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This study examined adsorption of anionic dye on four zeolitic materials incorporated (VS-1, CuZSM-5) and not incorporated into metals (S-1, ZSM-5). The adsorption of the bromothymol blue (BTB) dye on the four adsorbents was analysed using isotherm models Langmuir, Freundlich, and Temkin. Two kinetic models were also applied to study the adsorption process, pseudo-first order and pseudo-second order. The isothermal data showed good correlation. The kinetics of adsorption were better described by the pseudo-second order model. The results obtained indicate that the maximum percentage removal of the BTB dye was given by a purely non-incorporated silicic zeolite (S-1). This work is licensed under a Creative Commons Attribution 4.0 International License., U ovoj je studiji ispitivana adsorpcija anionskih bojila na četiri zeolitska materijala inkorporirana (VS-1, CuZSM-5) i neinkorporirana (S-1, ZSM-5) u metale. Adsorpcija indikatora bromtimol modro (BTB) na četiri adsorbenta analizirana je izotermnim modelima Langmuir, Freundlich i Temkin. Također su primijenjena dva kinetička modela za proučavanje procesa adsorpcije, pseudo-prvog i pseudo-drugog reda. Izotermni podatci pokazali su dobru korelaciju. Kinetiku adsorpcije bolje je opisao model pseudo-drugog reda. Dobiveni rezultati pokazali su da je maksimalni postotak uklanjanja indikatora BTB dobiven čisto neinkorporiranim silicijskim zeolitom (S-1). Ovo djelo je dano na korištenje pod licencom Creative Commons Imenovanje 4.0 međunarodna.

International audience; In this paper, direct and inverse geometric models for a 6 degrees of freedom manipulator robot arm are developed, and a set of homogeneous matrices are generated by Denavit-Hartenberg formalism. Moreover, a path planning method based on soft computing techniques is presented, which consists of using the neural network to model the end-effector workspace, and then determining the optimal trajectory to reach a desired position. The optimization of the trajectory depends on the minimization of the cost function, defined by the sum of two energies. The first one is the collision penalty (Ec) generated by each obstacle shape; the second one is the trajectory length penalty (El). Four steps are considered; at first, the configuration of the robot workspace where any assumption is taken into account. The robot is assimilated to a particle that moves inside a small two-dimensional space, and the obstacle is a polygon. Second, the Multilayer Perceptron Neural Network (MLP neural network) is used for the robot workspace modeling. Model block inputs are robot’s previous position values and the outputs are robot’s following position values. Then, the proposed approach is applied to optimize the cost function and to determine the end-effector trajectory in case of obstacles. The obtained result is a smooth trajectory, which represents robot motion. Finally, the presented approach is validated on a FANUC robot arm in a virtual environment, where the simulation results show this approach efficiency.

For decades, Darrieus turbines have shown their advantage over other turbines for providing hydropower. Most studies tend to be conducted with the turbine in its vertical axis configuration...

New surgical techniques for the treatment of benign prostatic obstruction (BPO) have emerged in recent years. We sought to give an overview on each of these technologies.A comprehensive review of the literature between 2013 and 2020 was carried out by a panel of national experts already practicing these interventions. All the data were then discussed among all the co-authors in order to obtain a consensus with regard to the selected articles and their analysis. Finally, an inventory was drawn to provide an overview of these technological advances and their availability in France.The treatment benign prostatic obstruction has diversified greatly over the past 5 years. 5 new technologies have emerged, allowing today a transurethral non-ablative treatment (UROLIFT®, ITIND®), a transurethral ablative treatment (REZUM®), a transurethral ablative treatment with robotic assistance (AQUABEAM®) or an endovascular management by embolization of the prostatic arteries. Only UROLIFT® is considered an established technology in the latest EAU-Guidelines. The other four are under evaluation and recommendations have only been issued for two of them, AQUABEAM® and the embolization of the prostatic arteries.These new minimally invasive techniques aim to increase the therapeutic options for the management of BPO in order to offer a management more suited to the wishes of the patient. Some are positioned as an alternative to surgical or medical treatment, others between medical and surgical treatment. These technologies are not all at the same level of development, evaluation and level of proof, but have in common a limited distribution in France, in particular given their cost. Validated studies will allow them to position their subsequent use more precisely.

The aim of the present study was to optimise the extraction conditions of anthocyanins from strawberry fruits and incorporate them in yoghurt to achieve a natural coloration as well as enrich the product with antioxidants. The response surface methodology (RSM) based on Box–Behnken design was studied to assess the influence of the three factors being agitation speed (400–800 rpm), sample to solvent ratio (0.5–2 g/40 mL), and extraction time (1–15 min) on total anthocyanin content and antioxidant activity of strawberries. According to the results, the linear, quadratic and interaction effects of the studied factors on total anthocyanin content and antioxidant activity were determined by the response surface methodology, and the optimal conditions for anthocyanin extraction were 586 rpm for agitation speed, 1.26 g/40 mL for sample to solvent ratio, and 9.36 min for extraction time. Under these extraction conditions, the total anthocyanin content and antioxidant activity recorded by the two validated models were 38.04 mg C3GE/100 g FW and 21.38 mg AAE/100 g FW, respectively. The enriched natural yoghurt contains anthocyanins with a content of 36.50 µg C3GE/100 g and an antioxidant activity of 21.22 µg AAE/100 g. The anthocyanin enriched yoghurt developed in this study may be considered as a functional food with an interesting source of natural antioxidants, and these anthocyanins can substitute synthetic (industrial) colorants.

L’amélioration de la performance et la rationalisation des ressources, autant d’objectifs à atteindre pour toute organisation qui cherche à se moderniser et s’adapter aux nouveaux défis de l’environnement (mondialisation, nouvelles technologies …), et aux attentes du citoyen qui est devenu une priorité. Dans ce cadre, différents outils et méthodes de contrôle de gestion ont été adoptée par les responsables des organisations publiques dans le but de renforcer la logique de l’efficacité, de l’efficience et de la performance, ce qui s’inscrit dans le cadre du modèle du "New public management" (NPM). Ce papier porte principalement sur la relation entre la mise en place d’un système de contrôle de gestion et l’amélioration de la performancedu secteur public et présente d’une façon globale les différentes théories et études empiriques qui ont démontré le lien entre l’intégration des méthodes et outils du contrôle de gestion au sein des organisations publiques et l’atteinte de la performance de cette dernière, on mettra aussi l’accent sur la particularité du secteur public, les points de convergence etdedivergence avec le secteur privé et les spécificités du contrôle de gestion dans les organisations publiques.

Comfort criteria in building are increasing continuously. Multiple studies tend to use CFD approaches in order to predict and optimize the flow conditions accurately. One of the most relevant problematic is the extraction of the CO2 by kitchen hoods. In the present work, a new solver, based on a buoyancy Boussinesq solver and a turbulent passive scalar transport equation, is developed in OpenFoam to model the heated CO2 extraction by a rotating fan using the Multiple reference frame (MRF) approach. The new solver is first validated successfully against experimental results of a heated cavity and CO2 diffusion. An improvement of 30% in the capture efficiency is reached by increasing the extraction flow rate of the fan from 100 to 300 cfm. An extraction efficiency of 100% is observed for flow rates above 330 cfm. The novelty of this study is to present a new open-source solver able to model the rotation of the whole fan, CO2 transport and heat exchange simultaneously in steady state.

International audience; This paper presents the design of 3-Dof multi-link robot arm that is mounted on the multirotor. To be considered the dynamic characteristics of the manipulation platform, the decoupled dynamic models of the system are derived. The main advantage of the first joint is introduced for more robustness and stability during hovering. The PID controller will be implemented for position and attitude of multirotor control, whereas, a slidingmode controller will be designed for a manipulator robot, which is then compared with the sliding surface that has been integrated with the proportional-derivative (PD) controller. The performance of the proposed technique is demonstrated through a simulation using Simulink and Matlab environment.

In this study, Salvia aegyptiaca and Salvia verbenaca aerial part decoction and methanol extracts (SAE DE, SAE ME, SVR DE, and SVR ME) were screened for their in vitro antioxidant, anti-Alzheimer, and antidiabetic enzymes inhibition activities. The antioxidant properties of Salvia extracts were determined using DPPH radical scavenging, ABTS radical scavenging, Alkaline DMSO superoxide radical scavenging, β-carotene bleaching, reducing power, and metal chelating activity assays. All extracts showed high antioxidant capacity and the antioxidant properties with the best performance were detected in the SAE ME and SVR ME. The extracts of S. aegyptiaca and S. verbenaca showed a low inhibitory activity of acetylcholinesterase (AChE), whereas, the methanol extract of S. aegyptiaca had the highest inhibitory activity on butyrylcholinesterase (BChE) (71.60 ± 4.33% for 100 µg/ml) compared to the other extracts. In vitro inhibitory effect on diabetic enzymes showed that the ME inhibited α-amylase enzyme with an IC50 86 and 101 µg/ml for SAE and SVR, respectively. Similarly, both extracts inhibited α-glucosidase with (IC50 97 and 150 µg/ml, respectively). The decoction extracts exhibited lower activity on both enzymes. PRACTICAL APPLICATIONS: It is becoming evident that oxidative stress is involved in several acute and chronic diseases. Counteracting free radical generation has become one of the widest fields of research worldwide. This study deals with the in vitro antioxidant activity of two plants from the Salvia genus as well as the assessment of their in vitro inhibitory properties of four key enzymes implicated in diabetes and Alzheimer's disease. Concerning the practical applications of our work, it can be explored in its antioxidant part as a food supplement to prevent the excess of free radicals in the body and also in other industrial practices. Another potential use is in the prevention and amelioration of both diabetes and Alzheimer's disease symptoms for the extracts that had enzyme inhibitory activity, but this deserves further toxicological and in vivo studies.

International audience; The reproduction of hand movements by a robot remains difficult and conventional learning methods do not allow us to faithfully recreate these movements because it is very difficult when the number of crossing points is very large. Programming by Demonstration gives a better opportunity for solving this problem by tracking the user’s movements with a motion capture system and creating a robotic program to reproduce the performed tasks. This paper presents a Programming by Demonstration system in a trajectory level for the reproduction of hand/tool movement by a manipulator robot; this was realized by tracking the user’s movement with the ArToolkit and reconstructing the trajectories by using the constrained cubic spline. The results obtained with the constrained cubic spline were compared with cubic spline interpolation. Finally the obtained trajectories have been simulated in a virtual environment on the Puma 600 robot.

In this paper, we present an Augmented Reality Environment (RAE) to guide a mobile robot. The objective of this work is to allow a user to control and follow a desired trajectory. In this context, we propose a control design based on a Augmented Reality technology to facilitate the piloting of the robot. This work proposes a hardware and software architecture based on Graphic User Interface (GUI)for tracking trajectory using a virtual objects. The results obtained is show the good performances of the proposed AR environment for the simplicity of using the AR system for planning and execution of the robot’s trajectories.

During a survey carried out in 88 farms located in two provinces of Northeastern Algeria – Oum El Bouaghi and Skikda –, 89 clinical cases of piroplasmosis (i.e. an 11.6% infection rate in the examined cattle) were reported between May and September 2011 in 86.4% of the visited farms. Three species of piroplasms were identified in the blood films stained with Giemsa: Theileria annulata (in 94.0% of the sick animals), Babesia bovis (33.7%) and Babesia bigemina (3.4%), with 31% of co-infections. No significant difference was observed in the prevalence between the two provinces, nor between cattle breeds. Tropical theileriosis caused a significant drop in milk production estimated at 319 liters per infected cow during the two months following the disease. Seven tick species were collected in the farms during the study period. The infestation peak was observed in July for Hyalomma scupense (syn. H. detritum), H. lusitanicum, H. anatolicum, Rhipicephalus bursa and R. turanicus, and in August for H. marginatum and H. excavatum. A positive correlation was observed between clinical cases of tropical theileriosis and H. scupense infestation on one hand, and clinical cases of babesiosis and R. bursa infestation on the other hand.