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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.

This paper describes a control strategy to stabilize the position of a micro air vehicle in wind gusts despite unknown aerodynamic efforts. The proposed approach allows us to overcome the problem of gyroscopic coupling by taking advantage from both the structure of the thrust mechanism, which is made of two counter rotating propellers, and the control strategy which involves a decoupling of the yaw rate dynamics from the rest of the system dynamics. The controller is designed by means of backstepping techniques allowing the stabilization of the vehicle's position while on-line estimating the unknown aerodynamic efforts.

To characterize the safety of endoscopic procedures and propofol use as administered by nurses in a cohort of elderly patients.During 19 months all endoscopy patients70 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 patients70 years treated during the same period served as controls. Specially trained nurses administered the propofol and monitored for complications (decrease in the peripheral oxygen saturation, mean arterial pressure or heart rate).There were 1435 endoscopic procedures in group A and 351 in group B. There was no procedure or sedation-related mortality, nor a significantly greater need for emergency intervention than in the control group. Two patients required short mask ventilation but recovered without sequelae. Compared with younger patients, there was a significant increase in risk for a short oxygen desaturation90% and a decrease in oxygen saturation5%. Arterial hypotension occurred significantly more often in the control group than among the aged patients.This present study documents that gastrointestinal endoscopic procedures are safe and well tolerated even in the very elderly. Nurse-administered propofol is a safe and reasonable sedation method in these patients.

Background: Conscious sedation is standard for GI endoscopy. Propofol increasingly is used as an alternative drug to avoid unwanted effects of the commonly used benzodiazepines. Although propofol in the hands of nonanesthesiologists is still controversial, this study characterized the safety profile of propofol administered by nurses under supervision of the gastroenterologist. Methods: All patients undergoing any endoscopic procedure between September 2000 and December 2001 in the gastroenterology department of an academic tertiary medical center were eligible for inclusion in this prospective observational study. Sedation was voluntary. Demographic data, type of endoscopic procedure, and clinical features were recorded. A structured personal history led to a 5-class risk stratification based on the criteria of the American Society of Anesthesiologists. A total of 3475 procedures were performed in 2574 patients using propofol administered by registered nurses. Results: No major complications occurred because of the use of propofol, but overall decreases in the mean values for oxygen saturation (−2%), arterial pressure (−18%), and pulse rate (−10%) were observed. Severe respiratory depression requiring intervention occurred in less than 0.3% of all patients given propofol. Conclusion: The administration of propofol by registered nurses, with careful monitoring under the supervision of the gastroenterologist, is safe for conscious sedation during GI endoscopic procedures. (Gastrointest Endosc 2003;57:664-71.)

A computer-based method has been developed for prediction of the hERG (human ether-a-go-go related gene) K(+)-channel affinity of low molecular weight compounds. hERG channel blockage is a major concern in drug design, as such blocking agents can cause sudden cardiac death. Various techniques were applied to finding appropriate molecular descriptors for modeling structure-activity relationships: substructure analysis, self-organizing maps (SOM), principal component analysis (PCA), partial least squares fitting (PLS), and supervised neural networks. The most accurate prediction system was based on an artificial neural network. In a validation study, 93 % of the nonblocking agents and 71 % of the hERG channel blockers were correctly classified. This virtual screening method can be used for general compound-library shaping and combinatorial library design.

Introduction Le Reseau Sante de Haute Alsace, confronte a une prevalence du diabete superieure de 20 % a la moyenne nationale et a une demographie medicale declinante dans son bassin de recrutement, a concu en 2002 une plateforme pluridisciplinaire et multiservice d'accueil des personnes diabetiques au service des medecins traitants. A l'occasion de ses 10 ans de fonctionnement, il a evalue les resultats de son activite. Materiels et methodes L'analyse a porte sur des files actives annuelles comparees a l'etude ENTRED (et au registre OPHDIAT pour l'activite retinographique) þ; l'impact sur l'environnement a ete mesure sur l'ensemble des resultats d'hemoglobine A1c observes dans le bassin de recrutement au premier semestre 2013, compares a ceux d'ENTRED et ceux d'un bassin de vie contigu. Resultats Le reseau a offert : 1. Un meilleur controle de la glycemie, du tabac, du LDL cholesterol avec un maintien dans la duree des resultats obtenus 2. Un depistage systematise des complications microangiopathiques 3. Une reduction significative (p Conclusion Le reseau a permis une reduction de morbidite et une amelioration des pratiques dans une population particulierement exposee au diabete et souffrant de ressources medicales restreintes.

National audience; The interest of grazing grows usually on a par with the constraints dictated by the environment, as is illustrated by a simplified presentation of the main livestock farming systems in the European Union : the cattle and sheep suckling systems which predominate largely in the so-called underendowed regions, where their economic role is often determinant. ln the most intensive dairying systems, there is often a growing interest for grazing, in most European countries and even in North America. Present-day expectations of society (health security, nutritive value, quality and genuineness of the nutriments, conditions of production such as animal welfare, regard for the environment and specifically for water, etc.) reinforce this trend. To these factors should be added the beneficial impact on the maintenance of landscapes and of bio-diversity, so that the arguments in favour of maintaining or even extending grazing are becoming ever more numerous. The mastering of the grazing practice however will always require the learning of rules difficult to write down, the more so as the new expectations of society may involve quite different management techniques. The creation of tools that will be an aid to decision-making at various stages, from setting up a forage production plan to the change of paddocks, still opens large possibilities of research.; Le pâturage est le mode d'alimentation naturel des herbivores, il se pratique dans des milieux physiques et des systèmes agraires forts différents dans les diverses régions européennes. Dans le contexte actuel d'une pression sociétale forte, la place du pâturage évolue et de nouveaux enjeux se dessinent... L'intérêt du pâturage croît souvent avec l'augmentation des contraintes du milieu comme l'illustre une présentation simplifiée des principaux systèmes d'élevage de l'Union Européenne. Cependant, même chez les systèmes laitiers intensifs, on constate un regain d'intérêt pour le pâturage. Les nouvelles attentes de la société (sécurité sanitaire, qualité des aliments, bien-être des animaux, respect de l'environnement...) vont renforcer cette évolution qui, paradoxalement, requalifie les systèmes pastoraux et herbagers, parfois un peu rapidement considérés comme des modèles de respect de l'environnement. Cependant, le pâturage reste un art difficile à codifier en quelques règles simples, d'autant qu'il faudra aussi y intégrer ces nouvelles attentes. Ces nouveaux enjeux nous invitent à adapter les méthodes et outils d'accompagnement et d'aide à la décision à d'autres critères de performance et à différents pas de temps.

National audience; The interest of grazing grows usually on a par with the constraints dictated by the environment, as is illustrated by a simplified presentation of the main livestock farming systems in the European Union : the cattle and sheep suckling systems which predominate largely in the so-called underendowed regions, where their economic role is often determinant. ln the most intensive dairying systems, there is often a growing interest for grazing, in most European countries and even in North America. Present-day expectations of society (health security, nutritive value, quality and genuineness of the nutriments, conditions of production such as animal welfare, regard for the environment and specifically for water, etc.) reinforce this trend. To these factors should be added the beneficial impact on the maintenance of landscapes and of bio-diversity, so that the arguments in favour of maintaining or even extending grazing are becoming ever more numerous. The mastering of the grazing practice however will always require the learning of rules difficult to write down, the more so as the new expectations of society may involve quite different management techniques. The creation of tools that will be an aid to decision-making at various stages, from setting up a forage production plan to the change of paddocks, still opens large possibilities of research.; Le pâturage est le mode d'alimentation naturel des herbivores, il se pratique dans des milieux physiques et des systèmes agraires forts différents dans les diverses régions européennes. Dans le contexte actuel d'une pression sociétale forte, la place du pâturage évolue et de nouveaux enjeux se dessinent... L'intérêt du pâturage croît souvent avec l'augmentation des contraintes du milieu comme l'illustre une présentation simplifiée des principaux systèmes d'élevage de l'Union Européenne. Cependant, même chez les systèmes laitiers intensifs, on constate un regain d'intérêt pour le pâturage. Les nouvelles attentes de la société (sécurité sanitaire, qualité des aliments, bien-être des animaux, respect de l'environnement...) vont renforcer cette évolution qui, paradoxalement, requalifie les systèmes pastoraux et herbagers, parfois un peu rapidement considérés comme des modèles de respect de l'environnement. Cependant, le pâturage reste un art difficile à codifier en quelques règles simples, d'autant qu'il faudra aussi y intégrer ces nouvelles attentes. Ces nouveaux enjeux nous invitent à adapter les méthodes et outils d'accompagnement et d'aide à la décision à d'autres critères de performance et à différents pas de temps.

Le premier demi-siecle a ete marque par les guerres les plus cruelles que l’Europe ait jamais connues. La guerre de 1914 m’a laisse de nombreux souvenirs d’enfance. A la deuxieme j’ai participe sous l’uniforme. Le milieu du siecle a ete marque par la volonte des peuples et de leurs dirigeants de construire une paix durable fondee sur des institutions. Au niveau mondial, creation des Nations-Unies et de l’Alliance Atlantique. En Europe, naissance et developpement d’un puissant mouvement d’unif...

Lung biotransformation of the immunosuppressants, cyclosporin A (CSA), the hydroxyethyl derivative SDZ IMM 125 (IMM), and the methylcarbonate derivative SDZ SCP 764 (SCP), was demonstrated in slices from human and rat. The major biotransformation pathway for CSA and IMM (0.1-10 microM) was hydroxylation at amino acid 1 to form AM1 or IMM1, while for SCP it was an esterase cleavage of the methylcarbonate group to form AM1 in both species. The initial rate (0-1 hr) of human total metabolite formation increased proportionally with substrate concentration. AM1 formation was five times greater from SCP, an esterase pathway, than CSA, an oxidative pathway which was inhibited (50%) by ketoconazole. At 24 hr human lung CSA metabolite formation was greater than IMM (3-fold) or SCP (2-fold), whereas rat lung and liver and human bronchial epithelial cell SCP metabolite formation generally exceeded CSA or IMM metabolism. CSA biotransformation is expected to occur throughout the human lung as demonstrated by the similar metabolite profile and extent of metabolism by slices derived from five different regions. The scaling of slice total metabolism to organ metabolism revealed that initially lung CSA metabolite formation would be equal to liver but with time liver metabolism would exceed lung for human and rat. This study has demonstrated that human and rat lung are metabolically active, exhibiting oxidative and esterase pathways toward cyclosporin derivatives. The lung will play an important role in this metabolism, particularly when administered via inhalation; however, the liver will also be a major organ involved in the total clearance of these compounds.

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