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170 results on '"[ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering"'

1. Robust switching control design for uncertain discrete-time switched affine systems

Author: Antonio Ventosa-Cutillas, Carolina Albea Sanchez, Francisco Gordillo, Alexandre Seuret, Departamento de Ingenieria de Sistemas y Automatica [Sevilla] (ISA), Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, ANR-18-CE40-0022,HISPALIS,Systèmes multi-agents hybrides auto-ajustés pour microgrids(2018), Équipe Méthodes et Algorithmes en Commande ( LAAS-MAC ), Laboratoire d'analyse et d'architecture des systèmes [Toulouse] ( LAAS ), Institut National Polytechnique [Toulouse] ( INP ) -Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Université Toulouse III - Paul Sabatier ( UPS ), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique ( CNRS ) -Institut National Polytechnique [Toulouse] ( INP ) -Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique ( CNRS ), Departamento de Ingenieria de Sistemas y Automatica [Sevilla] ( ISA ), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and Université de Toulouse (UT)
Subjects: Lyapunov function, 0209 industrial biotechnology, Discretization, Computer science, Lyapunov analysis, General Chemical Engineering, Biomedical Engineering, Aerospace Engineering, 02 engineering and technology, Industrial and Manufacturing Engineering, symbols.namesake, 020901 industrial engineering & automation, Control theory, Simple (abstract algebra), [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Electrical and Electronic Engineering, LMI, Mechanical Engineering, Linear matrix inequality, Converters, Discrete time and continuous time, Control and Systems Engineering, symbols, 020201 artificial intelligence & image processing, Affine transformation, Robust control, Discrete-time switched affine systems, robust control
Abstract: International audience; This paper deals with the design of new periodic switching control laws for high frequency DC-DC converters. The contributions are twofolds. On a first hand, the DC-DC converter model is rewritten as a periodic switched affine system thanks to a $\delta$-operator formulation, which represents an efficient framework for the numerical discretization at high frequencies. On a second hand, three different control laws are provided, the first one being the usual Lyapunov-based control law and the two others being relaxed versions of this first solution. The benefits of these two new control laws over the usual Lyapunov-based one are demonstrated on a simple example.
Published: 2020
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2. Trajectory tracking for a quadrotor under wind perturbations: sliding mode control with state-dependent gains

Author: Jean-Marc Biannic, Laurent Planckaert, Gabriele Perozzi, Denis Efimov, Laboratoire de Mécanique des Fluides de Lille – Kampé de Fériet - UMR 9014 (LMFL), Centrale Lille-ONERA-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Arts et Métiers Sciences et Technologies, HESAM Université (HESAM)-HESAM Université (HESAM), Non-Asymptotic estimation for online systems (NON-A-POST), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), ONERA, Université de Toulouse [Toulouse], ONERA-PRES Université de Toulouse, ONERA ( ONERA (F- 59014 Lille - France) ), ONERA, Non-Asymptotic estimation for online systems ( NON-A ), Institut National de Recherche en Informatique et en Automatique ( Inria ) -Institut National de Recherche en Informatique et en Automatique ( Inria ) -Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189 ( CRIStAL ), Institut National de Recherche en Informatique et en Automatique ( Inria ) -Ecole Centrale de Lille-Institut Mines-Télécom [Paris]-Université de Lille-Centre National de la Recherche Scientifique ( CNRS ) -Ecole Centrale de Lille-Institut Mines-Télécom [Paris]-Université de Lille-Centre National de la Recherche Scientifique ( CNRS ), ONERA, Université de Toulouse ( ONERA, Université de Toulouse (F-31055 Toulouse - France) ), HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM)-HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM), Laboratoire de Mécanique des Fluides de Lille – Kampé de Fériet (LMFL), Ecole Centrale de Lille-ONERA-École Nationale Supérieure d'Arts et Métiers (ENSAM), Arts et Métiers Sciences et Technologies, HESAM Université (HESAM)-HESAM Université (HESAM)-Arts et Métiers Sciences et Technologies, and HESAM Université (HESAM)-HESAM Université (HESAM)-Université de Lille-Centre National de la Recherche Scientifique (CNRS)
Subjects: 0209 industrial biotechnology, Sliding mode control, Computer Networks and Communications, Computer science, 02 engineering and technology, Tracking (particle physics), [SPI.AUTO]Engineering Sciences [physics]/Automatic, law.invention, Computer Science::Robotics, 020901 industrial engineering & automation, law, Control theory, [ SPI.AUTO ] Engineering Sciences [physics]/Automatic, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, Convergence (routing), [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Rotor (electric), Applied Mathematics, [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], Aerodynamic coefficients, Aerodynamics, Nonlinear system, Control and Systems Engineering, Wind rejection, Quadrotor modeling, Signal Processing, Trajectory, [ INFO.INFO-SY ] Computer Science [cs]/Systems and Control [cs.SY], 020201 artificial intelligence & image processing, Reduction (mathematics)
Abstract: International audience; The problem of position tracking of a mini drone subject to wind perturbations is investigated. The solution is based on a detailed unmanned aerial vehicle (UAV) model, with aerodynamic coefficients and external disturbance components, which is introduced in order to better represent the impact of the wind field. Then, upper bounds of wind-induced disturbances are characterized, which allow a sliding mode control (SMC) technique to be applied with guaranteed convergence properties. The peculiarity of the considered case is that the disturbance upper bounds depend on the control amplitude itself (i.e. the system is nonlinear in control), which leads to a new procedure for the control tuning presented in the paper. The last part of the paper is dedicated to the analysis and reduction of chattering effects, as well as investigation of rotor dynamics issues. Conventional SMC with constant gains, proposed first order SMC, and proposed quasi-continuous SMC are compared. Nonlinear UAV simulator, validated through in-door experiments, is used to demonstrate the effectiveness of the proposed controls.
Published: 2018
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3. Day-ahead Scheduling of Multiple Thermal Power Plants with Output Constraints Based on PV Interval Prediction

Author: Masakazu Koike, Nacim Ramdani, Jun-ichi Imura, Takayuki Ishizaki, Tokyo Institute of Technology [Tokyo] (TITECH), Laboratoire pluridisciplinaire de recherche en ingénierie des systèmes, mécanique et énergétique (PRISME), Université d'Orléans (UO)-Institut National des Sciences Appliquées - Centre Val de Loire (INSA CVL), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA), Department of Mechanical and Environmental Informatics,Graduate School of Information Science and Engineering, Tokyo Institute of Technology [Tokyo] ( TITECH ), Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique ( PRISME ), and Université d'Orléans ( UO ) -Ecole Nationale Supérieure d'Ingénieurs de Bourges ( ENSI Bourges )
Subjects: 0209 industrial biotechnology, Mathematical optimization, Engineering, Optimization problem, Job shop scheduling, business.industry, 020209 energy, Photovoltaic system, 02 engineering and technology, 7. Clean energy, Maximum power point tracking, Interval arithmetic, symbols.namesake, Electric power system, 020901 industrial engineering & automation, Electricity generation, Control and Systems Engineering, Control theory, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, Jacobian matrix and determinant, 0202 electrical engineering, electronic engineering, information engineering, symbols, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], business, ComputingMilieux_MISCELLANEOUS
Abstract: This paper studies a day-ahead scheduling problem on power generation of thermal power plants and charge/discharge of battery energy storage systems, where the confidence intervals of the prediction of photovoltaic (PV) and demand power are available. This problem is reduced to an interval optimization problem, where parameters having any values in certain intervals are included. We have developed a method for efficiently solving this kind of problems using tools from the interval analysis. However, the class of the problem that we have studied there is limited in the sense that the output capacity constraints of thermal power plants are not taken into account. This paper proposes a new method for efficiently solving a more practical scheduling problem with the capacity constraints of thermal power plants added. To use our method, we need to analyze a matrix corresponding to a Jacobian of a solution to an optimization with respect to parameters on demand deviation, which is too complex to analyze in general. The key to overcome this difficulty is that we introduce a virtual thermal power plant whose output capacity constraint is not imposed. By using this idea, we can transform the above matrix into an appropriate matrix that is analyzed as easily as possible. The efficiency of the proposed method is shown by numerical simulations on the power system in the Tokyo area.
Published: 2017
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4. Model-Based Design of Correct Controllers for Dynamically Reconfigurable Architectures

Author: Abdoulaye Gamatié, Xin An, Jean-Philippe Diguet, Eric Rutten, University of Science and Technology of China [Hefei] ( USTC ), Control techniques for Autonomic, adaptive and Reconfigurable Computing systems ( CTRL-A ), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique ( Inria ) -Institut National de Recherche en Informatique et en Automatique ( Inria ), Lab-STICC_UBS_CACS_MOCS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance ( Lab-STICC ), École Nationale d'Ingénieurs de Brest ( ENIB ) -Université de Bretagne Sud ( UBS ) -Université de Brest ( UBO ) -Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques ( IBNM ), Université de Brest ( UBO ) -Université européenne de Bretagne ( UEB ) -ENSTA Bretagne-Institut Mines-Télécom [Paris]-Centre National de la Recherche Scientifique ( CNRS ) -École Nationale d'Ingénieurs de Brest ( ENIB ) -Université de Bretagne Sud ( UBS ) -Université de Brest ( UBO ) -Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques ( IBNM ), Université de Brest ( UBO ) -Université européenne de Bretagne ( UEB ) -ENSTA Bretagne-Institut Mines-Télécom [Paris]-Centre National de la Recherche Scientifique ( CNRS ), Conception et Test de Systèmes MICroélectroniques ( SysMIC ), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier ( LIRMM ), Université de Montpellier ( UM ) -Centre National de la Recherche Scientifique ( CNRS ) -Université de Montpellier ( UM ) -Centre National de la Recherche Scientifique ( CNRS ), ANR-09-SEGI-0003,FAMOUS,Flot de modélisation et de conception rapide pour les systèmes dynamiquement reconfigurables. ( 2009 ), University of Science and Technology of China [Hefei] (USTC), Control for Autonomic computing systems (CTRL-A), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Grenoble (LIG ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS), Conception et Test de Systèmes MICroélectroniques (SysMIC), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), ANR-09-SEGI-0003,FAMOUS,Flot de modélisation et de conception rapide pour les systèmes dynamiquement reconfigurables.(2009), Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS), and Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)
Subjects: [INFO.INFO-AR]Computer Science [cs]/Hardware Architecture [cs.AR], Computer science, Distributed computing, [INFO.INFO-SE]Computer Science [cs]/Software Engineering [cs.SE], [ INFO.INFO-SE ] Computer Science [cs]/Software Engineering [cs.SE], 02 engineering and technology, [ INFO.INFO-DC ] Computer Science [cs]/Distributed, Parallel, and Cluster Computing [cs.DC], [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Automata models, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, Model-based design, 0202 electrical engineering, electronic engineering, information engineering, [ INFO.INFO-ES ] Computer Science [cs]/Embedded Systems, Field-programmable gate array, Hardware architecture, business.industry, Verification, Control reconfiguration, Formal methods, Reconfigurable computing, 020202 computer hardware & architecture, Hardware and Architecture, Embedded system, [INFO.INFO-ES]Computer Science [cs]/Embedded Systems, 020201 artificial intelligence & image processing, [ INFO.INFO-AR ] Computer Science [cs]/Hardware Architecture [cs.AR], [INFO.INFO-DC]Computer Science [cs]/Distributed, Parallel, and Cluster Computing [cs.DC], business, Software, Software verification, Verification and validation
Abstract: International audience; Dynamically reconfigurable hardware has been identified as a promising solution for the design of energy efficient embedded systems. However, its adoption is limited by the costly design effort including verification and validation, which is even more complex than for non dynamically reconfigurable systems. In this paper, we propose a tool-supported formal method to automatically design a correct-by-construction control of the reconfiguration. By representing system behaviors with automata, we exploit automated algorithms to synthesize controllers that safely enforce reconfiguration strategies formulated as properties to be satisfied by control. We design generic modeling patterns for a class of reconfigurable architectures, taking into account both hardware architecture and applications, as well as relevant control objectives. We validate our approach on two case studies implemented on FPGAs.
Published: 2016
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5. Structural and Strongly Structural Input and State Observability of Linear Network Systems

Author: Alain Y. Kibangou, Federica Garin, Sebin Gracy, Networked Controlled Systems (NECS), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), Networked Controlled Systems ( NECS ), Institut National de Recherche en Informatique et en Automatique ( Inria ) -Institut National de Recherche en Informatique et en Automatique ( Inria ) -Département Automatique ( GIPSA-DA ), Grenoble Images Parole Signal Automatique ( GIPSA-lab ), Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Grenoble Images Parole Signal Automatique ( GIPSA-lab ), and Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA )
Subjects: 0209 industrial biotechnology, Control and Optimization, Computer Networks and Communications, 0211 other engineering and technologies, Topology (electrical circuits), 02 engineering and technology, Topology, Strongly Structural Observability, Linear Network systems, 020901 industrial engineering & automation, Cyber-Physical Security, Dimension (vector space), [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, Observability, Structural Observability, Mathematics, 021110 strategic, defence & security studies, Artificial neural network, Input and State Observability (ISO), Linear system, Zero (complex analysis), State (functional analysis), Control and Systems Engineering, Control system, Signal Processing
Abstract: This paper studies linear network systems affected by multiple unknown inputs with the objective of reconstructing both the initial state and the unknown input with one time-step delay. We state conditions under which both the whole network state and the unknown input can be reconstructed from output measurements, over every window of length $N$ , with $N$ being the dimension of the system, for all system matrices that share a common zero/nonzero pattern (uniform $N$ -step strongly structural input and state observability) or at least for almost all system matrices that share a common zero/nonzero pattern (uniform $N$ -step structural input and state observability). Based on some specific assumptions on the structure of the interactions between the unknown input and the network states, we show that such a characterization depends only on strongly structural (respectively, structural) observability properties of a suitable subsystem.
Published: 2018
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6. Analyse des Risques et de la Sécurité du Transport Ferroviaire Autonome pour les Grandes Lignes : Contexte, Défis et Solutions

Author: Rangra , Subeer, Sallak , Mohamed, Schön , Walter, Belmonte , Fabien, IRT SystemX (IRT SystemX), Heuristique et Diagnostic des Systèmes Complexes [Compiègne] (Heudiasyc), Université de Technologie de Compiègne (UTC)-Centre National de la Recherche Scientifique (CNRS), Alstom Transport (Alstom Transport), IRT SystemX ( IRT SystemX ), Heuristique et Diagnostic des Systèmes Complexes [Compiègne] ( Heudiasyc ), Centre National de la Recherche Scientifique ( CNRS ), Université de Technologie de Compiègne [Compiègne] ( UTC ), and Alstom Transport ( Alstom Transport )
Subjects: [SPI]Engineering Sciences [physics], [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI]
Abstract: International audience; Last few years have seen significant advances in the industrial application of autonomous road transport and has launched various actors in a technological race. Urban rail transport has a significant advantage in running fully automated commercial transport. Main line rail transport aims to also benefit from the advantages of automation. This work is done in the context of project TAS at IRT SystemX, with partners SNCF, Alstom Systra, and Université de Technologie de Compiègne. As part of the ongoing work this paper aims to present the context of automation for main line rail transport. The safety challenges in terms of the normative requirements, mainly for software-based solutions are discussed to identify developmental challenges. As a complement, risk analysis of some example functions for a full automation (GoA 3/4) is performed. The objective of this analysis is to identify the challenges associated with determining their safety targets, for subsequent development and demonstration to conformity.; Ces dernières années, le transport autonome a connu des avancées technologiques significatives. Le transport ferroviaire urbain présente un avantage significatif dans l'exploitation d'un transport commercial entièrement automatisé. Le transport ferroviaire de grandes lignes vise également à bénéficier des avantages de l'automatisation. Ce travail est réalisé dans le cadre du projet TAS à l'IRT SystemX, avec les partenaires SNCF, Alstom Systra et l'Université de Technologie de Compiègne. Ce papier présente le contexte de l'automatisation du transport ferroviaire pour les grandes lignes. Les défis de la démonstration de la sécurité principalement pour les logiciels applicatifs sont discutés. En complément, une analyse de risque de certaines fonctions d’une automatisation complète (GoA 3/4) est effectuée. L’objectif de cette analyse est d’identifier les défis de la détermination des objectifs de sécurité d’un tel système autonome les développements ultérieurs et l es démonstrations de la conformité.
Published: 2018

7. Youla-Kucera control structures for switching

Author: Imane Mahtout, Vicente Milanés, Fawzi Nashashibi, Francisco Navas, Robotics & Intelligent Transportation Systems (RITS), Inria de Paris, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Technocentre Renault [Guyancourt], RENAULT, Robotics & Intelligent Transportation Systems ( RITS ), Institut National de Recherche en Informatique et en Automatique ( Inria ) -Institut National de Recherche en Informatique et en Automatique ( Inria ), and Navas, Francisco
Subjects: 0209 industrial biotechnology, Computer science, Stability (learning theory), Structure (category theory), 0102 computer and information sciences, 02 engineering and technology, 01 natural sciences, Transfer function, Connection (mathematics), 020901 industrial engineering & automation, 010201 computation theory & mathematics, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, Transient (oscillation), Control (linguistics), [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, Controller reconfiguration
Abstract: International audience; This paper explores the different controller structures in connection with Youla-Kucera (YK) parameterization to provide stable controller reconfiguration. Mathematical stability proof is given for each of the structures. Even if stability is guaranteed, transient effects of switching between controllers can become important for the system performance. Thus, transient behavior depending on the control structure is also analysed. A comparative study is carried out among all the structures, so guidelines are given on how to choose the appropriate YK control structure.
Published: 2018

8. Local Input-to-State Stabilization of 1-D Linear Reaction-Diffusion Equation with Bounded Feedback

Author: Tanwani, Aneel, Marx, Swann, Prieur, Christophe, Équipe Méthodes et Algorithmes en Commande ( LAAS-MAC ), Laboratoire d'analyse et d'architecture des systèmes [Toulouse] ( LAAS ), Institut National Polytechnique [Toulouse] ( INP ) -Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Université Paul Sabatier - Toulouse 3 ( UPS ) -Centre National de la Recherche Scientifique ( CNRS ) -Institut National Polytechnique [Toulouse] ( INP ) -Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Université Paul Sabatier - Toulouse 3 ( UPS ) -Centre National de la Recherche Scientifique ( CNRS ), SYSCO ( GIPSA-SYSCO ), Département Automatique ( GIPSA-DA ), Grenoble Images Parole Signal Automatique ( GIPSA-lab ), Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Grenoble Images Parole Signal Automatique ( GIPSA-lab ), Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ), Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), ANR-17-CE40-0019,ConVan,Contrôle des Systèmes Interconnectés sous Contraintes en Utilisant l'Analyse Variationelle(2017), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and Université de Toulouse (UT)
Subjects: Boundary controlled PDEs, input-to-state stability, 93D09, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Lyapunov methods AMS Classification Codes— 93C20, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, bounded feedback, 93D05
Abstract: International audience; The problem of robust stabilization with bounded feedback control is considered for a scalar reaction-diffusion system with uncertainties in the dynamics. The maximum value of the control input acting on one of the boundary points has to respect a given bound at each time instant. It is shown that, if the initial condition and the disturbance satisfy the certain bounds (computed as a function of the bound imposed on the control input), then the proposed control respects the desired saturation level and renders the closed-loop system locally input-to-state stable, that is, the trajectories with certain bound on the initial condition converge to a ball parameterized by certain norm of the disturbance.
Published: 2018

9. Stability results for infinite-dimensional linear control systems subject to saturations

Author: Swann Marx, Yacine Chitour, Christophe Prieur, Équipe Méthodes et Algorithmes en Commande ( LAAS-MAC ), Laboratoire d'analyse et d'architecture des systèmes [Toulouse] ( LAAS ), Centre National de la Recherche Scientifique ( CNRS ) -Université Toulouse III - Paul Sabatier ( UPS ), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Institut National Polytechnique [Toulouse] ( INP ) -Centre National de la Recherche Scientifique ( CNRS ) -Université Toulouse III - Paul Sabatier ( UPS ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Institut National Polytechnique [Toulouse] ( INP ), Laboratoire des signaux et systèmes ( L2S ), Université Paris-Sud - Paris 11 ( UP11 ) -CentraleSupélec-Centre National de la Recherche Scientifique ( CNRS ), SYSCO ( GIPSA-SYSCO ), Département Automatique ( GIPSA-DA ), Grenoble Images Parole Signal Automatique ( GIPSA-lab ), Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Grenoble Images Parole Signal Automatique ( GIPSA-lab ), Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ), Institut National Polytechnique [Toulouse] ( INP ) -Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Université Toulouse III - Paul Sabatier ( UPS ), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique ( CNRS ) -Institut National Polytechnique [Toulouse] ( INP ) -Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique ( CNRS ), iCODE Institute, research project of the IDEX Paris-Saclay, ANR-11-IDEX-0003-02/11-LABX-0056,LMH,LabEx Mathématique Hadamard ( 2011 ), European Project : 666981,H2020,ERC-2014-ADG,TAMING ( 2015 ), Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Laboratoire des signaux et systèmes (L2S), Université Paris-Sud - Paris 11 (UP11)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS), GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and Université de Toulouse (UT)
Subjects: 0209 industrial biotechnology, Mathematical analysis, Linear system, Linear control systems, Control space, Banach space, Hilbert space, 010103 numerical & computational mathematics, 02 engineering and technology, Stability result, 16. Peace & justice, 01 natural sciences, symbols.namesake, 020901 industrial engineering & automation, [ MATH.MATH-AP ] Mathematics [math]/Analysis of PDEs [math.AP], Exponential stability, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ SPI.AUTO ] Engineering Sciences [physics]/Automatic, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, symbols, [MATH.MATH-AP]Mathematics [math]/Analysis of PDEs [math.AP], 0101 mathematics, Saturation (chemistry), Mathematics
Abstract: International audience; This article deals with the stability analysis and the derivation of ISS-Lyapunov functions for infinitedimensional linear systems subject to saturations. Two cases are considered: 1) the saturation acts in the same space as the control space; 2) the saturation acts in another space, especially a Banach space. For the first case, an explicit ISS-Lyapunov function can be derived. For the second case, we prove the global asymptotic stability of the origin when considering all weak solutions.
Published: 2018
Full Text: View/download PDF

10. Distributed Best Response Algorithms for Potential Games

Author: Bruno Gaujal, Stéphane Durand, Federica Garin, Networked Controlled Systems (NECS), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), Performance analysis and optimization of LARge Infrastructures and Systems (POLARIS ), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Grenoble (LIG ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), ANR-11-LABX-0025,PERSYVAL-lab,Systemes et Algorithmes Pervasifs au confluent des mondes physique et numérique(2011), Networked Controlled Systems ( NECS ), Institut National de Recherche en Informatique et en Automatique ( Inria ) -Institut National de Recherche en Informatique et en Automatique ( Inria ) -Département Automatique ( GIPSA-DA ), Grenoble Images Parole Signal Automatique ( GIPSA-lab ), Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Grenoble Images Parole Signal Automatique ( GIPSA-lab ), Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ), Performance analysis and optimization of LARge Infrastructures and Systems ( POLARIS ), Institut National de Recherche en Informatique et en Automatique ( Inria ) -Institut National de Recherche en Informatique et en Automatique ( Inria ) -Laboratoire d'Informatique de Grenoble ( LIG ), Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut National Polytechnique de Grenoble ( INPG ) -Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut National Polytechnique de Grenoble ( INPG ) -Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ), and ANR-11-LABX-0025-01,PERSYVAL-lab,Systèmes et Algorithmes Pervasifs au confluent des mondes physique et numérique ( 2011 )
Subjects: Sequence, Computer Science::Computer Science and Game Theory, [INFO.INFO-GT]Computer Science [cs]/Computer Science and Game Theory [cs.GT], Computer science, 05 social sciences, Structure (category theory), ComputingMilieux_PERSONALCOMPUTING, 020206 networking & telecommunications, 02 engineering and technology, Poisson distribution, Execution time, [ INFO.INFO-GT ] Computer Science [cs]/Computer Science and Game Theory [cs.GT], Constant factor, symbols.namesake, Distributed algorithm, Nash equilibrium, Best response, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0502 economics and business, 0202 electrical engineering, electronic engineering, information engineering, symbols, 050207 economics, Algorithm
Abstract: International audience; In this paper we design and analyze distributed algorithms to compute a Nash equilibrium in potential games. Our algorithms are based on best-response dynamics, with suitable revision sequences (orders of play). We compute the average complexity over all potential games of best response dynamics under a random i.i.d. revision sequence, since it can be implemented in a distributed way using Poisson clocks. We obtain a distributed algorithm whose execution time is within a constant factor of the optimal centralized one. We then show how to take advantage of the structure of the interactions between players in a network game: non-interacting players can play simultaneously. This improves best response algorithm, both in the centralized and in the distributed case.
Published: 2018

11. On Improving Motor Imagery BCI Using A Novel Physical Feedback Technique

Author: Haroun, Mahmoud, Salaheldeen, M, Département de pharmacochimie moléculaire ( DPM ), Université Joseph Fourier - Grenoble 1 ( UJF ) -Centre National de la Recherche Scientifique ( CNRS ), Département de pharmacochimie moléculaire (DPM ), Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), and Haroun, Mahmoud
Subjects: [INFO.INFO-AR]Computer Science [cs]/Hardware Architecture [cs.AR], [INFO.INFO-AR] Computer Science [cs]/Hardware Architecture [cs.AR], [SPI.ELEC] Engineering Sciences [physics]/Electromagnetism, [SCCO.NEUR]Cognitive science/Neuroscience, [SCCO.NEUR] Cognitive science/Neuroscience, [INFO.INFO-CE]Computer Science [cs]/Computational Engineering, Finance, and Science [cs.CE], [INFO.INFO-CE] Computer Science [cs]/Computational Engineering, Finance, and Science [cs.CE], [SPI.ELEC]Engineering Sciences [physics]/Electromagnetism, [INFO.EIAH] Computer Science [cs]/Technology for Human Learning, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ SCCO.NEUR ] Cognitive science/Neuroscience, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [ SPI.ELEC ] Engineering Sciences [physics]/Electromagnetism, [ INFO.EIAH ] Computer Science [cs]/Technology for Human Learning, [INFO.EIAH]Computer Science [cs]/Technology for Human Learning, [ INFO.INFO-AR ] Computer Science [cs]/Hardware Architecture [cs.AR], [ INFO.INFO-CE ] Computer Science [cs]/Computational Engineering, Finance, and Science [cs.CE], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering
Abstract: In this study, and through an understanding of neuronal system communication, A light was shed upon a novel model serves as an assistive technology for locked-in people suffering from Motor neuronal disease. MND patients, who have an intact minds, are able-till now-to make a mean of on-screen communication. Work was done upon the potential of brain wave activity patterns to be detected as electrical signals, classified and translated into commands following BCI constructing paradigm. However, The interface constructed was for the first time a device which can reconstruct this command physically. The intervention is in a software is used to classify imagined right and left limb movement into binary results, and then make use of the magnetic field produced by the amplified pulses to reconstruct the activity into ferrofluid droplets movement-these moved due rotation of a desk according to the data received. Objectives of the project is to address the challenges of the inaccurate performance and cost of user-training which are yet the main issues preventing BCI from being upgraded into more immersive and effective technology. The design requirements addressed were the communication speed of the droplet movement and the accuracy of hitting fixed targets. Tests were performed based on software programs accelerated changing motor imagery movement of left and right limbs. The tests achieved an average speed of 0.469 cm/s and average accuracy of 81.6% for the best volume from many were tried. A conclusion to be drawn was that the promise of this other point of view on BCI systems to be more Brain-Real World Systems.
Published: 2018

12. Automates cellulaires, fonctions booléennes et dessins combinatoires

Author: Mariot , Luca, Modèles Discrets pour les Systèmes Complexes (Laboratoire I3S - MDSC), Laboratoire d'Informatique, Signaux, et Systèmes de Sophia Antipolis (I3S), Université Nice Sophia Antipolis (... - 2019) (UNS), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Université Côte d'Azur (UCA)-Université Nice Sophia Antipolis (... - 2019) (UNS), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Université Côte d'Azur (UCA), Université Côte d'Azur, Università degli studi di Milano - Bicocca, Enrico Formenti, Alberto Leporati, Modèles Discrets pour les Systèmes Complexes ( MDSC ), Laboratoire d'Informatique, Signaux, et Systèmes de Sophia Antipolis ( I3S ), Université Nice Sophia Antipolis ( UNS ), Université Côte d'Azur ( UCA ) -Université Côte d'Azur ( UCA ) -Centre National de la Recherche Scientifique ( CNRS ) -Université Nice Sophia Antipolis ( UNS ), and Université Côte d'Azur ( UCA ) -Université Côte d'Azur ( UCA ) -Centre National de la Recherche Scientifique ( CNRS )
Subjects: Cellular automata, Latin squares, Fonctions booléennes, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, Automates cellulaires, Boolean functions, Carrés latins, S-boxes
Abstract: The goal of this thesis is the investigation of Cellular Automata (CA) from the perspective of Boolean functions and combinatorial designs. Beside its theoretical interest, this research finds its motivation in cryptography, since Boolean functions and combinatorial designs are used to construct Pseudorandom Number Generators (PRNG) and Secret Sharing Schemes (SSS). The results presented in the thesis are developed along three research lines, organized as follows. The first line considers the use of heuristic optimization algorithms to search for Boolean functions with good cryptographic properties, to be used as local rules in CA-based PRNG. The main motivation is to improve Wolfram's generator based on rule 30, which has been shown to be vulnerable against two cryptanalytic attacks. The second line deals with vectorial Boolean functions induced by CA global rules. The first contribution considers the period of preimages of spatially periodic configurations in surjective CA, and analyze the cryptographic properties of CA global rules. The third line focuses on the combinatorial designs generated by CA, specifically considering Orthogonal Latin Squares (OLS), which are equivalent to SSS. In particular, an algebraic characterization of OLS generated by linear CA is given, and heuristic algorithms are used to build OLS based on nonlinear CA.; Le but de cette thèse est l'étude des Automates Cellulaires (AC) dans la perspective des fonctions booléennes et des dessins combinatoires. Au-delà de son intérêt théorique, cette recherche est motivée par ses applications à la cryptographie, puisque les fonctions booléennes et les dessins combinatoires sont utilisés pour construire des générateurs de nombres pseudo aléatoires (Pseudorandom Number Generators, PRNG) et des schémas de partage de secret (Secret Sharing Schemes, SSS). Les résultats présentés dans la thèse ont été développés sur trois lignes de recherche, organisées comme suit. La première ligne porte sur l'utilisation des algorithmes d'optimisation heuristique pour chercher des fonctions booléennes ayant des bonnes propriétés cryptographiques, à utiliser comme des règles locales dans des PRNG basés sur les AC. La motivation principale est l'amélioration du générateur de Wolfram basé sur la règle 30, qui a été montré être vulnérable vis à vis de deux attaques cryptanalytiques. La deuxième ligne s'occupe des fonctions booléennes vectorielles engendrées par les règles globales des AC. La première contribution considère la période des pré-images des configurations spatialement périodiques dans les AC surjectifs, et l'analyse des propriétés cryptographiques des règles globales des AC. La troisième ligne se concentre sur les dessins combinatoires engendrés par les AC, en considérant les Carrés Latins Orthogonaux (Orthogonal Latin Squares, OLS), qui sont équivalents aux SSS. En particulier, on donne une caractérisation algébrique des OLS engendrés par les AC linéaires, et on utilise des algorithmes heuristiques pour construire des OLS basés sur des AC non linéaires.
Published: 2018

13. CW-Quad Toolbox (User's guide)

Author: Perozzi, Gabriele, ONERA - The French Aerospace Lab [Lille], ONERA, Non-Asymptotic estimation for online systems (NON-A-POST), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), ONERA - The French Aerospace Lab ( Lille ), Non-Asymptotic estimation for online systems ( NON-A ), Institut National de Recherche en Informatique et en Automatique ( Inria ) -Institut National de Recherche en Informatique et en Automatique ( Inria ) -Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189 ( CRIStAL ), and Institut National de Recherche en Informatique et en Automatique ( Inria ) -Ecole Centrale de Lille-Institut Mines-Télécom [Paris]-Université de Lille-Centre National de la Recherche Scientifique ( CNRS ) -Ecole Centrale de Lille-Institut Mines-Télécom [Paris]-Université de Lille-Centre National de la Recherche Scientifique ( CNRS )
Subjects: [ SPI.AUTO ] Engineering Sciences [physics]/Automatic, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], [ INFO.INFO-SY ] Computer Science [cs]/Systems and Control [cs.SY], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [SPI.AUTO]Engineering Sciences [physics]/Automatic
Published: 2018

14. Un cadre général de contrôle robotique pour l’élastographie ultrasonore quantitative

Author: Patlan-Rosales, Pedro Alfonso, Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria), Visual servoing in robotics, computer vision, and augmented reality (Lagadic), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE (IRISA-D5), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Université de Rennes, Alexandre Krupa, Visual servoing in robotics, computer vision, and augmented reality ( Lagadic ), Inria Sophia Antipolis - Méditerranée ( CRISAM ), Institut National de Recherche en Informatique et en Automatique ( Inria ) -Institut National de Recherche en Informatique et en Automatique ( Inria ) -Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique ( Inria ) -SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE ( IRISA_D5 ), Institut de Recherche en Informatique et Systèmes Aléatoires ( IRISA ), Université de Rennes 1 ( UR1 ), Université de Rennes ( UNIV-RENNES ) -Université de Rennes ( UNIV-RENNES ) -Institut National des Sciences Appliquées - Rennes ( INSA Rennes ) -Université de Bretagne Sud ( UBS ) -École normale supérieure - Rennes ( ENS Rennes ) -Institut National de Recherche en Informatique et en Automatique ( Inria ) -CentraleSupélec-Centre National de la Recherche Scientifique ( CNRS ) -IMT Atlantique Bretagne-Pays de la Loire ( IMT Atlantique ) -Université de Rennes 1 ( UR1 ), Université de Rennes ( UNIV-RENNES ) -Université de Rennes ( UNIV-RENNES ) -Institut National des Sciences Appliquées - Rennes ( INSA Rennes ) -Université de Bretagne Sud ( UBS ) -École normale supérieure - Rennes ( ENS Rennes ) -Institut National de Recherche en Informatique et en Automatique ( Inria ) -CentraleSupélec-Centre National de la Recherche Scientifique ( CNRS ) -IMT Atlantique Bretagne-Pays de la Loire ( IMT Atlantique ) -Institut de Recherche en Informatique et Systèmes Aléatoires ( IRISA ), Université de Rennes ( UNIV-RENNES ) -Université de Rennes ( UNIV-RENNES ) -Institut National des Sciences Appliquées - Rennes ( INSA Rennes ) -Université de Bretagne Sud ( UBS ) -École normale supérieure - Rennes ( ENS Rennes ) -CentraleSupélec-Centre National de la Recherche Scientifique ( CNRS ) -IMT Atlantique Bretagne-Pays de la Loire ( IMT Atlantique ), Université Rennes 1, SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE (IRISA-D5), Université de Bretagne Sud (UBS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National de Recherche en Informatique et en Automatique (Inria)-École normale supérieure - Rennes (ENS Rennes)-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-CentraleSupélec-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Bretagne Sud (UBS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Inria Sophia Antipolis - Méditerranée (CRISAM), and Institut National de Recherche en Informatique et en Automatique (Inria)-Inria Rennes – Bretagne Atlantique
Subjects: Ultrasound elastography, [ INFO.INFO-TS ] Computer Science [cs]/Signal and Image Processing, [ INFO.INFO-IM ] Computer Science [cs]/Medical Imaging, [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], Robotique médicale, Visual servoing, [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing, Asservissement visuel, Medical robotics, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-IM]Computer Science [cs]/Medical Imaging, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Élastographie ultrasonore
Abstract: This thesis concerns the development of a robotic control framework for quantitative ultrasound elastography. Ultrasound elastography is a technology that unveils elastic parameters of a tissue, which are commonly related with certain pathologies. This thesis proposes three novel robotic approaches to assist examiners with elastography. The first approach deals with the control of a robot actuating an ultrasound probe to perform palpation motion required for ultrasound elastography. The elasticity of the tissue is used to design a servo control law to keep a stiff tissue of interest in the field of view of the ultrasound probe. Additionally, the orientation of the probe is controlled by a human user to explore other tissue while elastography is performed. The second approach exploits deformable image registration of ultrasound images to estimate the tissue elasticity and to help in the automatic compensation by ultrasound visual servoing of a motion introduced into the tissue. The third approach offers a methodology to feel the elasticity of the tissue by moving a virtual probe in the ultrasound image with a haptic device while the robot is performing palpation motion. Experimental results of the three robotic approaches over phantoms with tissue-like offer an excellent perspective for robotic-assistance for ultrasound elastography.; Cette thèse concerne le développement d'un cadre de contrôle robotique pour l'élastographie ultrasonore quantitative. L'élastographie ultrasonore est une technique qui dévoile les paramètres élastiques du tissu qui sont généralement liés à une pathologie. Cette thèse propose trois nouvelles approches robotiques différentes pour pour assister la procédure d'élastographie. La première approche concerne le contrôle d'un robot actionnant une sonde à ultrasons pour effectuer un mouvement de palpation nécessaire pour l'élastographie par ultrasons. L'élasticité du tissu est utilisée pour concevoir une loi d'asservissement afin de maintenir un tissu d'intérêt rigide dans le champ de vision de la sonde ultrasonore. De plus, l'orientation de la sonde est contrôlée par un utilisateur humain pour explorer différentes vues du tissu pendant que l'élastographie est effectuée. La seconde approche exploite le recalage d'images déformables avec des images ultrasonores pour estimer l'élasticité tissulaire et aider à la compensation automatique par asservissement visuel ultrasonore d'un mouvement introduit dans le tissu. La troisième approche offre une méthodologie pour ressentir l'élasticité du tissu en déplaçant une sonde virtuelle dans l'image ultrasonore avec un dispositif haptique pendant que le robot effectue un mouvement de palpation. Les résultats expérimentaux des trois approches robotiques obtenus sur des fantômes constitués de tissus démontrent l'efficacité des méthodes proposées et ouvre des perspectives intéressantes pour l'élastographie ultrasonore assistée par robot.
Published: 2018

15. Technologies respectueuses de la vie privée pour le covoiturage

Author: Aïvodji, Ulrich Matchi, Équipe Recherche Opérationnelle, Optimisation Combinatoire et Contraintes ( LAAS-ROC ), Laboratoire d'analyse et d'architecture des systèmes [Toulouse] ( LAAS ), Centre National de la Recherche Scientifique ( CNRS ) -Université Toulouse III - Paul Sabatier ( UPS ), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Institut National Polytechnique [Toulouse] ( INP ) -Centre National de la Recherche Scientifique ( CNRS ) -Université Toulouse III - Paul Sabatier ( UPS ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Institut National Polytechnique [Toulouse] ( INP ), Équipe Tolérance aux fautes et Sûreté de Fonctionnement informatique ( LAAS-TSF ), Université Toulouse 3 Paul Sabatier (UT3 Paul Sabatier), M.J.HUGUET, Institut National Polytechnique [Toulouse] ( INP ) -Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Université Paul Sabatier - Toulouse 3 ( UPS ) -Centre National de la Recherche Scientifique ( CNRS ) -Institut National Polytechnique [Toulouse] ( INP ) -Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Université Paul Sabatier - Toulouse 3 ( UPS ) -Centre National de la Recherche Scientifique ( CNRS ), Équipe Tolérance aux fautes et Sûreté de Fonctionnement informatique (LAAS-TSF), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Équipe Recherche Opérationnelle, Optimisation Combinatoire et Contraintes (LAAS-ROC), Université Paul Sabatier - Toulouse III, Marie-José Huguet, and Marc-Olivier Killijian
Subjects: [INFO.INFO-CR]Computer Science [cs]/Cryptography and Security [cs.CR], Ridesharing, [ INFO ] Computer Science [cs], Privacy, Covoiturage, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, Privacy enhancing technologies, Technologies renforçant la vie privée, Vie privée
Abstract: National audience; The emergence of mobile phones and connected objects has profoundly changed our daily lives. These devices, thanks to the multitude of sensors they embark, allow access to a broad spectrum of services. In particular, position sensors have contributed to the development of location-based services such as navigation, ridesharing, real-time congestion tracking. . . Despite the comfort offered by these services, the collection and processing of location data seriously infringe the privacy of users. In fact, these data can inform service providers about points of interests (home, workplace, sexual orientation), habits and social network of the users. In general, the protection of users’ privacy can be ensured by legal or technical provisions. While legal measures may discourage service providers and malicious individuals from infringing users’ privacy rights, the effects of such measures are only observable when the offense is already committed and detected. On the other hand, the use of privacy-enhancing technologies (PET) from the design phase of systems can reduce the success rate of attacks on the privacy of users. The main objective of this thesis is to demonstrate the viability of the usage of PET as a means of location data protection in ridesharing services. This type of location-based ser- vice, by allowing drivers to share empty seats in vehicles, helps in reducing congestion, CO2 emissions and dependence on fossil fuels. In this thesis, we study the problems of synchro- nization of itineraries and matching in the ridesharing context, with an explicit consideration of location data (origin, destination) protection constraints. The solutions proposed in this thesis combine multimodal routing algorithms with sev- eral privacy-enhancing technologies such as homomorphic encryption, private set intersection, secret sharing, secure comparison of integers. They guarantee privacy properties including anonymity, unlinkability, and data minimization. In addition, they are compared to conven- tional solutions, which do not protect privacy. Our experiments indicate that location data protection constraints can be taken into account in ridesharing services without degrading their performance.; L’émergence des téléphones mobiles et objets connectés a profondément changé notre vie quotidienne. Ces dispositifs, grâce à la multitude de capteurs qu’ils em- barquent, permettent l’accès à un large spectre de services. En particulier, les capteurs de position ont contribué au développent des services de localisation tels que la navigation, le covoiturage, le suivi de la congestion en temps réel. . . En dépit du confort offert par ces services, la collecte et le traitement des données de localisation portent de sérieuses atteintes à la vie privée des utilisateurs. En effet, ces données peuvent renseigner les fournisseurs de services sur les points d’intérêt (domicile, lieu de travail, orientation sexuelle), les habitudes ainsi que le réseau social des utilisateurs. D’une façon générale, la protection de la vie privée des utilisateurs peut être assurée par des dispositions légales ou techniques. Même si les mesures d’ordre légal peuvent dissuader les fournisseurs de services et les individus malveillants à enfreindre le droit à la vie privée des utilisateurs, les effets de telles mesures ne sont observables que lorsque l’infraction est déjà commise et détectée. En revanche, l’utilisation des technologies renforçant la protection de la vie privée (PET pour Privacy Enhancing Technologies) dès la phase de conception des systèmes permet de réduire le taux de réussite des attaques contre la vie privée des utilisateurs. L’objectif principal de cette thèse est de montrer la viabilité de l’utilisation des PET comme moyens de protection des données de localisation dans les services de covoiturage. Ce type de service de localisation, en aidant les conducteurs à partager les sièges vides dans les véhicules, contribue à réduire les problèmes de congestion, d’émissions et de dépendance aux combustibles fossiles. Dans cette thèse, nous étudions les problèmes de synchronisation d’itinéraires et d’appariement relatifs au covoiturage avec une prise en compte explicite des contraintes de protection des données de localisation (origine, destination). Les solutions proposées dans cette thèse combinent des algorithmes de calcul d’itinéraires multimodaux avec plusieurs techniques de protection de la vie privée telles que le chiffrement homomorphe, l’intersection sécurisée d’ensembles, le secret partagé, la comparaison sécurisée dentier. Elles garantissent des propriétés de protection de vie privée comprenant l’anonymat, la non-chainabilité et la minimisation des données. De plus, elles sont comparées à des so- lutions classiques, ne protégeant pas la vie privée. Nos expérimentations indiquent que les contraintes de protection des données privées peuvent être prise en compte dans les services de covoiturage sans dégrader leurs performances.
Published: 2018

16. Informatics in Control, Automation and Robotics: 13th International Conference, ICINCO 2016 Lisbon, Portugal, 29-31 July, 2016

Author: Madani, Kurosh, Peaucelle, Dimitri, Gusikhin, O., Équipe Méthodes et Algorithmes en Commande ( LAAS-MAC ), Laboratoire d'analyse et d'architecture des systèmes [Toulouse] ( LAAS ), Institut National Polytechnique [Toulouse] ( INP ) -Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Université Paul Sabatier - Toulouse 3 ( UPS ) -Centre National de la Recherche Scientifique ( CNRS ) -Institut National Polytechnique [Toulouse] ( INP ) -Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Université Paul Sabatier - Toulouse 3 ( UPS ) -Centre National de la Recherche Scientifique ( CNRS ), SYNAPSE, Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ), Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), FORD, Dearborn, Michigan, USA, parent, Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), and Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse 1 Capitole (UT1)
Subjects: [ INFO ] Computer Science [cs], [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO]Computer Science [cs]
Abstract: International audience; The book addresses the latest advances in research and development in the field of informatics in control, robotics and automation. With more than twenty revised and extended articles covering the theoretical aspects as well as applications and their implementation, it offers a factual and well-balanced overview of the state of the art in the field. In addition, it highlights the trends in control of intelligent robots.The book is an up-to-date source of information and inspiration for researchers, engineers and PhD students.
Published: 2018
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17. Sampled-Data Chain-Observer Design For a Class of Delayed Nonlinear Systems

Author: Françoise Lamnabhi-Lagarrigue, Fouad Giri, Tarek Ahmed-Ali, Mohamed Kahelras, Laboratoire des signaux et systèmes (L2S), Université Paris-Sud - Paris 11 (UP11)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS), École Nationale Supérieure d'Ingénieurs de Caen (ENSICAEN), Normandie Université (NU), Laboratoire des signaux et systèmes ( L2S ), and Université Paris-Sud - Paris 11 ( UP11 ) -CentraleSupélec-Centre National de la Recherche Scientifique ( CNRS )
Subjects: 0209 industrial biotechnology, Series (mathematics), Observer (quantum physics), 020208 electrical & electronic engineering, Sampling (statistics), 02 engineering and technology, State (functional analysis), Computer Science Applications, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Nonlinear system, Matrix (mathematics), 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, Ordinary differential equation, [ SPI.AUTO ] Engineering Sciences [physics]/Automatic, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, State observer, ComputingMilieux_MISCELLANEOUS, Mathematics
Abstract: International audience; The problem of observer design is addressed for a class of triangular nonlinear systems with not-necessarily small delay and sampled output measurements. One more difficulty is that the system state matrix is dependent on the un-delayed output signal which is not accessible to measurement, making existing observers inapplicable. A new chain observer, composed of m elementary observers in series, is designed to compensate for output sampling and arbitrary large delays. The larger the time-delay the larger the number m. Each elementary observer includes an output predictor that is conceived to compensate for the effects of output sampling and a fractional delay. The predictors are defined by first-order ordinary differential equations (ODEs) much simpler than those of existing predictors which involve both output and state predictors. Using a small gain type analysis, sufficient conditions for the observer to be exponentially convergent are established in terms of the minimal number m of elementary observers and the maximum sampling interval.
Published: 2018
Full Text: View/download PDF

18. Hybrid Regional Stabilization of Linear Systems with Actuator Saturation and Multi-Rate Samplers

Author: Francesco Ferrante, Sophie Tarbouriech, Ricardo G. Sanfelice, GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), Computer Engineering Department (UCSC Department of Computer Engineering), University of California [Santa Cruz] (UC Santa Cruz), University of California (UC)-University of California (UC), Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), SYSCO ( GIPSA-SYSCO ), Département Automatique ( GIPSA-DA ), Grenoble Images Parole Signal Automatique ( GIPSA-lab ), Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Grenoble Images Parole Signal Automatique ( GIPSA-lab ), Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ), Université Grenoble Alpes ( UGA ), Computer Engineering Department ( UCSC Department of Computer Engineering ), University of California [Santa Cruz] ( UCSC ), Équipe Méthodes et Algorithmes en Commande ( LAAS-MAC ), Laboratoire d'analyse et d'architecture des systèmes [Toulouse] ( LAAS ), Institut National Polytechnique [Toulouse] ( INP ) -Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Université Paul Sabatier - Toulouse 3 ( UPS ) -Centre National de la Recherche Scientifique ( CNRS ) -Institut National Polytechnique [Toulouse] ( INP ) -Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Université Paul Sabatier - Toulouse 3 ( UPS ) -Centre National de la Recherche Scientifique ( CNRS ), SYSCO (GIPSA-SYSCO), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA), University of California [Santa Cruz] (UCSC), University of California-University of California, Laboratoire d'analyse et d'architecture des systèmes [Toulouse] (LAAS), Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UPS), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UPS), Université Fédérale Toulouse Midi-Pyrénées, Institut National Polytechnique (Toulouse) (Toulouse INP), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université Toulouse III - Paul Sabatier (UPS), Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse 1 Capitole (UT1)-Université Toulouse - Jean Jaurès (UT2J)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse 1 Capitole (UT1)-Université Toulouse - Jean Jaurès (UT2J), GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO [2007-2015]), Département Automatique (GIPSA-DA [2007-2015]), Grenoble Images Parole Signal Automatique (GIPSA-lab [2007-2015]), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP)-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab [2007-2015]), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP)-Centre National de la Recherche Scientifique (CNRS), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université Toulouse III - Paul Sabatier (UT3), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology [2007-2019] (Grenoble INP [2007-2019])-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology [2007-2019] (Grenoble INP [2007-2019])-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab [2007-2015]), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology [2007-2019] (Grenoble INP [2007-2019])-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology [2007-2019] (Grenoble INP [2007-2019])-Centre National de la Recherche Scientifique (CNRS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), and Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1)
Subjects: 020301 aerospace & aeronautics, 0209 industrial biotechnology, Computer science, Linear system, Sampling (statistics), 02 engineering and technology, Stability (probability), Matrix (mathematics), 020901 industrial engineering & automation, 0203 mechanical engineering, Control theory, Hybrid system, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, Symmetric matrix, Actuator, ComputingMilieux_MISCELLANEOUS
Abstract: This version corrects some typos in the published version.; International audience; Regional stability analysis of linear systems with multi-rate samplers and actuator saturation is studied. A hybrid controller is used to perform a fusion of measurements sampled at different times. In between sampling events, the controller behaves as a copy of the plant. When a new measurement is available, the controller state undergoes a jump. The resulting system is analyzed in a hybrid system framework. Sufficient conditions in the form of matrix inequalities are given to determine estimates of the basin of attraction of the closed-loop system. Finally, the effectiveness of the proposed methodology is shown in an example.
Published: 2018
Full Text: View/download PDF

19. Problème d'implantation de plateformes de logistiques durables en milieu urbain

Author: NDHAIEF , Nadia, STAR, ABES, Laboratoire de Génie Industriel, de Production et de Maintenance ( LGIPM ), Université de Lorraine ( UL ), Université de Lorraine, Nidhal Rezg, and Olivier Bistorin
Subjects: [ MATH.MATH-OC ] Mathematics [math]/Optimization and Control [math.OC], Optimization, Maintenance, Urban logistics, [MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC], Sustainable Development, Centre de Distribution Urbain, Reliability, Logistique urbaine, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Développement durable, [ SPI.AUTO ] Engineering Sciences [physics]/Automatic, Location Problem, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, Urban Distribution Center, Optimisation, Problème de localisation, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering
Abstract: The urban environment is strongly involved in the management of logistics flows. The pooling of these different flows provides a qualitative solution ensuring environmental, economic and societal criteria. The thesis objectives aim at supporting Urban Distribution Centers (CDU) by combining distribution logistics with reverse logistics (upstream flows and downstream flows), thereby ensuring sustainable development in modern cities. The heterogeneity of the distribution logistics practices and the reverse logistics define the core of this thesis. Sharing these different flows provides a qualitative and sustainable solution as long as it meets the aforementioned criteria (environment, economy and society). Our approach is based on the Hub Location Problem to formulate the location problem of UDC while maximizing the profit and choosing the best available location. We proceed by identifying potential available locations, while guaranteeing returned flows management (collection, sorting, resale, etc.) and reducing pollution impact. Moreover, we simulate our optimised model with simulation tools using optimization algorithms. The effectiveness of these algorithms are validated based on generated outputs (set of data) inspired by real world scenarios. Reliability is a part of this work when dealing with UDC deployment. The unavailability of the system may be due to random failures, planned preventive maintenance actions, etc. Therefore, we present a solution supporting daily demands by integrating a collaborative approach between different sites. This approach is based on inter-CDU coordination policy with a strategy of subcontracting deliveries dealing with unavailability, L’environnement urbain est fortement ancré dans la gestion des flux logistiques. La mutualisation de ces différents flux apporte alors une solution qualitative répondant aux critères environnementaux, économiques et sociétaux. Cette thèse propose une approche pour la mise en place des centres de distribution urbains (CDU) en combinant la logistique de distribution avec la logistique inverse (flux montants et flux descendants). L’objectif principal de ces CDU est d'assurer un développement durable dans les villes modernes. L’hétérogénéité des pratiques de la logistique de distribution et de la logistique inverse constitue le principal verrou scientifique. La mutualisation de ces différents flux apporte alors une solution qualitative et durable dès lors qu’elle répond aux critères attendus : environnementaux, économiques et sociétaux. Dans un contexte de logistique globale, nous nous sommes basés sur les problèmes de localisation de plateformes HLP « Hub Location Problem » afin de formuler le problème de localisation des CDU selon un critère de maximisation du profit par le choix du meilleur emplacement parmi ceux disponibles. Nous avons calculé les localisations partiellement possibles, tout en garantissant le traitement des flux retournés (collecte, tri, revente) et aussi en tenant compte des coûts socio-environnementaux. Par la suite, nous avons utilisé des outils de résolution du modèle proposé via des algorithmes d’optimisation. L’efficacité de ces algorithmes a été confirmée par un ensemble de jeux de données et de rapports d’analyse d’impacts. La dynamique liée à la fiabilité des CDU dans l’exécution du service par la prise en compte d’une politique de coordination inter-CDU fait aussi partie de notre étude. Nous nous sommes intéressés à l’aspect de disponibilité pour garantir les livraisons à temps. En effet, l’indisponibilité du système peut être due aux pannes aléatoires, aux actions de maintenance préventive planifiées, etc. Par conséquent, nous présentons une solution qui permet de satisfaire la demande journalière de manière ponctuelle par l’intégration d’une approche collaborative entre les différents sites. Il s’agit d’un modèle d’optimisation de la politique de coordination inter-CDU avec une stratégie de sous-traitance des livraisons en cas d’indisponibilité
Published: 2018

20. A Distributed Agent-Based Approach for Optimal QoS Selection in Web of Object Choreography

Author: Mohamed Ahmed Nacer, Karim Djouani, Nacera Temglit, Abdelghani Chibani, LSI Laboratory, University of Science and Technology Houari Boumediene, SIRIUS, Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), Amirat, Yacine, Centre de recherche sur l'Information Scientifique et Technique ( CERIST ), Ministère de l'Éducation nationale, de l’Enseignement supérieur et de la Recherche ( M.E.N.E.S.R. ), Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), and Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 )
Subjects: [ MATH.MATH-OC ] Mathematics [math]/Optimization and Control [math.OC], [INFO.INFO-AI] Computer Science [cs]/Artificial Intelligence [cs.AI], [INFO.INFO-SY] Computer Science [cs]/Systems and Control [cs.SY], Ubiquitous computing, Computer Networks and Communications, Computer science, Distributed computing, 0211 other engineering and technologies, 02 engineering and technology, [ INFO.INFO-CV ] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], computer.software_genre, service interoperability and composability, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-ET] Computer Science [cs]/Emerging Technologies [cs.ET], 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], Electrical and Electronic Engineering, ComputingMilieux_MISCELLANEOUS, Web services, Distributed Computing Environment, 021103 operations research, End user, business.industry, Multi-agent system, Quality of service, ubiquitous computing, Mobile QoS, Computer Science Applications, Control and Systems Engineering, Multiagent systems, quality of service, 020201 artificial intelligence & image processing, The Internet, [INFO.INFO-ET]Computer Science [cs]/Emerging Technologies [cs.ET], Web service, business, computer, optimization, Information Systems, Computer network
Abstract: International audience; The Internet of Things (IoT) refers to the domain of physical/logical objects connected to the Internet that can be accessible anywhere and anytime, giving the access policies. Web objects and services can be seen as distributed and cooperative agents that need to collaborate in order to reach advanced functionalities and also to optimize the overall quality offered to the end users. However, the number of the services that can be supplied through these devices on the Internet will increase more and more. In this context, performing the composition and selection of the best services according to quality-of-service (QoS) criteria become a complex task, especially when dealing with global service selection to satisfy global constraints of users in decentralized environments. For this purpose, we propose a distributed and optimal QoS selection approach based on the multiagent paradigm and the distributed constraint optimization problem (DCOP) formalism. Hence, we revisited a DCOP technique for developing an efficient algorithm: the DPOP4QoS implemented under a real-time Web protocol for IoT communication, the extensible messaging and presence protocol. The proposed algorithm takes into account the specificities of the service composition context and the satisfaction of the global user constraints. This paper also presents a set of experiments conducted under realistic distributed environment to evaluate the performance of the proposed algorithm.
Published: 2018

21. Diagnosis of hybrid systems using Hybrid Particle Petri nets: theory and application on a planetary rover

Author: Elodie Chanthery, Pauline Ribot, Matthew Daigle, Quentin Gaudel, Équipe DIagnostic, Supervision et COnduite (LAAS-DISCO), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), NASA Ames Research Center (ARC), Moamar Sayed-Mouchaweh, Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, EasyMile SAS, Équipe DIagnostic, Supervision et COnduite ( LAAS-DISCO ), Laboratoire d'analyse et d'architecture des systèmes [Toulouse] ( LAAS ), Institut National Polytechnique [Toulouse] ( INP ) -Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Université Toulouse III - Paul Sabatier ( UPS ), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique ( CNRS ) -Institut National Polytechnique [Toulouse] ( INP ) -Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), and Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique ( CNRS )
Subjects: 0209 industrial biotechnology, Computer science, 02 engineering and technology, Petri net, Data structure, Unobservable, Automaton, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], 020901 industrial engineering & automation, [ SPI.AUTO ] Engineering Sciences [physics]/Automatic, Hybrid system, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, ACM: D.: Software/D.2: SOFTWARE ENGINEERING/D.2.5: Testing and Debugging/D.2.5.2: Diagnostics, 020201 artificial intelligence & image processing, [INFO.INFO-ES]Computer Science [cs]/Embedded Systems, State (computer science), [ INFO.INFO-AI ] Computer Science [cs]/Artificial Intelligence [cs.AI], Representation (mathematics), Particle filter, ACM: B.: Hardware/B.4: INPUT/OUTPUT AND DATA COMMUNICATIONS/B.4.5: Reliability, Testing, and Fault-Tolerance/B.4.5.1: Diagnostics, Algorithm
Abstract: International audience; This chapter presents a new methodology to perform health monitoring of hybrid systems under uncertainty. Hybrid systems can be represented as multi-mode systems with hybrid automata. Diagnosers are generated from these hybrid automata using a new data structure in order to monitor both the behavior and degradation of such systems. After a review of the state of the art on different existing solutions for diagnosis of hybrid systems under uncertainty, we propose to introduce the Hybrid Particle Petri Nets (HPPN) modeling framework. The main advantage of HPPN is that they take into account knowledge-based uncertainty in the system representation and uncertainty in the diagnosis process. The HPPN-based diagnoser deals with occurrences of unobservable discrete events (such as fault events) and it is robust to false observations. It also estimates the continuous state of the system by using particle filtering. A methodology is proposed to perform model-based diagnosis on hybrid systems by using the HPPN modeling framework. The system diagnosis is computed at any time from a HPPN-based diagnoser and contains all the hypotheses over its past mode trajectory. Each hypothesis is valued with a belief degree and includes discrete and continuous state estimates, as well as the set of faults that occurred on the system up to the current time. The HPPN-based methodology is demonstrated with an application on the K11 planetary rover prototype developed by NASA Ames Research Center. A hybrid model of the K11 is proposed and experimental results show that the approach is robust to real system data and constraints.
Published: 2018
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22. Density and flow reconstruction in urban traffic networks using heterogeneous data sources

Author: Hassen Fourati, Martin Rodriguez, Andres Ladino, Alain Y. Kibangou, Carlos Canudas-de-Wit, Networked Controlled Systems ( NECS ), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique ( Inria ) -Institut National de Recherche en Informatique et en Automatique ( Inria ) -Département Automatique ( GIPSA-DA ), Grenoble Images Parole Signal Automatique ( GIPSA-lab ), Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Grenoble Images Parole Signal Automatique ( GIPSA-lab ), Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ), European Project : 619435,EC:FP7:ICT,FP7-ICT-2013-11,SPEEDD ( 2014 ), European Project : 694209,Advanced Grant (AdG), ERC-2015-AdG ,Scale-FreeBack ( 2016 ), Networked Controlled Systems (NECS), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), European Project: 619435,EC:FP7:ICT,FP7-ICT-2013-11,SPEEDD(2014), European Project: 694209,Advanced Grant (AdG), ERC-2015-AdG ,Scale-FreeBack(2016), LADINO, Andres, Scalable ProactivE Event-Driven Decision making - SPEEDD - - EC:FP7:ICT2014-02-01 - 2017-01-31 - 619435 - VALID, and Scale-Free Control for Complex Physical Network Systems - Scale-FreeBack - - Advanced Grant (AdG), ERC-2015-AdG 2016-09-01 - 2021-08-31 - 694209 - VALID
Subjects: 0209 industrial biotechnology, Mathematical optimization, [ INFO.INFO-MO ] Computer Science [cs]/Modeling and Simulation, Grid network, Computer science, 02 engineering and technology, Synthetic data, Piecewise linear function, 020901 industrial engineering & automation, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 11. Sustainability, 0502 economics and business, [INFO.INFO-ET] Computer Science [cs]/Emerging Technologies [cs.ET], [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, Quadratic programming, 050210 logistics & transportation, [ INFO.INFO-ET ] Computer Science [cs]/Emerging Technologies [cs.ET], 05 social sciences, Feasible region, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, Flow (mathematics), Key (cryptography), [INFO.INFO-ET]Computer Science [cs]/Emerging Technologies [cs.ET], Minification, [INFO.INFO-MO] Computer Science [cs]/Modeling and Simulation, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering
Abstract: International audience; — In this paper, we consider the problem of joint reconstruction of flow and density in a urban traffic network using heterogeneous sources of information. The traffic network is modeled within the framework of macroscopic traffic models, where we adopt Lighthill-Whitham-Richards model (LWR) conservation equation characterized by a piecewise linear fundamental diagram. The estimation problem considers two key principles. First, the error minimization between the measured and reconstructed flows and densities, and second the equilibrium state of the network which establishes flow propagation within the network. Both principles are integrated together with the traffic model constraints established by the supply/demand paradigm. Finally the problem is casted as a constrained quadratic optimization with equality constraints in order to shrink the feasible region of estimated variables. Some simulation scenarios based on synthetic data for a manhattan grid network are provided in order to validate the performance of the proposed algorithm.
Published: 2018
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23. Face Recognition from Unconstrained 3D Face Images using Multi-Task Sparse Representation

Author: Bentaieb , S., Ouamri , A., Nait-Ali , A., Keche , M., Amirat, Yacine, SYNAPSE, Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), and Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 )
Subjects: [ MATH.MATH-OC ] Mathematics [math]/Optimization and Control [math.OC], [INFO.INFO-CV] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], [ INFO.INFO-CV ] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], ComputingMilieux_MISCELLANEOUS
Abstract: International audience; We propose and evaluate a three-dimensional (3D) face recognition approach that applies the speeded up robust feature (SURF) algorithm to the depth representation of shape index map, under real-world conditions, using only a single gallery sample for each subject. First, the 3D scans are preprocessed, then SURF is applied on the shape index map to find interest points and their descriptors. Each 3D face scan is represented by keypoints descriptors, and a large dictionary is built from all the gallery descriptors. At the recognition step, descriptors of a probe face scan are sparsely represented by the dictionary. A multitask sparse representation classification is used to determine the identity of each probe face. The feasibility of the approach that uses the SURF algorithm on the shape index map for face identification/authentication is checked through an experimental investigation conducted on Bosphorus, University of Milano Bicocca, and CASIA 3D datasets. It achieves an overall rank one recognition rate of 97.75%, 80.85%, and 95.12%, respectively, on these datasets.
Published: 2018

24. Automatic Segmentation of Stabilometric Signals using Hidden Markov Model Regression

Author: Yacine Amirat, Khaled Safi, Emilie Hutin, Latifa Oukhellou, Ferhat Attal, Samer Mohammed, Jean-Michel Gracies, Mohamad Khalil, SIRIUS, Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ), Génie des Réseaux de Transport Terrestres et Informatique Avancée ( IFSTTAR/COSYS/GRETTIA ), Institut Français des Sciences et Technologies des Transports, de l'Aménagement et des Réseaux ( IFSTTAR ) -Communauté Université Paris-Est, Centre AZM pour la Recherche en Biotechnologie et ses Applications, Université Libanaise, Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), Génie des Réseaux de Transport Terrestres et Informatique Avancée (IFSTTAR/COSYS/GRETTIA), Institut Français des Sciences et Technologies des Transports, de l'Aménagement et des Réseaux (IFSTTAR)-Communauté Université Paris-Est, Bioingénierie, Tissus et Neuroplasticité EA 7377 (BIOTN), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), and Amirat, Yacine
Subjects: 0209 industrial biotechnology, Computer science, Feature extraction, Multiple regression model, 02 engineering and technology, Markov model, Machine learning, computer.software_genre, 03 medical and health sciences, 020901 industrial engineering & automation, 0302 clinical medicine, Posture analysis, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Signal segmentation, Segmentation, Cerebellar disorder, Electrical and Electronic Engineering, Hidden Markov model, Stabilometric data, business.industry, Variable-order Markov model, Maximum-entropy Markov model, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], Pattern recognition, Control and Systems Engineering, Artificial intelligence, Forward algorithm, business, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, computer, 030217 neurology & neurosurgery
Abstract: Posture analysis in quiet standing is an essential element in evaluating human balance control. Many factors enhance the human control system’s ability to maintain stability, such as the visual system and base of support (feet) placement. In contrast, many neural pathologies, such as Parkinson’s disease (PD) and cerebellar disorder, disturb human stability. This paper addresses the problem of the automatic segmentation of stabilometric signals recorded under four different conditions related to vision and foot position. This is achieved for both control subjects and PD subjects. A hidden Markov model (HMM)-regression-based approach is used to carry out the segmentation between the different conditions using simple and multiple regression processes. Twenty-eight control subjects and thirty-two PD subjects participated in this study. They were asked to stand upright while recording stabilometric signals in mediolateral and anteroposterior directions under two permutations: feet apart and together with eyes open or closed. The results show high values for the correct segmentation rates, up to 98%, for the separation between the different conditions. The present findings could help clinicians better understand the motor strategies used by the patients during their orthostatic postures and may guide the rehabilitation process. The proposed method compares favorably with standard segmentation approaches. Note to Practitioners —In this paper, the problem of human balance control assessment is analyzed through the segmentation of the multidimensional time series of the center of pressure (CoP) displacement measurements during orthostatic postures of healthy and Parkinsonian subjects. The proposed model for automatic temporal segmentation is a specific statistical latent process model that assumes that the observed stabilometric sequence is governed by a sequence of hidden (unobserved) states or conditions. More specifically, the proposed approach is based on a specific multiple regression model that incorporates a hidden Markov process that governs the switching from one condition to another over time. The model is learned in an unsupervised context by maximizing the observed data log-likelihood via a dedicated expectation–maximization algorithm. We applied it on a real-world automatic CoP displacement excursion segmentation problem and assessed its performance by performing comparisons with alternative approaches, including well-known supervised static classifiers and the standard HMM. The results obtained are very encouraging and show that the proposed approach is quite competitive, though it works in an entirely unsupervised fashion and does not requires a feature extraction preprocessing step. The present findings could help clinicians to better understand the motor strategies used by the patients during their orthostatic postures and may guide the rehabilitation process.
Published: 2018

25. A unified framework for modeling statistical and bounded uncertainties : application to fault detection and isolation of uncertain dynamic systems via estimation

Author: Tran, Tuan Anh, Laboratoire d'analyse et d'architecture des systèmes [Toulouse] ( LAAS ), Centre National de la Recherche Scientifique ( CNRS ) -Université Toulouse III - Paul Sabatier ( UPS ), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Institut National Polytechnique [Toulouse] ( INP ), Université Paul Sabatier - Toulouse III, Carine Jauberthie, Françoise Le Gall, Équipe DIagnostic, Supervision et COnduite (LAAS-DISCO), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Équipe DIagnostic, Supervision et COnduite ( LAAS-DISCO ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Institut National Polytechnique [Toulouse] ( INP ) -Centre National de la Recherche Scientifique ( CNRS ) -Université Toulouse III - Paul Sabatier ( UPS ), Université toulouse 3 Paul Sabatier, F.LE GALL, Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and Université de Toulouse (UT)
Subjects: Filtre de Kalman, Filtrage particulaire ensembliste, Détection de défauts, Bounded and statistical uncertainties, Distributions de probabilités incertaines, Théorie des fonctions de croyance, Theory of belief functions, Distributions of uncertain probabilities, Ensemble Kalman filtering, Uncertain dynamic systems, Filtrage de Kalman ensembliste, Fonctions de croyance, Particle set filtering, [ SPI.AUTO ] Engineering Sciences [physics]/Automatic, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, Diagnostic, Kalman filter, Incertitudes bornées et statistiques, Estimation, Filtre particulaire, Analyse par intervalle, Systèmes dynamiques incertains
Abstract: National audience; This thesis deals with state estimation in discrete-time dynamic systems in the context of the integration of statistical and bounded error uncertainties. Motivated by the drawbacks of the interval Kalman filter (IKF) and its improvement (iIKF), we propose a filtering algorithm for linear systems subject to uncertain Gaussian noises, i.e. with the mean and covariance matrix defined by their membership to intervals. This new interval Kalman filter (UBIKF) relies on finding a punctual gain matrix minimizing an upper bound of the set of estimation error covariance matrices by respecting the bounds of the parametric uncertainties. An envelope containing all possible estimates is then determined using interval analysis. The UBIKF reduces not only the computational complexity of the set inversion of the matrices intervals appearing in the iIKF, but also the conservatism of the estimates. We then discuss different frameworks for representing incomplete or imprecise knowledge, including the cumulative distribution functions, the possibility theory and the theory of belief functions. Thanks to the last, a model in the form of a mass function for an uncertain multivariate Gaussian distribution is proposed. A box particle filter based on this theory is developed for non-linear dynamic systems in which the process noises are bounded and the measurement errors are represented by an uncertain Gaussian mass function. Finally, the UBIKF is applied to fault detection and isolation by implementing the generalized observer scheme and structural analysis. Through various examples, the capacity for detecting and isolating sensor/actuator faults of this tool is illustrated and compared to other approaches.; Cette thèse porte sur l’estimation d’état des systèmes dynamiques à temps discret dans le contexte de l’intégration d’incertitudes statistiques et à erreurs bornées. Partant du filtre de Kalman intervalle (IKF) et de son amélioration (iIKF), nous proposons un algorithme de filtrage pour des systèmes linéaires dont les bruits sont gaussiens incertains, c’est-à-dire de moyenne et matrice de covariance définies par leur appartenance à des intervalles. Ce nouveau filtre de Kalman intervalle (UBIKF) repose sur la recherche d’une matrice de gain ponctuelle minimisant une borne majorante de l’ensemble des matrices de covariance de l’erreur d’estimation en respectant les bornes des incertitudes paramétriques. Un encadrement de tous les estimés possibles est ensuite déterminé en utilisant l’analyse par intervalles. Le filtre UBIKF permet de réduire à la fois la complexité calculatoire de l’inversion ensembliste des matrices intervalles présent dans le filtre iIKF et le conservatisme des estimations. Nous abordons ensuite différents cadres permettant de représenter des connaissances incomplètes ou imprécises, y compris les fonctions de répartition, la théorie de possibilité et la théorie des fonctions de croyance. Grâce à cette dernière, un modèle sous forme d’une fonction de masse pour une distribution gaussienne multivariée incertaine est proposé. Un filtrage particulaire ensembliste basé sur cette théorie est développé pour des systèmes dynamiques non linéaires dans lesquels les bruits sur la dynamique sont bornés et les erreurs de mesure sont modélisées par une fonction de masse gaussienne incertaine. Enfin, le filtre UBIKF est utilisé pour la détection et l’isolation de défauts en mettant en oeuvre le schéma d’observateurs généralisé et l’analyse structurelle. Au travers de différents exemples, la capacité d’isolation de défauts capteurs/ actionneurs de cet outil est illustrée et comparée à d’autre approches.
Published: 2017

26. Chronicle Based Alarm Management

Author: Vásquez Capacho, John William, Équipe DIagnostic, Supervision et COnduite ( LAAS-DISCO ), Laboratoire d'analyse et d'architecture des systèmes [Toulouse] ( LAAS ), Centre National de la Recherche Scientifique ( CNRS ) -Université Toulouse III - Paul Sabatier ( UPS ), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Institut National Polytechnique [Toulouse] ( INP ) -Centre National de la Recherche Scientifique ( CNRS ) -Université Toulouse III - Paul Sabatier ( UPS ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Institut National Polytechnique [Toulouse] ( INP ), INSA Toulouse, A.SUBIAS, Équipe DIagnostic, Supervision et COnduite (LAAS-DISCO), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), and Université Fédérale Toulouse Midi-Pyrénées
Subjects: Gestion d'alarmes, temporal patterns, machine learning, diagnosis, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, motifs temporels, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, diagnostic, Alarm management, apprentissage
Abstract: Thèse en cotutelle avec l'Universidad de los Andes, Colombie; National audience; This thesis work was carried out in the framework of a co-tutelle between INSA, Toulouse, and the University of the Andes, Colombia, with financial support of Colciencias. This work is motivated by the need of the industry to detect abnormal situations in the plant startup and shutdown stages. Industrial plants involve integrated management of all the events that may cause accidents and translate into alarms. Process alarm management can be formulated as an event-based pattern recognition problem in which temporal patterns are used to characterize different typical situations, particularly at startup and shutdown stages. In this thesis, a new approach for alarm management based on a diagnosis process is proposed. Considering the alarms and the actions of the standard operating procedure as discrete events, the diagnosis step relies on situation recognition to provide the operators with relevant information about the failures inducing the alarm flow. The situation recognition is based on chronicles that characterize the situations of interest and are learned automatically. The chronicles are learned from representative event sequences obtained by simulation and given as input to an extended version of the Heuristic Chronicle Discovery Algorithm Modified (HCDAM). HCDAM has been extended in this thesis to account for expert knowledge in the form of specific temporal restrictions. A hybrid causal model of the process is used to verify the input event sequences and to explain and provide semantics to the learned chronicles. The Chronicle Based Alarm Management (CBAM) methodology proposed in this thesis involves different techniques to take the hybrid aspect and the standard operational procedures of the concerned processes into account. Compared to other approaches of alarm management, this approach uses information about the procedural actions related to the continuous variables behavior in a formal diagnosis process. Specific information is obtained in each step of the CBAM methodology, and it is summarized in three steps: 1. Step 1: Event type identification From the standard operating procedures and from the evolution of the continuous variables, this step determines the set of event types in startup and shutdown stages. 2. Step 2: Event sequence generation From the expertise and an event abstraction procedure this step determines the date of occurrence of each event type for constructing the representative event sequences. A representative event sequence is the set of event types with their dates of occurrence that can be associated to a specific scenario of the process. This step concludes verifying the representative event sequences using the hybrid causal graph. 3. Step 3: Chronicle database construction From the representative event sequences and temporal restrictions of each scenario, this step determines the chronicle database using the extended HCDAM algorithm. The proposed framework for alarm management is illustrated with two case studies representative of the petrochemical field.; Ce travail de thèse a été réalisé dans le cadre d’une thèse en co-tutelle entre l’INSA, Toulouse, et l’Université des Andes, Colombie, avec un financement de Colciencias. Ce travail est motivé par la nécessité pour l’industrie de détecter des situations anormales pendant les phases de démarrage et d’arrêt des installations. La sécurité des installations industrielles implique une gestion intégrée de tous les facteurs et événements pouvant causer des accidents. La gestion des alarmes peut être formulée comme un problème de reconnaissance de motifs événementiels dans lequel des modèles temporels sont utilisés pour caractériser différentes situations typiques, en particulier pendant les phases de démarrage et d’arrêt. Dans cette thèse une nouvelle approche de gestion des alarmes basée sur un processus de diagnostic est proposée. En supposant que les alarmes et les actions du mode opératoire standard sont des événements discrets, l’étape de diagnostic repose sur la reconnaissance de situation pour fournir aux opérateurs des informations pertinentes sur les défaillances induisant le flux d’alarmes. La reconnaissance de situation est basée sur des chroniques qui caractérisent les situations d’interdit et qui sont apprises de manière automatique. Les chroniques sont apprises à partir de séquences d’événements représentatives obtenues par simulation et constituant l’entrée d’une version étendue de l’Algorithme de Découverte de Chroniques Heuristique Modifié (HCDAM). HCDAM a été étendu dans cette thèse pour prendre en compte des connaissances expertes sous la forme de restrictions temporelles spécifiques. Un modèles hybride causal du procédé est utilisé pour vérifier les séquences d’entrée et pour expliquer et donner du sens aux chroniques apprises. La méthodologie de gestion des alarmes basée sur des chroniques CBAM (comme Chronicle Based Alarm Management ) proposée dans cette thèse fusionne différentes techniques pour tenir compte de l’aspect hybride et des procédures opérationnelles standard des processus concernés. Comparée aux autres approches de gestion d’alarmes, cette approche se caractérise par l’utilisation de l’information sur les actions procédurales liées au comportement des variables continues dans un processus formel de diagnostic. Des informations spécifiques sont obtenues à chaque étape de la méthodologie CBAM qui se résume en trois étapes : 1. Étape 1 : Identification du type d’événement à partir des procédures d’exploitation standard et de l’évolution des variables continues, cette étape détermine l’ensemble des types d’événements pendant les phases de démarrage et d’arrêt. 2. Étape 2 : Génération de séquence d’événements à partir de l’expertise et d’une procédure d’abstraction événementielle, cette étape détermine la date d’apparition de chaque type d’événement pour la construction des séquences d’événements représentatives. Une séquence d’événements représentatifs est l’ensemble des types d’événements avec leurs dates d’occurrence qui peuvent être associées à un scénario spécifique du processus. Cette étape se conclut avec la vérification des séquences d’événements représentatives à l’aide du modèle causal hybride. 3. Étape 3 : Construction de la base de chroniques à partir des séquences d’événements représentatives et des restrictions temporelles dans chaque scénario, cette étape détermine la base de chroniques à l’aide de l’algorithme HCDAM. La methode proposée pour la gestion des alarmes est illustrée par deux cas d’etude representatifs du domaine pétrochimique.
Published: 2017

27. Multi-observer Decision Making Approach Using Power Fuzzy Soft Sets

Author: Sofiane Bouznad, Faouzi Sebbak, Yacine Amirat, Abdelghani Chibani, Farid Benhammadi, SIRIUS, Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ), Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), École Militaire Polytechnique [Alger] (EMP), Ecole Militaire Polytechnique [Alger] (EMP), Ministère de l'Enseignement Supérieur et de la Recherche Scientifique [Algérie] (MESRS)-Ministère de la Défense Nationale [Algérie], and Amirat, Yacine
Subjects: [INFO.INFO-AI] Computer Science [cs]/Artificial Intelligence [cs.AI], Weighted conjunctive operator, Weighted sum model, Mathematical optimization, Fuzzy classification, Fuzzy sets theory, 010103 numerical & computational mathematics, 02 engineering and technology, Power fuzzy soft set, Type-2 fuzzy sets and systems, computer.software_genre, 01 natural sciences, Defuzzification, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Fuzzy number, 0101 mathematics, ComputingMilieux_MISCELLANEOUS, Mathematics, [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], Observer (special relativity), Ranking algorithm, Multiobserver decision making, Uncertain information, Fuzzy set operations, 020201 artificial intelligence & image processing, Data mining, Fuzzy soft set, computer
Abstract: International audience; In the present paper, a method based on a new concept called power fuzzy soft set is proposed for multi-observer decision making problems under uncertain information. The new method applies a weighted conjunctive operator to aggregate these sets into a reliable resultant power fuzzy soft set from the input data set. To decide among the alternatives, a new ranking algorithm is introduced. The effectiveness and feasibility of this method are demonstrated by comparing it to algorithms based on the maximum score in decision making.
Published: 2017

28. Generalized Fuzzy Soft Set Based Fusion Strategy for Activity Classification in Smart Home

Author: Farid Benhammadi, Sofiane Bouznad, A. Chibani, Yacine Amirat, Faouzi Sebbak, SIRIUS, Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), École Militaire Polytechnique [Alger] (EMP), Ecole Militaire Polytechnique [Alger] (EMP), Ministère de l'Enseignement Supérieur et de la Recherche Scientifique [Algérie] (MESRS)-Ministère de la Défense Nationale [Algérie], Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ), and Amirat, Yacine
Subjects: [INFO.INFO-AI] Computer Science [cs]/Artificial Intelligence [cs.AI], Majority rule, 020205 medical informatics, 02 engineering and technology, Machine learning, computer.software_genre, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], Activity recognition, Home automation, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, ComputingMilieux_MISCELLANEOUS, Mathematics, Fusion, business.industry, [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], Pattern recognition, Random subspace method, ComputingMethodologies_PATTERNRECOGNITION, Activity classification, 020201 artificial intelligence & image processing, Artificial intelligence, business, computer, Classifier (UML), Cascading classifiers
Abstract: International audience; In recent years, a plethora of different studies for design of traditional ensemble classifiers has been proposed in order to improve final recognition accuracy. However, among the ensemble classifiers, combination methods are focused on building independent classifiers of the same or different algorithms using majority voting methods. In this paper, we present a new fusion scheme for ensemble classifiers based on a new concept called Generalized Fuzzy Soft Set (GFSS), which we apply in activity classification. Essentially, we apply a weighted aggregate operator to the output of each classifier in order to fuse the GFSS into a more reliable classifier. The proposed fusion method is based on a new ranking algorithm to classify activities. We show that the proposed method produces more accurate results than the best single classifier and its effectiveness is demonstrated by comparing it with single classifier in terms of activity recognition accuracy.
Published: 2017

29. Varieties of semantic cognition revealed through simultaneous decomposition of intrinsic brain connectivity and behaviour

Author: Deniz Vatansever, Charlotte Murphy, Elizabeth Jefferies, Jonathan Smallwood, Giovanna Mollo, Theodoros Karapanagiotidis, Danilo Bzdok, Hao-Ting Wang, Mladen Sormaz, University of York [York, UK], Rheinisch-Westfälische Technische Hochschule Aachen ( RWTH ), Modelling brain structure, function and variability based on high-field MRI data ( PARIETAL ), Service NEUROSPIN ( NEUROSPIN ), Direction de Recherche Fondamentale (CEA) ( DRF (CEA) ), Commissariat à l'énergie atomique et aux énergies alternatives ( CEA ) -Université Paris-Saclay-Commissariat à l'énergie atomique et aux énergies alternatives ( CEA ) -Université Paris-Saclay-Direction de Recherche Fondamentale (CEA) ( DRF (CEA) ), Commissariat à l'énergie atomique et aux énergies alternatives ( CEA ) -Université Paris-Saclay-Commissariat à l'énergie atomique et aux énergies alternatives ( CEA ) -Université Paris-Saclay-Inria Saclay - Ile de France, Institut National de Recherche en Informatique et en Automatique ( Inria ) -Institut National de Recherche en Informatique et en Automatique ( Inria ), Rheinisch-Westfälische Technische Hochschule Aachen University (RWTH), Modelling brain structure, function and variability based on high-field MRI data (PARIETAL), Service NEUROSPIN (NEUROSPIN), Université Paris-Saclay-Direction de Recherche Fondamentale (CEA) (DRF (CEA)), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Université Paris-Saclay-Direction de Recherche Fondamentale (CEA) (DRF (CEA)), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Inria Saclay - Ile de France, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Rheinisch-Westfälische Technische Hochschule Aachen (RWTH), Inria Saclay - Ile de France, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Service NEUROSPIN (NEUROSPIN), and Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)
Subjects: Adult, Male, cognition, [ INFO ] Computer Science [cs], Cognitive Neuroscience, Brain mapping, 050105 experimental psychology, Angular gyrus, Young Adult, 03 medical and health sciences, 0302 clinical medicine, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-BI ] Computer Science [cs]/Bioinformatics [q-bio.QM], Neural Pathways, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, Image Processing, Computer-Assisted, Humans, Semantic memory, 0501 psychology and cognitive sciences, [INFO]Computer Science [cs], resting state, semantics, Default mode network, canonical correlation analysis, Temporal cortex, Brain Mapping, Communication, Resting state fMRI, business.industry, 05 social sciences, functional connectivity, Brain, Cognition, Magnetic Resonance Imaging, Neurology, Posterior cingulate, Female, [INFO.INFO-BI]Computer Science [cs]/Bioinformatics [q-bio.QM], Psychology, business, 030217 neurology & neurosurgery, Cognitive psychology
Abstract: International audience; Contemporary theories assume that semantic cognition emerges from a neural architecture in which different component processes are combined to produce aspects of conceptual thought and behaviour. In addition to the state-level, momentary variation in brain connectivity, individuals may also differ in their propensity to generate particular configurations of such components, and these trait-level differences may relate to individual differences in semantic cognition. We tested this view by exploring how variation in intrinsic brain functional connectivity between semantic nodes in fMRI was related to performance on a battery of semantic tasks in 154 healthy participants. Through simultaneous decomposition of brain functional connectivity and semantic task performance, we identified distinct components of semantic cognition at rest. In a subsequent validation step, these data-driven components demonstrated explanatory power for neural responses in an fMRI-based semantic localiser task and variation in self-generated thoughts during the resting-state scan. Our findings showed that good performance on harder semantic tasks was associated with relative segregation at rest between frontal brain regions implicated in controlled semantic retrieval and the default mode network. Poor performance on easier tasks was linked to greater coupling between the same frontal regions and the anterior temporal lobe; a pattern associated with deliberate, verbal thematic thoughts at rest. We also identified components that related to qualities of semantic cognition: relatively good performance on pictorial semantic tasks was associated with greater separation of angular gyrus from frontal control sites and greater integration with posterior cingulate and anterior temporal cortex. In contrast, good speech production was linked to the separation of angular gyrus, posterior cingulate and temporal lobe regions. Together these data show that quantitative and qualitative variation in semantic cognition across individuals emerges from variations in the interaction of nodes within distinct functional brain networks.
Published: 2017
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30. Unsupervised Band Selection using Block Diagonal Sparsity for Hyperspectral Image Classification

Author: Christophe Sabourin, Wang Pei, Kurosh Madani, Jingyu Wang, Ke Zhang, SYNAPSE, Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), Hangzhou Dianzi University ( HDU ), Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), and Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 )
Subjects: [ MATH.MATH-OC ] Mathematics [math]/Optimization and Control [math.OC], Optimization, Hyperspectral imaging, Feature extraction, 0211 other engineering and technologies, 02 engineering and technology, [ INFO.INFO-CV ] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], Matrix decomposition, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Electrical and Electronic Engineering, ComputingMilieux_MISCELLANEOUS, 021101 geological & geomatics engineering, Sparse matrix, Mathematics, Covariance matrix, business.industry, Block matrix, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], Pattern recognition, Geotechnical Engineering and Engineering Geology, Correlation, Sparse matrices, 020201 artificial intelligence & image processing, Artificial intelligence, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], business, Subspace topology, Curse of dimensionality
Abstract: International audience; In order to alleviate the negative effect of curse of dimensionality, band selection is a crucial step for hyperspectral image (HSI) processing. In this letter, we propose a novel unsupervised band selection approach to reduce the dimensionality for hyperspectral imagery. In order to obtain the most representative bands, the correlation matrix computed from the original HSI is used to describe the correlation characteristics among bands, while the block-diagonal structure is measured to segment all bands into a series of subspace. After applying the spectral clustering algorithm, the optimal combination of band is finally selected. To verify the effectiveness and superiority of the proposed band selection method, experiments have been conducted on three widely used real-world hyperspectral data. The results have shown that the proposed method outperforms other methods in HSI classification application.
Published: 2017
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31. Active Impedance Control of a Knee-Joint Orthosis During Swing Phase

Author: Maher El Rafei, Fatima el zahraa Wehbi, Yacine Amirat, Samer Mohammed, Weiguang Huo, Mohamad Khalil, SIRIUS, Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ), Centre AZM pour la Recherche en Biotechnologie et ses Applications, and Université Libanaise
Subjects: Adult, Male, musculoskeletal diseases, Orthotic Devices, 030506 rehabilitation, 0209 industrial biotechnology, Engineering, Admittance, Knee Joint, Vastus medialis, Walking, 02 engineering and technology, Kinematics, 03 medical and health sciences, 020901 industrial engineering & automation, Gait (human), [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, Electric Impedance, Humans, Gait, Simulation, ComputingMilieux_MISCELLANEOUS, Muscle Weakness, Electromyography, business.industry, [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], Mechanical impedance, Signal Processing, Computer-Assisted, Orthotic device, Impedance control, Female, 0305 other medical science, business, human activities
Abstract: In this paper, an active impedance control strategy for a knee-joint orthosis is proposed to assist individuals suffering from lower-limb muscular weaknesses during the swing phase of walking activities. The goal of the proposed strategy is to decrease the human effort required for ensuring a successful knee joint movement during walking without sacrificing the wearer's control priority. In this study, a gait-phase based desired knee-joint admittance model is designed by analyzing the kinematic and kinetic characteristics of the wearer's shank-foot segment during walking. Moreover, the mechanical impedance of the human/orthosis system is adapted to the desired one using an active impedance compensation. The control approach was implemented using a knee joint orthosis and tested with four healthy subjects. The EMG signals of the short head of the biceps femoris and the vastus medialis are used as metrics to evaluate the effectiveness of the proposed strategy. The experimental results show that the human effort can be significantly decreased when the wearers are assisted using the proposed approach.
Published: 2017

32. Adaptive pattern search for large-scale optimization

Author: Mahamed G. H. Omran, Patrick Siarry, Vincent Gardeux, Rachid Chelouah, Fred Glover, SIMO, Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), Amirat, Yacine, Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), and Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 )
Subjects: 0301 basic medicine, [ MATH.MATH-OC ] Mathematics [math]/Optimization and Control [math.OC], Optimization, Adaptive methods, Mathematical optimization, Computer science, 02 engineering and technology, Large-scale, [ INFO.INFO-CV ] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], Pattern search, 03 medical and health sciences, Random search, [INFO.INFO-CV] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], High-dimension, Artificial Intelligence, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Derivative-free optimization, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, Scatter search, 0202 electrical engineering, electronic engineering, information engineering, Random optimization, Metaheuristic, ComputingMilieux_MISCELLANEOUS, Continuous, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], [MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC], 030104 developmental biology, Benchmark (computing), 020201 artificial intelligence & image processing, Stochastic optimization, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering
Abstract: International audience; The emergence of high-dimensional data requires the design of new optimization methods. Indeed, conventional optimization methods require improvements, hybridization, or parameter tuning in order to operate in spaces of high dimensions. In this paper, we present a new adaptive variant of a pattern search algorithm to solve global optimization problems exhibiting such a character. The proposed method has no parameters visible to the user and the default settings, determined by almost no a priori experimentation, are highly robust on the tested datasets. The algorithm is evaluated and compared with 11 state-of-the-art methods on 20 benchmark functions of 1000 dimensions from the CEC’2010 competition. The results show that this approach obtains good performances compared to the other methods tested.
Published: 2017

33. On the robust PID adaptive controller for exoskeletons: A particle swarm optimization based approach

Author: Adel Belkadi, Safdar Abbas Khan, Hamouche Oulhadj, Boubaker Daachi, Youcef Touati, Shtalbi, Haki, Laboratoire d'Informatique Avancée de Saint-Denis (LIASD), Université Paris 8 Vincennes-Saint-Denis (UP8), Amirat, Yacine, CHU Casselardit - Junod, SIMO, Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ), Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), and Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)
Subjects: [ MATH.MATH-OC ] Mathematics [math]/Optimization and Control [math.OC], 0209 industrial biotechnology, Computer science, Robot manipulator, PID controller, 02 engineering and technology, PID adaptive control, [INFO] Computer Science [cs], [ INFO.INFO-CV ] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], Instability, Exoskeletons, 020901 industrial engineering & automation, Robustness (computer science), Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, [INFO]Computer Science [cs], Robustness, ComputingMilieux_MISCELLANEOUS, Rehabilitation, PSO, Particle swarm optimization, [MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC], Exoskeleton, Nonlinear system, Trajectory, 020201 artificial intelligence & image processing, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], Actuator, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, Software
Abstract: International audience; This article proposes a robust PID adaptive controller for nonlinear systems with one or more degrees of freedom (DoF). The adaptive controller aims at minimizing the errors in trajectory tracking without requiring a prior modeling of the targeted nonlinear system. Furthermore, the proposed controller requires only the inputs and outputs of the system. And it is based on modified particle swarm optimization algorithm whose goal is to find the best PID parameters that optimize the execution of desired task by minimizing an objective function. The adaptation by the controller addresses two critical problems: The first problem is the instability of the control signal provided by the convergence phase of the classical PSO algorithm. This behavior adversely affects the lifetime of any actuator and, therefore, is undesirable. The second problem is the stagnation of the classical PSO algorithm after convergence at the immediately found optimal solution. The proposed adaptive PID controller is initially tested in simulation on a dynamical model of a robot manipulator evolving in the vertical plan. Which is followed by experimental tests performed on an actuated joint orthosis worn by human subjects having different morphologies. A comparative study with two other algorithms has been also conducted. Based on the obtained results, we conclude the efficiency of the proposed approach.
Published: 2017

34. Context-Aware Monitoring Agents for Ambient Assisted Living Applications

Author: Edson Prestes, Abdelghani Chibani, Yacine Amirat, Sandro Rama Fiorini, Sofiane Bouznad, Sabri Lyazid, Faouzi Sebbak, SIRIUS, Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ), Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), UFRGS - Universidade Federal do Rio Grande do Sul [Porto Alegre], Amirat, Yacine, and Universidade Federal do Rio Grande do Sul [Porto Alegre] (UFRGS)
Subjects: [INFO.INFO-AI] Computer Science [cs]/Artificial Intelligence [cs.AI], Monitoring agent, Context-awareness, Computer science, Context (language use), 0102 computer and information sciences, 02 engineering and technology, 01 natural sciences, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], Human–computer interaction, 020204 information systems, [INFO.INFO-ET] Computer Science [cs]/Emerging Technologies [cs.ET], [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Ontologies, Smart rules, Context awareness, Semantic Web, ComputingMilieux_MISCELLANEOUS, Reasoning system, Ambient intelligence, business.industry, [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], Robotics, Ambient assisted living, Closed-world assumption, 010201 computation theory & mathematics, Software deployment, [INFO.INFO-ET]Computer Science [cs]/Emerging Technologies [cs.ET], Artificial intelligence, business
Abstract: International audience; This paper presents a knowledge-based engineering framework for the design, deployment and running of context-aware monitoring agents that are dedicated to ambient assisted living applications. A new modeling approach of agent knowledge, that combines the advantages of both ontologies and object oriented modeling and programming, is proposed. In this approach, the agents’ logic is implemented using a micro-ontology and production rules based on the closed world assumption, called smart rules. These rules are managed using a standard reasoning system embedded in the agent core. Unlike semantic web approaches, the proposed approach rely on the closed world and unique name assumptions. These features are required for monitoring purposes in ambient intelligence and robotics domains. We present a practical work, where monitoring agents are instantiated in the user environment and their reasoning rules operate to handle the detection and confirmation of abnormal and emergency situations with respect to user’s context. These rules allow the agents to trigger appropriate actions with help of companion robot.
Published: 2017

35. Monitoring Approach of Cyber-physical Systems by Quality Measures

Author: Merino Laso , Pedro, Brosset , David, Puentes , John, Lab-STICC_TB_CID_DECIDE, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance ( Lab-STICC ), École Nationale d'Ingénieurs de Brest ( ENIB ) -Université de Bretagne Sud ( UBS ) -Université de Brest ( UBO ) -Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques ( IBNM ), Université de Brest ( UBO ) -Université européenne de Bretagne ( UEB ) -ENSTA Bretagne-Institut Mines-Télécom [Paris]-Centre National de la Recherche Scientifique ( CNRS ) -École Nationale d'Ingénieurs de Brest ( ENIB ) -Université de Bretagne Sud ( UBS ) -Université de Brest ( UBO ) -Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques ( IBNM ), Université de Brest ( UBO ) -Université européenne de Bretagne ( UEB ) -ENSTA Bretagne-Institut Mines-Télécom [Paris]-Centre National de la Recherche Scientifique ( CNRS ), Département Image et Traitement Information ( ITI ), Institut Mines-Télécom [Paris]-Université européenne de Bretagne ( UEB ) -Télécom Bretagne, Chaire cyberdéfense systèmes navals (Ecole Navale, IMT-Atlantique, THALES, DCNS), Institut de Recherche de l'Ecole Navale (EA 3634) ( IRENAV ), Ecole Navale, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS), Département Image et Traitement Information (ITI), Université européenne de Bretagne - European University of Brittany (UEB)-Télécom Bretagne-Institut Mines-Télécom [Paris] (IMT), Institut de Recherche de l'Ecole Navale (IRENAV), Université de Bordeaux (UB)-Institut Polytechnique de Bordeaux-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-Arts et Métiers Sciences et Technologies, and HESAM Université (HESAM)-HESAM Université (HESAM)
Subjects: Sensor data processing, [ INFO.INFO-MO ] Computer Science [cs]/Modeling and Simulation, Monitoring, Data quality, [ SPI.SIGNAL ] Engineering Sciences [physics]/Signal and Image processing, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, [ INFO.INFO-PF ] Computer Science [cs]/Performance [cs.PF], Cyber-physical system, [INFO.INFO-PF]Computer Science [cs]/Performance [cs.PF], Multi-source sensor network, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, Information quality, [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing
Abstract: International audience; Modern cities, industrial plants, cars, trucks, and vessels, among others, make extensive use of cyber-physical systems and sensors. These systems are very critical and contribute to assist decision making. Large data streams are thus produced and analyzed to extract information that allows building knowledge through a set of principles called wisdom. However, because of multiple imperfections, as well as intrinsic, contextual, and extrinsic conditions that alter data, the quality of the generated streams must be evaluated, to determine how relevant they are for decision support. This paper presents a methodology to monitor cyber-physical systems by quality estimation, which defines suitable evaluation characteristics for pertinent analysis. Quality assessment is defined for data imperfections, information dimensions, knowledge factors, and wisdom aspects. The case study of a cyber-physical network of a liquid container training platform is presented in detail, to show how the approach can be applied. Obtained measures are multidimensional, heterogeneous, and variable.
Published: 2017
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36. Predictive Facial Ageing Model Considering Melanin and UV Exposure Factors

Author: Farazdaghi , E., Nait-Ali , A., SYNAPSE, Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ), Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), and Amirat, Yacine
Subjects: [ MATH.MATH-OC ] Mathematics [math]/Optimization and Control [math.OC], [INFO.INFO-CV] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], [MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC], [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], [ INFO.INFO-CV ] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS
Abstract: International audience; no abstract
Published: 2017

37. A multi-objective Hinfinity design framewok for helicopter PID control tuning with handling qualities requirements

Author: Biannic , Jean-Marc, Taghizad , A., Dujols , L., Perozzi , Gabriele, ONERA - The French Aerospace Lab ( Toulouse ), ONERA, ONERA - The French Aerospace Lab ( Salon de Provence ), ONERA - The French Aerospace Lab ( Lille ), ONERA - The French Aerospace Lab [Toulouse], ONERA - The French Aerospace Lab [Salon], and ONERA - The French Aerospace Lab [Lille]
Subjects: FLIGHT CONTROL, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ SPI.AUTO ] Engineering Sciences [physics]/Automatic, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, SIMULATION, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], [ INFO.INFO-SY ] Computer Science [cs]/Systems and Control [cs.SY], HELICOPTER, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract: International audience; Helicopters are strongly coupled and naturally unstable plants. This is why stability augmentation systemssuch as "attitude command attitude hold" (ACAH) are generally implemented to alleviate the pilotworkload and reduce the risk of a spatial disorientation accident. These systems must be tuned carefullyaccording to specific Handling Qualities requirements, as those specified in the ADS-33 standards.6 Usefulguidelines based on both frequency and time-domain criteria are thus provided to facilitate the designof safe control systems. However, these are not directly compatible with the H infinity robust control designframework which is quite relevant for robustness improvement. The core of this paper then consists of arewriting of the ADS-33 constraints so that robust H infinity controllers can be designed by solving a referencemodel following problem. The main motivation is to introduce robustness requirements in the design ofhelicopter flight control laws while preserving pilot-in-the-loop handling qualities requirements.
Published: 2017
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38. A sensitivity analysis method aimed at enhancing the metaheuristics for continuous optimization

Author: Peio Loubière, Patrick Siarry, Rachid Chelouah, Astrid Jourdan, Laboratoire d'Ingénierie des Systèmes Biologiques et des Procédés (LISBP), Centre National de la Recherche Scientifique (CNRS)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National de la Recherche Agronomique (INRA), SIMO, Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), Laboratoire d'Ingénierie des Systèmes Biologiques et des Procédés ( LISBP ), Institut National de la Recherche Agronomique ( INRA ) -Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Centre National de la Recherche Scientifique ( CNRS ), Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ), Loubière, Peio, Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), Laboratoire de Mathématiques et de leurs Applications [Pau] (LMAP), Université de Pau et des Pays de l'Adour (UPPA)-Centre National de la Recherche Scientifique (CNRS), L@ris (L@ris), Ecole Internationale des Sciences du Traitement de l'Information (EISTI), Institut National de la Recherche Agronomique (INRA)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées (INSA)-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS), and Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)
Subjects: [ MATH.MATH-OC ] Mathematics [math]/Optimization and Control [math.OC], 0209 industrial biotechnology, Linguistics and Language, Mathematical optimization, [INFO.INFO-RO] Computer Science [cs]/Operations Research [cs.RO], Computer science, 02 engineering and technology, [INFO] Computer Science [cs], Machine learning, computer.software_genre, [ INFO.INFO-CV ] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], Language and Linguistics, 020901 industrial engineering & automation, Artificial Intelligence, [MATH.MATH-ST]Mathematics [math]/Statistics [math.ST], [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Morris method, [INFO]Computer Science [cs], Metaheuristic, [MATH.MATH-ST] Mathematics [math]/Statistics [math.ST], Analysis method, ComputingMilieux_MISCELLANEOUS, Continuous optimization, business.industry, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], [INFO.INFO-RO]Computer Science [cs]/Operations Research [cs.RO], 020201 artificial intelligence & image processing, Artificial intelligence, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], business, computer
Abstract: An efficient covering of the search space is an important issue when dealing with metaheuristics. Sensitivity analysis methods aim at evaluating the influence of each variable of a problem on a mod...
Published: 2017
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39. Adaptive Control of an Actuated-Ankle-Foot-Orthosis

Author: Hala Rifai, V. Arnez-Paniagua, Yacine Amirat, Samer Mohammed, SIRIUS, Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), CCSD, Accord Elsevier, Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), and Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 )
Subjects: Male, 030506 rehabilitation, 0209 industrial biotechnology, Engineering, Actuated-ankle-foot-orthosis, Adaptive control, Paretic patients, Lyapunov analysis, Gait cycle, 02 engineering and technology, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], 020901 industrial engineering & automation, Gait (human), [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Treadmill, Gait, ComputingMilieux_MISCELLANEOUS, [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], Equipment Design, Paresis, medicine.anatomical_structure, symbols, Trajectory, Female, 0305 other medical science, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, Lyapunov function, [INFO.INFO-AI] Computer Science [cs]/Artificial Intelligence [cs.AI], Adult, Reference trajectory, Walking activities, Foot Orthoses, 03 medical and health sciences, symbols.namesake, Wearable Electronic Devices, Control theory, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, medicine, Torque, Humans, Projection-based model reference, business.industry, Foot, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Ankle, Actuator, business, human activities
Abstract: International audience; This paper deals with the control of an active ankle foot orthosis (AAFO) to assist the gait of paretic patients. The AAFO system is driven by both, the residual human torque delivered by the muscles spanning the ankle joint and the AAFO's actuator's torque. A projection-based model reference adaptive control is proposed to assist dorsiflexion and plantar-flexion of the ankle joint during daily living walking activities. Unlike most classical model-based controllers, the proposed one does not require any prior estimation of the system's (foot-AAFO) parameters. The ankle reference trajectory was extracted from healthy subjects gait activities in a clinical environment. The input-to-state stability of the foot-AAFO system with respect to a bounded human muscular torque is proved in closed-loop based on a Lyapunov analysis. Preliminary experimental results with a healthy subject walking on a treadmill, show satisfactory results in terms of tracking performance and ankle assistance throughout the gait cycle.
Published: 2017

40. Towards Lower Limbs Functional Rehabilitation through a Knee Joint Exoskeleton

Author: Rifai , H., Mohammed , Samer, Djouani , K., Amirat , Yacine, Amirat, Yacine, SIRIUS, Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), and Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 )
Subjects: [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, Assistance-as-needed, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], bounded control, nested saturation, rehabilitation robotics, knee-joint exoskeleton, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS
Abstract: International audience; This paper presents a bounded control strategy of a knee-joint exoskeleton that ensures knee flexion/extension movements during the assistance and rehabilitation processes. The control strategy is easy to implement, since it does not require any prior knowledge of the human effort. The proposed control law is based on nested saturations with the main advantage of explicitly avoiding the actuator's saturation, guaranteeing and enhancing the wearer's security. Lyapunov-based analysis is stated to prove: 1) the asymptotic stability of the shank-foot-exoskeleton in the absence of a human active effort; 2) the trajectories ultimate boundedness in the presence of parameter uncertainties; and 3) the input-to-state stability with respect to a bounded human active torque. Preliminary real-time experiments show satisfactory results in terms of assistance-as-needed and passive/resistive rehabilitation performances following desired trajectories expressing knee flexion/extension movements.
Published: 2017

41. Analysis of Human Balance Control using Empirical Mode Decomposition

Author: Safi, K., Mohammed, Samer, Albertsen, I-M., Delechelle, E, Amirat, Yacine, Khalil, M., Gracies, J-M., Hutin, E., SIRIUS, Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), Bioingénierie, Tissus et Neuroplasticité EA 7377 (BIOTN), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), Centre AZM pour la Recherche en Biotechnologie et ses Applications, Université Libanaise, Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ), and Amirat, Yacine
Subjects: Balance analysis, Stabilometric signals, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, Posture, [INFO]Computer Science [cs], [INFO] Computer Science [cs], Empirical mode decomposition, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, ComputingMilieux_MISCELLANEOUS
Abstract: Accepted; International audience; The present study proposes a new approach for the assessment of the human balance control. This approach is based on the decomposition of the center of pressure displacement using empirical mode decomposition (EMD) that provides an effective time-frequency analysis of non-stationary signals. Twenty-eight healthy subjects performed quiet standing in four conditions—feet apart/together with respect to eyes open/closed—while recording the stabilometric signals in the anteroposterior (AP) and mediolateral (ML) directions. The EMD method decomposes each stabilometric signal into several subsignals called intrinsic mode functions (IMFs). Stabilogram-diffusion analysis technique is applied to generate the diffusion curve of each IMF signal. Each diffusion curve is modeled as a second-order system and provides representative features, such as the gain parameter. Analysis of the gain parameter shows the major effect of visual input and feet conditions on the strategy to control/stabilize the balance. Significant differences were found between young and elderly, and between women and men. In addition, the impact of feet position seems to be higher in ML direction than in AP direction.
Published: 2017

42. Using Brain Prints as New Biometric Feature for Human Recognition

Author: Amine Nait-Ali, Kamel Aloui, Mohamed Saber Naceur, Faculté des Sciences de Bizerte, SYNAPSE, Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ), Faculté des Sciences de Bizerte [Université de Carthage], Université de Carthage - University of Carthage, Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), and Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)
Subjects: [ MATH.MATH-OC ] Mathematics [math]/Optimization and Control [math.OC], Biometrics, Computer science, 02 engineering and technology, Gabor transform, [ INFO.INFO-CV ] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], Wavelet, Discriminative model, Neuroimaging, Artificial Intelligence, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Medical imaging, Feature (machine learning), Computer vision, ComputingMilieux_MISCELLANEOUS, BiometricsHidden biometricsCortical foldsCurvilinear slicesGabor transformMR imagesBrainprintForensics, business.industry, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], 020206 networking & telecommunications, Pattern recognition, Identification (information), Signal Processing, 020201 artificial intelligence & image processing, Computer Vision and Pattern Recognition, Artificial intelligence, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], business, Software
Abstract: International audience; Considering the evolution of neuroimaging in the medical field, some new emerging biometric modalities become interesting and promising candidates to recognize persons. These modalities are considered as a part of “Hidden Biometrics” which consists in using clinical measurements and medical imaging for recognition purpose. The main motivation in using hidden biometrics is the fact that system attacks may be extremely difficult to consider. This specificity highly contributes in increasing the robustness in terms of person verification and identification. In this paper, we deal with a novel non-invasive approach to recognize persons by extracting a brain signature, called “brainprint”. In particular, we explored the brain cortical regions of volumetric brain MRI (Magnetic Resonance Imaging) images, acquired from 220 healthy subjects. For each subject, four 3D cortical surfaces are considered, then transformed into 2D cortical folds maps. From the resulting textures, brainprints are constructed by extracting features using Wavelet Gabor Transform. These brainprints are considered in this work as a discriminative signature of the brain. In terms of performance evaluation, we show that an EER = 2.90 ± 0.47 is reached for verification mode. On the other hand, when dealing with identification, the proposed approach allows a recognition rate of 99.6%.
Published: 2017
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43. Backward Face Ageing Model (B-FAM) for Digital Face Image Rejuvenation

Author: Farazdaghi , E., Nait-Ali , A., SYNAPSE, Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ), Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), and Amirat, Yacine
Subjects: [ MATH.MATH-OC ] Mathematics [math]/Optimization and Control [math.OC], [INFO.INFO-CV] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], [MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC], image texture, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], [ INFO.INFO-CV ] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, computer vision, ComputingMilieux_MISCELLANEOUS, face recognition
Abstract: International audience; Facial ageing modelling has been an active research topic in the field of anthropology. Considering the fact that ageing is a non-uniform and a non-linear process for different face types (e.g. origins, gender etc.), dealing with a reliable face-ageing model may considerably help investigators working in some specific fields such as forensics. Unlike numerous studies dealing with forward or predictive face models, in this study, the authors propose a backward model aiming at estimating childhood face images using their corresponding adult face appearance as an input. For the proposed approach, face contour and different components are modified non-linearly, based on an estimated geometrical model. On the other hand, the face texture is estimated by mapping a reference face texture to the estimated geometrical model. This approach will show that it will be possible to `digitally' rejuvenate an adult person's face down to it being 3-4 years old. For evaluation purposes, a database has been created from 112 subjects. Results have been evaluated using both objective (face recognition system) and subjective (human perception) criteria. The most promising and interesting results will be highlighted further ahead.
Published: 2017

44. A Human-like Visual-Attention-based Artificial Vision System for Wildland Firefighting Assistance

Author: Christophe Sabourin, Viachaslau Kachurka, Lucile Rossi, Véronique Amarger, Kurosh Madani, Vladimir Golovko, SYNAPSE, Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), and Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 )
Subjects: [ MATH.MATH-OC ] Mathematics [math]/Optimization and Control [math.OC], Computer science, Robot, Artificial visual attention, 020101 civil engineering, 02 engineering and technology, [ INFO.INFO-CV ] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], Firefighters’ assistance, 0201 civil engineering, Artificial Intelligence, Human–computer interaction, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Visual attention, ComputingMilieux_MISCELLANEOUS, Fire region detection, Wildfire suppression, business.industry, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], Mobile robot, Human-like artificial vision, Artificial vision system, Implementation, 020201 artificial intelligence & image processing, Artificial intelligence, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], business
Abstract: International audience; In this work we contribute to development of a “Human-like Visual-Attention-based Artificial Vision” system for boosting firefighters’ awareness about the hostile environment in which they are supposed to move along. Taking advantage from artificial visual-attention, the investigated system’s conduct may be adapted to firefighter’s way of gazing by acquiring some kind of human-like artificial visual neatness supporting firefighters in interventional conditions’ evaluation or in their appraisal of the rescue conditions of people in distress dying out within the disaster. We achieve such a challenging goal by combining a statistically-founded bio-inspired saliency detection model with a Machine-Learning-based human-eye-fixation model. Hybridization of the two above-mentioned models leads to a system able to tune its parameters in order to fit human-like gazing of the inspected environment. It opens appealing perspectives in computer-aided firefighters’ assistance boosting their awareness about the hostile environment in which they are supposed to evolve. Using as well various available wildland fires images’ databases as an implementation of the investigated concept on a 6-wheeled mobile robot equipped with communication facilities, we provide experimental results showing the plausibility as well as the efficiency of the proposed system.
Published: 2017
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45. Biogeography-based optimization: a 10-year review

Author: Haiping Ma, Patrick Siarry, Zhile Yang, Minrui Fei, Dan Simon, Key Laboratory of Mariculture (Ministry of Education), Ocean University of China, SIMO, Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), Laboratoire de Physique Corpusculaire - Clermont-Ferrand ( LPC ), Université Blaise Pascal - Clermont-Ferrand 2 ( UBP ) -Institut National de Physique Nucléaire et de Physique des Particules du CNRS ( IN2P3 ) -Centre National de la Recherche Scientifique ( CNRS ), Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ), and Amirat, Yacine
Subjects: [ MATH.MATH-OC ] Mathematics [math]/Optimization and Control [math.OC], Engineering, Control and Optimization, Optimization problem, 020209 energy, Science and engineering, Evolutionary algorithm, Zoology, 02 engineering and technology, [ INFO.INFO-CV ] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], Biogeography-based optimization, Evolutionary computation, [INFO.INFO-CV] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], Artificial Intelligence, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, ComputingMilieux_MISCELLANEOUS, Management science, business.industry, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], [MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC], Computer Science Applications, Mathematical theory, Computational Mathematics, 020201 artificial intelligence & image processing, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], business, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering
Abstract: Biogeography-based optimization (BBO) is an evolutionary algorithm which is inspired by the migration of species between habitats. Almost 10 years have passed since the first BBO paper was published in 2008. BBO has successfully solved optimization problems in many different domains and has reached a relatively mature state. Considering the significant and expanding research on BBO and its applications, we find that the time is right to provide a 10-year anniversary review of the published literature, and also to point out some important avenues of future research. The purpose of this paper is to summarize and organize the literature related to the past 10 years of BBO research. Beginning with a foundation of basic BBO, we review the family of BBO algorithms and discuss BBO modifications, hybridizations, applications in science and engineering, and mathematical theory. Finally, the paper presents some interesting open problems and future research directions for BBO.
Published: 2017

46. La recherche opérationnelle: De quelques enjeux juridiques des mécanismes d'aide à la décision

Author: Ninin , Jordan, Mazeau , Laurène, Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance ( Lab-STICC ), École Nationale d'Ingénieurs de Brest ( ENIB ) -Université de Bretagne Sud ( UBS ) -Université de Brest ( UBO ) -ENSTA Bretagne-Institut Mines-Télécom [Paris]-Centre National de la Recherche Scientifique ( CNRS ) -Université Bretagne Loire ( UBL ) -IMT Atlantique Bretagne-Pays de la Loire ( IMT Atlantique ) -École Nationale d'Ingénieurs de Brest ( ENIB ) -Université de Bretagne Sud ( UBS ) -Université de Brest ( UBO ) -ENSTA Bretagne-Institut Mines-Télécom [Paris]-Centre National de la Recherche Scientifique ( CNRS ) -Université Bretagne Loire ( UBL ) -IMT Atlantique Bretagne-Pays de la Loire ( IMT Atlantique ), Pôle STIC_OSM, ENSTA Bretagne, Centre de Recherche en Droit Privé de Brest ( CRDP ), Institut des Sciences de l'Homme et de la Société - ISHS-Maison des Sciences de l'Homme de Bretagne-Université de Brest ( UBO ), Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), Laboratoire de recherche en droit - EA7480 (Lab-LEX), Université de Bretagne Sud (UBS)-Université de Brest (UBO), Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)
Subjects: Responsabilité civile, Automatiques, [SHS.DROIT]Humanities and Social Sciences/Law, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, Droit Civil, [INFO.INFO-RO]Computer Science [cs]/Operations Research [cs.RO], Recherche opérationnelle, [ SHS.DROIT ] Humanities and Social Sciences/Law, Aide a la decision, [ INFO.INFO-RO ] Computer Science [cs]/Operations Research [cs.RO]
Abstract: International audience; La recherche opérationnelle est une discipline des méthodes scientifiques utilisables pour élaborer de meilleures décisions. Elle aide à trouver une solution où l'homme n' en trouvait pas ou ne disposait d'aucune expérience. Elle aide à juger de la qualité d'une solution, mais aussi à confirmer/justifier des décisions. La recherche opérationnelle intervient dans des domaines très divers : Big Data, GPS, Google car ; finance, environnement et développe-ment durable, domaine spatial, politiques publiques, gestion des ressources hospitalières, etc. Elle favorise une culture scientifique dans la prise de décision. Face à son omnipré-sence dans notre environnement, il est intéressant de questionner son influence sur le Droit (confidentialité des données (Big Data) ; imputation d' obligation ; prise de décision ; information des utilisateurs, etc.). Que se passe-t-il lorsque l'aide à la décision devient systéma-tiquement « la » décision ? Qui est responsable des mauvais choix ? Existe-t-il des règles éthiques lorsque ces techniques ont un impact sur l'homme ? Traite-ton de la même façon des ressources matérielles et humaines ? La recherche opérationnelle ne se contente pas de suppléer l'activité humaine, elle la change.
Published: 2017

47. Generating Human-Like Velocity-Adapted Jumping Gait from sEMG Signals for Bionic Leg’s Control

Author: Runxiao Wang, Yangyang Feng, Weihua Ma, Christophe Sabourin, Kurosh Madani, Weiwei Yu, National University of Defense Technology [Changsha], Institut für Mikroelektronische Systeme ( LFI ), Universitat Hannover, SYNAPSE, Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ), Northwestern Polytechnical University [Xi'an] (NPU), Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), and Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)
Subjects: [ MATH.MATH-OC ] Mathematics [math]/Optimization and Control [math.OC], 0209 industrial biotechnology, Engineering, Article Subject, Effect of gait parameters on energetic cost, 02 engineering and technology, medicine.disease_cause, [ INFO.INFO-CV ] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], Robot leg, 03 medical and health sciences, 020901 industrial engineering & automation, 0302 clinical medicine, Gait (human), Jumping, Robustness (computer science), [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, lcsh:Technology (General), medicine, Computer vision, Sensitivity (control systems), Electrical and Electronic Engineering, Instrumentation, Simulation, ComputingMilieux_MISCELLANEOUS, business.industry, Motor control, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], Exoskeleton, Control and Systems Engineering, lcsh:T1-995, Artificial intelligence, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], business, 030217 neurology & neurosurgery
Abstract: International audience; In the case of dynamic motion such as jumping, an important fact in sEMG (surface Electromyogram) signal based control on exoskeletons, myoelectric prostheses, and rehabilitation gait is that multichannel sEMG signals contain mass data and vary greatly with time, which makes it difficult to generate compliant gait. Inspired by the fact that muscle synergies leading to dimensionality reduction may simplify motor control and learning, this paper proposes a new approach to generate flexible gait based on muscle synergies extracted from sEMG signal. Two questions were discussed and solved, the first one concerning whether the same set of muscle synergies can explain the different phases of hopping movement with various velocities. The second one is about how to generate self-adapted gait with muscle synergies while alleviating model sensitivity to sEMG transient changes. From the experimental results, the proposed method shows good performance both in accuracy and in robustness for producing velocity-adapted vertical jumping gait. The method discussed in this paper provides a valuable reference for the sEMG-based control of bionic robot leg to generate human-like dynamic gait.
Published: 2017
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48. Novel approach for replacement of a failure node in wireless sensor network

Author: Patrick Siarry, Abdelmalek Boudries, Mourad Amad, Chercheur indépendant, SIMO, Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ), and Amirat, Yacine
Subjects: [ MATH.MATH-OC ] Mathematics [math]/Optimization and Control [math.OC], Computer science, Distributed computing, 02 engineering and technology, [ INFO.INFO-CV ] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], 01 natural sciences, Network operations center, [INFO.INFO-CV] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Electrical and Electronic Engineering, Computer communication networks, ComputingMilieux_MISCELLANEOUS, business.industry, 010401 analytical chemistry, Control reconfiguration, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], 020206 networking & telecommunications, [MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC], Load balancing (computing), 0104 chemical sciences, Energy conservation, Key distribution in wireless sensor networks, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], business, Wireless sensor network, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, Efficient energy use, Computer network
Abstract: In the recent years, there has been a growing interest in wireless sensor networks (WSN). Network's lifetime depends on energy efficiency and load balancing where connectivity is a very important factor. However, such connectivity can be lost due to the failure of some sensor nodes which creates disruptions to the network operations, lead to a reconfiguration of the network by generating energy losses, or in another case, the network mission fails. Energy conservation is a very important problem in WSN. In this paper, we propose a new solution for the connectivity problem when failure nodes are considered. The replacement of failed nodes is done in two phases: the first one is the search of redundant nodes using the clusterheads; the second phase is a restoration of connectivity. Performance evaluation of the proposed replacement approach shows that the results are globally satisfactory.
Published: 2017

49. A survey on search-based model-driven engineering

Author: Patrick Siarry, Ilhem Boussaïd, Mohamed Ahmed-Nacer, SIMO, Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), Amirat, Yacine, Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), and Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 )
Subjects: [ MATH.MATH-OC ] Mathematics [math]/Optimization and Control [math.OC], Optimization problem, Computer science, Interface (Java), Metaheuristic, 02 engineering and technology, Metaheuristics, [ INFO.INFO-CV ] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], Model-driven engineering (MDE), [INFO.INFO-CV] Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Software system, ComputingMilieux_MISCELLANEOUS, computer.programming_language, Abstraction (linguistics), business.industry, Search-based software engineering, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], 020207 software engineering, [MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC], Search-based software engineering (SBSE), Systems engineering, 020201 artificial intelligence & image processing, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], Model-driven architecture, Literature survey, Software engineering, business, computer, [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, Software
Abstract: International audience; Model-driven engineering (MDE) and search-based software engineering (SBSE) are both relevant approaches to software engineering. MDE aims to raise the level of abstraction in order to cope with the complexity of software systems, while SBSE involves the application of metaheuristic search techniques to complex software engineering problems, reformulating engineering tasks as optimization problems. The purpose of this paper is to survey the relatively recent research activity lying at the interface between these two fields, an area that has come to be known as search-based model-driven engineering. We begin with an introduction to MDE, the concepts of models, of metamodels and of model transformations. We also give a brief introduction to SBSE and metaheuristics. Then, we survey the current research work centered around the combination of search-based techniques and MDE. The literature survey is accompanied by the presentation of references for further details.
Published: 2017

50. Energy-aware feedback control for a H.264 video decoder

Author: Anne-Marie Alt, Nicolas Marchand, Daniel Simon, Sylvain Durand, GIPSA - Systèmes non linéaires et complexité (GIPSA-SYSCO), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria), Artificial movement and gait restoration (DEMAR), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Inria Sophia Antipolis - Méditerranée (CRISAM), SYSCO ( GIPSA-SYSCO ), Département Automatique ( GIPSA-DA ), Grenoble Images Parole Signal Automatique ( GIPSA-lab ), Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Grenoble Images Parole Signal Automatique ( GIPSA-lab ), Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ) -Université Pierre Mendès France - Grenoble 2 ( UPMF ) -Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique ( CNRS ) -Université Grenoble Alpes ( UGA ), Institut National de Recherche en Informatique et en Automatique ( Inria ), Artificial movement and gait restoration ( DEMAR ), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier ( LIRMM ), Université de Montpellier ( UM ) -Centre National de la Recherche Scientifique ( CNRS ) -Université de Montpellier ( UM ) -Centre National de la Recherche Scientifique ( CNRS ) -Inria Sophia Antipolis - Méditerranée ( CRISAM ), and Institut National de Recherche en Informatique et en Automatique ( Inria ) -Institut National de Recherche en Informatique et en Automatique ( Inria )
Subjects: H264 video, Automatic control, Computer science, Energy-performance trade-off, Clock rate, QoS, 02 engineering and technology, Fast predictive control, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Theoretical Computer Science, Scheduling (computing), [ SPI.AUTO ] Engineering Sciences [physics]/Automatic, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, Electronic engineering, decoder, Feedback scheduling, Frequency scaling, Inner loop, Video decoder, Energy consumption, 020202 computer hardware & architecture, Computer Science Applications, Model predictive control, Control and Systems Engineering, 020201 artificial intelligence & image processing
Abstract: International audience; Embedded devices using highly integrated chips must cope with conflicting constraints, while executing computationally demanding applications under limited energy storage. Automatic control and feedback loops appear to be an effective solution to simultaneously accommodate for performance uncertainties due to the tiny scale gates variability, varying and poorly predictable computing demands and limited energy storage constraints. This paper presents the example of an embedded video decoder controlled by several feedback loops to carry out the trade-off between decoding quality and energy consumption, exploiting the frequency and voltage scaling capabilities of the chip. The inner loop controls the Dynamic Voltage and Frequency Scaling (DVFS) through a fast predictive control strategy. The outer loop computes the scheduling set-points needed by the inner loop to process frames decoding. The feedback loops have been implemented on a stock PC and experimental results are provided. The upcoming generations of embedded devices are integrating more and more multimedia and telecommunication applications, such as PDAs, mobile phones and tablets, thus requiring increasing on-board computing power. On the other hand, they become even more miniaturised (which means with limited energetic resources) while needing increased autonomy. These constraints are clearly conflicting, therefore technological evolutions are needed to improve their power consumption, computational efficiency and fabrication yield. In this paper, we propose the use of feedback control loops as a possible solution. The approach is applied to an embedded video decoding device whose requirements can be categorised in three main points : a) Energy saving requirements : In current CMOS integrated chips, Dynamic Voltage and Frequency Scaling (DVFS) can be used to efficiently manage the energy consumption of a device. It results in simultaneously managing the frequency and the voltage (note that scaling down the voltage increases signals delays along the paths through electronic gates, thus needing to decrease its clock frequency as well, and inversely (Chandrakasan and Brodersen (1995), Flautner et al. (2004), Varma et al. (2003))). In many cases, the only performance requirement is that the tasks meet their deadline. Such cases create opportunities to run the processor at a lower computing level and achieve the same perceived performance while consuming less energy.A closed-loop DVFS approach is hence a good solution for energy saving. Classically, each task is considered independently, running at a constant voltage whose value is set to meet the deadline, and even selecting a small number of voltage levels leads to a drastic energy reduction (Ishihara and * Corresponding author.
Published: 2013
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