros do lado direito aos do lado esquerdo, dos membros torácicos e pélvicos. Diferenças foram consideradas estatisticamente significantes com p<0.05. Tanto para o lado esquerdo quanto para o lado direito, não foram observadas diferenças estatisticamente significantes para todas as variáveis analisadas. Alguns dos marcadores distais tanto dos membros torácicos como pélvicos foram temporariamente invisíveis ou completamente perdidos durante as trilhas. Por isso, em alguns parâmetros de reconstrução, especialmente o fator de aceleração, foi realizada interpolação, para garantir as trajetórias tridimensionais desses marcadores, minimizando as interrupções e fragmentação das coordenadas. Como conclusão... / The aim of this study was to evaluate kinematic patterns of forelimbs and hind limbs in clinically normal miniature poodle dogs. Nine dogs were used; 4 males and 5 females, weighing 4.8-7.3kg, and aged from 2 to 6 years. Each dog was tagged with 11 reflective spherical markers using double-sided adhesive tape. Kinematic data were collected by use of a 3-camera system. The kinematic study was performed with markers placed first on the right side of the dog, and after on the left side. Velocity of the treadmill was maintained between 1.4 and 1.6 m/s. A minimum of 5 valid trials were obtained from the right and left sides of each dog. Data were analyzed by use of a motion-analysis program (Vicon Motus 9). Flexion and extension joint angles (maximum, minimum, displacement), angular velocity (maximum, minimum, displacement), and angular acceleration (maximum, minimum, displacement) were determined for the shoulder, elbow, carpal, hip, stifle, and tarsal joints. Statistical analysis using Student's t-Test for dependent samples was performed to compare values from the right side to the left side of both forelimbs and hind limbs. Differences were considered significant at p<0.05. No significant differences were observed between the right and left limbs in all variables. Some of the distal reflective markers the forelimbs and/or hind limbs were temporarily invisible or even completely lost during the trials. For this, some reconstruction parameters, especially acceleration factor, were readjusted to guarantee the threedimensional trajectories of these markers, minimizing the interruptions and fragmentation of the coordinates. In conclusion, the kinematic patterns of forelimbs and hind limbs in clinically normal miniature poodle dogs trotting on a treadmill at a constant velocity may be obtained. However, more... (Complete abstract click electronic access below)

Orientador: Sheila Canevese Rahal / Banca: Carlos Roberto Teixeira / Banca: Paulo Roberto Garcia Lucareli / Resumo: O trabalho teve por objetivos avaliar padrões cinemáticos dos membros torácicos e pélvicos em cães hígidos da raça poodle. Para tanto, foram utilizados nove cães não castrados, sendo quatro machos e cinco fêmeas, com peso entre 4,8 e 7,3 kg, e idade entre 2 e 6 anos. Foram posicionados 11 marcadores esféricos reflexivos usando fita adesiva de dupla face. Para a análise da cinemática foi utilizado equipamento com 3 câmeras, sendo o estudo efetuado com os marcadores posicionados primeiro no lado direito e após no lado esquerdo. A velocidade da esteira foi mantida entre 1,4 m/s e 1,6 m/s. Para cada cão, no mínimo cinco ensaios válidos foram completados para os lados direito e esquerdo. Os dados foram analisados com um programa de análise de movimento (Vicon® Motus 9). Foram registrados os valores angulares (máximo, mínimo e amplitude) a velocidade angular (máximo, mínimo e amplitude) e a aceleração angular (máximo, mínimo e amplitude) das articulações do ombro, cotovelo, do carpo, coxofemoral, joelho e do tarso. Foi usado o teste T para amostras independentes para comparar os parâmetros do lado direito aos do lado esquerdo, dos membros torácicos e pélvicos. Diferenças foram consideradas estatisticamente significantes com p<0.05. Tanto para o lado esquerdo quanto para o lado direito, não foram observadas diferenças estatisticamente significantes para todas as variáveis analisadas. Alguns dos marcadores distais tanto dos membros torácicos como pélvicos foram temporariamente invisíveis ou completamente perdidos durante as trilhas. Por isso, em alguns parâmetros de reconstrução, especialmente o fator de aceleração, foi realizada interpolação, para garantir as trajetórias tridimensionais desses marcadores, minimizando as interrupções e fragmentação das coordenadas. Como conclusão... (Resumo completo, clicar acesso eletrônico abaixo) / Abstract: The aim of this study was to evaluate kinematic patterns of forelimbs and hind limbs in clinically normal miniature poodle dogs. Nine dogs were used; 4 males and 5 females, weighing 4.8-7.3kg, and aged from 2 to 6 years. Each dog was tagged with 11 reflective spherical markers using double-sided adhesive tape. Kinematic data were collected by use of a 3-camera system. The kinematic study was performed with markers placed first on the right side of the dog, and after on the left side. Velocity of the treadmill was maintained between 1.4 and 1.6 m/s. A minimum of 5 valid trials were obtained from the right and left sides of each dog. Data were analyzed by use of a motion-analysis program (Vicon Motus 9). Flexion and extension joint angles (maximum, minimum, displacement), angular velocity (maximum, minimum, displacement), and angular acceleration (maximum, minimum, displacement) were determined for the shoulder, elbow, carpal, hip, stifle, and tarsal joints. Statistical analysis using Student's t-Test for dependent samples was performed to compare values from the right side to the left side of both forelimbs and hind limbs. Differences were considered significant at p<0.05. No significant differences were observed between the right and left limbs in all variables. Some of the distal reflective markers the forelimbs and/or hind limbs were temporarily invisible or even completely lost during the trials. For this, some reconstruction parameters, especially acceleration factor, were readjusted to guarantee the threedimensional trajectories of these markers, minimizing the interruptions and fragmentation of the coordinates. In conclusion, the kinematic patterns of forelimbs and hind limbs in clinically normal miniature poodle dogs trotting on a treadmill at a constant velocity may be obtained. However, more... (Complete abstract click electronic access below) / Mestre

No description available.

L'objectif de cette thèse était d'analyser les interactions entre le dos du cheval et la selle dans les conditions de l'exercice sportif et de développer, à partir de ces connaissances nouvelles, une gamme de selles adaptées au cheval en mouvement et à son cavalier. L'originalité de cette thèse était entre autre de mesurer les mouvements de la colonne vertébrale dans la région thoracique située sous la selle. Un protocole original de mesure biomécanique des interactions entre le dos et la selle a été mis en place et validé. Ce protocole couplait différents matériels (tapis capteur de pression, cinématique 2D, capteur de force d'étrier et centrales de mesure inertielle) synchronisés et miniaturisés. Grâce à ce protocole, il a été possible de quantifier le mouvement de la colonne vertébrale du cheval, les pressions au cours de l'effort et l'effet du cavalier en comparant des selles dites « standard » avec de nouveaux prototypes de « panneaux » permettant de modifier la portance de la selle sur le dos du cheval. Les résultats de ces études ont permis de mettre en évidence l'impact du cavalier sur l'amplitude des mouvements du dos du cheval et sur sa locomotion au cours du trot et de démontrer qu'une selle dont la portance est modifiée provoque des modifications significatives de la locomotion du cheval au trot. Ces travaux ont permis d'apporter des informations quantifiées sur l'effet de la selle et du cavalier sur la biomécanique dorsale du cheval dans la condition montée lors de l'effort. Ces connaissances nouvelles seront utilisées (1) pour la conception de nouvelles selles mieux adaptées au cheval en mouvement et (2) pour mieux comprendre, prévenir et traiter les dorsalgies chez le cheval / The aim of this thesis was to analyze the interactions between the horse’s back and the saddle during exercise and develop, thanks to these new knowledges, a new range of saddle adapted to horse’s movements and to the rider. The originality of this thesis was to measure the movements of the spine in the thoracic region located under the saddle. An innovative protocol was developed to measure the interactions between the back and the saddle using different materials (pressure mat, 2D kinematics, stirrup force sensors, and inertial measurement units) synchronized and miniaturized. With this protocol, it was possible to quantify the movement of the horse’s spine, the pressure under the saddle and the effect of the rider by comparing a “standard” saddle with new prototype “panels” modifying the contact area of the saddle on the horse’s back. The results of these studies have helped to highlight the impact of the rider on the range of motion of the horse’s back and locomotion during the trot and to demonstrate that a saddle, which the contact area is modified, causes significant changes in the locomotion of the horse. This work helped to provide quantified information on the effect of the saddle and the rider on the horse’s back biomechanics in the ridden condition. These new knowledges will be used (1) to design new adapted saddles to the horse in motion and (2) to better understand, prevent and treat back pain in horses

Evaluation of movement mechanics of warmblood foals in gait and trot. Czech warmblood in comparison with dutch warmblood

Pose estimation uses computer vision to predict how a body moves. The likeliness off different movements is predicted with a neural network and the most likely pose is predicted. With DeepLabCut, an open source software package for 3D animal pose estimation, information about animals behaviour and movement can be extracted. In this report the pose estimation of horses four hooves is used. By looking at the position of the hooves different gaits can be identified. Horses used for riding in the major disciplines in Sweden have three different gaits, walk, trot and canter. Walk is a four-stoke gait, trot is two-stoke and canter is three-stoke. This can be used to classify the different gaits. By looking at the hooves movement in vertical position over time and fitting a sinewave to the data it is possible to see the phase difference in the hooves movement. For walk and trot there was a significant pattern which was easy to identify and corresponded well to the theory of horses movement. For canter our pre-trained model lacked in accuracy, so the output data were insufficient. Therefore it was not possible to find a significant pattern for canter which corresponds to the theory of horses movements. The Fourier Transform were also tested to classify the gaits and when plotted it was possible to detect the different gaits, but not significant enough to be reliable for different horses in different sizes running in different paces. It was also possible to add the data for all four hooves together and fit a sinewave to the added data, and then compare it with the sinewaves for each hoof separately. Depending on the gait the frequency of the sinewaves differed between the hooves separately and added together and the gaits could be identified.

La Basse-Normandie est une terre depuis très longtemps réputée pour les chevaux, en particulier ceux destinés aux courses hippiques. La région se positionne comme un centre de l’activité hippique, depuis l’élevage dans les haras jusqu’aux courses qui se déroulent dans tout le pays ou sur les nombreux hippodromes situés dans les trois départements et dont certains sont particulièrement célèbres comme ceux de Deauville. Cette thèse a pour objectif de comprendre l’organisation d’une filière aux forts enjeux socio-économiques car beaucoup d’argent est présent dans l’hippisme et la filière offre des emplois nombreux dans des domaines très variés, en contact ou non avec l’animal. Notre angle d’approche décompose la filière en différentes étapes en allant du champ au champ de courses. Pour cela, il convient d’étudier l’élevage en lui-même autour des grands haras, les ventes de chevaux particulièrement dynamiques autour du pôle deauvillais, l’entraînement des futurs champions et bien évidemment les épreuves avec en arrière plan la question des paris. Notre thèse cherche donc à comprendre cet univers ainsi que les pratiques propres au monde des courses hippiques. Il s’agit d’un milieu relativement fermé, mais une meilleure connaissance permet de comprendre l’organisation et la structuration d’une filière particulièrement ancrée en Basse-Normandie. Cela se perçoit dans l’identité régionale, les paysages que sont les vastes prairies appartenant à des haras parfois séculaires et qui ont une véritable renommée internationale. / Basse Normandie has been for long a renowned land for horses, in particular those bred for racing. The region is a centre of horse activity, from breeding in stud farms to races that take place in the whole country or on numerous racecourses situated in the three departments, some of them are particularly famous, like those of Deauville. This thesis aims at understanding the organization of a sector with strong socioeconomic stakes because much money is invested in the horse industry, which offers numerous jobs in varied fields, whether it be in contact with the animal or not. Our angle of approach breaks down the industry in different stages, from the field to the race track. It is then proper to study the breeding in itself, through big stud farms, particularly dynamic horse sales in Deauville, the training of future champions and obviously, events with betting backgrounds. Our thesis seeks then to understand this world and the practices specific to the horse world. It is quite a closed world but a better knowledge allows us to understand the organization and the structure of an industry particularly well rooted in Basse-Normandie. This can be perceived in the regional identity, in landscapes made by vast meadows, some of them belonging to age-old horse studs, sometimes secular, and that are world famous.

The research presented in this thesis regards walking of quadruped robots, and particularly the walking of the Warp1 robot. The motivation for the robot is to provide a platform for autonomous walking in rough terrain. The thesis contains six papers ranging from development tools to actuation of robot legs. The first paper describes the methods and tools made for control development. These tools feature: programming of the robot without low level coding (C-code); that the controller has to be built only once for simulation and experiments; and that names of variables and constants are unchanged through the chain of software Maple -- Matlab -- Simulink -- Real~Time~Workshop -- xPC--Target. Three controllers, each making the robot walk are presented. The first controller makes the robot walk using the crawl gait. The method uses static stability as method for keeping balance and the instantaneous trunk motions are given by a concept using the so called weight ratios. A method for planning new footholds based on the positions of the existing footholds is also proposed and the controller experimentally verified. The second walking controller shows that the robot also can walk dynamically using the trot gait. The method proposed uses information from ground contact sensors on the feet as input to control balance, instead of, which is common, inertial sensors. It is experimentally verified that Warp1 can trot from level ground onto a slope and turn around while staying balanced. The main ideas of these two walking controllers are fused in the third which enables smooth transitions between crawl and trot. The idea of using the ground contact sensors from the first controller is here used to estimate the position of the center of mass. This controller uses weight ratios in the gait crawl as well as in the dynamic gait trot. Hence, the method of using weight ratios is not only useful for static stability for which it was originally intended. The controller is experimentally verified on Warp1. The Warp1 robot weighs about 60 kg, has 0.6 m long legs with three actuated joints on each. The speed and strength is sufficient only for slow walking, even though the installed power indicates that it should be enough for faster walking. The reason is that a walking robot often needs to be strong but slow when the feet are on the ground and the opposite when in the air. This can not be achieved with the motors and transmissions currently used. A transmission called the passively variable transmission (PVT) is proposed which enhance motor capabilities of robot joints. It is elastic, nonlinear and conservative. Some general properties for elastic transmissions are derived such that they can be compared with conventional transmissions. The PVT gives strong actuation at large loads and fast actuation at small loads. The proposed transmission is compared to a conventional transmission for a specific task, and the result is that a smaller motor can be used. / QC 20100831