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1. Analytical Bounds for an Interval Kalman Filter

Author: Quoc-Hung Lu, Soheib Fergani, Carine Jauberthie, 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), and Université de Toulouse (UT)
Subjects: Control and Systems Engineering, Interval Analysis, Interval Kalman Filter, Electrical and Electronic Engineering, Computer Science Applications, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract: International audience; This paper is concerned with analytical developments of results firstly introduced by the authors in [1]. These developments are devoted to the optimization of upper bounds of the interval covariance matrices appearing in the Interval Kalman Filter [2]. The proposed study is mainly highlighted through two aspects. Firstly, the optimization is further performed by considering a class of upper bounds and minimizing the traces of these bounds in two stages (in terms of a gain matrix and then with respect to a scalar parameter). Secondly, the paper provides conditions under which the optimal trace value is controlled and hence the proposed Algorithm in [1], namely Optimal Upper Bound Interval Kalman Filter (OUBIKF), is ensured to perform with stability (i.e. without width explosion of the resulting interval estimators). Also under these conditions, the OUBIKF Algorithm, having a similar structure of the Standard Kalman Filter (SKF), is ensured to get a smaller trace upper bound of the covariance matrices in the correction step than the one in the prediction step. Numerical simulations based on anautomotive model is performed to illustrate the developed results.
Published: 2024
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2. RF sensor dedicated to the dielectric characterization of spheroids between 500 MHz and 20 GHz

Author: Olivia Peytral-Rieu, David Dubuc, Katia Grenier, Équipe Micro et nanosystèmes HyperFréquences Fluidiques (LAAS-MH2F), 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), and Université de Toulouse (UT)
Subjects: Coplanar waveguide (CPW), Label-free analysis, [PHYS]Physics [physics], Electromagnetic waves, Cells, [SDV]Life Sciences [q-bio], Dielectric characterization, Spheroids, Electrical and Electronic Engineering, Microwave, Biosensor, Biosensor Microwave Electromagnetic waves Dielectric characterization Coplanar waveguide (CPW) Label-free analysis Spheroids Cells
Abstract: To achieve better accuracy in their investigations, biologists have recently been using three-dimensional models as intermediates between two-dimensional cell culture and the in vivo study of tissues. Some of these models are based on spheroids, which are cellular aggregates retaining many characteristics of in vivo behaviors while being still easy to use and implement in labs. To study such objects, multiple observation techniques can be used according to the objective of the study, including those using electromagnetic waves as nondestructive, noninvasive, and label-free analysis. Low-frequency (
Published: 2023
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3. Solving Nonlinear Algebraic Loops Arising in Input-Saturated Feedbacks

Author: Franco Blanchini, Giulia Giordano, Francesco Riz, Luca Zaccarian, Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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), and ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018)
Subjects: [SPI]Engineering Sciences [physics], Iterative methods, Control and Systems Engineering, Linear matrix inequalities, Heuristic algorithms, Software packages, Approximation algorithms, Simulation, Tuning, Electrical and Electronic Engineering, Computer Science Applications
Abstract: We propose a dynamic augmentation scheme for the asymptotic solution of the nonlinear algebraic loops arising in well-known input saturated feedbacks typically designed by solving linear matrix inequalities (LMIs). We prove that the existing approach based on dynamic augmentation, which replaces the static loop by a dynamic one through the introduction of a sufficiently small time constant, works under some restrictive sufficient well-posedness conditions, requiring the existence of a diagonal Lyapunov matrix. However it can fail in general, even when the algebraic loop is well-posed. Then, we propose a novel approach whose effectiveness is guaranteed whenever wellposedness holds. We also show how this augmentation allows preserving the guaranteed region of attraction with Lyapunovbased designs, as long as a gain parameter is sufficiently large. We finally propose an adaptive version of the scheme where this parameter is adjusted online. Simulation results show the effectiveness of the proposed solutions.
Published: 2023
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4. Toward an Operations-Dedicated Model for Space Systems

Author: Nikolena Christofi, Xavier Pucel, Claude Baron, Marc Pantel, Sebastien Guilmeau, Christophe Ducamp, Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT), IRT Saint Exupéry - Institut de Recherche Technologique, Équipe Ingénierie Système et Intégration (LAAS-ISI), 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), ONERA / DTIS, Université de Toulouse [Toulouse], ONERA-PRES Université de Toulouse, Assistance à la Certification d’Applications DIstribuées et Embarquées (IRIT-ACADIE), Institut de recherche en informatique de Toulouse (IRIT), Université de Toulouse (UT)-Université de Toulouse (UT)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Toulouse Mind & Brain Institut (TMBI), Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), and Airbus Defence and Space [Toulouse]
Subjects: Aerospace Engineering, [INFO.INFO-ES]Computer Science [cs]/Embedded Systems, Electrical and Electronic Engineering, Computer Science Applications
Abstract: International audience; Current trends in the aerospace industry for the digitization of data, tools, and services call for novel solutions that can keep track of the latest technological advancements. Moreover, the increasing drive toward model-based approaches imposes the use of models for the development of complex systems, such as satellites. New types of methods and tools are needed in order to manage the still-growing complexity of embedded systems and their corresponding models. This paper addresses issues related to space systems (in-service) operations and proposes a multimodel approach to address them. The multimodel approach aims at facilitating the task of operational diagnosis by creating a monitoring and diagnosis-dedicated system model derived from existing system design (architecture, functional behavior, and safety) models. The purpose of the diagnosis-dedicated model is to enable the codesign of the system and its diagnosis tools in order to improve the performance of diagnosis activities and the system’s availability. This paper demonstrates the interests of the suggested approach with regard to the limitations of current practices.
Published: 2023
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5. Hybrid Control of Self-Oscillating Resonant Converters

Author: Nicola Zaupa, Luis Martínez-Salamero, Carlos Olalla, Luca Zaccarian, 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), Université Toulouse III - Paul Sabatier (UT3), Universitat Rovira i Virgili, Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], Spanish Ministry of Science and Innovation (Grant Number: PID2019-111443RB-100), International Exchange Program of the University of Trento, Italy, ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018), ZAUPA, Nicola, and Systèmes Dynamiques Hybrides et en Réseau - - HANDY2018 - ANR-18-CE40-0010 - AAPG2018 - VALID
Subjects: [SPI.AUTO] Engineering Sciences [physics]/Automatic, Control and Systems Engineering, Power electronics, [SPI.NRJ]Engineering Sciences [physics]/Electric power, Electrical and Electronic Engineering, Stability of hybrid systems, Resonant converters, Power conversion, Lyapunov methods, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract: International audience; We describe parallel and series resonant converters via a unified set of input-dependent coordinates whose dynamics is intrinsically hybrid. We then propose a hybrid feedback showing a self-oscillating behavior whose amplitude and frequency can be adjusted by a reference input ranging from zero to π. For any reference value in that range we give a Lyapunov function certifying the existence of a unique nontrivial hybrid limit cycle whose basin of attraction is global except for the origin. Our results are confirmed by experimental results on a series resonant converter prototype.
Published: 2023
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6. The structure of pathogenic huntingtin exon 1 defines the bases of its aggregation propensity

Author: Carlos A. Elena-Real, Amin Sagar, Annika Urbanek, Matija Popovic, Anna Morató, Alejandro Estaña, Aurélie Fournet, Christine Doucet, Xamuel L. Lund, Zhen-Dan Shi, Luca Costa, Aurélien Thureau, Frédéric Allemand, Rolf E. Swenson, Pierre-Emmanuel Milhiet, Ramon Crehuet, Alessandro Barducci, Juan Cortés, Davy Sinnaeve, Nathalie Sibille, Pau Bernadó, Centre de Biologie Structurale [Montpellier] (CBS), Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Équipe Robotique et InteractionS (LAAS-RIS), 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), Institut Laue-Langevin (ILL), National Institutes of Health [Bethesda] (NIH), Beamline SWING, Synchrotron SOLEIL, Synchrotron SOLEIL (SSOLEIL), Centre National de la Recherche Scientifique (CNRS)-Centre National de la Recherche Scientifique (CNRS), Institute for Advanced Chemistry of Catalonia (IQAC-CSIC), Institute for Advanced Chemistry of Catalonia, Biologie Structurale Intégrative (ERL 9002 - BSI ), Institut Pasteur de Lille, Réseau International des Instituts Pasteur (RIIP)-Réseau International des Instituts Pasteur (RIIP)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Université de Lille-Centre National de la Recherche Scientifique (CNRS), Facteurs de Risque et Déterminants Moléculaires des Maladies liées au Vieillissement - U 1167 (RID-AGE), Réseau International des Instituts Pasteur (RIIP)-Réseau International des Instituts Pasteur (RIIP)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Université de Lille-Centre Hospitalier Régional Universitaire [Lille] (CHRU Lille), ANR-10-LABX-0012,EpiGenMed,From Genome and Epigenome to Molecular Medicine: turning new paradigms in biology into the therapeutic strategies of tomorrow(2010), ANR-17-CE11-0022,GPCteR,Mécanismes moléculaires des régions C-terminales désordonnées et fonctionnelles des RCPG et impact sur les voies de la signalisation cellulaire dépendantes de l'arrestine(2017), ANR-19-P3IA-0004,ANITI,Artificial and Natural Intelligence Toulouse Institute(2019), European Project: 648030,H2020,ERC-2014-CoG,chemREPEAT(2015), and European Commission
Subjects: Huntington’s disease is a neurodegenerative disorder, poly-Q-related diseases, Pathogenic huntingtin, Structural Biology, [SDV]Life Sciences [q-bio], Proteins, Protein aggregation, [INFO.INFO-BI]Computer Science [cs]/Bioinformatics [q-bio.QM], HTT gene, Solution-state NMR, Molecular Biology
Abstract: Huntington's disease is a neurodegenerative disorder caused by a CAG expansion in the first exon of the HTT gene, resulting in an extended polyglutamine (poly-Q) tract in huntingtin (httex1). The structural changes occurring to the poly-Q when increasing its length remain poorly understood due to its intrinsic flexibility and the strong compositional bias. The systematic application of site-specific isotopic labeling has enabled residue-specific NMR investigations of the poly-Q tract of pathogenic httex1 variants with 46 and 66 consecutive glutamines. Integrative data analysis reveals that the poly-Q tract adopts long α-helical conformations propagated and stabilized by glutamine side chain to backbone hydrogen bonds. We show that α-helical stability is a stronger signature in defining aggregation kinetics and the structure of the resulting fibrils than the number of glutamines. Our observations provide a structural perspective of the pathogenicity of expanded httex1 and pave the way to a deeper understanding of poly-Q-related diseases., We thank G. Otting (Australian National University, Canberra, Australia) for providing the BL21 (DE3) Star::RF1-CBD3 strain. This work was supported by the European Research Council under the European Union’s H2020 Framework Programme (2014–2020)/ERC grant agreement no. 648030 and Labex EpiGenMed, an Investissements d’avenir program (grant no. ANR-10-LABX-12-01) awarded to P.B., grant no. ANR-17-CE11-0022-01 awarded to N.S. and grant no. ANR-19-PI3A-0004 awarded to J.C. The Centre for Structural Biology (CBS) is a member of France-BioImaging (FBI) and the French Infrastructure for Integrated Structural Biology, two national infrastructures supported by the French National Research Agency (grant nos. ANR-10-INBS-04-01 and ANR-10-INBS-05, respectively). A.U. is supported by a grant from the Fondation pour la Recherche Médicale (grant no. SPF20150934061). D.S. acknowledges a grant from the Métropole Européenne de Lille (PUSHUP). G. Levy (Université de Lille) is thanked for help with sample preparation and the 19F-NMR experiments. This work benefited from the high-performance computing resources of CSUC and the CALMIP supercomputing center under the allocations 2016-P16032 and 2021-P21043. The 600 MHz spectrometer for 19F-NMR measurements is funded by the Nord Region Council, CNRS, Institut Pasteur de Lille, the European Community (European Regional Development Fund, ERDF), the French Ministry of Research and the Université de Lille and by the CTRL CPER cofunded by the European Union with the ERDF, by the Hauts-de-France Regional Council (contract no. 17003781), Métropole Européenne de Lille (contract no. 2016_ESR_05) and the French State (contract no .2017-R3-CTRL-Phase1). We thank the SWING beamline at the SOLEIL synchrotron, Saint-Aubin, France (proposal 20181386), and P12 beamline at PETRAIII, Hamburg, Germany, for beamtime allocation to the project and assistance during data collection.
Published: 2023
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7. Overworld: Assessing the Geometry of the World for Human-Robot Interaction

Author: Guillaume Sarthou, Équipe Robotique et InteractionS (LAAS-RIS), 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), and Université de Toulouse (UT)
Subjects: Human-Computer Interaction, Human-Robot Collaboration, Control and Optimization, Multi-Modal Perception for HRI, Artificial Intelligence, Control and Systems Engineering, Mechanical Engineering, Biomedical Engineering, Software Architecture for Robotic and Automation, [INFO]Computer Science [cs], Computer Vision and Pattern Recognition, Computer Science Applications
Abstract: International audience; For a robot to interact with humans in a given environment, a key need is to understand its environment in terms of the objects composing it, the other agents acting in it, and the relations between all of them. This capability is often called the geometrical situation assessment and is mainly related to spatial reasoning in time. In this paper, we present Overworld, a novel lightweight and open-source framework, merging the key features of a decade of research in the domain. It permanently maintains a geometric state of the world from the point of view of the robot by aggregating perceptual information from several sources and reasoning on them to create a coherent world. Furthermore, Overworld implements perspective-taking by emulating the humans' ability to perceive to estimate the state of the world from their perspective. Finally, thanks to a strong link with an ontology framework, it ensures knowledge coherence in the whole robotic architecture. This work is part of a broader effort to develop a complete, stable, and shareable decisional robotic architecture for Human-Robot Interaction.
Published: 2023
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8. SONC optimization and exact nonnegativity certificates via second-order cone programming

Author: Magron, Victor, Wang, Jie, Institut de Mathématiques de Toulouse UMR5219 (IMT), 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), Équipe Méthodes et Algorithmes en Commande (LAAS-MAC), Laboratoire d'analyse et d'architecture des systèmes (LAAS), 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), ANR-18-ERC2-0004,COPS,Optimisation garantie pour la vérification des systèmes cyber-physiques(2018), ANR-19-P3IA-0004,ANITI,Artificial and Natural Intelligence Toulouse Institute(2019), European Project: 813211,H2020-EU.1.3. - EXCELLENT SCIENCE - Marie Skłodowska-Curie Actions (Main Programme), H2020-EU.1.3.1. - Fostering new skills by means of excellent initial training of researchers ,10.3030/813211,POEMA(2019), Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-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), 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, and European Project: 813211,H2020,POEMA(2019)
Subjects: FOS: Computer and information sciences, Computer Science - Symbolic Computation, Algebra and Number Theory, MathematicsofComputing_NUMERICALANALYSIS, Symbolic Computation (cs.SC), sum of binomial squares, exact nonnegativity certificate, Mathematics - Algebraic Geometry, Computational Mathematics, rounding-projection algorithm, Optimization and Control (math.OC), sum of nonnegative circuit polynomials, second-order cone programming, polynomial optimization, ComputingMethodologies_SYMBOLICANDALGEBRAICMANIPULATION, FOS: Mathematics, second-order conerepresentation, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], Algebraic Geometry (math.AG), Mathematics - Optimization and Control
Abstract: The second-order cone (SOC) is a class of simple convex cones and optimizing over them can be done more efficiently than with semidefinite programming. It is interesting both in theory and in practice to investigate which convex cones admit a representation using SOCs, given that they have a strong expressive ability. In this paper, we prove constructively that the cone of sums of nonnegative circuits (SONC) admits a SOC representation. Based on this, we give a new algorithm for unconstrained polynomial optimization via SOC programming. We also provide a hybrid numeric-symbolic scheme which combines the numerical procedure with a rounding-projection algorithm to obtain exact nonnegativity certificates. Numerical experiments demonstrate the efficiency of our algorithm for polynomials with fairly large degree and number of variables., 29 pages, 7 tables, 6 figures, extended version of the article published in the proceedings of ISSAC 2020. arXiv admin note: text overlap with arXiv:1906.06179
Published: 2023
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9. Value-Added Trade, Trade Barriers, and International Technology Spillover—Evidence from China’s Manufacturing Industry

Author: Qiao, Xiaoyong, Li, Xingyao, Ling, Xin, Xue, Rui, Baron, Claude, Xin, Xiaoxuan, Beijing University of Technology, Équipe Ingénierie Système et Intégration (LAAS-ISI), 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), and This work was financially supported by theNational Natural Science Foundation of China (71774008)
Subjects: Global value chains, International technology spillover, Value-added trade, [INFO]Computer Science [cs], Trade barriers, Manufacturing industry
Abstract: International audience; Abstract Whereas the technology spillover effect of international trade has been widely concerned by academic circles, the impact of trade barriers on technology spillover has received relatively less attention. This paper assesses the heterogeneity of international technology spillover effects in China’s manufacturing industry from traditional gross trade and value-added trade perspectives. Moreover, a deep insight into the effects of tariff and non-tariff barriers on international technology diffusion from traditional gross trade and value-added trade perspectives is also provided. Results show that the international trade indeed engenders technology diffusion, which is especially true in value-added trade characterized by intermediate goods trade compared with traditional gross trade. Additionally, tariff barriers severely disrupt technology diffusion in international trade, and traditional gross trade statistics underestimate the cumulative destructive effect of trade barriers on technology diffusion. Consequently, it can be concluded that reducing the abuse and misuse of non-tariff barriers can moderate the negative effect of trade barriers on international technology diffusion. JEL classification numbers: F14. Keywords: Global value chains; Value-added trade; Trade barriers; International technology spillover; Manufacturing industry.
Published: 2023
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10. Data-driven stabilization of input-saturated systems

Author: Valentina Breschi, Luca Zaccarian, Simone Formentin, Control Systems, Eindhoven University of Technology [Eindhoven] (TU/e), Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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), Dipartimento di Electtronica, Informazione e Bioingegneria [Politecnico Milano] (POLIMI), Politecnico di Milano [Milan] (POLIMI), and ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018)
Subjects: [SPI]Engineering Sciences [physics], Control and Optimization, Data-driven control, Control and Systems Engineering, input saturation, Linear systems, State feedback, Lyapunov methods
Abstract: International audience; We provide a data-driven stabilization approach for input-saturated systems with formal Lyapunov guarantees. Through a generalized sector condition, we propose a convex design algorithm based on linear matrix inequalities for obtaining a regionally stabilizing datadriven static state-feedback gain. Regional, rather than global, properties allow us to address non-exponentially stable plants, thereby making our design broad in terms of applicability. Moreover, we discuss consistency issues and introduce practical tools to deal with measurement noise. Numerical simulations show the effectiveness of our approach and its sensitivity to the features of the dataset.
Published: 2023
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11. Existence and Completeness of Solutions to Extended Projected Dynamical Systems and Sector-Bounded Projection-Based Controllers

Author: W. P. M. H. Heemels, Aneel Tanwani, Eindhoven University of Technology [Eindhoven] (TU/e), 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), and Université de Toulouse (UT)
Subjects: Nonsmooth dynamics, Control and Optimization, Control and Systems Engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], Projection based control
Abstract: Projection-based control (PBC) systems have significant engineering impact and receive considerable scientific attention. To properly describe closed-loop PBC systems, extensions of classical projected dynamical systems are needed, because partial projection operators and irregular constraint sets (sectors) are crucial in PBC. These two features obstruct the application of existing results on existence and completeness of solutions. To establish a rigorous foundation for the analysis and design of PBC, we provide essential existence and completeness properties for this new class of discontinuous systems.
Published: 2023
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12. Stabilization using shifted equilibria for saturated discrete-time linear systems⋆

Author: Braun, Philipp, Jungers, Marc, Zaccarian, Luca, Jungers, Marc, Australian National University (ANU), Centre de Recherche en Automatique de Nancy (CRAN), Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), 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), and ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018)
Subjects: [SPI.AUTO] Engineering Sciences [physics]/Automatic, Systems with saturation, Asymptotic stabilization, Control and Systems Engineering, discrete-time systems, semidefinite programming, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Lyapunov methods
Abstract: International audience; We discuss controller designs for asymmetric saturated discrete-time linear systems. Under the assumption that a locally stabilizing controller of the origin is known, we augment the original controller with an additional term that vanishes in a neighborhood of the origin. The augmented controller outperforms the original controller in terms of the estimate of the region of attraction. The paper translates the results discussed in Braun et al. (2022a,b), from the continuous-time setting to the discrete-time setting, and numerically verifies that the results derived for continuous-time systems are recovered if the discrete-time system is obtained through an Euler discretization of a continuous-time system with a sufficiently small sampling rate.
Published: 2023
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13. Robust Global Asymptotic Stabilization of Linear Cascaded Systems With Hysteretic Interconnection

Author: Alessandro Bosso, Luca Zaccarian, Andrea Tilli, Matteo Barbieri, Department of electrical, electronic and information engineering 'GUGLIELMO MARCONI' [Bologna] (DEI), Alma Mater Studiorum Università di Bologna [Bologna] (UNIBO), Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], 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), Bosso A., Zaccarian L., Tilli A., and Barbieri M.
Subjects: Lyapunov method, Control and Optimization, Control and Systems Engineering, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Hysteresi, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], switched systems, Prandtl-Ishlinskii operator
Abstract: International audience; We address the problem of setpoint regulation for cascaded minimum-phase linear systems interconnected through a scalar hysteresis, modeled as a Prandtl-Ishlinskii operator. Employing well-posed constrained differential inclusions to represent the hysteretic dynamics, we formulate the control problem in terms of stabilization of a compact set of equilibria depending on the hysteresis states. For our design, we firstly consider a proportional-integral controller for linear systems with hysteretic input, and provide model-free sufficient conditions based on high-gain arguments for closed-loop stability. Then, the controller is dynamically extended to obtain an inversion-free stabilizer of the overall cascade. For the presented schemes, we prove robust global asymptotic stability of a compact set that ensures setpoint regulation, regardless of the hysteresis states.
Published: 2023
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14. Majorization-Minimization for Sparse Nonnegative Matrix Factorization With the $\beta$-Divergence

Author: Arthur Marmin, José Henrique de Morais Goulart, Cédric Févotte, Aix Marseille Université (AMU), Signal et Communications (IRIT-SC), Institut de recherche en informatique de Toulouse (IRIT), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-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)-Toulouse Mind & Brain Institut (TMBI), Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Ecole Nationale Supérieure d'Electrotechnique, d'Electronique, d'Informatique, d'Hydraulique et de Télécommunications (ENSEEIHT), Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université de Toulouse (UT), and Centre National de la Recherche Scientifique (CNRS)
Subjects: Computer Science - Machine Learning, [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing, [STAT.ML]Statistics [stat]/Machine Learning [stat.ML], Signal Processing, Electrical and Electronic Engineering, Mathematics - Optimization and Control
Abstract: This article introduces new multiplicative updates for nonnegative matrix factorization with the $\beta$-divergence and sparse regularization of one of the two factors (say, the activation matrix). It is well known that the norm of the other factor (the dictionary matrix) needs to be controlled in order to avoid an ill-posed formulation. Standard practice consists in constraining the columns of the dictionary to have unit norm, which leads to a nontrivial optimization problem. Our approach leverages a reparametrization of the original problem into the optimization of an equivalent scale-invariant objective function. From there, we derive block-descent majorization-minimization algorithms that result in simple multiplicative updates for either $\ell_{1}$-regularization or the more "aggressive" log-regularization. In contrast with other state-of-the-art methods, our algorithms are universal in the sense that they can be applied to any $\beta$-divergence (i.e., any value of $\beta$) and that they come with convergence guarantees. We report numerical comparisons with existing heuristic and Lagrangian methods using various datasets: face images, an audio spectrogram, hyperspectral data, and song play counts. We show that our methods obtain solutions of similar quality at convergence (similar objective values) but with significantly reduced CPU times.
Published: 2023
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15. Distributed Hybrid Observer With Prescribed Convergence Rate for a Linear Plant Using Multi-Hop Decomposition

Author: Riccardo Bertollo, Pablo Millan, Luis Orihuela, Alexandre Seuret, Luca Zaccarian, Università degli Studi di Trento (UNITN), Universidad Loyola Andalucía = Loyola University Andalucía, Universidad de Sevilla / University of Sevilla, 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), and ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018)
Subjects: Hybrid observer, Control and Optimization, Input-to-State Stability, Sensor network, Control and Systems Engineering, [MATH.MATH-DS]Mathematics [math]/Dynamical Systems [math.DS], FOS: Mathematics, Distributed estimation, Linear systems, Dynamical Systems (math.DS), Mathematics - Dynamical Systems
Abstract: With a continuous-time formulation of the multihop decomposition, we propose a distributed hybrid observer for a sensor network where the plant and local observers run in continuous time and the information exchange among the sensing nodes is sampled-data. Process disturbances, measurement noise and communication noise are considered, and we prove that under some necessary detectability assumptions the observer gains can be tuned to guarantee exponential ISS with a prescribeda convergence rate. Simulations illustrate the performance of the proposed observer.
Published: 2023
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16. A note on the wave equation controlled with a dynamic saturating boundary control

Author: Gauvrit, Mario, Prieur, Christophe, Tarbouriech, Sophie, Ecole Normale Supérieure Paris-Saclay (ENS Paris Saclay), GIPSA - Infinite Dimensional Dynamics (GIPSA-INFINITY), GIPSA Pôle Automatique et Diagnostic (GIPSA-PAD), Grenoble Images Parole Signal Automatique (GIPSA-lab), Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP ), Université Grenoble Alpes (UGA)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP ), Université Grenoble Alpes (UGA)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Grenoble Alpes (UGA), 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), Jochen Trumpf, Robert Mahony, and ANR-19-P3IA-0003,MIAI,MIAI @ Grenoble Alpes(2019)
Subjects: well-posedness, Control and Systems Engineering, saturation, Infinite-dimensional systems, stability, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract: International audience; This paper studies the nonlinear systems obtained by considering a wave equation in closed loop with a nonlinear dynamical boundary controller. The controller is subject to a magnitude limitation and modeled by a linear ordinary differential equation with a saturation map in the input. The well-posedness of the obtained infinite-dimensional system is first studied and then two stability results are given. These two stability results apply for two cascade cases and give sufficient conditions for the asymptotic stability of the equilibrium. The well-posedness is proven by using nonlinear semigroups techniques, whereas the global asymptotic stability results are obtained by Lyapunov-based arguments in infinite-dimensional state space.
Published: 2023
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17. Hybrid Control of Self-Oscillating Resonant Converters With Three-Level Input

Author: Nicola Zaupa, Carlos Olalla, Isabelle Queinnec, Luis Martinez-Salamero, Luca Zaccarian, 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), Université Toulouse III - Paul Sabatier (UT3), Universitat Rovira i Virgili, Dipartimento di Ingegneria Industriale [Trento], University of Trento [Trento], Spanish Ministry of Science and Innovation (Grant Number: PID2019-111443RB-100 and PID2020-120151RB-I00), MUR through PRIN Grant DOCEAT (Grant Number: 2020RTWES4), and ANR-18-CE40-0010,HANDY,Systèmes Dynamiques Hybrides et en Réseau(2018)
Subjects: Control and Optimization, Control and Systems Engineering, Power electronics, [SPI.NRJ]Engineering Sciences [physics]/Electric power, Stability of hybrid systems, Lyapunov methods, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract: International audience; We propose a hybrid feedback law inducing self-oscillating behavior in second-order resonant converters. With our controller, the converter switches at the resonant frequency of its tank, without the need of external oscillators. In addition, the output amplitude can be adjusted by a reference signal ranging from zero to π /2. The amplitude modulation is then performed while maintaining an approximately constant switching frequency. Theoretical results show uniqueness and almost global asymptotic stability of a nontrivial hybrid limit cycle. Experimental results show that a circuit implementing the new controller successfully matches the desirable simulated behavior.
Published: 2023
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18. Talking about moving machines

Author: Pieters, Céline, Damblon, Emmanuelle, Souères, Philippe, Laumond, Jean-Paul, Souères, Philippe, Université libre de Bruxelles (ULB), Équipe Mouvement des Systèmes Anthropomorphes (LAAS-GEPETTO), 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), Models of visual object recognition and scene understanding (WILLOW), Département d'informatique - ENS Paris (DI-ENS), École normale supérieure - Paris (ENS-PSL), Université Paris sciences et lettres (PSL)-Université Paris sciences et lettres (PSL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-École normale supérieure - Paris (ENS-PSL), Université Paris sciences et lettres (PSL)-Université Paris sciences et lettres (PSL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Inria de Paris, and Institut National de Recherche en Informatique et en Automatique (Inria)
Subjects: Ethics, Linguistics and Language, Rhetoric, Robot autonomy, Communication, Intelligent robots, Language and Linguistics, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [SHS]Humanities and Social Sciences, Human-Computer Interaction, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Animal Science and Zoology, [SHS] Humanities and Social Sciences, Robot motion
Abstract: Globally, robots can be described as some sets of moving parts that are dedicated to a task while using their own energy. Yet, humans commonly qualify those machines as being intelligent, autonomous or being able to learn, know, feel, make decisions, etc. Is it merely a way of talking or does it mean that robots could eventually be more than a complex set of moving parts? On the one hand, the language of robotics allows multiple interpretations (leading sometimes to misreading or confusion in various contexts). On the other hand, the status of robots is challenged more and more by technical achievements and humans’ own empirical beliefs. In this paper, we follow a linguistic approach in order to explore the relevance of these words when talking about robots. Since we note that the words impose themselves (even if opposed), we discuss the efficiency of a rhetorical strategy in order to work with such a lexicon in robotics. More precisely, we explore the argumentative technique of the dissociation of notions through the study of a practical case: the case of robot lawn mowers versus hedgehogs.
Published: 2022
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19. Exploiting Constant Trace Property in Large-scale Polynomial Optimization

Author: Ngoc Hoang Anh Mai, J. B. Lasserre, Victor Magron, Jie Wang, 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), Institut de Mathématiques de Toulouse UMR5219 (IMT), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS), Equipe Polynomial OPtimization (LAAS-POP), ANR-19-P3IA-0004,ANITI,Artificial and Natural Intelligence Toulouse Institute(2019), ANR-18-ERC2-0004,COPS,Optimisation garantie pour la vérification des systèmes cyber-physiques(2018), European Project: 813211,H2020-EU.1.3. - EXCELLENT SCIENCE - Marie Skłodowska-Curie Actions (Main Programme), H2020-EU.1.3.1. - Fostering new skills by means of excellent initial training of researchers ,10.3030/813211,POEMA(2019), 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, Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS), and European Project: 813211,H2020,POEMA(2019)
Subjects: Optimization and Control (math.OC), Applied Mathematics, FOS: Mathematics, MathematicsofComputing_NUMERICALANALYSIS, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], Mathematics - Optimization and Control, Software
Abstract: We prove that every semidefinite moment relaxation of a polynomial optimization problem (POP) with a ball constraint can be reformulated as a semidefinite program involving a matrix with constant trace property (CTP). As a result such moment relaxations can be solved efficiently by first-order methods that exploit CTP, e.g., the conditional gradient-based augmented Lagrangian method. We also extend this CTP-exploiting framework to large-scale POPs with different sparsity structures. The efficiency and scalability of our framework are illustrated on second-order moment relaxations for various randomly generated quadratically constrained quadratic programs., 43 pages, 6 algorithms, 23 tables
Published: 2022
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20. Near-Optimal Decentralized Diagnosis via Structural Analysis

Author: Gustavo Perez-Zuniga, Elodie Chanthery, Louise Trave-Massuyes, Javier Sotomayor, Pontificia Universidad Católica del Perú = Pontifical Catholic University of Peru (PUCP), 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), and ANR-19-P3IA-0004,ANITI,Artificial and Natural Intelligence Toulouse Institute(2019)
Subjects: Decentralized diagnosis, Human-Computer Interaction, Control and Systems Engineering, Fault detection and isolation (FDI), Structural analysis, Test selection, Electrical and Electronic Engineering, Software, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], Computer Science Applications
Abstract: International audience; Health monitoring of current complex systems significantly impacts the total cost of the system. Centralized fault diagnosis architectures are sometimes prohibitive for large-scale interconnected systems, such as distribution systems, telecommunication networks, water distribution networks, or fluid power systems. Confidentiality constraints are also an issue. This article presents a decentralized fault diagnosis method that only requires the knowledge of local models and limited knowledge of their neighboring subsystems. The method, implemented in the decentralized diagnoser design (D³) algorithm, is based on structural analysis and can advantageously be applied to high-dimensional systems, linear or nonlinear. Using the concept of isolation on request, a hierarchy is built according to diagnostic objectives. The resulting diagnoser is based on analytical redundancy relations (ARRs) generated along the hierarchy. Their number is optimized via binary integer linear programming (BILP) while still guaranteeing maximal diagnosability at each level. D³ proves of lower time complexity than its centralized equivalent. It is successfully applied to a nonlinear combined cycle gas-turbine power plant.
Published: 2022
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21. A Low-Cost RF Detector to Enhance the Direct Power Injection Conducted Immunity Setup

Author: Alexandre Boyer, Équipe Énergie et Systèmes Embarqués (LAAS-ESE), 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), and Université de Toulouse (UT)
Subjects: integrated circuit, RF detector, Conducted susceptibility test, Direct Power Injection (DPI), [SPI.TRON]Engineering Sciences [physics]/Electronics
Abstract: International audience; Direct power injection (DPI) is a convenient method to characterize the conducted susceptibility of integrated circuits (IC). However, a practical issue of this test is that the voltage, current and impedance of the tested pin remain unknown during the test, even though it can provide valuable information to IC designers about IC failures. This letter presents an enhancement of the standard DPI test based on a commercial and affordable RF detector, which covers the frequency range of 5 MHz to 3 GHz. The proposed approach does not require specific measurement probes and board design constraints. It can be easily inserted in a conventional DPI test bench without any influence on the test results.
Published: 2022
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22. Nanothermite based anti-tamping technology

Author: Sevely, Florent, Assié-Souleille, Sandrine, Salvagnac, Ludovic, Estève, Alain, Rossi, Carole, Équipe Nano-ingénierie et intégration des oxydes métalliques et de leurs interfaces (LAAS-NEO), 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), Service Instrumentation Conception Caractérisation (LAAS-I2C), and Material Research Society
Subjects: [SPI]Engineering Sciences [physics], [SPI.MAT]Engineering Sciences [physics]/Materials
Abstract: International audience; We developed a triggerable ultimate security device capable of physically destroying a memory chip that contains classified data, within a few milliseconds, upon the detection of intrusion.
Published: 2023

23. A controversial study on Random Forest Accuracy for Attack Detection

Author: Vacher, Quentin, Owezarski, Philippe, Équipe Services et Architectures pour Réseaux Avancés (LAAS-SARA), 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), Science and Information organization (SAI), and Springer
Subjects: Random Forest, training, Attack detection, Machine learning, [INFO]Computer Science [cs], controversial thoughts, adversarial learning, Attack detection Machine learning Random Forest adversarial learning training controversial thoughts
Abstract: International audience; Machine learning based anomaly and attack detection is a topic under the spotlights for more than one decade. It is raising a significant research effort worldwide. The reasons of this interest lie in the ability of machine learning to introduce a large part of autonomy in the attacks detection process compared to the classical signature based approach, and then reduces the management cost of networks for NetOps, provides rapid and efficient results, and is prone to detect 0d attacks. This paper confirms this efficiency showing that using the simple Random Forest (RF) algorithms together with features selection allows detection ratio greater than 99%. However, despite a large set of attempts on the training stage for improving this detection ratio, RF never detects 100% of attacks. It especially always misses some attacks in the traffic, especially under-represented ones in the training dataset. False Negatives are certainly the most dramatic events for network security. In addition, it makes adversarial learning very easy to perform. This paper then presents a controversial study on machine learning based attack detection (using the significantly illustrative RF example), and its trustworthiness limits. This paper is then trying to break the current dogma that machine learning is THE solution for future cyber-security systems.
Published: 2023

24. Computed Tomography Image Restoration Using a Quantum-Based Deep Unrolled Denoiser and a Plug-and-Play Framework

Author: Dutta, Sayantan, Nwigbo, Kenule Tuador, MICHETTI, Jerome, Georgeot, Bertrand, Pham, Duong-Hung, Kouamé, Denis, Basarab, Adrian, Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT), CoMputational imagINg anD viSion (IRIT-MINDS), Institut de recherche en informatique de Toulouse (IRIT), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-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)-Toulouse Mind & Brain Institut (TMBI), Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Laboratoire de Physique Théorique (LPT), Université de Toulouse (UT)-Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Fédération de recherche « Matière et interactions » (FeRMI), 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 de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS), Imagerie Ultrasonore, Centre de Recherche en Acquisition et Traitement de l'Image pour la Santé (CREATIS), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université Jean Monnet - Saint-Étienne (UJM)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université Jean Monnet - Saint-Étienne (UJM)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), and Aalto University, Finland
Subjects: Plug-and-Play, Unrolling, Quantum image processing, Super-Resolution, [INFO.INFO-LG]Computer Science [cs]/Machine Learning [cs.LG], [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing, Quantum denoising, [INFO.INFO-IM]Computer Science [cs]/Medical Imaging, Deep learning, DIVA, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI]
Abstract: International audience; In this work, we address the problem of cone beam computed tomography (CBCT) image resolution enhancement by exploiting a newly introduced deep unrolled quantum denoiser, based on quantum interaction theory adapted to computational imaging. Following recent advances in image restoration using the Plug-and-Play (PnP) framework, we impose this external deep learning denoiser as a regularizer within the super-resolution (SR) problem. The quantum-based deep unrolled denoiser combined with a computationally efficient way to deal with the degradation operators, and the PnP scheme, result in an original way of approaching the image resolution enhancement problem. Experiments conducted on dental CBCT images are presented to illustrate the efficiency of the proposed model for image resolution enhancement tasks. The numerical results suggest that the proposed method allows better restoration performances compared to existing state-of-the-art approaches.
Published: 2023

25. Hierarchical Superhydrophobic Device to Concentrate and Precisely Localize Water-Soluble Analytes: A Route to Environmental Analysis

Author: Victor Fabre, Franck Carcenac, Adrian Laborde, Jean-Baptiste Doucet, Christophe Vieu, Philippe Louarn, Emmanuelle Trevisiol, Toulouse Biotechnology Institute (TBI), 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 de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), Équipe Ingénierie pour les sciences du vivant (LAAS-ELIA), 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), Service Techniques et Équipements Appliqués à la Microélectronique (LAAS-TEAM), Institut de recherche en astrophysique et planétologie (IRAP), Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut national des sciences de l'Univers (INSU - CNRS)-Observatoire Midi-Pyrénées (OMP), Institut de Recherche pour le Développement (IRD)-Université Toulouse III - Paul Sabatier (UT3), and Université de Toulouse (UT)-Université de Toulouse (UT)-Institut national des sciences de l'Univers (INSU - CNRS)-Centre National d'Études Spatiales [Toulouse] (CNES)-Centre National de la Recherche Scientifique (CNRS)-Météo-France -Institut de Recherche pour le Développement (IRD)-Institut national des sciences de l'Univers (INSU - CNRS)-Centre National d'Études Spatiales [Toulouse] (CNES)-Centre National de la Recherche Scientifique (CNRS)-Météo-France -Centre National de la Recherche Scientifique (CNRS)
Subjects: Silicon, Surface Properties, Polymers, Electrochemistry, Water, [CHIM]Chemical Sciences, General Materials Science, Surfaces and Interfaces, Condensed Matter Physics, Hydrophobic and Hydrophilic Interactions, Spectroscopy
Abstract: International audience; An efficient superhydrophobic concentrator is developed using a hierarchical superhydrophobic surface on which the evaporation of a sessile droplet (6 mu L) drives the nonvolatile elements it contains on a predefined micrometric analytical surface (pedestal of 80 mu m diameter). This hierarchical silicon surface exhibits a surface texture made of etched nanopillars and consists of micropillars and guiding lines, arranged in radial symmetry around the central pedestal. The guiding lines ensure the overall convergence of the sessile droplet toward the central pedestal during evaporation. The nanopillar texturing induced a delay in the Cassie-Baxter to Wenzel regime transition, until the edge of the droplet reaches the periphery of the pedestal. Experiments performed with polymer microparticles suspended in ultrapure water or with DNA molecules solubilized in ultrapure water at sub-fM concentrations demonstrated that the totality of the nonvolatile elements in the liquid microvolume is delivered on or close to the pedestal area, in a very reproducible manner. The very high concentration capacity of the device enabled the discrimination of the degree of purity of ultrapure water samples from different origins. The concentrator also turned out to be functional for raw water samples, opening possible applications to environmental analysis.
Published: 2022
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26. An Aerial Parallel Manipulator With Shared Compliance

Author: Brett Stephens, Lachlan Orr, Basaran Bahadir Kocer, Hai-Nguyen Nguyen, Mirko Kovac, Aerial Robotics Laboratory, Imperial College London, Swiss Federal Laboratories for Materials Science and Technology [Dübendorf] (EMPA), Équipe Robotique et InteractionS (LAAS-RIS), 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), and Université de Toulouse (UT)
Subjects: Technology, Science & Technology, Control and Optimization, applications, Mechanical Engineering, Biomedical Engineering, Robotics, dynamics, mechanics and control, [SPI.AUTO]Engineering Sciences [physics]/Automatic, QUADROTOR, Computer Science Applications, Human-Computer Interaction, aerial systems, Artificial Intelligence, Control and Systems Engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Computer Vision and Pattern Recognition, TRAJECTORY GENERATION, 0913 Mechanical Engineering
Abstract: Accessing and interacting with difficult to reach surfaces at various orientations is of interest within a variety of industrial contexts. Thus far, the predominant robotic solution to such a problem has been to leverage the maneuverability of a fully actuated, omnidirectional aerial manipulator. Such an approach, however, requires a specialised system with a high relative degree of complexity, thus reducing platform endurance and real-world applicability. The work here presents a new aerial system composed of a parallel manipulator and conventional, underactuated multirotor flying base to demonstrate interaction with vertical and non-vertical surfaces. Our solution enables compliance to external disturbance on both subsystems, the manipulator and flying base, independently with a goal of improved overall system performance when interacting with surfaces. To achieve this behaviour, an admittance control strategy is implemented on various layers of the flying base's dynamics together with torque limits imposed on the manipulator actuators. Experimental evaluations show that the proposed system is compliant to external perturbations while allowing for differing interaction behaviours as compliance parameters of each subsystem are altered. Such capabilities enable an adjustable form of dexterity in completing sensor installation, inspection and aerial physical interaction tasks. A video of our system interacting with various surfaces can be found here: https://youtu.be/38neGb8-lXg .
Published: 2022
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27. On the Correlation Between Near-Field Scan Immunity and Radiated Immunity at Printed Circuit Board Level – Part II

Author: Alexandre Boyer, Nicolas Nolhier, Fabrice Caignet, Sonia Ben Dhia, Équipe Énergie et Systèmes Embarqués (LAAS-ESE), 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), and Projet R&T CNES Nanoscan (CNES No. 200111/00)
Subjects: Near-field scan, nearfield probe, Hardware_PERFORMANCEANDRELIABILITY, radiated susceptibility, Electrical and Electronic Engineering, Condensed Matter Physics, Atomic and Molecular Physics, and Optics, [SPI.TRON]Engineering Sciences [physics]/Electronics
Abstract: International audience; The work presented in this two-part paper focuses on a prediction method of the radiated susceptibility of integrated circuit and printed circuit board from near-field scan injection, in order to anticipate risks of non-compliance due to design weakness. In Part I, a worst-case estimator of the far-field induced voltage on a PCB trace was proposed. Based on it, an estimator of the radiated susceptibility of a printed-circuit board based on near-field scan results is derived and validated through two validation case studies.
Published: 2022
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28. Self-Deformable Flexible MEMS Tweezer Composed of Poly(Vinylidene Fluoride)/Ionic Liquid Gel for Electrical Measurements and Soft Gripping

Author: Takafumi Yamaguchi, Naoto Usami, Kei Misumi, Atsushi Toyokura, Akio Higo, Shimpei Ono, Gilgueng Hwang, Guilhem Larrieu, Yoshiho Ikeuchi, Agnes Tixier-Mita, Ken Saito, Timothee Levi, Yoshio Mita, Graduate School of Engineering [The Univ of Tokyo] (UTokyo), The University of Tokyo (UTokyo), Central Research Institute of Electric Power Industry, Laboratory for Integrated Micro Mechatronics Systems (LIMMS), The University of Tokyo (UTokyo)-Centre National de la Recherche Scientifique (CNRS), Centre de Nanosciences et de Nanotechnologies (C2N), Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS), Équipe Matériaux et Procédés pour la Nanoélectronique (LAAS-MPN), 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), Nihon University, and University of Bordeaux, IMS, CNRS 5218
Subjects: [SPI]Engineering Sciences [physics], Mechanical Engineering, Electrical and Electronic Engineering
Abstract: International audience; We present a self-deformable flexible tweezer capable of simultaneous mechanical handling and electrical measurements. The tweezer has a soft cantilever with the dimensions 2 mm ×8 mm × 75- 100 μm , and undergoes self-deformation. The device is shown to be successfully capable of detecting electrical signals by gently touching the surface and grasping a spherical bead. The device demonstrated the lowest working voltage (1.5 VDC), force suitable for soft gripping, and curvature radius of 2 mm, that was one of the smallest values compared to that of similar state-of-the-art devices. The device was fabricated using a unique and highly reliable process that was specifically developed to produce flexible cantilevers with novel ionic polymer-metal composites (IPMCs). The materials used were poly(vinylidene fluoride-co-trifluoroethylene) (PVDF-TrFE) and an ionic liquid (IL). The PVDF-TrFE/IL gel was prepared using acetone as the solvent and the gel was coated with silver nanowires as the electrodes. The actuator with a length of 8 mm and containing 50 wt% IL yielded the largest bending displacement of 7 mm and minimum curvature radius of 2 mm at 1.5 VDC. [2022-0026]
Published: 2022
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29. Fast parallel algorithms for finding elementary circuits of a directed graph: a GPU-based approach

Author: Amira Benachour, Saïd Yahiaoui, Didier El Baz, Nadia Nouali-Taboudjemat, Hamamache Kheddouci, Université des Sciences et de la Technologie Houari Boumediene = University of Sciences and Technology Houari Boumediene [Alger] (USTHB), Centre de recherche sur l'Information Scientifique et Technique (CERIST), Ministère de l'Education nationale, de l’Enseignement supérieur et de la Recherche (M.E.N.E.S.R.), Équipe Calcul Distribué et Asynchronisme (LAAS-CDA), 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), Laboratoire d'InfoRmatique en Image et Systèmes d'information (LIRIS), Université Lumière - Lyon 2 (UL2)-École Centrale de Lyon (ECL), Université de Lyon-Université de Lyon-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Centre National de la Recherche Scientifique (CNRS), Labex CIMI 2020, and Big Graphs
Subjects: [INFO.INFO-NI]Computer Science [cs]/Networking and Internet Architecture [cs.NI], Hardware and Architecture, Cycles, Directed graph, [INFO.INFO-DS]Computer Science [cs]/Data Structures and Algorithms [cs.DS], Parallel processing, GPU, Finding circuits, [INFO.INFO-DC]Computer Science [cs]/Distributed, Parallel, and Cluster Computing [cs.DC], [INFO.INFO-SI]Computer Science [cs]/Social and Information Networks [cs.SI], Software, Information Systems, Theoretical Computer Science
Abstract: International audience; Circuits in a graph are interesting structures and identifying them is of an important relevance for many applications. However, enumerating circuits is known to be a difficult problem, since their number can grow exponentially. In this paper, we propose fast parallel approaches for enumerating elementary circuits of directed graphs based on graphics processing unit (GPU). Our algorithms are based on a massive exploration of the graph in a breadth-first search strategy. Algorithm V-FEC explores the graph starting from different vertices simultaneously. To further reduce the search space, we present T-FEC, another algorithm that uses triplets as an initial set to start exploring. To the best of our knowledge, those are the first parallel GPU-based algorithms for finding all circuits of a given graph. In addition, they find circuits of a given length and circuits with a specific vertex or edge. The evaluation results show that the proposed approaches achieve up to 190x speed-up over Johnson’s algorithm, one of the most efficient sequential algorithms for finding circuits
Published: 2022
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30. Representation of gene regulation networks by hypothesis logic-based Boolean systems

Author: Siegel, Pierre, Doncescu, Andrei, Risch, Vincent, Sené, Sylvain, Aix Marseille Université (AMU), Équipe Services et Architectures pour Réseaux Avancés (LAAS-SARA), 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), and Université de Toulouse (UT)
Subjects: Computational Systems Biology, SAT algorithms, Non-monotonic logic, Modal logic, Gene regulation, Boolean networks, Theoretical Computer Science, Genetic networks, Hypothesis logic, Hardware and Architecture, [INFO]Computer Science [cs], Gene regulation Genetic networks Boolean networks Non-monotonic logic Modal logic Hypothesis logic Computational Systems Biology SAT algorithms, Software, Information Systems
Abstract: International audience; Boolean Dynamical Systems (BDS) are systems of entities described by Boolean variables providing interaction in discrete time. They are particularly used in the modeling of gene signaling pathways. We present new representations of BDSs and of gene regulation networks, using a modal non-monotonic logic (H) By using these representations every Boolean network can be represented by a set of modal formulas of H, and therefore by a set of Kripke models of H. The study of a BDS focuses in particular on the search of its stable configurations, limit cycles and unstable cycles. By using our representation, we prove that it is possible to discriminate between stable configurations, limit cycles and unstable cycles thanks to the introduction of a new concept, namely the ghost extensions. In addition the formalism introduced in this article uses a minimalist definition of the language of H, but sufficient to represent BNs. This restriction allows us to translate H into propositional calculus, hence to use SAT algorithms, and therefore to benefit of a simple and powerful implementation.
Published: 2022
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31. Recent Advances in Adaptive Coarse Spaces and Availability in Open Source Libraries

Author: Dolean, Victorita, Hecht, Frédéric, Jolivet, Pierre, Nataf, Frédéric, Tournier, Pierre-Henri, Laboratoire Jean Alexandre Dieudonné (LJAD), Université Nice Sophia Antipolis (1965 - 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), Laboratoire Jacques-Louis Lions (LJLL (UMR_7598)), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Université Paris Cité (UPCité), Algorithms and parallel tools for integrated numerical simulations (ALPINES), Institut National des Sciences Mathématiques et de leurs Interactions (INSMI)-Inria de Paris, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Jacques-Louis Lions (LJLL (UMR_7598)), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Université Paris Cité (UPCité)-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Université Paris Cité (UPCité), Algorithmes Parallèles et Optimisation (IRIT-APO), Institut de recherche en informatique de Toulouse (IRIT), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-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)-Toulouse Mind & Brain Institut (TMBI), Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), and Centre National de la Recherche Scientifique (CNRS)
Subjects: Journal, Applied mathematics, Example, [MATH.MATH-NA]Mathematics [math]/Numerical Analysis [math.NA]
Abstract: International audience; Scalability of parallel solvers for problems with high heterogeneities relies on adaptive coarse spaces built from generalized eigenvalue problems in the subdomains. The corresponding theory is powerful and flexible but the development of an efficient parallel implementation is challenging. We report here on recent advances in adaptive coarse spaces and on their open source implementations.
Published: 2022
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32. Unpacking research lock-in through a diachronic analysis of topic cluster trajectories in scholarly publications

Author: Matteo Lascialfari, Guillaume Cabanac, Marie-Benoit MAGRINI, AGroécologie, Innovations, teRritoires (AGIR), Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), Recherche d’Information et Synthèse d’Information (IRIT-IRIS), Institut de recherche en informatique de Toulouse (IRIT), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-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)-Toulouse Mind & Brain Institut (TMBI), Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Région Occitanie (France), ANR-11-LABX-0066,SMS/SSW,Structurations des mondes sociaux(2011), and European Project: 727672,LEGVALUE(2017)
Subjects: Science mapping, Natural language processing, [INFO.INFO-IR]Computer Science [cs]/Information Retrieval [cs.IR], [SDV]Life Sciences [q-bio], [INFO.INFO-DL]Computer Science [cs]/Digital Libraries [cs.DL], General Social Sciences, Library and Information Sciences, Sustainability concern, Path-dependency, Bibliometric data, Computer Science Applications
Abstract: International audience; Lock-in and path-dependency are well-known concepts in economics dealing with unbalanced development of alternative options. Lock-in was studied in various sectors, considering production or consumption sides. Lock-in in academic research went little addressed. Yet, science develops through knowledge accumulation and cross-fertilisation of research topics, that could lead to similar phenomena when some topics do not sufficiently benefit from accumulation mechanisms, reducing innovation opportunities from the concerned field consequently. We introduce an original method to explore these phenomena by comparing topic trajectories in research fields according to strong or weak accumulative processes over time. We combine the concepts of ‘niche’ and ‘mainstream’ from transition studies with scientometric tools to revisit Callon’s strategic diagram with a diachronic perspective of topic clusters over time. Considering the trajectories of semantic clusters, derived from titles and authors’ keywords extracted from scholarly publications in the Web of Science, we applied our method to two competing research fields in food sciences and technology related to pulses and soya over the last 60 years worldwide. These highly interesting species for the sustainability of agrifood systems experienced unbalanced development and thus is under-debated. Our analysis confirms that food research for soya was more dynamic than for pulses: soya topic clusters revealed a stronger accumulative research path by cumulating mainstream positions while pulses research did not meet the same success. This attempt to unpack research lock-in for evaluating the competition dynamics of scientific fields over time calls for future works, by strengthening the method and testing it on other research fields.
Published: 2022
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33. Méthode MCMC plug-and-play avec a priori génératif profond

Author: Coeurdoux, Florentin, Dobigeon, Nicolas, Chainais, Pierre, Signal et Communications (IRIT-SC), Institut de recherche en informatique de Toulouse (IRIT), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-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)-Toulouse Mind & Brain Institut (TMBI), Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), ANR-19-P3IA-0004,ANITI,Artificial and Natural Intelligence Toulouse Institute(2019), and ANR-20-CHIA-0031,SHERLOCK,Inférence rapide et contrôle de l'incertitude: applications aux observations astrophysiques.(2020)
Subjects: [STAT.ML]Statistics [stat]/Machine Learning [stat.ML], [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV]
Abstract: International audience; Plug-and-Play (PnP) methods are a class of iterative algorithms for inverse problems solving in which regularization is provided by a generic denoiser. Although producing very good results, these PnP optimization methods produce only point estimators and not a complete characterization of the posterior distribution. We propose a new family of stochastic PnP methods by exploiting a Gibbs sampling algorithm coupled with a generative neural network. In addition to a point estimator, the proposed approach provides confidence intervals for a moderate computational cost. The efficiency of the proposed samplers is evaluated through simulations of image reconstruction problems. The performances of the proposed estimators compare favorably with those of the most recent optimization and MCMC algorithms.; Les méthodes Plug-and-Play (PnP) forment une classe d'algorithmes itératifs pour la résolution de problèmes inverses dans lesquels la régularisation est assurée par le recours à un débruiteur générique. Bien que produisant de très bons résultats, ces méthodes d'optimisation PnP ne produisent souvent que des estimateurs ponctuels et non une caractérisation complète de la distribution a posteriori. Nous proposons une nouvelle famille de méthodes PnP stochastiques en exploitant un algorithme d'échantillonnage de Gibbs couplé à un réseau de neurones génératif. En plus d'un estimateur ponctuel, l'approche proposée fournit des intervalles de confiance pour un coût de calcul très modéré. L'efficacité des échantillonneurs proposés est évaluée grâce à des simulations de problèmes de reconstruction d'image. Les performances des estimateurs proposés se comparent favorablement à celles des algorithmes d'optimisation et MCMC les plus récents.
Published: 2023

34. Non-identifiability visualisation algorithms

Author: Munier, Nathanaël, Soubies, Emmanuel, Weiss, Pierre, Institut de Mathématiques de Toulouse UMR5219 (IMT), 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), Centre de Biologie Intégrative (CBI), Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS), Signal et Communications (IRIT-SC), Institut de recherche en informatique de Toulouse (IRIT), Université de Toulouse (UT)-Université de Toulouse (UT)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Toulouse Mind & Brain Institut (TMBI), Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Groupe de Recherche et d'Etudes de Traitement du Signal et des Images, ANR-21-CE48-0008,MICROBLIND,Problèmes inverses aveugles et microscopie optique(2021), and ANR-11-LABX-0040,CIMI,Centre International de Mathématiques et d'Informatique (de Toulouse)(2011)
Subjects: Problème inverse, [INFO.INFO-TI]Computer Science [cs]/Image Processing [eess.IV], Identifiabilité, [INFO]Computer Science [cs], [INFO.INFO-CG]Computer Science [cs]/Computational Geometry [cs.CG], [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing
Abstract: International audience; The identification of a set of parameters x from observed data y is often reduced to the resolution of a problem of the type f(x) = y, where f is a continuous application. This equation appears in domains such as (blind) inverse problems, data assimilation, or optimal control. When the solution is not unique, it may be important to inform the user about the set of plausible solutions. We propose here an algorithm to locally describe a set of solutions of this equation. It is essentially based on automatic differentiation and on a local parameterization of the solution manifold. We illustrate the interest of this approach on two toy examples.; L'identification d'un ensemble de paramètres x à partir de données observées y est souvent réduite à la résolution d'un problème du type f(x) = y, où f est une application continue. Cette équation apparaît dans des domaines tels que les problèmes inverses (aveugles), l'assimilation de données ou encore le contrôle optimal. Lorsque la solution n'est pas unique, il peut être important d'en informer l'utilisateur et de le renseigner sur l'ensemble des solutions plausibles. Nous proposons ici un algorithme permettant de décrire localement un ensemble de solutions de cette équation. Il repose essentiellement sur la différentiation automatique et sur une paramétrisation locale de la variété des solutions. Nous illustrons l'intérêt de cette approche sur deux exemples jouets.
Published: 2023

35. Lessons for Interactive Theorem Proving Researchers from a Survey of Coq Users

Author: de Almeida Borges, Ana, Artís, Annalí, Falleri, Jean-Rémy, Gallego Arias, Emilio Jesús, Martin-Dorel, Érik, Palmskog, Karl, Serebrenik, Alexander, Zimmermann, Théo, University of Barcelona, Ifo Institute, Laboratoire Bordelais de Recherche en Informatique (LaBRI), Université de Bordeaux (UB)-École Nationale Supérieure d'Électronique, Informatique et Radiocommunications de Bordeaux (ENSEIRB)-Centre National de la Recherche Scientifique (CNRS), Institut Universitaire de France (IUF), Ministère de l'Education nationale, de l’Enseignement supérieur et de la Recherche (M.E.N.E.S.R.), Les assistants à la démonstration au cœur du raisonnement mathématique (PICUBE), Inria de Paris, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut de Recherche en Informatique Fondamentale (IRIF (UMR_8243)), Centre National de la Recherche Scientifique (CNRS)-Université Paris Cité (UPCité)-Centre National de la Recherche Scientifique (CNRS)-Université Paris Cité (UPCité), Assistance à la Certification d’Applications DIstribuées et Embarquées (IRIT-ACADIE), Institut de recherche en informatique de Toulouse (IRIT), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-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)-Toulouse Mind & Brain Institut (TMBI), Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Université Toulouse III - Paul Sabatier (UT3), Royal Institute of Technology [Stockholm] (KTH ), Eindhoven University of Technology [Eindhoven] (TU/e), Autonomic and Critical Embedded Systems (ACES), Laboratoire Traitement et Communication de l'Information (LTCI), Institut Mines-Télécom [Paris] (IMT)-Télécom Paris-Institut Mines-Télécom [Paris] (IMT)-Télécom Paris, Département Informatique et Réseaux (INFRES), Télécom ParisTech, Institut Polytechnique de Paris (IP Paris), Adam Naumowicz, and René Thiemann
Subjects: Statistical Analysis, Coq, Community, [INFO.INFO-SE]Computer Science [cs]/Software Engineering [cs.SE], Survey
Abstract: International audience; The Coq Community Survey 2022 was an online public survey of users of the Coq proof assistant conducted during February 2022. Broadly, the survey asked about use of Coq features, user interfaces, libraries, plugins, and tools, views on renaming Coq and Coq improvements, and also demographic data such as education and experience with Coq and other proof assistants and programming languages. The survey received 466 submitted responses, making it the largest survey of users of an interactive theorem prover (ITP) so far. We present the design of the survey, a summary of key results, and analysis of answers relevant to ITP technology development and usage. In particular, we analyze user characteristics associated with adoption of tools and libraries and make comparisons to adjacent software communities. Notably, we find that experience has significant impact on Coq user behavior, including on usage of tools, libraries, and integrated development environments.
Published: 2023

36. Blossom: an Anytime Algorithm for Computing Optimal Decision Trees

Author: Demirović, Emir, Hebrard, Emmanuel, Jean, Louis, Delft University of Technology (TU Delft), Équipe Recherche Opérationnelle, Optimisation Combinatoire et Contraintes (LAAS-ROC), 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), Jolibrain, Barbara Engelhardt, Emma Brunskill, Kyunghyun Cho, and ANR-19-P3IA-0004,ANITI,Artificial and Natural Intelligence Toulouse Institute(2019)
Subjects: Decision Trees, Search, [INFO]Computer Science [cs]
Abstract: International audience; We propose a simple algorithm to learn optimal decision trees of bounded depth. This algorithm is essentially an anytime version of the state-ofthe-art dynamic programming approach. It has virtually no overhead compared to heuristic methods and is comparable to the best exact methods to prove optimality on most data sets. Experiments show that whereas existing exact methods hardly scale to deep trees, this algorithm learns trees comparable to standard heuristics without computational overhead, and can significantly improve their accuracy when given more computation time, even for deep trees.
Published: 2023

37. Development of VCSELs for cyogenic (4.2 K) optical interfaces

Author: Almuneau, Guilhem, Équipe Photonique (LAAS-PHOTO), 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), and Université de Toulouse (UT)
Subjects: [PHYS]Physics [physics], VCSEL LD Laser cryogenic, LD, Laser, cryogenic, VCSEL
Abstract: International audience; Vertical cavity surface emitting lasers operating at 4.2K are developed for energy efficient optical links between cryogenic systems and room-temperature data storage systems. Design considerations, material models, and validation of required electro-optical-thermal models are presented. Successful operation at mA-level injection is demonstrated.
Published: 2023

38. Co-designing versatile quadruped robots for dynamic and energy-efficient motions

Author: Fadini, Gabriele, Kumar, Shivesh, Kumar, Rohit, Flayols, Thomas, Prete, Andrea, Carpentier, Justin, Souères, Philippe, Équipe Mouvement des Systèmes Anthropomorphes (LAAS-GEPETTO), 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), Université Toulouse III - Paul Sabatier (UT3), Deutsches Forschungszentrum für Künstliche Intelligenz GmbH = German Research Center for Artificial Intelligence (DFKI), University of Trento [Trento], Inria de Paris, Institut National de Recherche en Informatique et en Automatique (Inria), Département d'informatique - ENS Paris (DI-ENS), École normale supérieure - Paris (ENS-PSL), Université Paris sciences et lettres (PSL)-Université Paris sciences et lettres (PSL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS), M-RoCK (FKZ 01IW21002) project funded by the German Aerospace Center (DLR) with federal funds from the Federal Ministry of Education and Research, ANR-10-EQPX-4401,ROBOTEX 2.0,ANR-10-EQPX-44-01, ANR-21-ESRE-0015,TIRREX,Infrastructure technologique pour la recherche d'excellence en robotique(2021), ANR-19-P3IA-0001,PRAIRIE,PaRis Artificial Intelligence Research InstitutE(2019), and European Project: 101070165,AGIMUS
Subjects: Methods and Tools for Robot System Design Optimization and Optimal Control Simulation and Animation Mechanism Design, Mechanism Design, Methods and Tools for Robot System Design, Simulation and Animation, Optimization and Optimal Control, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [PHYS.MECA.GEME]Physics [physics]/Mechanics [physics]/Mechanical engineering [physics.class-ph], [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC]
Abstract: This paper presents a bi-level optimization framework to concurrently optimize a quadruped hardware and control policies for achieving dynamic cyclic behaviors. The longterm vision to drive the design of dynamic and efficient robots by means of computational techniques is applied to improve the development of a new quadruped prototype. The scale of the robot and its actuators are optimized for energy efficiency considering a complete model of the motor, that includes friction, torque, and bandwidth limitations. This model is used to optimize the power consumption during bounding and backflip tasks and is validated by tracking the output trajectories on the first prototype iteration. The co-design results show an improvement of up to 87% for a single task optimization. It appears that, for jumping forward, robots with longer thighs perform better, while for backflips, longer shanks are better suited. To understand the trade-off between these different choices, a Pareto set is constructed to guide the design of the next prototype.
Published: 2023

39. A Closed-Loop Framework-Independent Bridge from AIPlan4EU's Unified Planning Platform to Embedded Systems

Author: Hastham Sathiya Satchi Sadanandam, Selvakumar, Stock, Sebastian, Sung, Alexander, Ingrand, Félix, Lima, Oscar, Vinci, Marc, Hertzberg, Joachim, Équipe Robotique et InteractionS (LAAS-RIS), 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), Deutsches Forschungszentrum für Künstliche Intelligenz GmbH = German Research Center for Artificial Intelligence (DFKI), GMD - Forschungszentrum Informationstechnik GmbH (GMD), Federal Republic of Germany, ANR-19-P3IA-0004,ANITI,Artificial and Natural Intelligence Toulouse Institute(2019), and European Project: 101016442,AIPlan4EU
Subjects: [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]
Abstract: International audience; The main goal of the AIPlan4EU project is to give easy and unified access to a large and diversified number of planning technologies and approaches. Yet, to make beneficial use of the produced plans, the project also develops and deploys Technology Specific Bridges (TSB) to connect and close the loop with real-world applications. In this paper we present one of these bridges which specifically targets robotic applications and more generally embedded systems. In these systems, planning and plan execution lead to commands on effectors in the real world, while sensors, intrinsic and extrinsic, report on the state of the world, which is then fed back to monitor the plan execution, with replanning or plan repair when needed. To this effect, we have developed a Python library that simplifies the creation of planning domains for existing applications and allows to execute and monitor resulting plans. Despite being developed for robotic applications, the library is not dependent on a specific robot framework, nor any middleware, and can also be used for non-robotic domains. We demonstrate this TSB on two robotic experiments: a ROS (Quigley et al. 2009) based service robot and a GenoM (Dal Zilio et al. 2023) based multi drones application.
Published: 2023

40. Diagnosabilization of Time Petri net for timed fault

Author: Coquand, Camille, Pencolé, Yannick, Subias, Audine, 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), and IFAC
Subjects: [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Time Petri nets, diagnosabilization, Discrete event system, Discrete event system Time Petri nets diagnosabilization critical pair, critical pair
Abstract: International audience; Diagnosability is the property of a system to have sufficient observable information to guarantee the diagnosis of a fault. Here, the considered fault is a timed fault, i.e. an unobservable event that occurs in bounded time since the start of the system. Starting with a system modeled as a Time Petri net that is not diagnosable, this work proposes a method that provides adjustments by restriction of static time intervals to ensure the system becomes ∆-diagnosable for that fault. These adjustments are characterized by a set of constraints over interval bounds and then provide a set of solutions, if any, to ensure the diagnosability of the system.
Published: 2023

41. Fault detection combining adaptive degrees of freedom χ2-statistics and interval approach for nonlinear systems

Author: Lu, Quoc Hung, Fergani, Soheib, Jauberthie, Carine, 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), and Université de Toulouse (UT)
Subjects: Automotive quarter model, Adaptive Innovation-based method, Adaptive amplifier coefficient, Fault diagnosis, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract: International audience; An enlargement of the Adaptive degrees of freedom χ2-statistics (ADFC) method to fault detection for nonlinear systems with mixed uncertainties (stochastic and bounded uncertainties) is presented in this paper. The ADFC approach, primarily developped for fault detection in case of linear systems, is then combined with the Reinforced likelihood box particle filter (RLBPF). A residual generator is used, followed by the adaptive amplifier coefficient(a.a.c.) concept in the decision making stage. Then, the proposed approach is applied to a nonlinear Magneto-Rheological damper model to illustrate the efficiency of the met.
Published: 2023

42. Fault detection using Enhanced Adaptive degrees of freedom χ2-statistics method for Linear systems with mixed uncertainties

Author: Lu, Quoc Hung, Fergani, Soheib, Jauberthie, Carine, 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), and Université de Toulouse (UT)
Subjects: Automotive bicycle mode, Adaptive Innovation-based method, Adaptive amplifier coefficient, Fault diagnosis, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract: International audience; This article is concerned with a fault detection enhancement method using adaptive amplifier coefficients (a.a.c.) concept. It is developed for linear systems with mixed uncertainties (stochastic and bounded uncertainties framework). The study provides, also, analysis and discussions about the applicability and the efficiency of the enhanced method to several sensors fault error types. Simulations on a vehicle bicycle model (validated by experimental tests on the Renault Megane) are presented to emphasize on the performances of the developed method.
Published: 2023

43. Fast and Robust Resource-Constrained Scheduling with Graph Neural Networks

Author: Teichteil-Königsbuch, Florent, Povéda, Guillaume, González de Garibay Barba, Guillermo, Luchterhand, Tim, Thiébaux, Sylvie, Airbus central R&T, AI research, Airbus Group [Madrid], Université de Toulouse (UT), Institut National des Sciences Appliquées (INSA), Équipe Recherche Opérationnelle, Optimisation Combinatoire et Contraintes (LAAS-ROC), 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), Équipe Robotique et InteractionS (LAAS-RIS), Australian National University (ANU), Airbus R&T, ARC grant DP220103815, and European Project: 101070149,TUPLES
Subjects: Machine Learning, Optimisation in Hindsight, Scheduling, Stochastic Durations, Graph Neural Networks, Resource Constrained Project Scheduling, Constraint Programming, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI]
Abstract: International audience; Resource-Constrained Project Scheduling Problems (RCPSPs) are NP-complete, which makes it challenging to efficiently solve large instances and robustify solutions in the presence of uncertainty. To remedy this, we learn to efficiently mimic the solutions produced by Constraint Programming (CP) solver, using a Graph Neural Network (GNN) architecture designed to capture the structure of RCPSPs. Since the GNN solution may violate constraints, we ensure schedule feasibility at inference time by extracting the task ordering from the GNN schedule and post-processing it with the well-known Schedule Generation Scheme (SGS). We find that SIREN, the resulting algorithm, produces schedules that are of higher quality than those produced by the CP solver within the same computation time budget. The speed and solution quality of SIREN make it suitable as a component of an on-line scenario-based optimisation procedure for RCPSPs with stochastic durations. This leads to the SERENE system, which robustly selects, in real-time, the best next tasks to start in order to minimise the average makespan over the scenarios. Empirically, SERENE achieves better average makespan over different realisations of uncertainty than deterministic algorithms that continuously reschedule on the basis of either the worst, best or average task durations.
Published: 2023

44. Enhancing Operational Deliberation in a Refinement Acting Engine with Continuous Planning

Author: Turi, Jérémy, Bit-Monnot, Arthur, Ingrand, Félix, Équipe Robotique et InteractionS (LAAS-RIS), 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), Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT), ANR-19-P3IA-0004,ANITI,Artificial and Natural Intelligence Toulouse Institute(2019), and European Project: 101016442,AIPlan4EU
Subjects: [INFO.INFO-CL]Computer Science [cs]/Computation and Language [cs.CL], [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI]
Abstract: International audience; Recent technological developments in robotics and artificial intelligence may enable the deployment of robots in many aspects of our lives. As the complexity of robotic platforms increases, deliberation algorithms need to be improved, in particular to handle an increasing number of agents, to manage complex goals and tasks, and to evolve in more open environments in which unforeseen events should be dealt with autonomously. Among the deliberation functionalities deployed to provide the best level of autonomy: planning, monitoring, learning, observing, we focus here on acting. We present OMPAS, a refinement-based acting engine that executes high-level tasks by refining them into a set of lowerlevel tasks and commands. OMPAS uses a custom Lisp dialect (SOMPAS) to define the behavior of the robotic agent. SOMPAS provides primitives to handle concurrency and resources, and allows the synthesis of planning models, thanks to the restricted core language, and the explicit identification of acting decisions. The engine has been extended to deploy a continuous planning module, using the synthesized models, to look ahead and guide the decisions of the acting system in order to e.g., avoid deadlock, or optimize the completion of several parallel tasks. We provide an evaluation of the overall approach on the control of a fleet of robots in a simulated logistic platform.
Published: 2023

45. Anticipating False Beliefs and Planning Pertinent Reactions in Human-Aware Task Planning with Models of Theory of Mind

Author: Favier, Anthony, Shekhar, Shashank, Alami, Rachid, Équipe Robotique et InteractionS (LAAS-RIS), 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), and ANR-19-P3IA-0004,ANITI,Artificial and Natural Intelligence Toulouse Institute(2019)
Subjects: [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-HC]Computer Science [cs]/Human-Computer Interaction [cs.HC]
Abstract: International audience; It is essential for a collaborative robot to consider Theory of Mind (ToM) when interacting with humans. Indeed, performing an action in the absence of another agent may create false beliefs like in the well-known Sally & Anne Task (Wimmer and Perner 1983). The robot should be able to detect, react to, and even anticipate false beliefs of other agents with a detrimental impact on the task to achieve. Currently, ToM is mainly used to control the task execution and resolve in a reactive way the detrimental false beliefs. Some works introduce ToM at the planning level by considering distinct beliefs, and we are in this context. This work proposes an extension of an existing human-aware task planner and effectively allows the robot to anticipate a false human belief ensuring a smooth collaboration through an implicitly coordinated plan. First, we propose to capture the observability properties of the environment in the state description using two observability types and the notion of co-presence. They allow us to maintain distinct agent beliefs by reasoning directly on what agents can observe through specifically modeled Situation Assessment processes, instead of reasoning of action effects. Then, thanks to the better estimated human beliefs, we can predict if a false belief with adverse impact will occur. If that is the case then, first, the robot's plan can be to communicate minimally and proactively. Second, if this false belief is due to a non-observed robot action, the robot's plan can be to postpone this action until it can be observed by the human, avoiding the creation of the false belief. We implemented our new conceptual approach, prove its soundness and completeness, discuss its effectiveness qualitatively, and show experimental results on three novel domains.
Published: 2023

46. Epitaxie localisée de P-GaN par EJM pour la fabrication de HEMTs AlGaN/GaN normally-off

Author: Rouly, Daniel, Tasselli, Josiane, Austin, Patrick, Cordier, Yvon, Courville, Aimeric, Vaurette, Francois, Lecestre, Aurélie, Reig, Benjamin, Isoird, Karine, Morancho, Frédéric, Équipe Intégration de Systèmes de Gestion de l'Énergie (LAAS-ISGE), 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), Centre de recherche sur l'hétéroepitaxie et ses applications (CRHEA), Université Nice Sophia Antipolis (1965 - 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), Institut d’Électronique, de Microélectronique et de Nanotechnologie - UMR 8520 (IEMN), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Université Polytechnique Hauts-de-France (UPHF)-JUNIA (JUNIA), Université catholique de Lille (UCL)-Université catholique de Lille (UCL), Centrale de Micro Nano Fabrication - IEMN (CMNF - IEMN), Université catholique de Lille (UCL)-Université catholique de Lille (UCL)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Université Polytechnique Hauts-de-France (UPHF)-JUNIA (JUNIA), Service Techniques et Équipements Appliqués à la Microélectronique (LAAS-TEAM), IPCEI on Microelectronics - Projet Nano2022, Ce travail a été soutenu par le programme IPCEI on Microelectronics, projet Nano2022, et par la plateforme de micro et nanotechnologies du LAAS-CNRS, membre du réseau français RENATECH. Nous remercions la plateforme RENATECH de l’IEMN pour la lithographie électronique de la HSQ et le CRHEA-CNRS pour les épitaxies localisées., Université de Lille, and Renatech Network
Subjects: simulation numérique TCAD, [SPI]Engineering Sciences [physics], P-GaN, normally-off, AlGaN/GaN HEMT, EJM, épitaxie localisée
Abstract: National audience; The technology of GaN HEMT structures is the subject of major developments for large-gap power components. However, it is necessary to develop innovative technological solutions to obtain high-performance normally-off devices. We present a new normally-off structure based on a nanostructured P-GaN multi-well gate. The design of this structure, based on numerical simulations, and the technological advances for its manufacture by localised epitaxy of P-GaN wells along the grid will be presented.; RESUME-La technologie des structures HEMT GaN fait l'objet d'importants développements pour les composants de puissance grand gap. Cependant, il est nécessaire de développer des solutions technologiques innovantes pour obtenir des composants normally-off performants. Nous présentons une nouvelle structure normally-off basée sur une grille nanostructurée à multi-puits P-GaN. La conception de cette structure issue de simulations numériques ainsi que les avancées technologiques pour sa fabrication par épitaxie localisée des caissons P-GaN le long de la grille seront exposées.
Published: 2023

47. Méthode de préconditionnement du HEMT GaN pour une mesure reproductible de Vth

Author: Ghizzo, Lucien, Trémouilles, David, Richardeau, Frédéric, Convertisseurs Statiques (LAPLACE-CS), LAboratoire PLasma et Conversion d'Energie (LAPLACE), Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT), Équipe Intégration de Systèmes de Gestion de l'Énergie (LAAS-ISGE), 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)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and Thales SIX GTS France
Subjects: [SPI.NRJ]Engineering Sciences [physics]/Electric power, fiabilité, [SPI.NANO]Engineering Sciences [physics]/Micro and nanotechnologies/Microelectronics, protocole de préconditionnement, variation de la tension de seuil, transistor p-GaN Schottky, piégeage
Abstract: National audience; RESUME - Dans les études de fiabilité, l'instabilité de la tension de seuil (Vth) est problématique lorsque V th est utilisé comme indicateur car elle masque une éventuelle dérive due au vieillissement réel du composant. Cette instabilité est observée lors des mesures de caractérisation électrique. Elle est liée à "l'historique de polarisation" du transistor qui peut introduire un phénomène de piégeage/dépiégeage de porteurs dans différentes couches de la structure. De nouvelles méthodes sont donc nécessaires pour surmonter ces problèmes d'instabilité liés au piégeage afin de surveiller avec précision le vieillissement des transistors en GaN. Pour résoudre le problème de répétabilité de la mesure de la tension de seuil, nous avons étudié son instabilité sur les transistors GaN. Une étape de préconditionnement appliquée juste avant la mesure réelle de Vth a été étudiée. La méthode de préconditionnement proposée est basée sur l'application d'une polarisation VGS(t) dédiée sur l'électrode de grille qui conduit à une valeur stable et répétable de Vth. Les mécanismes permettant la stabilité observée de Vth sont identifiés grâce à l'analyse de la mesure de fuite de drain après la mesure préconditionnée de Vth. La modification de la courbe de fuite démontre le rôle de l'injection de trous dans la structure. La méthode de mesure préconditionnée de Vth est proposée comme mesure complémentaire pour suivre correctement le vieillissement du p-GaN HEMT dans les futures études de fiabilité.
Published: 2023

48. Comment rater la reproductibilité de ses expériences ?

Author: Guilloteau, Quentin, Faure, Adrien, Poquet, Millian, Richard, Olivier, Control for Autonomic 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)-Laboratoire d'Informatique de Grenoble (LIG), Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP ), Université Grenoble Alpes (UGA)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP ), Université Grenoble Alpes (UGA), Data Aware Large Scale Computing (DATAMOVE ), Système d’exploitation, systèmes répartis, de l’intergiciel à l’architecture (IRIT-SEPIA), Institut de recherche en informatique de Toulouse (IRIT), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-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)-Toulouse Mind & Brain Institut (TMBI), Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and Université de Toulouse (UT)
Subjects: Gestionnaires de paquets fonctionnels, Reproductibilité Environnement logiciel Gestionnaires de paquets fonctionnels, [INFO.INFO-DC]Computer Science [cs]/Distributed, Parallel, and Cluster Computing [cs.DC], Reproductibilité, Environnement logiciel
Abstract: International audience; La communauté informatique commence doucement à se préoccuper des problèmes de reproductibilité de ses expériences. Le nombre de contributions sous le label "reproductibilité" est en croissance et des conférences demandent maintenant une évaluation des artéfacts par les pairs. Cependant, nous pensons que les problématiques qui y sont adressées ne sont que partiellement comprises ou utiles à la cause. La contribution principale de ce papier est l'exposition des imperfections en termes de reproductibilité des pratiques actuelles et des outils usuels pour la mise en place d'un environnement logiciel pour une expérience. Nous présentons ensuite une méthodologie se basant sur des gestionnaires de paquets fonctionnels pour favoriser une bonne reproductibilité de l'environnement logiciel.
Published: 2023

49. Clustering for directed graphs using parametrized random walk diffusion kernels

Author: Sevi, Harry, Jonckheere, Matthieu, Kalogeratos, Argyris, École normale supérieure de Lyon (ENS de Lyon), Équipe Services et Architectures pour Réseaux Avancés (LAAS-SARA), 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), CB - Centre Borelli - UMR 9010 (CB), and Service de Santé des Armées-Institut National de la Santé et de la Recherche Médicale (INSERM)-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS)-Ecole Normale Supérieure Paris-Saclay (ENS Paris Saclay)-Université Paris Cité (UPCité)
Subjects: FOS: Computer and information sciences, Computer Science - Machine Learning, Statistics - Machine Learning, Machine Learning (stat.ML), [INFO]Computer Science [cs], Machine Learning (cs.LG)
Abstract: Clustering based on the random walk operator has been proven effective for undirected graphs, but its generalization to directed graphs (digraphs) is much more challenging. Although the random walk operator is well-defined for digraphs, in most cases such graphs are not strongly connected, and hence the associated random walks are not irreducible, which is a crucial property for clustering that exists naturally in the undirected setting. To remedy this, the usual workaround is to either naively symmetrize the adjacency matrix or to replace the natural random walk operator by the teleporting random walk operator, but this can lead to the loss of valuable information carried by edge directionality. In this paper, we introduce a new clustering framework, the Parametrized Random Walk Diffusion Kernel Clustering (P-RWDKC), which is suitable for handling both directed and undirected graphs. Our framework is based on the diffusion geometry and the generalized spectral clustering framework. Accordingly, we propose an algorithm that automatically reveals the cluster structure at a given scale, by considering the random walk dynamics associated with a parametrized kernel operator, and by estimating its critical diffusion time. Experiments on $K$-NN graphs constructed from real-world datasets and real-world graphs show that our clustering approach performs well in all tested cases, and outperforms existing approaches in most of them.
Published: 2023

50. A Generalized Pell's equation for a class of multivariate orthogonal polynomials

Author: Lasserre, Jean-Bernard, Xu, Yuan, Equipe Polynomial OPtimization (LAAS-POP), 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), Department of Mathematics, University of Oregon [Eugene], University of Oregon [Eugene], and ANR-19-P3IA-0004,ANITI,Artificial and Natural Intelligence Toulouse Institute(2019)
Subjects: [MATH.MATH-PR]Mathematics [math]/Probability [math.PR], Optimization and Control (math.OC), MSC: 44A60 14Q30 42C05 90C25 90C46 32U15 14P10, Probability (math.PR), FOS: Mathematics, 44A60 14Q30 42C05 90C25 90C46 32U15 14P10, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], Mathematics - Optimization and Control, Mathematics - Probability
Abstract: We extend the polynomial Pell's equation satisfied by univariate Chebyshev polynomials on [--1, 1] from one variable to several variables, using orthogonal polynomials on regular domains that include cubes, balls, and simplexes of arbitrary dimension. Moreover, we show that such an equation is strongly connected (i) to a certificate of positivity (from real algebraic geometry) on the domain, as well as (ii) to the Christoffel functions of the equilibrium measure on the domain. In addition, the solution to Pell's equation reflects an extremal property of orthonormal polynomials associated with an entropy-like criterion.
Published: 2023

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