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BACKGROUND In obstetrics, manipulations are mainly learned during real deliveries. To minimize the risks linked to such training, we propose a childbirth simulator as a teaching tool in hospitals. More specifically, we focus on training with forceps during obstetric manipulation. METHODS The training method can be divided into two steps: the teaching of(More)
Today, medical simulators are increasingly gaining appeal in clinical settings. In obstetrics childbirth simulators provide a training and research tool for comparing various techniques that use obstetrical instruments or validating new methods. Especially in the case of difficult deliveries, the use of obstetrical instruments-such as forceps, spatulas, and(More)
Precise and realistic models of outdoor environments such as cities and roads are useful for various applications. In order to do so, geometry and photography of environments must be captured. We present in this paper a coupled system, based on a fish-eye lens CCD camera and a laser range scanner, aimed at capturing color and geometry in this context. To(More)
We present a new Mobile Mapping System mounted on a vehicle to reconstruct outdoor environment in real time. The scanning system is based on two sensors, a laser range finder and a camera equipped with a wide-angle fisheye lens. We can produce 3D coloured points or 3D textured triangulated models of the nearby environment of the vehicle. We explain our(More)
This paper presents some new automatic procedures for the BirthSIM childbirth simulator. BirthSIM is able to simulate the uterine contractions and the mother's voluntary efforts, this enables the operator to synchronize these two types of efforts during a normal childbirth, or to synchronize these two efforts with the operator's tractive instrumental effort(More)
This paper presents a control scheme for a multi-level multi-cell converter. For this type of converters, load current and capacitor voltages must be jointly controlled. Moreover the real-time constraint is important. This constraint leads us to propose a control based on a simplified state-space model. The model allows predicting the state vector evolution(More)
This paper presents the BirthSIM model, a haptic interface of a childbirth simulator. The aim of this haptic interface is to improve haptic rendering and increase the biofidelity of the movements and forces which occur during the fetal descent. Thus the model of this 2 degrees of freedom pneumatic actuated interface is presented in this article, in order to(More)