Academic literature on the topic 'Scaffolding structure'

Construction is a complex activity that requires the cooperation of multiple workers. Every year, construction activities cause injuries and casualties. To make construction safer, new solutions could be provided by robotics. Robots could be employed not only to replace human workers, but also to make construction in harsh environments safe and cost-effective, paving the way for enhanced underwater infrastructure, deeper underground mining, and planetary colonization. In this thesis, we focus on the topic of collective construction, which involves the cooperation of multiple robots, by presenting a collective robot construction method of our own. Collective construction can be a more viable option than employing individual, complex robots, by potentially allowing the effective realization of large structures, while offering resilience through redundancy, analogous to insect colonies. Our approach offers a novel solution in the design trade-off between choosing the number of robots involved vs. the complexity of the robots involved. On the one hand, capable and complex robots are expensive, limiting the cost effectiveness of realizing large swarms which provide redundancy and increase the system’s resilience to faults. On the other hand, simple and inexpensive robots can be manufactured in large numbers and offer high redundancy, at the cost of limited individual capa bilities and lower performance. We use two types of robots: intelligent scaffolding and worker robots. The intelligent scaffolding acts as regular scaffolding, allowing the worker robots to navigate the structure they assemble, while also guiding and monitoring the construction of the structure. The worker robots move and connect scaffolding and building material while only knowing the local commands necessary to complete their task. This approach is loosely inspired by termite mounds, in which termites use the process of stigmergy in which they mark construction pellets with pheromones to affect the progress of construction, while navigating the struc ture that they build. Thanks to intelligent scaffolding, construction robots have a simple design that allows minimalist onboard computation and communication equipment. In this thesis, we produced a minimum viable prototype demonstrating this concept. Intelligent scaffolding is realized through smart blocks that can be laid and connected to each other. The smart blocks are capable of simple computation and communication once laid. The construction robot uses local navigation methods by line-following across the scaffolding and building blocks of the system. The blocks and construction robot both have a modular design, simplifying the process of manufacturing and repairs while maintaining a low cost. The robot and blocks use magnets to increase the margin of error during block manipulation and allow for the assembly and removal of scaffolding as well as its reuse between build sites. To communicate with the robot, the intelligent scaffolding blocks send local IR signals, similar to TV remote signals, when the robot is on top of them, minimizing the risk of global interference and keeping the system portable. To monitor the connectivity of the system throughout the life cycle of the structure, electrical connections run through each of the blocks, which indicate the status of the structure and can be used to diagnose the location of breaks in the structure for maintenance.

This study was conducted in order to find out what translanguaging practices are used in an English learning multilingual classroom and how those practices can create scaffolding structures for the students’ language development. By attending a second language English class with adult multilingual students and conducting a structured observation it was possible to achieve gathered material sufficient to answer these questions. In class all the translaguaging incidents were written down and afterwards these incidents were structured into different themes to outline scaffolding structures. After analyzing the notes it was clear to see that in this particular class translanguaging was used as a strategy to develop supportive learning structures. The result shows the translanguaging practices correlation between teacher and students as well as in relation to different types of educational classroom applications. Besides those features the results show some indications about the spoken production of translanguaging.

L'avènement des technologies de séquençage ADN à haut-debit a initié une tendance grandissante dans l'assemblage de génomes. La qualité de ces génomes est un prérequis essentiel pour comprendre les interactions au sein de et entre ces chromosomes. Nos méthodes se basent principalement sur les technologies de capture de conformation de chromosomes comme le Hi-C. Lors d'un protocole de Hi-C, les molécules d'ADN sont réticulées avec les protéines environnantes pour former un complexe protéine-ADN statique et volumineux. Ceci permet de capturer la conformation spatiale en piégeant les molécules physiquement proches dans l'espace. Ainsi, le Hi-C est très approprié pour l'analyse de la structure 3D des génomes, ce qui permet d'obtenir un certain nombre d'informations sur le génome. Il a été ainsi montré que sa structure tridimensionnelle peut être reliée directement à sa structure 1D grâce aux propriétés physiques des polymères d'ADN. De plus, une telle proximité en 3D donne également accès à des informations de compartimentation, ce qui a ouvert la voie à une nouvelle approche de binning métagénomique, connue sous le nom de meta3C. Au cours de ce travail, nous étendons ces méthodes à des études de cas présentant une complexité grandissante. Tout d'abord, nous améliorons les outils d'assemblage de génomes et démontrons leur validité avec l'assemblage de Ectocarpus sp., puis nous mettons en évidence des réarrangements chromosomiques au sein d'assemblages joints de Trichoderma reesei et Cataglyphis hispanica. Enfin, nous utilisons la même approche avec le binning métagénomique sur des échantillons de souris in vivo afin de reconstruire des centaines de génomes<br>The advent of high-throughput DNA sequencing technologies has set off an expanding trend in genome assembling and scaffolding. Such genome quality is an essential preliminary to understand interactions between and among chromosomes. We built upon a computational and technological framework that let us tackle genome assembly problems of increasing complexity. Our methods are mainly based on chromosome conformation capture technologies such as Hi-C. In a Hi-C experiment, DNA molecules are cross-linked with the surrounding proteins and form a large, static protein-DNA complex. This captures the spatial conformation by trapping together molecules that are physically close to each other. Therefore, Hi-C is very suitable for 3D genome structure analysis, which lets us infer a wealth of information about the genome. It was indeed shown that the tridimensional structure of the genome can be unambiguously linked to its 1D structure thanks to the physical properties of DNA polymers. Moreover, such 3D proximity also gives access to cell compartment information, thus opening the way for an additional approach for metagenomic binning, known as meta3C. In this work, we expand upon these methods and apply them to use cases with more and more complexity. We first improve on tools for genome assembly and demonstrate their validity with the scaffolding of Ectocarpus sp., then unveil rearrangements in joint scaffoldings of Trichoderma reesei and Cataglyphis hispanica. Lastly, we use the same approach with metagenomic binning on live mouse microbiome samples to reconstruct hundreds of genomes