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Dissertation
Systems analysis of oscillar models in the space of phase response curves
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Year: 2013 Publisher: [S.l.] : [chez l'auteur],

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Dissertation
Analytical strategies for the detection of counterfeit erectile dysfonction drugs
Authors: --- ---
Year: 2011 Publisher: [S.l.]: [chez l'auteur],

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Dissertation
MRI contrast in the locus cœruleus: Optimisation with multi-compartment spoiled gradient echo imaging
Authors: --- --- --- ---
Year: 2020 Publisher: Liège Université de Liège (ULiège)

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The locus cœruleus (LC) is a small noradrenergic nucleus of high interest in neuroscience. As the main source of noradrenaline in the brain, it is involved in numerous cognitive functions such as arousal, attention and memory. In addition, previous studies have emphasised its relationship with the progression of neurodegenerative disorders such as Alzheimer's and Parkinson's diseases. The visualisation of the LC in magnetic resonance imaging (MRI) is realised through so-called neuromelanin-imaging in which magnetisation transfer (MT) effects are thought to be the main source of contrast. However, current researches insufficiently characterise the underlying contrast generation mechanisms given the poor understanding in the LC tissue properties. Efficiently visualising the locus coe ruleus is therefore a challenging process that requires further investigation.&#13;&#13;The aim of this thesis is to provide an efficient tool for better understanding the underlying contrast mechanisms in the LC and thereby optimising its visualisation through multi-compartment spoiled gradient echo (SPGR) imaging. Firstly, the simulation of such a sequence through the extended phase graph with exchange (EPG-X) framework is performed in order to determine optimal sequence parameter values. After an experimentation phase, the outcomes are validated against the developed model. Simulation suggests that an optimal contrast can be achieved by maximising the power of the excitation pulse. It is expected that the use of optimal sequences compared to the one currently played out at the Wellcome Centre for Human Neuroimaging (WCHN) would improve the LC visualisation. Nonetheless, the lack of robust validation prevent the generalisation of these observations. Secondly, the SPGR model is extended by including a saturation pre-pulse for amplifying the MT effects. The contrast optimisation is realised through simulation according to the same formalism as previously while accounting for the MT pre-pulse. Optimal parameter values suggest that an improvement is achievable regarding the MT-weighted sequence currently played out through the maximisation of the power and the off-resonance frequency of the MT pulse as well as the time delay between the saturation and excitation pulses. Unfortunately, no validation was achievable for this configuration which should be investigated in future researches.&#13;&#13;Because of the lack of knowledge about the contrast mechanisms in the LC, the optimisation of an MRI sequence effectively targeting the LC is complex. Therefore, due to the numerous parameters involved and the poor confidence regarding their impact, future studies should focus on a better characterisation of this structure and the inherent contrast mechanisms.


Dissertation
High speed and angular position sensor for a permanent magnet synchronous motor control
Authors: --- --- --- ---
Year: 2021 Publisher: Liège Université de Liège (ULiège)

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This thesis consists in developing a position sensor in order to control a perma-&#13;nent magnet synchronous motor (PMSM). It is the aim of an intership in the&#13;MITIS company. The company is developing micro-CHP (Combined Heat and&#13;Power) systems. These systems are mainly composed of a PMSM, a compressor,&#13;a combustor and a turbine. In fact, the open-loop control already implemented&#13;presents different issues of operating that need to be solved. For that, a closed-&#13;loop control is necessary for a better efficiency of the global system. This one&#13;needs an angular position sensor for its feedback information that is developed&#13;in this work. The choice of the sensor is an Eddy current sensor characterized&#13;for its low maintenance, its accuracy and its large range of rotation speed mea-&#13;surement. Indeed, for this project, a rotation speed of 120 000 rpm need to be&#13;reached by the motor. Moreover, it does not need a proximity with the magnet.&#13;This thesis is composed of different chapters. First, the concept of micro tur-&#13;bine, PMSM and its controller are presented. Then, a chapter that explain in&#13;details how the sensor had been designed and manufactured regarding the me-&#13;chanical and manufactured constraints. After, another chapter is dedicated to&#13;the software development of the sensor with the difficulties encountered such as&#13;the rapidity of data acquisition. Finally, a chapter about different closed-loop&#13;controls that could be implemented is established and the advantages and dis-&#13;advantages for each type of control are supported by simulations.&#13;Finally, some good results are obtained. The sensor is unfortunately not tested&#13;on a real motor but an experiment that allows to reach 5000 rpm is performed&#13;and is successful. Moreover, the choice of the speed and torque closed-loop con-&#13;trol is very promising regarding the results of the simulations with a very high&#13;speed reached (120 000 rpm) and a low consumption of the current in the stator&#13;windings (about 30A).


Dissertation
Analysis of physiological responses induced by motion sickness and its detection based on ocular parameters
Authors: --- --- --- ---
Year: 2021 Publisher: Liège Université de Liège (ULiège)

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One of the promises of autonomous cars is that these will allow drivers to become passengers, and therefore to be engaged in many tasks other than driving such as working, reading or relaxing. However, there exists an increased risk of motion sickness incidence in self-driving cars, thus preventing people suffering from this state from devoting themselves to these tasks. As a consequence, the user acceptance and uptake of autonomous cars could be negatively affected, limiting the benefits this emerging technology may provide. To avoid the negative impact motion sickness could have on autonomous car adoption, this problem has to be investigated and appropriate countermeasures have to be developed. &#13;&#13;A first step in the development of a solution consists in detecting early signs of motion sickness, allowing so to initiate the triggering of various processes intended to alleviate the symptoms associated with motion sickness. The aim of this thesis is to identify physiological parameters that are indicative of motion sickness, and to determine the relevance of ocular parameters for predicting this state. Indeed, ocular data could be easily recorded in autonomous cars through integrated high precision cameras. &#13;&#13;A protocol to acquire data in context is first designed. This protocol aims at inducing motion sickness in 2 different ways. The first one consists in driving in a fixed-base driving simulator. The second one consists in performing some tasks on paper while being a passenger in a moving car. Twenty subjects took part to the protocol. Severe motion sickness was reported by 3 and 9 participants, during the session in simulator and the session in car respectively. The analysis of the collected data shows that heart rate, electrodermal and gastric activities increase with motion sickness. Machine learning models are then trained with ocular data as inputs, and a 3-level score, reflecting the severity of motion sickness, as ground truth. The results suggest that ocular data alone cannot predict motion sickness, but that it may be appropriate to combine it with other physiological data in order to predict motion sickness.


Dissertation
Blind Grasping: Object Classification using Robot Joint Information
Authors: --- --- --- ---
Year: 2021 Publisher: Liège Université de Liège (ULiège)

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Machine learning has proven itself to be a useful tool in many scientific fields. Among the plethora of applications, modern Robotics aims to incorporate artificial intelligence, in order to tackle tasks that were previously unthinkable to be performed by a robot. Grasping is a classic example of such a challenge. Being able to grasp and manipulate a wide range of objects reliably represents a major stepping stone in both productivity and flexibility for modern robots. &#13;The first step of grasping an object is to identify it correctly. To that end, most state of the art approaches to robotic grasping include all kinds of visual input to facilitate the location and identification of the target object. This work aims to investigate a different approach, where object classification is tackled using exclusively the robot's joint information. More specifically this project explores the question: "How useful is robot joint information for the classification of objects?" The main contributions of this work are various benchmark experiments as a proof of concept, additional methods aiming to increase classification performance, as well as the application on a set of real world objects. The results and observations of the different problems settings in this work lead to the conclusion that joint information is indeed useful and exploitable, but also comes with clear limitations and challenges, some of which are easier to circumvent than others.


Dissertation
Prediction of higher order drug combinations to treat cancer
Authors: --- --- --- ---
Year: 2021 Publisher: Liège Université de Liège (ULiège)

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Finding a treatment for cancer is a major challenge of our time. In the ongoing research, combination therapies (the use of several drugs together) are of high interest. In comparison with the use of a single drug, combinations of synergistic drugs (i.e. drugs that are more effective together than alone) can be as effective while allowing to overcome the drug resistance, to reduce the doses at which the drugs are used, and consequently decrease their toxic effect and multiply their targets. However, the space of all potentially effective combinations is too large to experimentally test all of them and assess their effectiveness, this is known as the combinatorial explosion problem. To overcome that, the identification of interesting combinations requires the help of computational tools. In recent years, machine learning models have been successfully used in biomedical applications. They are typically used in order to determine which combinations would be interesting to be experimentally tested. Since some models aiming at predicting the responses of pairwise combinations already exist, there are only a few machine learning models able to predict responses of higher order drug combinations (the order of a drug combination is defined as the number of drugs in the combination). In addition to the response of a drug combination (typically expressed as a growth percentage), the synergy score of this combination is of high interest. The synergy score allow to answer the question: how much are those drugs more effective together than individually? This work is a step towards the use of machine learning to predict the effect of higher order (order larger than two) cancer drug combinations. It has been made in collaboration with Aalto University (Finland), where a machine learning tool called ComboFM has been developed. ComboFM is able to efficiently predict pairwise responses of cancer drugs. The goal of this work is to extend the use of ComboFM to the predictions of higher order drug combinations. To that end, we propose to combine ComboFM with another model, called the Dose model. The Dose model computes the responses of any order drug combinations, based on all the pairwise responses existing in the combination. This work investigates how those two models can be combined together in order to predict responses of higher order drug combinations while decreasing the amount of required experimental data (pairwise responses). This combination of models gives rise to several issues that are tackled and investigated. The experiments made in this thesis showed that ComboFM and the Dose model can efficiently be combined, as long as the parameters of both models are optimized specifically for this application.


Dissertation
Monocular Visual Inertial SLAM for Drone Navigation
Authors: --- --- --- ---
Year: 2021 Publisher: Liège Université de Liège (ULiège)

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In the past few years, the interest in drones has grown in many domains. However, it turns out that the usual quadrocopters are not the best in terms of power efficiency and maneuverability. This is why the creation of a new coaxial drone has been launched by Christophe Greffe. One major obstacle to the use of drones is the need to train people to fly drones, which is both expensive and time consuming. Moreover, only the trained people can fly drones, and their presence is then required whenever a drone is used. This can be a problem in situations such as earthquake relief or firefighting. The best solution is to have an autonomous drone able to flight alone safely while achieving a given task. A first step for autonomous navigation is to build a representation of the environment around the drone. In this work, the LSD-SLAM algorithm is used to provide a 3D map of the environment suitable for navigation. It uses a single camera, which makes the design easier and cheaper than with multiple cameras. However, this comes at a price: there is an unknown scale factor between the LSD-SLAM map and the reality. An IMU is therefore integrated in the original algorithm to determine this scale factor. Three different methods for scale estimation are implemented and evaluated, as well as a practical way to obtain the orientation of the LSD-SLAM map with respect to the Earth frame. Currently, these scale estimation methods do not provide satisfying results due to the complexity of the problem and the large sensitivity of the methods to the quality of the provided data. However, one of these methods is very promising and would be worth to investigate further. The accuracy and robustness of this method could be improved and a better camera could also enhance the results in complex environments by providing higher-quality data acquisition. With these improvements, the problem of constructing a map of the environment that is suitable for navigation could be solved, which would bring the project of building an autonomous drone one step closer to its achievement.


Dissertation
Modeling calcium-dependent synaptic plasticity and its role in sleep-dependent memory consolidation
Authors: --- --- --- ---
Year: 2021 Publisher: Liège Université de Liège (ULiège)

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It has been shown that a single neuron can encounter different firing rates during the sleep and the awake states. Those rhythms directly have an impact on the synaptic weight between the neurons. Moreover, recent evidence shows that spindle oscillations encountered during sleep influence the calcium levels in the post-synaptic spine that trigger synaptic plasticity changes. There exists a large number of synaptic plasticity rules. In particular, this thesis focuses on calcium-induced synaptic plasticity. However, the little number of calcium-based models do not take into account the calcium dynamics in much detail. Indeed, to reproduce protocols and obtain results that are consistent with experimental data, a great number of simplifications are often considered. A review of the existing calcium-based models is made in order to categorize those models in a systematic way: ‘How do they implement the calcium flow into the neuron?’, ‘What is the equation governing synaptic plasticity depending on the calcium concentration?’, etc. The thesis focuses on the calcium-dependent synaptic plasticity model developed by Graupner et al. (2016). This model has made simplifications to implement the calcium dynamics while being consistent with data obtained experimentally. The contribution of this thesis is first to integrate this abstract model into a conductance-based model which allows switching from a tonic pattern to a bursting pattern, encountered during the switch to the sleep state. This allows observing what are the consequences of this switch on the calcium-dependent synaptic plasticity. The second main contribution of the thesis is&#13;to integrate a more detailed calcium dynamics into the abstract calcium dynamics model from Graupner et al. (2016). The key message is the fact that integrating a detailed calcium dynamics into an abstract one represents a major challenge to tackle because of the large number of assumptions that have been made to construct this abstract model. This leads to the prospect that starting from a more physiological calcium dynamics then integrating a calcium-dependent synaptic plasticity rule to this model may be a more suitable way of doing.


Dissertation
Object detection for waste sorting
Authors: --- --- --- ---
Year: 2021 Publisher: Liège Université de Liège (ULiège)

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As household waste increases, it becomes more and more important to sort and recycle. However European studies suggest that there is still an important part of incorrect sorting, and that many citizens could use an assistance of some sort. In the last few years, computer vision algorithms have been used to tackle this problem with high classification accuracies. However, fewer works required a sorting with more than six classes, as some features might become too difficult to distinguish. This thesis presents a comparative study of several object detection algorithms, for sorting of trash pieces following IDELUX's sorting directives and real-time constraints. IDELUX's dataset of 10050 waste images is divided into 12 classes. Some of those classes are very similar and with an important imbalance in the number of samples per class, this dataset presents a new challenge in the waste detection field. Four algorithms were specifically trained and tested in order to determine which architecture was the fittest to perform the task, whether it could be performed by a simple classifier, a one stage or a two stage detector. The proposed objects detectors are RetinaNet, YOLOv5 and Faster R-CNN, while the chosen classifier is a ResNet model. The models were evaluated on their accuracy, their mean average precision, their IOU, their inference time and their training time. For this specific project, ResNet outperforms all of the other models and achieves an accuracy of 90 \%. Overall, the results show that classification and detection algorithms are capable of tackling more complex waste sorting problems than the ones currently explored in the literature.

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