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Objective Topical anesthesia for flexible bronchoscopy can be administered via transcricoid injection, nebulizer, or directly through the bronchoscope in a "spray as you go" fashion. We performed a prospective, randomized, double-blind, placebo-controlled trial to evaluate whether nebulized lidocaine provides additional benefit and reduces the total anesthetic dose required during bronchoscopy. Setting Tertiary care university hospital. Methods One hundred fifty patients (93 men; age, 20 to 89 years) undergoing diagnostic flexible bronchoscopy were randomized to receive either 4 mL of 4% lidocaine (160 mg) or 4 mL of saline solution as placebo via nebulization. Combined sedation was achieved using 5 mg of IV hydrocodone and midazolam boluses. Supplemental lidocaine doses and total midazolam required as judged by the bronchoscopist were recorded for each patient. After the procedure, both bronchoscopists and patients charted their perception of cough on a 10-cm visual analog scale (VAS). Similarly, patients recorded their discomfort related to the procedure on a 10-cm VAS. Results The most common procedures were BAL in 77 cases (51%), transbronchial biopsy in 40 cases (27%), and transbronchial needle aspiration in 34 cases (23%). Outcome parameters, including hemodynamic findings, duration of the procedure, cough scores for physicians and patients, discomfort score for patients, midazolam doses, and supplemental lidocaine doses, were similar in both groups. Mean total lidocaine dose required in the lidocaine group was 318 ± 41 mg and was significantly higher than the total dose required in the placebo group (157 ± 44 mg [± SD]) [p Conclusion Additional nebulized lidocaine cannot be recommended for flexible bronchoscopy performed under combined sedation.

This paper addresses the problem of attitude and heading restitution for a VTOL UAV. We describe an observation strategy to restitute the complete attitude matrix of the vehicle starting from Inertial Measurement Unit (IMU) and magnetometers. This study is a part of the development of the ducted fan UAV designed by Bertin Technologies. First, a measured orientation matrix is calculated from both inertial vectors which are the gravity and the earth magnetic field. Then, an estimated orientation is built by integrating gyroscopic readings, and corrected by the measured one. Nonlinear observation techniques are used to design a nonlinear estimator of the orientation matrix and an adaptive filter of the gyroscope's bias which ensure the convergence of the observer. Such an observer is as efficient as classical Extended Kalman Filtering based observers, and easier to implement in real time. Simulations are proposed to illustrate the concept.

Background: Current British Thoracic Society guidelines do not recommend routinely the combined use of a benzodiazepine and opiate during flexible bronchoscopy (FB). A randomised, placebo controlled, double blind study was undertaken to determine whether hydrocodone in combination with midazolan improves cough suppression during FB without increasing the risk of desaturation. Methods: 120 patients were randomised to receive midazolam and 5 mg IV hydrocodone or midazolam and placebo with topical anaesthesia. Pulse oximetry was recorded continuously during FB. Bronchoscopists and nurses charted their perception of cough and the patients rated their discomfort during the procedure on a 10 cm visual analogue scale (VAS). Results: There was no significant difference between the two groups with regard to the indication for FB, duration of procedure (21 (11) min v 22 (10) min, p = 0.570), doses of supplemental lignocaine (171 (60) mg v 173 (66) mg, p = 0.766) and midazolam (4.5 (2.3) mg v 4.9 (2.7) mg, p = 0.309), lowest oxygen saturation (94.8 (2.7) v 94.9 (2.7), p = 0.433), and desaturations ⩽90%. Perception of cough by both the bronchoscopist and the nurse was significantly lower in the hydrocodone group (3 (0–10) and 3 (0–10)) than in the placebo group (6 (0–10) and 6 (0–10)), respectively (p = 0.001). According to the VAS scale, patients’ tolerance was also significantly better with hydrocodone than with placebo (2 (0–8) v 3 (0–9), p = 0.043). Conclusion: The combination of midazolam and hydrocodone markedly reduces cough during FB without causing significant desaturation, especially when invasive diagnostic procedures are performed.

Patient-controlled sedation (PCS) with propofol, is well tolerated and reduces recovery time and staff required during endoscopic interventions. "Who" administers the drug proves economically crucial. With the aim of maintaining safety, medical quality, and patient satisfaction, this study investigates PCS versus nurse-administered propofol sedation (NAPS) in a cohort of consecutive patients.One hundred and fourteen patients, aged 22-90 yr, undergoing only colonoscopy participated in this prospective randomized trial. Patients were randomly assigned to either PCS or NAPS. If patients declined randomization for different reasons of reluctance to PCS they were assigned to a standard nurse-sedated control group. All patients received pethidine presedation for analgesia. Visual analogue scales followed patient anxiety level, tolerability, pain, and satisfaction, and endoscopist's assessment of the procedure.Given the choice, 35% of the patients who were rather younger and more anxious declined randomization to PCS. The mean total dose of propofol needed in this group was higher, but the patients had a tendency to rate the global tolerance and the pain of the examination as less comfortable compared to the two randomized groups. Self-administration of propofol created a significantly different drug profile and higher medication costs. With regard to the safety parameters there was no difference between PCS and NAPS. In their global assessments, the patients and endoscopists tended to prefer NAPS.Individual patient characteristics and attitudes toward self-control are crucial for PCS. While being a viable option for patients who are able and willing to handle, this technique is not applicable in a considerable portion of everyday patients.

Propofol, a rapidly-acting hypnotic agent, is increasingly being used for endoscopic sedation. Serious adverse effects, including respiratory and cardiovascular depression, make many endoscopists reluctant to use propofol in critically ill patients. This study characterizes propofol's safety profile in consecutive high-risk patients (American Society of Anesthesiologists [ASA] classes III and IV) compared with matched subjects (ASA classes I and II).During a 19-month period, 1370 at risk-patients were sedated with propofol, of whom 47% (614 ASA III, 28 ASA IV) were age matched with 642 consecutive patients of the same gender and age assigned to ASA classes I and II and undergoing the same endoscopic procedures (395 gastroscopies, 201 colonoscopies, 14 combined). Registered nurses performed all sedations by propofol dose titration while carefully monitoring arterial oxygen saturation, heart rate, and blood pressure.No major complications occurred among the critically ill patients. There was, however, an increased risk for a short relevant oxygen desaturation (90%) of 3.6% for ASA III and IV versus 1.7% for ASA I and II (p = 0.036). In four versus one case, short mask ventilation was necessary. Also, a greater proportion of patients showed aor =5% oxygen saturation decrease. There was no pronounced influence on arterial pressure or heart rate and no perforations in 336 colonoscopies.With careful monitoring, propofol sedation during GI endoscopies is safe, even for high-risk patients. Considering their higher comorbidity and tendency toward oxygen desaturation, they need particularly careful monitoring, and the required dose is, on mean, 10-20% lower than in ASA classes I and II.

Summary Aim: To characterize the safety of endoscopic procedures and propofol use as administered by nurses in a cohort of elderly patients. Methods: During 19 months all endoscopy patients > 70 years were eligible for this prospective observational study. Patients were assigned to group A (70–85 years) or group B (> 85 years). Records from all patients

Group III metabotropic glutamate receptors (mGluRs) of the subtype 4a are localized within presynaptic active zones of cerebellar parallel fibre (PF)-Purkinje cell (PC) synapses. In order to investigate the conditions necessary for group III mGluR autoreceptor-activation by synaptically released glutamate, we characterized the effects of selective agonists and antagonists on excitatory postsynaptic currents (EPSCs) evoked by several distinct PF stimulation patterns. The group III mGluR-selective agonist L-AP4 depressed evoked EPSCs at PF-PC synapses in rat brain slices with an EC50 of 2.4 μM and maximum inhibition of 80%. This L-AP4-induced depression was antagonized by the group III mGluR-selective antagonist MSOP with an estimated equilibrium dissaciation constant of 12.5 μM. Paired-pulse or four-pulse PF stimulations did not activate presynaptic group III mGluRs as revealed by the lack of effect of 1 mM MSOP on relative test EPSC amplitudes with latencies of 250–500 ms. The potentiation of a test EPSC evoked 200–500 ms after a short tetanic burst (100 Hz for 60 ms), was also unchanged in the presence of MSOP. Endogenous autoreceptor-activation was revealed only during prolonged stimulation trains (10 Hz for 4.4 s), where, in the presence of 1 mM MSOP, the EPSC amplitudes were enhanced by 15%. These observations support an autoreceptor function of group III mGluRs and a role in short-term synaptic plasticity at PF synapses. However, the low to moderate activation levels observed, despite the close spatial relation with glutamate release sites, suggests that additional mechanisms regulate receptor activation. British Journal of Pharmacology (2003) 138, 614–625. doi:10.1038/sj.bjp.0705099

Group II metabotropic glutamate (mGlu) receptors can act as presynaptic autoinhibitory receptors at perforant path inputs to the hippocampus under conditions of high frequency synaptic activation. We have used mGlu2 -/- mice to examine the relative roles of mGlu2 and mGlu3 in the regulation of perforant path synaptic transmission mediated by both the selective group II receptor agonist, DCG-IV, and by synaptically released glutamate. Field excitatory postsynaptic potentials evoked by stimulation of either the perforant path inputs to the dentate gyrus mid-moleculare or the CA1 stratum lacunosum moleculare were inhibited by DCG-IV with IC(50) values and maximum percentage inhibition of: 169 nM (60%) and 41 nM (72%) in wild-type mice and 273 nM (19%) and 116 nM (49%) in mGlu2 -/- mice, respectively. Activation of presynaptic group II mGlu autoreceptors by synaptically released glutamate, as revealed by a LY341495-mediated increase in the relative amplitude of a test fEPSP evoked after a conditioning burst, was observed in both the dentate gyrus and the stratum lacunosum of wild-type, but not mGlu2 -/- mice. These observations demonstrate that activation of mGlu3 receptors can regulate synaptic transmission at perforant path synapses but suggest that mGlu2 is the major presynaptic group II autoreceptor activated by synaptically released glutamate.

Madame B., 31 ans, est juriste, sans antecedents medicaux, sans intoxication alcoolo-tabagique. Le mois suivant son premier accouchement, elle a presente un leger traumatisme de cheville gauche, suivi d’une douleur moderee pendant environ une heure, spontanement resolutive. Quelques semaines plus tard, des douleurs de la face dorsale du pied puis de la cheville gauche reapparaissent. Ces douleurs sont d’horaire purement mecanique, ne survenant que lors de l’appui et d’aggravation lentement progressive. Le pied ne presente pas d’œdeme, ni de signe d’inflammation local. Une radiographie et une echographie sont d’abord realisees. La radiographie est sans particularite. L’echographie retrouve une lesion lacunaire sous-chondrale du pole proximal du cuboide nettement vascularisee, mais pas de lesion post-traumatique. Une IRM et un scanner du pied gauche effectues secondairement mettent en evidence plusieurs lesions lytiques centimetriques des os du pied gauche et de l’extremite inferieure du tibia, d’allure agressive avec effraction de la corticale. La patiente ne presente pas d’alteration de l’etat general, ni de fievre ou de sueurs nocturnes. Les bilans biologique et immunologique sont normaux. La patiente beneficie d’une scintigraphie osseuse, retrouvant de multiples lesions osteolytiques, hypervasculaires et hyperfixantes, limitees au seul pied gauche. Une deuxieme IRM du pied, realisee 2 mois et demi apres la premiere, montre l’apparition de nouvelles lesions. Un TEP scanner, demande pour bilan d’extension, confirme le caractere tres hypermetabolique des lesions osteolytiques du pied gauche, particulierement intense compte tenu de leurs petites tailles, sans autre lesion hypermetabolique cible locoregionale ou a distance identifiable. Une biopsie scanoguidee de la lesion la plus volumineuse et la plus fixante, (lesion centimetrique de la tuberosite du calcaneum gauche, de SUVmax 11,1), est realisee. L’analyse anatomopathologique retrouve une lesion difficile a classer pouvant faire discuter une tumeur de nature vasculaire, un kyste anevrysmal primitif ou une lesion osseuse liee a un trouble metabolique. Une biopsie chirurgicale est alors realisee. Les aspects histopathologiques sont en faveur d’un hemangioendotheliome epithelioide. Il s’agit d’un sarcome de bas grade. La prise en charge initiale a consiste en des injections de denosumab sous-cutanees et une chimiotherapie hyperthermique du membre perfuse isole avec surveillance isotopique des fuites.

Pharmacological activation of metabotropic glutamate receptors (mGluRs) can inhibit synaptic transmission; however, relatively little evidence exists regarding the physiological conditions under which such autoreceptors are activated by synaptically released glutamate. Bath application of selective group II mGluR agonists profoundly inhibited field excitatory postsynaptic potentials (fEPSPs) evoked by stimulation of the perforant path inputs to both the mid-molecular layer of the dentate gyrus and the stratum lacunosum moleculare of the CA1. Application of the group II selective mGluR antagonist LY341495 resulted in an increase in the relative amplitude of a test fEPSP evoked 200 ms after a conditioning burst, but not after a single conditioning stimulus, in both pathways. Antagonist application also resulted in a marked increase in the relative amplitude of test population spikes evoked in the dentate gyrus following a conditioning burst. These observations are consistent with a presynaptic autoinhibitory action of group II metabotropic receptors that is revealed following burst stimulation of the pathway, consistent with their localisation in the preterminal zone. Activation of group II mGluRs during theta-gamma pattern discharge of projection neurones in the entorhinal cortex is likely to play an important role in the regulation of synaptic transmission and plasticity in the perforant pathway.

G protein coupled receptors are the largest membrane protein family and play an important role in a large number ofphysiological processes. The comprehension of the ligand-receptor interaction from a mechanistic point of view but alsofor therapeutic use is crucial. Belonging to the G protein coupled receptors, the oxytocin and vasopressin receptors havebeen used as a model system. These two hormones play an important role in the modulation of attachment and affectin mammals. To accelerate the discovery of new ligands for oxytocin and vasopressin receptors and to explore thefundamental role of their interactions, we designed the first non-peptide fluorescent ligands for oxytocin and vasopressin V1a receptors. These ligands have been used to develop new binding tests based on TR-FRET technology and to prove the V1a and V2 receptor dimerisation. In parallel, we developed a new non-peptide oxytocin antagonist around an aza-diketopiperazine platform. . Optimization of benzodiazepine derivatives enables us to identify the best non peptideoxytocin agonists to date. In vivo studies in mice and monkeys are initiated to bring in the future a therapeuticsolution to social interaction problems in general and autism in particular, Les récepteurs couplés aux protéines G constituent la plus grande famille de protéines membranaires et interviennent dans de nombreux processus physiologiques. La compréhension de l’interaction ligand-récepteur d’un point de vue mécanistique mais également thérapeutique est cruciale. Appartenant à la famille des récepteurs couplés aux protéines G, les récepteurs de la vasopressine et de l’ocytocine ont été choisis comme modèle d’étude. Ces hormones jouent un rôle important dans la modulation de l’attachement et de l’affect chez les mammifères. Afin d’accélérer la découverte de ligands ocytocinergiques et d’explorer les mécanismes fondamentaux de leurs interactions, nous avons conçu les premiers ligands fluorescents non peptidiques des récepteurs de la vasopressine V1a et de l’ocytocine. Ces ligands ont été utilisés pour développer des tests de liaisons par TR-FRET et démontrer la dimérisation des récepteurs de la vasopressine V1a et V2 sur cellules. Des études autour de petites plates-formes dérivées d’aza-dicétopipérazine ont permis d’accéder à un nouvel antagoniste non peptidique du récepteur de l’ocytocine. L’optimisation de dérivés benzodiazépines ocytocinergiques par des études de relations structure-activité a permis d’identifier les meilleurs agonistes non peptidiques du récepteur de l’ocytocine à ce jour. Une étude in vivo chez la souris et chez le singe est amorcée pour apporter dans un futur, une solution thérapeutique aux problèmes d’interaction sociale en général et d’autisme en particulier.

Propofol has been established as a reliable method for sedation in flexible bronchoscopy. There are no data comparing propofol administered as intravenous boluses versus continuous infusion. 702 consecutive patients undergoing flexible bronchoscopy were randomly allocated to receive intravenous propofol using either an intermittent bolus technique or a continuous infusion. The primary end-point was the number of adverse events assessed at the end of flexible bronchoscopy and at 24 h. The number of any adverse event was similar in both randomised groups (219 versus 211, p=0.810). There were complications in eight cases (seven major bleedings, one respiratory failure). As compared with the bolus group, the amount of propofol required was significantly higher in the infusion group (226 ± 147 mg versus 308 ± 204.8 mg, p

Venom-derived peptide toxins can modify the gating characteristics of excitatory channels in neurons. How they bind and interfere with the flow of ions without directly blocking the ion permeation pathway remains elusive. Here we report the crystal structure of the trimeric chicken Acid-sensing ion channel 1 in complex with the highly selective gating modifier Psalmotoxin 1 at 3.0 Å resolution. The structure reveals the molecular interactions of three toxin molecules binding at the proton-sensitive acidic pockets of Acid-sensing ion channel 1 and electron density consistent with a cation trapped in the central vestibule above the ion pathway. A hydrophobic patch and a basic cluster are the key structural elements of Psalmotoxin 1 binding, locking two separate regulatory regions in their relative, desensitized-like arrangement. Our results provide a general concept for gating modifier toxin binding suggesting that both surface motifs are required to modify the gating characteristics of an ion channel.

Propofol and the combination of a benzodiazepine and an opiate have been established for sedation in flexible bronchoscopy. It is as yet unknown whether propofol in combination with an opiate is superior to propofol alone to suppress cough during the procedure. 300 consecutive patients undergoing flexible bronchoscopy at a tertiary care university hospital were randomly allocated to receive either the combination propofol and hydrocodone or propofol alone in a double-blind fashion. The primary end-point was the cough score during the procedure as estimated by the physician using a visual analogue scale. Demographics were similar in both groups. Compared with propofol alone, median (interquartile range) cough scores assessed by physicians, nurses and patients were significantly lower in the group randomised to the combination propofol and hydrocodone (2.5 (1.5-4.0) versus 2.0 (1.0-3.0), respectively, p=0.011). Additionally, patients receiving the combination required significantly lower doses of propofol than those receiving propofol alone (200 mg (140-280) versus 260 mg (180-350), p

Objective.In November 2009, routine sampling of endoscopes performed to monitor the effectiveness of the endoscope-cleaning procedure at our hospital detected Pseudomonas aeruginosa. Herein we report the results of the subsequent investigation.Design and Methods.The investigation included environmental cultures for source investigation, molecular analysis by pulsed-field gel electrophoresis (PFGE) to reveal the identity of the strains, and determination of the bactericidal activity of the glutaraldehyde-based disinfectant used for automated endoscope reprocessing. In addition, patient outcome was analyzed by medical chart review, and incidence rates of clinical samples with P. aeruginosa were compared.Setting.The University Hospital of Basel is an 855-bed tertiary care center in Basel, Switzerland. Approximately 1,700 flexible bronchoscopic, 2,500 gastroscopic, 1,400 colonoscopic, 140 endoscopic retrograde cholangiopancreatographic, and 140 endosonographic procedures are performed annually.Results.P. aeruginosa was detected in samples obtained from endoscopes in November 2009 for the first time since the initiation of surveillance in 2006. It was found in the rinsing water and in the drain of 1 of the 2 automated endoscope reprocessors. PFGE revealed 2 distinct P. aeruginosa strains, one in each reprocessor. The glutaraldehyde-based disinfectant showed no activity against the 2 pseudo-outbreak strains when used in the recommended concentration under standard conditions. After medical chart review, 6 patients with lower respiratory tract and bloodstream infections were identified as having a possible epidemiological link to the pseudo-outbreak strain.Conclusions.This is the first description of a pseudo-outbreak caused by P. aeruginosa with reduced susceptibility to an aldehyde-based disinfectant routinely used in the automated processing of endoscopes.

International audience; The landing on carrier is a very difficult task even for trained pilots. This paper presents a method to land automatically using aircraft sensors and three visual features inspired by visual cues used by pilots. These features whose link with the aircraft state is established, are introduced in a control scheme using a linearized aircraft model. The control law demonstrates a large convergence domain using simulated visual features and a 3D tracker applied on synthetic images.

The effect of dextromethorphan on several types of cation currents in cultured rat cortical neurons and PC12 cells was studied by using the whole-cell configuration of the patch-clamp technique. The Ba2+ current through L- and N-type Ca2+ channels was blocked with similar potencies (52-71 microM) in both types of cells. The effect was not voltage-dependent, in contrast to that of amlodipine (a dihydropyridine). Dextromethorphan was able to block the Ba2+ current completely unlike amlodipine and omega-conotoxin (an N-type channel blocker) which produced only partial inhibition. The voltage-activated Na+ and Ca2+ channels in cortical neurons were inhibited by similar concentrations of dextromethorphan (IC50 approximately 80 microM). The morphinan was at least 100 times more potent (IC50 = 0.55 microM) as a blocker of the current induced by N-methyl-D-aspartate (NMDA) in cortical neurons. Currents induced by (RS)-alpha-amino-3-hydroxy-5-methyl-4-isoxazolepropionic acid ((RS)-AMPA) or kainic acid were not significantly affected even at 1 mM. The results suggest that the neuroprotective effect of dextromethorphan, previously found to occur in a concentration range of 10-100 microM, may be due to a complete blockade of the NMDA receptor channel and a partial inhibition of voltage-dependent Ca2+ and Na+ channels.

To assess the role of subunits for channel function and drug modulation in recombinant GABAA receptors, the alpha3beta1gamma2 subunits and the dual combinations alpha3beta1, beta1gamma2 and alpha3gamma2 were expressed by transfection of human embryonic kidney cells and by RNA injection in Xenopus oocytes (alpha3beta1gamma2 combination). GABA-induced chloride currents were recorded using the whole-cell configuration of the patch-clamp technique (transfected cells) or the voltage-clamp technique (oocytes). The currents recorded from the alpha3beta1gamma2 subunit combination in transfected cells were reduced by bicuculline and picrotoxin, enhanced by flunitrazepam in a flumazenil-sensitive manner and reduced by beta-carboline-3-carboxylic acid methyl ester (beta-CCM). The GABA-induced current was reduced by beta-CCM in all combinations containing the gamma2 subunit, but potentiation by flunitrazepam was only obtained when the gamma2 subunit was coexpressed in the presence of the alpha3 subunit (alpha3beta1gamma2 or alpha3gamma2). The GABA sensitivities of the receptors were similar when the alpha3beta1gamma2 combination was expressed in oocytes (half-maximum effective concentration=240 microM) or in the kidney cell line (270 microM). However, the currents were less potentiated by flunitrazepam in oocytes (129% of controls) than in transfected cells (189%). These results suggest that the alpha3beta1gamma2 subunit combination, which is coexpressed in various brain regions as shown by in situ hybridization histochemistry, may represent a building block of functional GABAA receptors in situ.

Miközben a pakisztáni hadsereg folytatja offenzíváját Vazirisztánban, fokozódnak a harcok az afganisztáni határ közelében is.

National audience; The changes observed before and after the setting-up of quotas are analysed on the basis of the changing cattle number and production systems. Until 1984, cattle were mainly used for dairying, but today there are many more suckling cows. The CAP at its beginning aimed at maximizing the production and at modernizing the farming methods, so as to secure the food supply. Two very specialized breeding types were supported for the production of milk and for that of meat, to the detriment of dual-purpose breeds, which then constituted still the majority of the cattle. Since the setting-up of quotas and the emergence of new concerns, e.g. those regarding the environment, the quality of the products, the maintenance of lands etc., the systems have become more diversified, without the previous models being modified. Now that new problems arise (hunger, climate...), those responsible for the agricultural policy, particularly in breeding and in Research-Development, should make their decisions concerning the choice of cattle types on the basis of the diversity of the environments and the preservation of the animals' grass-eating specificity and of the public benefits linked with the presence of grasslands. The regional and European policies should also support more strongly these trends toward multi-functionality and sustainability.

National audience; The changes observed before and after the setting-up of quotas are analysed on the basis of the changing cattle number and production systems. Until 1984, cattle were mainly used for dairying, but today there are many more suckling cows. The CAP at its beginning aimed at maximizing the production and at modernizing the farming methods, so as to secure the food supply. Two very specialized breeding types were supported for the production of milk and for that of meat, to the detriment of dual-purpose breeds, which then constituted still the majority of the cattle. Since the setting-up of quotas and the emergence of new concerns, e.g. those regarding the environment, the quality of the products, the maintenance of lands etc., the systems have become more diversified, without the previous models being modified. Now that new problems arise (hunger, climate...), those responsible for the agricultural policy, particularly in breeding and in Research-Development, should make their decisions concerning the choice of cattle types on the basis of the diversity of the environments and the preservation of the animals' grass-eating specificity and of the public benefits linked with the presence of grasslands. The regional and European policies should also support more strongly these trends toward multi-functionality and sustainability.

National audience; The European regions bordering the Atlantic Ocean and which participated to the research project “Green Dairy” account for nearly a quarter of the milk production of the European Union. During the two last decades, the decrease of the number of dairy farms was particularly intense in the Spanish and English regions. In France, the enlargement of farms was less important due to public choices (some measures have been taken in favour of the young farmers and the administrative management of the milk quotas is strict). Although the dairy farms of the “Atlantic arc” are located in the same climatic zone, under oceanic influence, they have different food systems and their fodder surfaces are more or less intensive way. Because of limited surfaces, the Portuguese and Spanish farms buy important quantities of animal food and are often intensive. The farms of the West of France, which frequently develop ensiled fodder, have some environmental problems, because of the concomitant presence in the same territory of other livestock (pigs and poultry). Supported by a low food cost, they are penalized by high costs of mechanization. The Irish and English units, in which the food is provided mainly by grass, have a low production cost. However, they are penalized by a weak milk price and their investments are low. The dairy farms of the “Atlantic arc” are thus not all homogeneous face to the new challenges: the future of the milk quota system raises important territorial stakes in France ; the increase in the price of the fossil energy could involve a rise in the price of the cereals, unfavorable to the food systems of the south; the strengthening of environmental implies investment for the modernization of buildings that have not always been anticipated in the United Kingdom and Ireland.; Les régions européennes qui jouxtent l’océan atlantique et qui ont participé au projet de recherche « Green Dairy » réalisent près du quart de la production laitière de l’Union européenne. Au cours des deux dernières décennies, le taux de restructuration du secteur productif laitier a été particulièrement intense dans les régions espagnoles et anglaises. Dans les régions françaises, les mesures prises en faveur de l’installation de jeunes agriculteurs et la gestion administrée des quotas laitiers ont freiné le mouvement d’agrandissement des exploitations. Bien que situées dans la même zone climatique, sous influence océanique, les exploitations laitières de l’arc atlantique ont des systèmes alimentaires variés et utilise plus ou moins intensivement leurs surfaces fourragères. Du fait de la rareté du foncier, les exploitations portugaises et espagnoles achètent d’importantes quantités de concentrés et sont souvent intensives. Les exploitations de l’Ouest de la France, qui valorisent fréquemment des fourrages ensilés, sont confrontées à des difficultés environnementales, en raison de la présence concomitante sur le même territoire d’autres productions animales (porcs et volailles). Favorisées par un faible coût alimentaire, elles sont pénalisées par des frais élevés de mécanisation. Les unités irlandaises et anglaises, qui laissent une large place à l’herbe, ont un coût de production du lait bien maîtrisé. Elles sont cependant pénalisées par un faible prix du lait et investissent peu. Les exploitations laitières de l’arc atlantique ne sont donc pas toutes homogènes face aux nouveaux défis : la remise en cause du régime des quotas laitiers soulève d’importants enjeux territoriaux en France ; le renchérissement du prix de l’énergie fossile pourrait entraîner une hausse du prix des céréales peu favorable aux systèmes alimentaires du Sud ; le renforcement des contraintes environnementales implique des investissements pour la modernisation des bâtiments qui n’ont pas pas toujours été anticipés au Royaume-Uni et en Irlande.

16; International audience; This paper considers the problem of obtaining good attitude estimates from measurements obtained from typical low cost inertial measurement units. The outputs of such systems are characterized by high noise levels and time varying additive biases. We formulate the filtering problem as deterministic observer kinematics posed directly on the special orthogonal group SO(3) driven by reconstructed attitude and angular velocity measurements. Lyapunov analysis results for the proposed observers are derived that ensure almost global stability of the observer error. The approach taken leads to an observer that we term the direct complementary filter. By exploiting the geometry of the special orthogonal group a related observer, termed the passive complementary filter, is derived that decouples the gyro measurements from the reconstructed attitude in the observer inputs. Both the direct and passive filters can be extended to estimate gyro bias online. The passive filter is further developed to provide a formulation in terms of the measurement error that avoids any algebraic reconstruction of the attitude. This leads to an observer on S(3), termed the explicit complementary filter, that requires only accelerometer and gyro outputs; is suitable for implementation on embedded hardware; and provides good attitude estimates as well as estimating the gyro biases online. The performance of the observers are demonstrated with a set of experiments performed on a robotic test-bed and a radio controlled unmanned aerial vehicle.

In this paper, we address both the aerodynamic modelling of a ducted fan Vertical TakeOff and Landing (VTOL) Unmanned Aerial Vehicle (UAV) and the problem of attitude stabilization when the vehicle is remotely controlled by a human pilot in presence of crosswind. In a first step, we present the main aerodynamic elements, inherent to the presence of the duct, that explain the dynamics of flight of this kind of vehicle. In a second step, we propose an attitude control designed from a linearization of the dynamic model around the hovering flight equilibrium. Experiments led on the HoverEye, a platform designed by Bertin Technologies, show that this attitude control is sufficient to open a large secure flight envelope.

L'élevage des herbivores est très vulnérable à la sécheresse, car les besoins en eau des prairies et du maïs sont maximum de mai à juillet, mois où la pluviométrie est très irrégulière. Un rapide retour sur les grandes sécheresses passées permet de mettre en valeur les diverses réponses et adaptations à la sécheresse des systèmes fourragers. L'analyse des sécheresses de 1976 et 2003 montre que ce sont les systèmes herbagers stricts et les systèmes "bio" qui sont les plus vulnérables, malgré la capacité de récupération assez remarquable des prairies. La sécheresse peut être anticipée par l'éleveur qui introduit des adaptations stratégiques dans son système (gestion du pâturage, constitution de stocks et leur report, recours à des fourrages annuels, culture à double fin comme le maïs…). Lorsque la sécheresse est trop sévère, d'autres adaptations, tactiques, doivent être envisagées (achats de fourrages, paille ou concentrés, modification du système d'élevage) pour sauvegarder l'élevage. Face à des sécheresses dont l'amplitude et la fréquence risquent d'augmenter, la stratégie qui doit dominer est celle de valoriser au maximum l'eau des pluies et des réserves du sol pendant les périodes hivernales et printanières (cultures d'hiver ou avec un enracinement profond, pâturage hivernal…)., The rearing of herbivorous stock is very sensitive to drought as the largest water requirements of pastures and of maize take place in the period May-July, when rainfall is very erratic. A quick reminder of the past severe droughts will bring to light the various ways in which the forage systems reacted and adapted to drought. The analysis of the 1976 and 2003 droughts shows that the herbage systems in the strict sense and the 'organic' systems were those that suffered most, in spite of the rather remarkable aptitude of grasslands for recovery. The farmer may anticipate a period of drought by including some strategic adaptations in his system (grazing management, constitution and postponement of forage stores, recourse to annual forages, dual-purpose crops such as maize…). If the drought is too severe, other adaptations, of tactical nature, have to be considered (purchase of forage, of straw or of concentrate, change in the livestock management) in order to save the animals. In view of the growing risk of severe and frequent droughts, the preference is to be given to a strategy that gives the best utilization of the rainfall and of the soil water reserves during winter and spring (winter crops or crops with deep roots, winter grazing…).

National audience; The bovine, ovine and caprine productions (milk and meat) play an important role in the European union (EU), in terms of economic (they account for 45% of the final agricultural production), social (they contribute to employment in certain rural areas where services and industries are low developed) and territorial (opening of the landscapes, space occupation, including in areas with strong natural constraints). The interactions between theses productions were always important, in particular between milk and the beef and veal. This synthesis presents the localization of the herbivores livestock within the European areas and insists on the factors, mainly those resulting from the successive reforms of the Common agricultural policy (CAP), which influenced the geographical movements. In the future, the possible suppression of the dairy quota system and the methods applied to implement the decoupling could have a consequent impact on the territorial distribution of theses productions.; Les productions bovines, ovines et caprines (lait et viande) occupent une place importante dans l’Union Européenne (UE), tant sur le plan économique (elles représentent 45% de la production agricole finale), social (elles contribuent à l’emploi de certaines zones rurales peu dotées en services et en industries) que territorial (entretien des sols, ouverture des paysages, aménagement de l’espace, y compris dans des régions à fortes contraintes pédo-climatiques). Les interactions entre chacune de ces filières ont toujours été importantes, en particulier entre le lait et la viande bovine. Cette synthèse présente la localisation du cheptel d’herbivores au sein des régions européennes et insiste sur les facteurs, principalement ceux issus des réformes successives de la Politique Agricole Commune (PAC), qui ont influé sur les mouvements géographiques. A l’avenir, la suppression éventuelle du régime des quotas laitiers et les modalités d’application du découplage pourraient avoir un impact conséquent sur la répartition territoriale de l’offre.

The design of autonomous navigation strategies for ducted fan unmanned aerial vehicleshas now become an important research area. Those small vehicles, able to perform stationaryflight, are of great interest for military and civilian applications. The robustness to wind perturbationsis the main challenge of those vehicles. Due to the low Reynolds number and theatypical shape of the body, the characterization of the aerodynamic forces applied to ducted fanrotorcrafts is still a difficult problem. Therefore, it is important to estimate those efforts on-linein order to counter them in control. After a modelling step, we extract a cascade structure ofthe system in order to perform nonlinear control design based on backstepping techniques. Wepropose a hierarchical controller separated in a high-level position control and a low level attitudecontrol. Before implementing this control on the vehicle, we have to retrieve the position andattitude from the measurements of the sensors. We develop nonlinear filtering techniques on thespecial orthogonal group to estimate attitude. We also perform IMU/GPS hybridazition to estimatethe position. The estimated state is used in the feedback control to ensure hovering flight.In a last part, we complete the control scheme to perform autonomous navigation of the vehicleamidst obstacles. The efficiency of the method is illustrated by simulations and experiments ledon the ducted fan VTOL UAV HoverEye developped by Bertin Technologies.; A l'heure actuelle, les projets d'utilisation de drone de petites tailles à capacité de vol stationnairepour des missions d'observation dans des environnements urbains se multiplient. Lescontraintes d'encombrement et de confinement des pales pour la sécurité des utilisateurs ont remisau goût du jour l'utilisation de véhicules à hélices carénées. L'enjeu majeur de ces minidrones estla résistance au vent. Cependant, leur forme atypique et les faibles nombres de Reynolds associéssont à l'origine de phénomènes aérodynamiques dont la caractérisation fine reste un problèmelargement ouvert. Il est donc nécessaire de développer des stratégies de commande estimant cesefforts en ligne pour pouvoir les contrer. Après une étape de modélisation, nous mettons enévidence une structure chaînée propice à une architecture de contrôle en cascade, combinant uncontrôle en position de haut niveau et un contrôle en attitude de bas niveau. Mais proposer une loide commande pour le maintien à poste ne suffit pas. Encore faut-il, pour pouvoir l'implémenterdans le calculateur, disposer des informations de position et d'attitude pour le contrôle en bouclefermée. Nous proposons des techniques de filtrage pour reconstituer l'état du drone à partir desmesures capteurs. Notre contribution porte sur deux aspects : la conception d'estimateurs nonlinéaires dans l'espace des matrices orthogonales pour la restitution d'attitude d'une part, et lanavigation inertielle hybridée d'autre part. Après avoir fermé la boucle "Observation-Contrôle",nous nous intéressons au problème de la navigation en présence d'obstacle. L'efficacité des méthodesproposées est verifiée par des simulations et des expérimentations menées sur le minidroneà hélice carénée HoverEye développé par la Société Bertin Technologies.

This paper considers the problem of obtaining high quality attitude extraction and gyros bias estimation from typical low cost intertial measurement units for applications in control of unmanned aerial vehiccles. Two different non-linear complementary filters are proposed: Direct complementary filter and Passive non-linear complementary filter. Both filters evolve explicity on the special orthogonal group SO(3) and can be expressed in quaternion form for easy implementation. An extension to the passive ocmplementary filter is proposed to provide adaptive gyro bias estimation.

This paper deals with the autonomous navigation of a ducted fan Vertical Take Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) in constrained environment. The proposed strategy considers the translational dynamics of the vehicle to design a control of the thrust vector that ensures safe navigation in presence of encountered obstacles. Adaptive backstepping techniques are used to design a nonlinear feedback control that allows to navigate amidst obstacles despite wind perturbations. Simulations results and a first experiment are presented to illustrate the concept.

This paper describes a control strategy to stabilize the position of a vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV) in wind gusts. The proposed approach takes advantage of the cascade structure of the system to design a hierarchical controller. The idea is to separate the controller in a high level controller devoted to position control and a low level controller devoted to stabilization and attitude control. Both controllers are designed by means of backstepping techniques that allow the stabilization of the vehicle's position while on-line estimation of the unknown aerodynamic forces. The global stability of the connected system is proven, and simulations as well as experimental results are presented

The aim of the present study was to assess the feasibility of measuring combined arterial oxygen saturation measured by pulse oximetry ( S p,O 2 ) and cutaneous carbon dioxide tension ( P c,CO 2 ) to monitor ventilation and quantify change in P c,CO 2 during bronchoscopy. Combined S p,O 2 and P c,CO 2 were measured at the ear lobe in 114 patients. In four patients, the ear-clip slipped and they were excluded. In total, 11 patients had artefacts with S p,O 2 recordings, thus, S p,O 2 was analysed in 99 patients. Spirometry data were available in 77 patients. Multivariate analysis of covariance and logistic regression were used for statistical analyses. Mean baseline P c,CO 2 was 4.78±1.06 kPa (36±8 mmHg) and mean rise in the P c,CO 2 during bronchoscopy was 1.26±0.70 kPa (9.5±5.3 mmHg), while mean P c,CO 2 at the end of bronchoscopy was 5.85±1.19 kPa (44±9 mmHg) . Baseline P c,CO 2 and the lowest S p,O 2 were significantly associated with peak P c,CO 2 and the change in P c,CO 2 during bronchoscopy. Risk of significant hypoxaemia ( S p,O 2 ≤90%) was lower for a higher baseline S p,O 2 . Peak P c,CO 2 was directly associated with significant hypoxaemia. There was no significant association in the baseline P c,CO 2 , peak P c,CO 2 , baseline S p,O 2 or the lowest S p,O 2 comparing patients with and without chronic obstructive pulmonary disease. In conclusion, it is feasible to measure combined pulse oximetry and cutaneous carbon dioxide tension effectively to monitor ventilation during flexible bronchoscopy.

Topical anesthesia for flexible bronchoscopy can be administered via transcricoid injection, nebulizer, or directly through the bronchoscope in a "spray as you go" fashion. We performed a prospective, randomized, double-blind, placebo-controlled trial to evaluate whether nebulized lidocaine provides additional benefit and reduces the total anesthetic dose required during bronchoscopy.Tertiary care university hospital.One hundred fifty patients (93 men; age, 20 to 89 years) undergoing diagnostic flexible bronchoscopy were randomized to receive either 4 mL of 4% lidocaine (160 mg) or 4 mL of saline solution as placebo via nebulization. Combined sedation was achieved using 5 mg of IV hydrocodone and midazolam boluses. Supplemental lidocaine doses and total midazolam required as judged by the bronchoscopist were recorded for each patient. After the procedure, both bronchoscopists and patients charted their perception of cough on a 10-cm visual analog scale (VAS). Similarly, patients recorded their discomfort related to the procedure on a 10-cm VAS.The most common procedures were BAL in 77 cases (51%), transbronchial biopsy in 40 cases (27%), and transbronchial needle aspiration in 34 cases (23%). Outcome parameters, including hemodynamic findings, duration of the procedure, cough scores for physicians and patients, discomfort score for patients, midazolam doses, and supplemental lidocaine doses, were similar in both groups. Mean total lidocaine dose required in the lidocaine group was 318 +/- 41 mg and was significantly higher than the total dose required in the placebo group (157 +/- 44 mg [+/- SD]) [p0.001].Additional nebulized lidocaine cannot be recommended for flexible bronchoscopy performed under combined sedation.

Le premier demi-siècle a été marqué par les guerres les plus cruelles que l’Europe ait jamais connues. La guerre de 1914 m’a laissé de nombreux souvenirs d’enfance. À la deuxième j’ai participé sous l’uniforme. Le milieu du siècle a été marqué par la volonté des peuples et de leurs dirigeants de construire une paix durable fondée sur des institutions. Au niveau mondial, création des Nations-Unies et de l’Alliance Atlantique. En Europe, naissance et développement d’un puissant mouvement d’unif...

In this paper, a nonlinear complimentary filter (x-estimator) is presented to estimate the attitude of a UAV (unmanned aerial vehicle). The measurements are taken from a low-cost SMU (inertial measurement unit) which consists of 3-axis accelerometers and 3-axis gyroscopes. The gyro bias are estimated online. A second nonlinear complimentary filter (z-estimator) is also designed, it combines 3-axis gyroscope readings with 3-axis magnetometer measurements. From the proposed estimators, the full rotation matrix R will be retrieved. Both estimators use the fact that the orientation matrix, evolving on SO(3), is not locally parameterized and thus could be used to describe any kind of 3D motion. Convergence of the two observers is theoretically proved and simulations as well as experiments are conducted on a real platform in hovering flight conditions.