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1. Computing Generic Abstractions from Application Datasets

Author: Barret, Nelly, Manolescu, Ioana, Upadhyay, Prajna, Rich Data Analytics at Cloud Scale (CEDAR), Laboratoire d'informatique de l'École polytechnique [Palaiseau] (LIX), École polytechnique (X)-Centre National de la Recherche Scientifique (CNRS)-École polytechnique (X)-Centre National de la Recherche Scientifique (CNRS)-Inria Saclay - Ile de France, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), and ANR-20-CHIA-0015,SourcesSay,Analyse et Interconnexion Intelligente des Contenus Héterogènes dans des Arènes Numériques(2020)
Subjects: Data sumarization, Semi-structured data, [INFO]Computer Science [cs], Entity-Relationship schema
Abstract: International audience; Digital data plays a central role in sciences, journalism, environment, digital humanities, etc. Open Data sharing initiatives lead to many large, interesting datasets being shared online. Some of these are RDF graphs, but other formats like CSV, relational, property graphs, JSON or XML documents are also frequent.Practitioners need to understand a dataset to decide whether it is suited to their needs. Datasets may come with a schema and/or may be summarized, however the first is not always provided and the latter is often too technical for non-IT users. To overcome these limitations, we present an end-to-end dataset abstraction approach, which (i) applies on any (semi)structured data model; (ii) computes a description meant for human users, in the form of an Entity- Relationship diagram; (ii) integrates Information Extraction and data profiling to classify dataset entities among a large set of intelligible categories. We implemented our approach in a system called Abstra, and detail its performance on various datasets.
Published: 2024

2. A new PET for Data Collection via Forms with Data Minimization, Full Accuracy and Informed Consent

Author: Anciaux, Nicolas, Frittella, Sabine, Geoffroy, Baptiste, Nguyen, Benjamin, Scerri, Guillaume, Personal Trusted cloud (PETRUS), Inria Saclay - Ile de France, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Données et algorithmes pour une ville intelligente et durable - DAVID (DAVID), Université de Versailles Saint-Quentin-en-Yvelines (UVSQ)-Université de Versailles Saint-Quentin-en-Yvelines (UVSQ), Université Paris-Saclay, Données et algorithmes pour une ville intelligente et durable - DAVID (DAVID), Université de Versailles Saint-Quentin-en-Yvelines (UVSQ), Institut National des Sciences Appliquées - Centre Val de Loire (INSA CVL), Institut National des Sciences Appliquées (INSA), Sécurité des Données et des Systèmes (SDS), Laboratoire d'Informatique Fondamentale d'Orléans (LIFO), Université d'Orléans (UO)-Institut National des Sciences Appliquées - Centre Val de Loire (INSA CVL), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université d'Orléans (UO)-Institut National des Sciences Appliquées - Centre Val de Loire (INSA CVL), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA), Ecole Normale Supérieure Paris-Saclay (ENS Paris Saclay), ANR-22-PECY-0002,iPoP,interdisciplinary Project on Privacy(2022), and ANR-19-CE48-0006,PRELAP,Logique Épistémique Probabiliste pour la Protection des Données Privées(2019)
Subjects: Privacy, [INFO]Computer Science [cs], Informed consent, GDPR, Data minimization
Abstract: International audience; The advent of privacy laws and principles such as data minimization and informed consent are supposed to protect citizens from over-collection of personal data. Nevertheless, current processes, mainly through filling forms are still based on practices that lead to over-collection. Indeed, any citizen wishing to apply for a benefit (or service) will transmit all their personal data involved in the evaluation of the eligibility criteria. The resulting problem of over-collection affects millions of individuals, with considerable volumes of information collected. If this problem of compliance concerns both public and private organizations (e.g., social services, banks, insurance companies), it is because it faces non-trivial issues, which hinder the implementation of data minimization by developers. In this paper, we propose a new modeling approach that enables data minimization and informed choices for the users, for any decision problem modeled using classical logic, which covers a wide range of practical cases. Our data minimization solution uses game theoretic notions to explain and quantify the privacy payoff for the user. We show how our algorithms can be applied to practical cases study as a new PET for minimal, fully accurate (all due services must be preserved) and informed data collection.
Published: 2024

3. WSDesc: Weakly Supervised 3D Local Descriptor Learning for Point Cloud Registration

Author: Lei Li, Hongbo Fu, Maks Ovsjanikov, La Géometrie au Service du Numérique (GEOMERIX), Laboratoire d'informatique de l'École polytechnique [Palaiseau] (LIX), École polytechnique (X)-Centre National de la Recherche Scientifique (CNRS)-École polytechnique (X)-Centre National de la Recherche Scientifique (CNRS)-Inria Saclay - Ile de France, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Institut Polytechnique de Paris (IP Paris), City University of Hong Kong [Hong Kong] (CUHK), the ANR AI Chair AIGRETTE, and European Project: 758800,ERC,ERC-2017-StG-758800,EXPROTEA(2018)
Subjects: FOS: Computer and information sciences, Computer Vision and Pattern Recognition (cs.CV), Computer Science - Computer Vision and Pattern Recognition, ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], Computer Graphics and Computer-Aided Design, Graphics (cs.GR), [INFO.INFO-GR]Computer Science [cs]/Graphics [cs.GR], weak supervision, Point cloud, 3D CNN, Computer Science - Graphics, differentiable voxelization, Signal Processing, geometric registration, Computer Vision and Pattern Recognition, 3D local descriptor, Software
Abstract: In this work, we present a novel method called WSDesc to learn 3D local descriptors in a weakly supervised manner for robust point cloud registration. Our work builds upon recent 3D CNN-based descriptor extractors, which leverage a voxel-based representation to parameterize local geometry of 3D points. Instead of using a predefined fixed-size local support in voxelization, we propose to learn the optimal support in a data-driven manner. To this end, we design a novel differentiable voxelization layer that can back-propagate the gradient to the support size optimization. To train the extracted descriptors, we propose a novel registration loss based on the deviation from rigidity of 3D transformations, and the loss is weakly supervised by the prior knowledge that the input point clouds have partial overlap, without requiring ground-truth alignment information. Through extensive experiments, we show that our learned descriptors yield superior performance on existing geometric registration benchmarks., Comment: To appear in IEEE TVCG
Published: 2023

4. Drift Estimation of the Threshold Ornstein-Uhlenbeck Process From Continuous and Discrete Observations

Author: Mazzonetto, Sara, Pigato, Paolo, Institut Élie Cartan de Lorraine (IECL), Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Processus aléatoires spatio-temporels et leurs applications (PASTA), Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut Élie Cartan de Lorraine (IECL), Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Università degli Studi di Roma Tor Vergata [Roma], and Department of Economics and Finance, University of Rome Tor Vergata
Subjects: Statistics and Probability, Probability (math.PR), Mathematics - Statistics Theory, Statistics Theory (math.ST), interest rates, threshold Vasicek model, [MATH.MATH-PR]Mathematics [math]/Probability [math.PR], MCS 2010 primary: 62M05, secondary: 62F12, 60J60.JEL Classification primary: C58, secondary: C22, G12, Threshold diffusion, [MATH.MATH-ST]Mathematics [math]/Statistics [math.ST], 62M05 (Primary) 62F12, 60J60 (Secondary), FOS: Mathematics, multi-threshold, threshold Vasicek, maximum likelihood, Statistics, Probability and Uncertainty, Settore SECS-S/01, self-exciting process, regime-switching, Mathematics - Probability
Abstract: We refer by threshold Ornstein-Uhlenbeck to a continuous-time threshold autoregressive process. It follows the Ornstein-Uhlenbeck dynamics when above or below a fixed level, yet at this level (threshold) its coefficients can be discontinuous. We discuss (quasi)-maximum likelihood estimation of the drift parameters, both assuming continuous and discrete time observations. In the ergodic case, we derive consistency and speed of convergence of these estimators in long time and high frequency. Based on these results, we develop a test for the presence of a threshold in the dynamics. Finally, we apply these statistical tools to short-term US interest rates modeling.
Published: 2024

5. FAIR-Checker: supporting digital resource findability and reuse with Knowledge Graphs and Semantic Web standards

Author: Gaignard, Alban, Rosnet, Thomas, de Lamotte, Frédéric, Lefort, Vincent, Devignes, Marie-Dominique, Nantes Université (Nantes Univ), Theories and Approaches of Genomic Complexity (TAGC), Aix Marseille Université (AMU)-Institut National de la Santé et de la Recherche Médicale (INSERM), Institut Français de Bioinformatique (IFB-CORE), Institut National de Recherche en Informatique et en Automatique (Inria)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE), Amélioration génétique et adaptation des plantes méditerranéennes et tropicales (UMR AGAP), Centre de Coopération Internationale en Recherche Agronomique pour le Développement (Cirad)-Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement (INRAE)-Institut Agro Montpellier, Institut national d'enseignement supérieur pour l'agriculture, l'alimentation et l'environnement (Institut Agro)-Institut national d'enseignement supérieur pour l'agriculture, l'alimentation et l'environnement (Institut Agro)-Université de Montpellier (UM), Méthodes et Algorithmes pour la Bioinformatique (MAB), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), unité de recherche de l'institut du thorax UMR1087 UMR6291 (ITX), Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Nantes Université - UFR de Médecine et des Techniques Médicales (Nantes Univ - UFR MEDECINE), Nantes Université - pôle Santé, Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes Université - pôle Santé, and Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)
Subjects: [INFO.INFO-IR]Computer Science [cs]/Information Retrieval [cs.IR], [INFO.INFO-WB]Computer Science [cs]/Web, Bioschemas, [INFO]Computer Science [cs], [INFO.INFO-BI]Computer Science [cs]/Bioinformatics [q-bio.QM], SPARQL, SHACL, FAIR, Schema.org
Abstract: International audience; The current rise of Open Science and Reproducibility in the Life Sciences requires the creation of rich, machine-actionable metadata in order to better share and reuse biological digital resources such as datasets, bioinformatics tools, training materials, etc. For this purpose, FAIR principles have been defined for both data and metadata and adopted by large communities, leading to the definition of specific metrics. However, automatic FAIRness assessment is still difficult because computational evaluations frequently require technical expertise and can be time-consuming. As a first step to address these issues, we propose FAIR-Checker , a web-based tool to assess the FAIRness of metadata presented by digital resources. FAIR-Checker offers two main facets: a “Check” module providing a thorough metadata evaluation and recommendations, and an “Inspect” module which assists users in improving metadata quality and therefore the FAIRness of their resource. FAIR-Checker leverages Semantic Web standards and technologies such as SPARQL queries and SHACL constraints to automatically assess FAIR metrics. Users are notified of missing, necessary, or recommended metadata for various resource categories. We evaluate FAIR-Checker in the context of improving the FAIRification of individual resources, through better metadata, as well as analyzing the FAIRness of more than 25 thousand bioinformatics software descriptions.
Published: 2023

6. A non-inferiority randomized phase III trial of standard immunotherapy by checkpoint inhibitors vs. reduced dose intensity in responding patients with metastatic cancer: the MOIO protocol study

Author: Gravis, Gwenaelle, Marino, Patricia, Olive, Daniel, Penault-Llorca, Frederique, Delord, Jean-Pierre, Simon, Clotilde, Lamrani-Ghaouti, Assia, Sabatier, Renaud, Ciccolini, Joseph, Boher, Jean-Marie, Centre de Recherche en Cancérologie de Marseille (CRCM), Aix Marseille Université (AMU)-Institut Paoli-Calmettes, Fédération nationale des Centres de lutte contre le Cancer (FNCLCC)-Fédération nationale des Centres de lutte contre le Cancer (FNCLCC)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), Sciences Economiques et Sociales de la Santé & Traitement de l'Information Médicale (SESSTIM - U1252 INSERM - Aix Marseille Univ - UMR 259 IRD), Institut de Recherche pour le Développement (IRD)-Aix Marseille Université (AMU)-Institut National de la Santé et de la Recherche Médicale (INSERM), Institut des sciences de la santé publique [Marseille] (ISSPAM), Institut Paoli-Calmettes, Fédération nationale des Centres de lutte contre le Cancer (FNCLCC), Imagerie Moléculaire et Stratégies Théranostiques (IMoST), Institut National de la Santé et de la Recherche Médicale (INSERM)-Université Clermont Auvergne (UCA), Centre Jean Perrin [Clermont-Ferrand] (UNICANCER/CJP), UNICANCER, Institut Universitaire du Cancer de Toulouse - Oncopole (IUCT Oncopole - UMR 1037), Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Université de Toulouse (UT)-Centre Hospitalier Universitaire de Toulouse (CHU Toulouse)-Institut National de la Santé et de la Recherche Médicale (INSERM), Institut Claudius Regaud, Méthodes computationnelles pour la prise en charge thérapeutique en oncologie : Optimisation des stratégies par modélisation mécaniste et statistique (COMPO), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre de Recherche en Cancérologie de Marseille (CRCM), and Fédération nationale des Centres de lutte contre le Cancer (FNCLCC)-Fédération nationale des Centres de lutte contre le Cancer (FNCLCC)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Aix Marseille Université (AMU)-Institut Paoli-Calmettes
Subjects: Cancer Research, Oncology, Genetics, [SDV.CAN]Life Sciences [q-bio]/Cancer
Abstract: Background Immunotherapy (IO) has become a standard of care for treating various types of metastatic cancers and has significantly improved clinical outcome. With the exception of metastatic melanoma in complete response for which treatment can be stopped at 6 months, these treatments are currently administered until either disease progression for some IO, 2 years for others, or unacceptable toxicity. However, a growing number of studies are reporting maintenance of response despite discontinuation of therapy. There is currently no evidence of a dose effect of IO in pharmacokinetic studies. Maintaining efficacy despite a reduction in treatment intensity by decreasing the frequency of administration in patients with highly selected metastatic cancer, is the hypothesis evaluated in the MOIO study. Method/design This non-inferiority, randomized phase III study aims to compare the standard regimen to a 3 monthly regimen of variousIO drugs in adult patients with metastatic cancer in partial (PR) or complete response (CR) after 6 months of standard IO dosing (except melanoma in CR). This is a French national study conducted in 36 centers. The main objective is to demonstrate that the efficacy of a three-monthly administration is not unacceptably less efficacious than a standard administration. Secondary objectives are cost-effectiveness, quality of life (QOL), anxiety, fear of relapse, response rate, overall survival and toxicity. After 6 months of standard IO, patients with partial or complete response will be randomized 1:1 between standard IO or a reduced intensity dose of IO, administered every 3 months. The randomization will be stratified on therapy line,, tumor type, IO type and response status. The primary endpoint is the hazard ratio of progression-free survival. With a planned study duration of 6 years, including 36 months enrolment time, 646 patients are planned to demonstrate with a statistical level of evidence of 5% that the reduced IO regimen is non-inferior to the standard IO regimen, with a relative non-inferiority margin set at 1.3. Discussion Should the hypothesis of non-inferiority with an IO reduced dose intensity be validated, alternate scheduling could preserve efficacy while being cost-effective and allowing a reduction of the toxicity, with an increase in patient’s QOL. Trial registration NCT05078047.
Published: 2023

7. Tropical Linear Regression and Mean Payoff Games: Or, How to Measure the Distance to Equilibria

Author: Marianne Akian, Stéphane Gaubert, Yang Qi, Omar Saadi, TROPICAL (TROPICAL), Centre de Mathématiques Appliquées - Ecole Polytechnique (CMAP), École polytechnique (X)-Centre National de la Recherche Scientifique (CNRS)-École polytechnique (X)-Centre National de la Recherche Scientifique (CNRS)-Inria Saclay - Ile de France, and Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)
Subjects: FOS: Computer and information sciences, Computer Science::Computer Science and Game Theory, Optimization and Control (math.OC), Computer Science - Computer Science and Game Theory, General Mathematics, FOS: Mathematics, Mathematics - Combinatorics, Combinatorics (math.CO), [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], MSC Primary 06F20, 14T10, 15A80, 16Y20, 16Y60, Secondary 20N20, 15A24, Mathematics - Optimization and Control, Physics::Atmospheric and Oceanic Physics, Computer Science and Game Theory (cs.GT)
Abstract: We study a tropical linear regression problem consisting in finding the best approximation of a set of points by a tropical hyperplane. We establish a strong duality theorem, showing that the value of this problem coincides with the maximal radius of a Hilbert's ball included in a tropical polyhedron. We also show that this regression problem is polynomial-time equivalent to mean payoff games. We illustrate our results by solving an inverse problem from auction theory. In this setting, a tropical hyperplane represents the set of equilibrium prices. Tropical linear regression allows us to quantify the distance of a market to the set of equilibria, and infer secret preferences of a decision maker.
Published: 2023

8. A Boundary Computation Algorithm for the Workspace Evaluation of Continuum Parallel Robots

Author: Zaccaria, Federico, Idá, Edoardo, Briot, Sébastien, Laboratoire des Sciences du Numérique de Nantes (LS2N), Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-École Centrale de Nantes (Nantes Univ - ECN), Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes université - UFR des Sciences et des Techniques (Nantes univ - UFR ST), Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ), Dipartimento di Scienze dell'Informazione [Bologna] (DISI), Alma Mater Studiorum Università di Bologna [Bologna] (UNIBO), Centre National de la Recherche Scientifique (CNRS), Autonomie des Robots et Maîtrise des interactions avec l’ENvironnement (LS2N - équipe ARMEN), and Nantes Université (Nantes Univ)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique)
Subjects: Mechanical Engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]
Abstract: In this paper, a new algorithm for the computation of workspace boundaries of continuum parallel robots (CPRs) is proposed. State-of-the-art techniques are mainly based on time-consuming joint-space discretization approaches or task-space discretization algorithms, and only a few approaches are dedicated to the computation of workspace boundaries. The proposed approach for the computation of the workspace boundaries is based on i) a free-space exploration strategy and ii) a boundary reconstruction algorithm. The former is exploited to identify an initial workspace boundary location (exterior, interior boundaries, and holes), while the latter is used to reconstruct the complete boundary surface. Moreover, the algorithm is designed to be employed with CPRs modelling strategies based on general discretization assumptions, in order to increase its applicability for various scopes. Our method is compared with two state-of-the-art algorithms in four case studies to validate the results and to establish its merits and limitations.
Published: 2023

9. Deep weathering effects

Author: Adrien Verhulst, Jean-Marie Normand, Guillaume Moreau, Gustavo Patow, École Centrale de Nantes (Nantes Univ - ECN), Nantes Université (Nantes Univ), Centre de recherche nantais Architectures Urbanités (CRENAU ), Ambiances, Architectures, Urbanités (AAU), Ministère de la Culture et de la Communication (MCC)-Centre National de la Recherche Scientifique (CNRS)-École nationale supérieure d'architecture de Grenoble (ENSAG ), Université Grenoble Alpes (UGA)-Université Grenoble Alpes (UGA)-École Centrale de Nantes (Nantes Univ - ECN), Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-NANTES UNIVERSITÉ - École nationale supérieure d'architecture de Nantes (Nantes Univ - ENSA Nantes), Nantes Université (Nantes Univ)-Ministère de la Culture et de la Communication (MCC)-Centre National de la Recherche Scientifique (CNRS)-École nationale supérieure d'architecture de Grenoble (ENSAG ), 3D interaction with virtual environments using body and mind (Hybrid), Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-RÉALITÉ VIRTUELLE, HUMAINS VIRTUELS, INTERACTIONS ET ROBOTIQUE (IRISA-D5), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Equipe Immersive Natural User Interaction team (Lab-STICC_INUIT), Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT), IMT Atlantique (IMT Atlantique), Universitat de Girona (UdG), and Adrien Verhulst was supported by a joint research grant from the École Centrale de Nantes, France, and Audencia Busi- ness School, France. This work was also partially funded by Grant PID2021-122136OB-C22 funded by MCIN/AEI/10.13039/ 501100011033 and by ERDF A way of making Europe.
Subjects: Human-Computer Interaction, Rust, Weathering, Bricks, Iron, General Engineering, Computer Graphics and Computer-Aided Design, [INFO.INFO-GR]Computer Science [cs]/Graphics [cs.GR]
Abstract: International audience; Weathering phenomena are ubiquitous in urban environments, where it is easy to observe severely degraded old buildings as a result of water penetration. Despite being an important part of any realistic city, this kind of phenomenon has received little attention from the Computer Graphics community compared to stains resulting from biological or flow effects on the building exteriors. In this paper, we present physically-inspired deep weathering effects, where the penetration of humidity (i.e., water particles) and its interaction with a building's internal structural elements result in large, visible degradation effects. Our implementation is based on a particle-based propagation model for humidity propagation, coupled with a spring-based interaction simulation that allows chemical interactions, like the formation of rust, to deform and destroy a building's inner structure. To illustrate our methodology, we show a collection of deep degradation effects applied to urban models involving the creation of rust or of ice within walls.
Published: 2023

10. Moliverse: Contextually embedding the microcosm into the universe

Author: Mathis Brossier, Robin Skånberg, Lonni Besançon, Mathieu Linares, Tobias Isenberg, Anders Ynnerman, Alexander Bock, Université Paris-Saclay, Linköping University (LIU), Analysis and Visualization (AVIZ), Inria Saclay - Ile de France, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Interdisciplinaire des Sciences du Numérique (LISN), Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS)-CentraleSupélec-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS)-Interaction avec l'Humain (IaH), Laboratoire Interdisciplinaire des Sciences du Numérique (LISN), and Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS)
Subjects: Human-Computer Interaction, General Engineering, [INFO]Computer Science [cs], Computer Graphics and Computer-Aided Design
Abstract: International audience; We present Moliverse, an integration of the molecular visualization framework VIAMD into the astronomical visualization software OpenSpace, allowing us to bridge the two extreme ends of the scale spectrum to show, for example, the gas composition in a planet's atmosphere or molecular structures in comet trails and can empower the creation of educational exhibitions. For that purpose we do not use a linear scale traversal but break the scale continuity and show molecular simulations as focus in the context of celestial bodies. We demonstrate the application of our concept in two storytelling scenarios and envision the application both for science presentations to lay audiences and for dedicated exploration, potentially also in a molecule-only environment.
Published: 2023

11. Controllability Properties of Solar Sails

Author: Alesia Herasimenka, Lamberto Dell’Elce, Jean-Baptiste Caillau, Jean-Baptiste Pomet, Université Côte d'Azur (UCA), Mathematics for Control, Transport and Applications (McTAO), Inria Sophia Antipolis - Méditerranée (CRISAM), and Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)
Subjects: Space and Planetary Science, Control and Systems Engineering, Applied Mathematics, Aerospace Engineering, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], Electrical and Electronic Engineering
Abstract: Trajectory design and stationkeeping of solar sails about a celestial body can be formulated as control problems with positivity constraints. Specifically, when reemitted radiation is neglected and the sail is modeled as a flat surface, which are reasonable assumptions for control purposes, the force generated by the solar radiation pressure is contained in a pointed convex cone of revolution with the axis in the sun–satellite direction. Therefore, classical approaches to infer controllability based on the Lie algebra rank condition do not apply to these problems. This study offers a novel condition to decide on controllability of control systems with positivity constraints. This condition is effective because it can be verified by solving an auxiliary convex optimization problem for which reliable numerical methods are available. A crucial ingredient of this approach is the theory of positive trigonometric polynomials. The practical interest of this condition is the assessment of a minimum requirement on the optical properties of the sail, which may be of use for mission design purposes.
Published: 2023

12. When Tangibles Become Deformable: Studying Pseudo-Stiffness Perceptual Thresholds in a VR Grasping Task

Author: Elodie Bouzbib, Claudio Pacchierotti, Anatole Lécuyer, Sensor-based and interactive robotics (RAINBOW), Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-RÉALITÉ VIRTUELLE, HUMAINS VIRTUELS, INTERACTIONS ET ROBOTIQUE (IRISA-D5), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), 3D interaction with virtual environments using body and mind (Hybrid), and Inria
Subjects: Grasp, Pseudo-Stiffness, Signal Processing, Virtual Reality, Pseudo-Haptics, Thresholds, Perception, [INFO.INFO-HC]Computer Science [cs]/Human-Computer Interaction [cs.HC], Computer Vision and Pattern Recognition, Computer Graphics and Computer-Aided Design, Software, Stiffness, Compliance
Abstract: International audience; Pseudo-Haptic techniques, or visuo-haptic illusions, leverage user’s visual dominance over haptics to alter the users’perception. As they create a discrepancy between virtual and physical interactions, these illusions are limited to a perceptual threshold. Many haptic properties have been studied using pseudo-haptic techniques, such as weight, shape or size. In this paper, we focus on estimating the perceptual thresholds for pseudo-stiffness in a virtual reality grasping task. We conducted a user study (n = 15) where we estimated if compliance can be induced on a non-compressible tangible object and to what extent. Our results show that (1) compliance can be induced in a rigid tangible object and that (2) pseudo-haptics can simulate beyond 24 N/cm stiffness (k ≥ 24N/cm, between a gummy bear and a raisin, up to rigid objects). Pseudo-stiffness efficiency is (3) enhanced by the objects’ scales, but mostly (4) correlated to the user input force. Taken altogether, our results offer novel opportunities to simplify the design of future haptic interfaces, and extend the haptic properties of passive props in VR.
Published: 2023

13. Floating-point arithmetic

Author: Sylvie Boldo, Claude-Pierre Jeannerod, Guillaume Melquiond, Jean-Michel Muller, Formally Verified Programs, Certified Tools and Numerical Computations (TOCCATA), Inria Saclay - Ile de France, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Méthodes Formelles (LMF), Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS)-Ecole Normale Supérieure Paris-Saclay (ENS Paris Saclay)-CentraleSupélec-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS)-Ecole Normale Supérieure Paris-Saclay (ENS Paris Saclay), Arithmétiques des ordinateurs, méthodes formelles, génération de code (ARIC), Laboratoire de l'Informatique du Parallélisme (LIP), École normale supérieure de Lyon (ENS de Lyon)-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-École normale supérieure de Lyon (ENS de Lyon)-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Inria Lyon, Institut National de Recherche en Informatique et en Automatique (Inria), Université de Lyon-Université de Lyon-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS), ANR-20-CE48-0014,NuSCAP,Sûreté numérique pour les preuves assistées par ordinateur(2020), and European Project: 810367,EMC2(2019)
Subjects: computer arithmetic, Numerical Analysis, [INFO.INFO-AO]Computer Science [cs]/Computer Arithmetic, General Mathematics, Floating-point arithmetic, numerical computing
Abstract: Floating-point numbers have an intuitive meaning when it comes to physics-based numerical computations, and they have thus become the most common way of approximating real numbers in computers. The IEEE-754 Standard has played a large part in making floating-point arithmetic ubiquitous today, by specifying its semantics in a strict yet useful way as early as 1985. In particular, floating-point operations should be performed as if their results were first computed with an infinite precision and then rounded to the target format. A consequence is that floating-point arithmetic satisfies the ‘standard model’ that is often used for analysing the accuracy of floating-point algorithms. But that is only scraping the surface, and floating-point arithmetic offers much more.In this survey we recall the history of floating-point arithmetic as well as its specification mandated by the IEEE-754 Standard. We also recall what properties it entails and what every programmer should know when designing a floating-point algorithm. We provide various basic blocks that can be implemented with floating-point arithmetic. In particular, one can actually compute the rounding error caused by some floating-point operations, which paves the way to designing more accurate algorithms. More generally, properties of floating-point arithmetic make it possible to extend the accuracy of computations beyond working precision.
Published: 2023

14. 15 Years of (Who)man Robot Interaction: Reviewing the H in Human-Robot Interaction

Author: Katie Winkle, Erik Lagerstedt, Ilaria Torre, Anna Offenwanger, Uppsala Universitet [Uppsala], University of Skövde [Sweden], Royal Institute of Technology [Stockholm] (KTH ), Extreme Situated Interaction (EX-SITU), Inria Saclay - Ile de France, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Interdisciplinaire des Sciences du Numérique (LISN), Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS)-CentraleSupélec-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS)-Interaction avec l'Humain (IaH), Laboratoire Interdisciplinaire des Sciences du Numérique (LISN), and Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS)
Subjects: Participant Recruitment, Gender, Robotics, Inclusivity, User Study Methodologies, Genusstudier, Gender Studies, Human-Computer Interaction, Human Aspects of ICT, Robotteknik och automation, Artificial Intelligence, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Systematic Review, [INFO.INFO-HC]Computer Science [cs]/Human-Computer Interaction [cs.HC], Mänsklig interaktion med IKT
Abstract: Recent work identified a concerning trend of disproportional gender representation in research participants in Human-Computer Interaction (HCI). Motivated by the fact that Human-Robot Interaction (HRI) shares many participant practices with HCI, we explored whether this trend is mirrored in our field. By producing a dataset covering participant gender representation in all 684 full papers published at the HRI conference from 2006-2021, we identify current trends in HRI research participation. We find an over-representation of men in research participants to date, as well as inconsistent and/or incomplete gender reporting which typically engages in a binary treatment of gender at odds with published best practice guidelines. We further examine if and how participant gender has been considered in user studies to date, in-line with current discourse surrounding the importance and/or potential risks of gender based analyses. Finally, we complement this with a survey of HRI researchers to examine correlations between the who is doing with the who is taking part, to further reflect on factors which seemingly influence gender bias in research participation across different sub-fields of HRI. Through our analysis we identify areas for improvement, but also reason for optimism, and derive some practical suggestions for HRI researchers going forward. CC BY 4.0*All authors contributed equally to this work. KW has taken on first author responsibilities whilst 2nd-4th author ordering was decided by dice roll. Authors’ addresses: Katie Winkle*, Uppsala Universitet, Sweden, katie.winkle@it.uu.se; Erik Lagerstedt*, University of Skövde, Sweden,erik.lagerstedt@his.se; Ilaria Torre*, KTH Royal Institute of Technology, Sweden, ilariat@kth.se; Anna Ofenwanger*, Université Paris-Saclay, CNRS, Inria, LISN, Orsay, France, anna.ofenwanger@universite-paris-saclay.fr.We first want to acknowledge those authors who came before us in identifying issues around gender in HCI – these works have signicantly informed this manuscript, but also our approaches to HRI research more broadly. We wish to specically thank Dongwook Yoon and Julia Bullard for their work on the conceptualisation and development of the gender data schema and extraction method that we build on [59]; also Minsuk Chang, Alan Milligan, and Austin Kobayashi for their input and work on initial version of the MAGDA tool [59].We would like to thank all of the HRI researchers who engaged with our survey. We additionally want to thank those reviewers who provided constructive feedback on an earlier version of this work, and reviewersfor/attendees of the DEI Workshop held at HRI 2022 for further discussion – the manuscript is improved greatly as a result and we hope we have done justice to both the positive and negative critique we have received. All figures were generated with a colour palette based on the non-binary pride lag, created by Joel Le Forestier (https://joelleforestier.com/#pridepalettes). This work was partially funded by the Digital Futures Research Centre.
Published: 2023

15. Cost of observability inequalities for elliptic equations in 2-d with potentials and applications to control theory

Author: Ervedoza, Sylvain, Le Balc’h, Kévin, Institut de Mathématiques de Bordeaux (IMB), Université Bordeaux Segalen - Bordeaux 2-Université Sciences et Technologies - Bordeaux 1 (UB)-Université de Bordeaux (UB)-Institut Polytechnique de Bordeaux (Bordeaux INP)-Centre National de la Recherche Scientifique (CNRS), Control And GEometry (CaGE ), 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), and ANR-20-CE40-0009,TRECOS,Nouvelles directions en contrôle et stabilisation: Contraintes et termes non-locaux(2020)
Subjects: Quantitative unique continuation, Applied Mathematics, Control, [MATH.MATH-AP]Mathematics [math]/Analysis of PDEs [math.AP], [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], Elliptic equations, Analysis
Abstract: The goal of this article is to obtain observability estimates for non-homogeneous elliptic equations in the presence of a potential, posed on a smooth bounded domain Ω in 2-d and observed from a non-empty open subset ω ⊂ Ω. More precisely, for every real-valued bounded potential V, our main result shows that, when Ω has a finite number of holes, the observability constant of the elliptic operator −∆ + V, with domain H^2 ∩ H^1_0(Ω), is of the form C exp (C |V|^{1/2} \log^{1/2}(|V|)) where C is a positive constant depending only on Ω and ω. Our methodology of proof is crucially based on the one recently developed by Logunov, Malinnikova, Nadirashvili, and Nazarov, in the context of the Landis conjecture on exponential decay of solutions to homogeneous elliptic equations in the plane. The main difference and additional difficulty is that the zero set of the solutions to elliptic equations with source term can be very intricate and should be dealt with carefully. As a consequence of these new observability estimates, we obtain new results concerning control of semi-linear elliptic equations in the spirit of Fernández-Cara, Zuazua's open problem concerning small-time global null-controllability of slightly super-linear heat equations.
Published: 2023

16. Index theorems for graph-parametrized optimal control problems

Author: Andrei Agrachev, Stefano Baranzini, Ivan Beschastnyi, Scuola Internazionale Superiore di Studi Avanzati / International School for Advanced Studies (SISSA / ISAS), Control And GEometry (CaGE ), 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), Universidade de Aveiro, and The work of the third author was supported through the CIDMA Center for Research and Development in Mathematics and Applications, and the Portuguese Foundation for Science and Technology ('FCT - Fundacao para a Ciencia e a Tecnologia') within the project UIDP/04106/2020.
Subjects: Mathematics - Differential Geometry, Differential Geometry (math.DG), Optimization and Control (math.OC), Applied Mathematics, FOS: Mathematics, General Physics and Astronomy, Statistical and Nonlinear Physics, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], Mathematics - Optimization and Control, Mathematical Physics
Abstract: In this paper we prove Morse index theorems for a big class of constrained variational problems on graphs. Such theorems are useful in various physical and geometric applications. Our formulas compute the difference of Morse indices of two Hessians related to two different graphs or two different sets of boundary conditions. Several applications such as the iteration formulas or lower bounds for the index are proved., 30 pages, 4 figures
Published: 2023

17. Network Size Estimation for Direct-to-Satellite IoT

Author: Pablo Ilabaca Parra, Samuel Montejo-Sánchez, Juan A. Fraire, Richard Demo Souza, Sandra Céspedes, Universidad Tecnológica Metropolitana (UTEM), Saarland University [Saarbrücken], Consejo Nacional de Investigaciones Científicas y Técnicas [Buenos Aires] (CONICET), AlGorithmes et Optimisation pour Réseaux Autonomes (AGORA), CITI Centre of Innovation in Telecommunications and Integration of services (CITI), Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Inria Lyon, Institut National de Recherche en Informatique et en Automatique (Inria), Universidade Tecnológica Federal do Paraná [Curitiba] (UTFPR), Universidad de Chile = University of Chile [Santiago] (UCHILE), and NIC Research Labs [Chile]
Subjects: [INFO.INFO-NI]Computer Science [cs]/Networking and Internet Architecture [cs.NI], Direct-to-Satellite Internet of Things Medium Access Control Network Size Estimation Satellite Communications, Computer Networks and Communications, Hardware and Architecture, Internet of Things, Signal Processing, Network Size Estimation, Medium Access Control, Direct-to-Satellite, Satellite Communications, Computer Science Applications, Information Systems
Abstract: International audience; The worldwide adoption of the Internet of things (IoT) depends on the massive deployment of sensor nodes and timely data collection. However, installing the required ground infrastructure in remote or inaccessible areas can be economically unattractive or unfeasible. Cost-effective nanosatellites deployed in low Earth orbits (LEO) are emerging as an alternative solution: on-board IoT gateways provide access to remote IoT devices, according to direct-to-satellite IoT (DtS-IoT) architectures. One of the main challenges of DtS-IoT is to devise communication protocols that scale to thousands of highly constrained devices served by likewise constrained orbiting gateways. In this paper, we tackle this issue by first estimating the (varying) size of the device set underneath the (mobile) nanosatellite footprint. Then, we demonstrate applicability of the estimation when used to intelligently throttle DtS-IoT access protocols. Since recent works have shown that MAC protocols improve the throughput and energy efficiency of a DtS-IoT network when a network size estimation is available, we present here a novel and computationally-efficient network size estimator in DtS-IoT: our optimistic collision information (OCI) based estimator. We evaluate OCI's effectiveness with extensive simulations of DtS-IoT scenarios. Results show that when using network size estimations, the scalability of a frame slotted Aloha-based DtS-IoT network is boosted 8-fold, serving up to 4 × 10 3 devices, without energy efficiency penalties. We also show the effectiveness of the OCI mechanism given realistic detection ratios and demonstrate its low computational cost implementation, making it a strong candidate for network estimation in DtS-IoT.
Published: 2023

18. Private Sampling with Identifiable Cheaters

Author: Sabater, César, Hahn, Florian, Peter, Andreas, Ramon, Jan, Machine Learning in Information Networks (MAGNET), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), University of Twente, University of Oldenburg, Chair TIP project, ANR-20-CE23-0013,PMR,Recherche en Medicine respectant la vie Privée(2020), European Project: 101070038,TRUMPET, and Machine Learning in Information Networks [MAGNET]
Subjects: sampling, Cybersecurity, differential privacy, zero knowledge proofs, multiparty computation, [INFO.INFO-LG]Computer Science [cs]/Machine Learning [cs.LG], Horizon Europe, General Earth and Planetary Sciences, Private Sampling, General Environmental Science
Abstract: International audience; In this paper we study verifiable sampling from probability distributions in the context of multi-party computation. This has various applications in randomized algorithms performed collaboratively by parties not trusting each other. One example is differentially private machine learning where noise should be drawn, typically from a Laplace or Gaussian distribution, and it is desirable that no party can bias this process. In particular, we propose algorithms to draw random numbers from uniform, Laplace, Gaussian and arbitrary probability distributions, and to verify honest execution of the protocols through zero-knowledge proofs. We propose protocols that result in one party knowing the drawn number and protocols that deliver the drawn random number as a shared secret.
Published: 2023

19. Haptic-guided grasping to minimise torque effort during robotic telemanipulation

Author: Rahaf Rahal, Amir M. Ghalamzan-E., Firas Abi-Farraj, Claudio Pacchierotti, Paolo Robuffo Giordano, Sensor-based and interactive robotics (RAINBOW), Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-RÉALITÉ VIRTUELLE, HUMAINS VIRTUELS, INTERACTIONS ET ROBOTIQUE (IRISA-D5), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), University of Lincoln, EPSRC EP/M026477/1, National Centre for Nuclear Robotics, and European Project: 645582,H2020 Pilier Industrial Leadership,H2020-ICT-2014-1,RoMaNS(2015)
Subjects: Grasping, Artificial Intelligence, Teleoperation, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Haptics, Post-grasp manipulation, Shared Control
Abstract: International audience; Teleoperating robotic manipulators can be complicated and cognitively demanding for the human operator. Despite these difficulties, teleoperated robotic systems are still popular in several industrial applications, e.g., remote handling of hazardous material. In this context, we present a novel haptic shared control method for minimising the manipulator torque effort during remote manipulative actions in which an operator is assisted in selecting a suitable grasping pose for then displacing an object along a desired trajectory. Minimising torque is important because it reduces the system operating cost and extends the range of objects that can be manipulated. We demonstrate the effectiveness of the proposed approach in a series of representative real-world pick-and-place experiments as well as in a human subjects study. The reported results prove the effectiveness of our shared control vs. a standard teleoperation approach. We also find that haptic-only guidance performs better than visualonly guidance, although combining them together leads to the best overall results.
Published: 2023

20. Noninvasive Vagus Nerve Stimulation: A New Therapeutic Approach for Pharmacoresistant Restless Legs Syndrome

Author: Sarah Hartley, Guillaume Bao, Marine Zagdoun, Sylvain Chevallier, Frédéric Lofaso, Antoine Leotard, Eric Azabou, Service de physiologie et d'explorations fonctionnelles [CHU Raymond-Poincaré], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Hôpital Raymond Poincaré [AP-HP], Infection et inflammation (2I), Université de Versailles Saint-Quentin-en-Yvelines (UVSQ)-Institut National de la Santé et de la Recherche Médicale (INSERM), TAckling the Underspecified (TAU), Inria Saclay - Ile de France, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Interdisciplinaire des Sciences du Numérique (LISN), Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS)-CentraleSupélec-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS), Laboratoire Interdisciplinaire des Sciences du Numérique (LISN), Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS), and Handicap neuromusculaire : Physiopathologie, Biothérapie et Pharmacologies appliquées (END-ICAP)
Subjects: restless syndrome, Anesthesiology and Pain Medicine, Neurology, Neuromodulation, [SDV.MHEP.PSM]Life Sciences [q-bio]/Human health and pathology/Psychiatrics and mental health, vagus nerve stimulation, nonpharmacologic intervention, [SDV.IB]Life Sciences [q-bio]/Bioengineering, Neurology (clinical), General Medicine, sleep, [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing
Abstract: International audience; Aims: This work aimed to study the effect of noninvasive vagus nerve stimulation on severe restless legs syndrome (RLS) resistant to pharmacotherapy. Materials and Methods: Patients with severe pharmacoresistant RLS were recruited from a tertiary care sleep center. Intervention was one-hour weekly sessions of transauricular vagus nerve stimulation (tVNS) in the left cymba concha, for eight weeks. The primary outcome measure was the score on the International Restless Legs Rating Scale (IRLS); secondary outcome measures were quality of life (Restless Legs Syndrome Quality of Life scale [RLSQOL]), mood disorders using the Hospital Anxiety and Depression scale subscale for depression (HADD) and Hospital Anxiety and Depression scale subscale for anxiety (HADA), and objective sleep latency, sleep duration, efficiency, and leg movement time measured by actigraphy. Results: Fifteen patients, 53% male, aged mean 62.7 ± 12.3 years with severe RLS, reduced quality of life, and symptoms of anxiety and depression, were included. The IRLS improved from baseline to session eight: IRLS 31.9 ± 2.9 vs 24.6 ± 5.9 p = 0.0003. Of these participants, 27% (4/15) had a total response with a decrease below an IRLS score of 20; 40% (6/15) a partial response with an improvement in the IRLS > 5 but an IRLS above 20; and 33% (5/15) were nonresponders. After tVNS, quality of life improved (RLSQOL 49.3 ± 18.1 vs 80.0 ± 19.6 p = 0.0005), as did anxiety (HADA 8.9 ± 5.4 vs 6.2 ± 5.0 p = 0.001) and depression (HADD 5.2 ± 4.5 vs 4.0 ± 4.0 p = 0.01). No significant change was found in actigraphic outcome measures. Conclusions: In this pilot study, tVNS improved the symptoms of RLS in 66% of participants (10/15) with severe pharmacoresistant RLS, with concomitant improvements in quality of life and mood. Randomized controlled trials evaluating therapeutic efficacy of tVNS in RLS are needed to confirm these promising findings.
Published: 2023

21. PROJECTION METHODS FOR NEURAL FIELD EQUATIONS

Author: Daniele Avitabile, Department of Mathematics [Amsterdam], Vrije Universiteit Amsterdam [Amsterdam] (VU), Mathématiques pour les Neurosciences (MATHNEURO), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Mathematics, Amsterdam Neuroscience - Cellular & Molecular Mechanisms, and Amsterdam Neuroscience - Systems & Network Neuroscience
Subjects: Numerical Analysis, Quantitative Biology::Neurons and Cognition, mathematical neuroscience, [SDV.NEU.NB]Life Sciences [q-bio]/Neurons and Cognition [q-bio.NC]/Neurobiology, Applied Mathematics, Numerical Analysis (math.NA), Dynamical Systems (math.DS), integro-differential equations, Computational Mathematics, FOS: Mathematics, projection methods, Mathematics - Numerical Analysis, Mathematics - Dynamical Systems, [MATH.MATH-NA]Mathematics [math]/Numerical Analysis [math.NA]
Abstract: International audience; Neural field models are nonlinear integro-differential equations for the evolution of neuronal activity, and they are a prototypical large-scale, coarse-grained neuronal model in continuum cortices. Neural fields are often simulated heuristically and, in spite of their popularity in mathematical neuroscience, their numerical analysis is not yet fully established. We introduce generic projection methods for neural fields, and derive a-priori error bounds for these schemes. We extend an existing framework for stationary integral equations to the time-dependent case, which is relevant for neuroscience applications. We find that the convergence rate of a projection scheme for a neural field is determined to a great extent by the convergence rate of the projection operator. This abstract analysis, which unifies the treatment of collocation and Galerkin schemes, is carried out in operator form, without resorting to quadrature rules for the integral term, which are introduced only at a later stage, and whose choice is enslaved by the choice of the projector. Using an elementary timestepper as an example, we demonstrate that the error in a time stepper has two separate contributions: one from the projector, and one from the time discretisation. We give examples of concrete projection methods: two collocation schemes (piecewise-linear and spectral collocation) and two Galerkin schemes (finite elements and spectral Galerkin); for each of them we derive error bounds from the general theory, introduce several discrete variants, provide implementation details, and present reproducible convergence tests.
Published: 2023

22. A consensus-based approach to reputational routing in multi-hop networks

Author: Staddon, Edward, Loscri, Valeria, Mitton, Nathalie, Self-organizing Future Ubiquitous Network (FUN), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), and European Project: 833683,CyberSANE
Subjects: IoT, Consensus, Cyber Security, Consensus Cyber Security IoT Reputation Routing, [INFO]Computer Science [cs], Reputation, Routing
Abstract: When it comes to the security of the Internet of Things (IoT), securing their communications is paramount. In multi-hop networks, nodes relay information amongst themselves, opening the data up to tampering by an intermediate device. To detect and avoid such malicious entities, we grant nodes the ability to analyse their neighbours behaviour. Through the use of consensus-based validation, based upon the blockchain's miners, all nodes can agree on the trustworthiness of all devices in the network. By expressing this through a node's reputation, it is possible to identify malicious devices and isolate them from network activities. By incorporating this metric into a multi-hop routing protocol such as AODV, we can influence the path selection process. Instead of defining the best route based upon overall length, we can choose the most reputable path available, thus traversing trustworthy devices. By performing extensive analyses through multiple simulated scenarios, we can identify a decrease in packet drop rates compared to AODV by approximately 48% and 38% when subjected to black hole attacks with 30 and 100 node networks respectively. Furthermore, by subjecting our system to varying degrees of grey holes, we can confirm its adaptability to different types of threats.
Published: 2023

23. Real-time motion planning for an autonomous mobile robot with wheel-ground adhesion constraint

Author: Gao, Jiuchun, Claveau, Fabien, Pashkevich, Anatol, Chevrel, Philippe, Abdessamed, Ramdane, Département Automatique, Productique et Informatique (IMT Atlantique - DAPI), IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Robotique Et Vivant (LS2N - équipe ReV), Laboratoire des Sciences du Numérique de Nantes (LS2N), Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-École Centrale de Nantes (Nantes Univ - ECN), Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes université - UFR des Sciences et des Techniques (Nantes univ - UFR ST), Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Nantes Université (Nantes Univ), Commande, Observation, Diagnostic et Expérimentation (LS2N - équipe CODEx), Chassis Brakes International (Chassis Brakes International), Hitachi Astemo, and Chassis Brake International Funding
Subjects: autonomous mobile robot, dynamic programming, Human-Computer Interaction, wheel-ground adhesion, Hardware and Architecture, Control and Systems Engineering, time-optimal trajectory, real-time motion planning, Software, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science Applications
Abstract: International audience; The paper proposes a new real-time motion planning technique for an autonomous mobile robot that is able to find a collision-free path and a corresponding time-optimal trajectory while taking into account limits on the actuator capacities and constraints from the wheel-ground adhesion. The proposed technique includes two sub-modules. The first one, an optimal path planner, is based on the discretization of the robot workspace and dynamic programming principle. It allows finding the shortest path in the robot environment to avoid obstacles and reach the robot target. The second one, an optimal trajectory generator, operates with the discretized robot state-space and also employs dynamic programming techniques. It produces a time-optimal motion along the obtained path, which may include numerous regular and singular trajectory sections caused by the simultaneous application of actuator and wheel-ground adhesion constraints. To adapt this technique to real-time implementation, a moving window strategy is presented that allows regularly updating the robot motion profile in a dynamic environment. The advantages of the developed technique and its suitability for real-time control are illustrated by experimental studies implemented on a car-like mobile robot.
Published: 2023

24. Evidence of a predictive coding hierarchy in the human brain listening to speech

Author: Charlotte Caucheteux, Alexandre Gramfort, Jean-Rémi King, Facebook AI Research [Paris] (FAIR), Facebook, Modèles et inférence pour les données de Neuroimagerie (MIND), IFR49 - Neurospin - CEA, Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Inria Saclay - Ile de France, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Meta AI Research [Paris], Meta AI, École normale supérieure - Paris (ENS-PSL), Université Paris sciences et lettres (PSL), and ANR-17-EURE-0017,FrontCog,Frontières en cognition(2017)
Subjects: [SCCO]Cognitive science, Behavioral Neuroscience, Deep Learning, Social Psychology, Predictive Coding, [INFO]Computer Science [cs], Experimental and Cognitive Psychology, Natural Language Processing, Neuroscience
Abstract: Considerable progress has recently been made in natural language processing: deep learning algorithms are increasingly able to generate, summarize, translate and classify texts. Yet, these language models still fail to match the language abilities of humans. Predictive coding theory offers a tentative explanation to this discrepancy: while language models are optimized to predict nearby words, the human brain would continuously predict a hierarchy of representations that spans multiple timescales. To test this hypothesis, we analysed the functional magnetic resonance imaging brain signals of 304 participants listening to short stories. First, we confirmed that the activations of modern language models linearly map onto the brain responses to speech. Second, we showed that enhancing these algorithms with predictions that span multiple timescales improves this brain mapping. Finally, we showed that these predictions are organized hierarchically: frontoparietal cortices predict higher-level, longer-range and more contextual representations than temporal cortices. Overall, these results strengthen the role of hierarchical predictive coding in language processing and illustrate how the synergy between neuroscience and artificial intelligence can unravel the computational bases of human cognition.
Published: 2023

25. Symmetry in multivariate ideal interpolation

Author: Rodriguez Bazan, Erick, Hubert, Evelyne, AlgebRe, geOmetrie, Modelisation et AlgoriTHmes (AROMATH), Inria Sophia Antipolis - Méditerranée (CRISAM), and Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-National and Kapodistrian University of Athens (NKUA)
Subjects: [INFO.INFO-SC]Computer Science [cs]/Symbolic Computation [cs.SC], Algebra and Number Theory, Mathematics::Commutative Algebra, Representation Theory, [MATH.MATH-RA]Mathematics [math]/Rings and Algebras [math.RA], MathematicsofComputing_NUMERICALANALYSIS, [INFO.INFO-NA]Computer Science [cs]/Numerical Analysis [cs.NA], [MATH.MATH-GR]Mathematics [math]/Group Theory [math.GR], Interpolation, Symmetry, Macaulay matrix, Computational Mathematics, Vandermonde matrix, ComputingMethodologies_SYMBOLICANDALGEBRAICMANIPULATION, H-basis
Abstract: International audience; An interpolation problem is defined by a set of linear forms on the (multivariate) polynomial ring and values to be achieved by an interpolant. For Lagrange interpolation the linear forms consist of evaluations at some nodes,while Hermite interpolation also considers the values of successive derivatives. Both are examples of ideal interpolation in that the kernels of the linear forms intersect into an ideal. For an ideal interpolation problem with symmetry, we address the simultaneous computation of a symmetry adapted basis of the least interpolation space and the symmetry adapted H-basis of the ideal. Beside its manifest presence in the output, symmetry is exploited computationally at all stages of the algorithm. For an ideal invariant, under a group action, defined by a Groebner basis, the algorithm allows to obtain a symmetry adapted basis of the quotient and of the generators. We shall also note how it applies surprisingly but straightforwardly to compute fundamental invariants and equivariants of a reflection group.
Published: 2023

26. Hyperexponential and Fixed-Time Stability of Time-Delay Systems: Lyapunov–Razumikhin Method

Author: Artem N. Nekhoroshikh, Denis Efimov, Andrey Polyakov, Wilfrid Perruquetti, Igor B. Furtat, National Research University of Information Technologies, Mechanics and Optics [St. Petersburg] (ITMO), Finite-time control and estimation for distributed systems (VALSE), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), 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), Institute of Mechanical Engineering Problems [St. Petersburg] (IPME), Russian Academy of Sciences [Moscow] (RAS), and The results of Section IV are supported by the Russian Science Foundation under grant no. 18-79-10104 (https://rscf.ru/en/project/18-79-10104/) at IPME RAS. The results of Section V are supported by the Russian Science Foundation under grant no. 21-71-10032 at ITMO University.
Subjects: implicit theorem, Lyapunov-Razumikhin theorem, Control and Systems Engineering, Fixed-time and hyperexponential stability, ComputingMethodologies_SYMBOLICANDALGEBRAICMANIPULATION, Electrical and Electronic Engineering, linear matrix inequalities, time-delay systems, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science Applications
Abstract: International audience; Razumikhin-like theorems on hyperexponential and fixed-time stability of time-delay systems are proposed for both explicitly and implicitly defined Lyapunov functions. While the former method is useful for stability analysis, the latter approach is more suitable for control synthesis. Examples of systems that can be stabilized hyperexponentially and in fixed time are given. The control parameters tuning algorithm is presented in the form of linear matrix inequalities. The numerical simulations illustrate the theoretical results.
Published: 2023

27. Boundary stabilization of one-dimensional cross-diffusion systems in a moving domain: Linearized system

Author: Jean Cauvin-Vila, Virginie Ehrlacher, Amaury Hayat, Centre d'Enseignement et de Recherche en Mathématiques et Calcul Scientifique (CERMICS), École des Ponts ParisTech (ENPC), MATHematics for MatERIALS (MATHERIALS), École des Ponts ParisTech (ENPC)-École des Ponts ParisTech (ENPC)-Inria de Paris, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), The authors acknowledge support from the ANR project COMODO (ANR-19-CE46-0002) which funds the Ph.D of Jean Cauvin-Vila., and ANR-19-CE46-0002,COMODO,Systèmes de diffusion croisée sur des domaines en mouvement(2019)
Subjects: Feedback stabilization, Mathematics - Analysis of PDEs, Boundary control, Backstepping, Applied Mathematics, FOS: Mathematics, [MATH.MATH-AP]Mathematics [math]/Analysis of PDEs [math.AP], Parabolic PDEs, Cross-diffusion systems, Exponential stability, Analysis, Analysis of PDEs (math.AP)
Abstract: We study the boundary stabilization of one-dimensional cross-diffusion systems in a moving domain. We show first exponential stabilization and then finite-time stabilization in arbitrary small-time of the linearized system around uniform equilibria, provided the system has an entropic structure with a symmetric mobility matrix. One example of such systems are the equations describing a Physical Vapor Deposition (PVD) process. This stabilization is achieved with respect to both the volume fractions and the thickness of the domain. The feedback control is derived using the backstepping technique, adapted to the context of a time-dependent domain. In particular, the norm of the backward backstepping transform is carefully estimated with respect to time., Comment: 37 pages, no figure
Published: 2023

28. Evolution of synchronous female bilateral breast cancers and response to treatment

Author: Anne-Sophie Hamy, Judith Abécassis, Keltouma Driouch, Lauren Darrigues, Mathias Vandenbogaert, Cecile Laurent, Francois Zaccarini, Benjamin Sadacca, Myriam Delomenie, Enora Laas, Odette Mariani, Thanh Lam, Beatriz Grandal, Marick Laé, Ivan Bieche, Sophie Vacher, Jean-Yves Pierga, Etienne Brain, Celine Vallot, Judicael Hotton, Wilfrid Richer, Dario Rocha, Zakia Tariq, Veronique Becette, Didier Meseure, Laetitia Lesage, Anne Vincent-Salomon, Natalie Filmann, Jenny Furlanetto, Sibylle Loibl, Elise Dumas, Joshua J. Waterfall, Fabien Reyal, Residual Tumor & Response to Treatment Laboratory [Paris] (RT2Lab), Immunité et cancer (U932), Institut Curie [Paris]-Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut Curie [Paris]-Institut National de la Santé et de la Recherche Médicale (INSERM), Institut Curie [Paris], Modèles et inférence pour les données de Neuroimagerie (MIND), IFR49 - Neurospin - CEA, Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Inria Saclay - Ile de France, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Méthodes computationnelles et mathématiques pour comprendre la société et la santé à partir de données (SODA), Inria Saclay - Ile de France, Département de chirurgie, Département de Recherche Translationnelle, Unité de génétique et biologie des cancers (U830), Institut Curie [Paris]-Institut National de la Santé et de la Recherche Médicale (INSERM), Departement de chirurgie [Institut Curie], Geneva University Hospitals and Geneva University, Département de Pathologie [CHU Rouen], CHU Rouen, Normandie Université (NU)-Normandie Université (NU)-Université de Rouen Normandie (UNIROUEN), Normandie Université (NU), Institut Cochin (IC UM3 (UMR 8104 / U1016)), Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Université Paris Cité (UPCité), Dynamique de l'information génétique : bases fondamentales et cancer (DIG CANCER), Institut Curie [Paris]-Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Institut Jean Godinot [Reims], UNICANCER, and German Breast Group (GBG)
Subjects: [SDV]Life Sciences [q-bio], General Medicine, General Biochemistry, Genetics and Molecular Biology
Abstract: Synchronous bilateral breast cancer (sBBC) occurs after both breasts have been affected by the same germline genetics and environmental exposures. Little evidence exists regarding immune infiltration and response to treatment in sBBCs. Here we show that the impact of the subtype of breast cancer on levels of tumor infiltrating lymphocytes (TILs, n = 277) and on pathologic complete response (pCR) rates (n = 140) differed according to the concordant or discordant subtype of breast cancer of the contralateral tumor: luminal breast tumors with a discordant contralateral tumor had higher TIL levels and higher pCR rates than those with a concordant contralateral tumor. Tumor sequencing revealed that left and right tumors (n = 20) were independent regarding somatic mutations, copy number alterations and clonal phylogeny, whereas primary tumor and residual disease were closely related both from the somatic mutation and from the transcriptomic point of view. Our study indicates that tumor-intrinsic characteristics may have a role in the association of tumor immunity and pCR and demonstrates that the characteristics of the contralateral tumor are also associated with immune infiltration and response to treatment.
Published: 2023

29. Assistive Robotic Technologies for Next-Generation Smart Wheelchairs: Codesign and Modularity to Improve Users’ Quality of Life

Author: Fabio Morbidi, Louise Devigne, Catalin Stefan Teodorescu, Bastien Fraudet, Émilie Leblong, Tom Carlson, Marie Babel, Guillaume Caron, Sarah Delmas, François Pasteau, Guillaume Vailland, Valérie Gouranton, Sylvain Guégan, Ronan Le Breton, Nicolas Ragot, Modélisation, Information et Systèmes - UR UPJV 4290 (MIS), Université de Picardie Jules Verne (UPJV), Sensor-based and interactive robotics (RAINBOW), Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-RÉALITÉ VIRTUELLE, HUMAINS VIRTUELS, INTERACTIONS ET ROBOTIQUE (IRISA-D5), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), University College of London [London] (UCL), Médecine Physique et de Réadaptation [Rennes] (Pôle Saint-Hélier), Joint Robotics Laboratory (CNRS-AIST JRL ), National Institute of Advanced Industrial Science and Technology (AIST)-Centre National de la Recherche Scientifique (CNRS), 3D interaction with virtual environments using body and mind (Hybrid), Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA), Institut de Recherche en Systèmes Electroniques Embarqués (IRSEEM), Université de Rouen Normandie (UNIROUEN), and Normandie Université (NU)-Normandie Université (NU)-École Supérieure d’Ingénieurs en Génie Électrique (ESIGELEC)
Subjects: Automation, Wheelchairs, Wheels, Sensors, Control and Systems Engineering, Robot sensing systems, Mobile robots, Three-dimensional displays, Electrical and Electronic Engineering, ComputingMilieux_MISCELLANEOUS, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science Applications
Abstract: International audience; This article describes the robotic assistive technologies developed for users of electrically powered wheelchairs, within the framework of the European Union’s Interreg ADAPT (Assistive Devices for Empowering Disabled People Through Robotic Technologies) project. In particular, special attention is devoted to the integration of advanced sensing modalities and the design of new shared control algorithms. In response to the clinical needs identified by our medical partners, two novel smart wheelchairs with complementary capabilities and a virtual reality (VR)-based wheelchair simulator have been developed. These systems have been validated via extensive experimental campaigns in France and the United Kingdom.
Published: 2023

30. Fast and stable schemes for non-linear osmosis filtering

Author: Calatroni, L., Morigi, S., Parisotto, S., Recupero, G. A., Morphologie et Images (MORPHEME), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut de Biologie Valrose (IBV), 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)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Université Côte d'Azur (UCA)-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)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Université Côte d'Azur (UCA)-Signal, Images et Systèmes (Laboratoire I3S - SIS), Laboratoire d'Informatique, Signaux, et Systèmes de Sophia Antipolis (I3S), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Université Côte d'Azur (UCA)-Université Nice Sophia Antipolis (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 d'Informatique, Signaux, et Systèmes de Sophia Antipolis (I3S), 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)-Centre National de la Recherche Scientifique (CNRS), Dipartimento di Matematica [Bologna], Alma Mater Studiorum Università di Bologna [Bologna] (UNIBO), Department of Applied Mathematics and Theoretical Physics [Cambridge] (DAMTP), Faculty of mathematics Centre for Mathematical Sciences [Cambridge] (CMS), and University of Cambridge [UK] (CAM)-University of Cambridge [UK] (CAM)
Subjects: Computational Mathematics, Computational Theory and Mathematics, [INFO.INFO-TI]Computer Science [cs]/Image Processing [eess.IV], Modeling and Simulation, [MATH.MATH-AP]Mathematics [math]/Analysis of PDEs [math.AP], Mathematics - Numerical Analysis, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], 68U10, 94A08, 49K20, 65M05, [MATH.MATH-NA]Mathematics [math]/Numerical Analysis [math.NA]
Abstract: We consider a non-linear variant of the transport-diffusion osmosis model for solving a variety of imaging problems such as shadow/soft-light removal and compact data representation. The non-linear behaviour is encoded in terms of a general scalar function g with suitable properties, which allows to balance the diffusion intensity on the different regions of the image while preventing smoothing artefacts. For the proposed model, conservation properties (intensity and non-negativity) are proved and a variational interpretation is showed for specific choices of g. Upon suitable spatial discretisation, both an explicit and a semi-implicit iterative scheme are considered, for which convergence restrictions and unconditional stability are proved, respectively. To validate the proposed modelling and the computational speed of the numerical schemes considered, we report several results and comparisons for the problem of shadow/light-spot removal and compact data representation, showing that artefact-free and computationally efficient results are obtained in comparison to standard linear and anisotropic models, and state-of-the art approaches., Comment: 25 pages, 14 figures
Published: 2023

31. PTOPO: Computing the geometry and the topology of parametric curves

Author: Katsamaki, Christina, Rouillier, Fabrice, Tsigaridas, Elias, Zafeirakopoulos, Zafeirakis, OUtils de Résolution Algébriques pour la Géométrie et ses ApplicatioNs (OURAGAN), 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 Mathématiques de Jussieu - Paris Rive Gauche (IMJ-PRG (UMR_7586)), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Université Paris Cité (UPCité), Gebze Teknik Üniversitesi [Gebze], This project has received funding from the European Union’s Horizon 2020 research and innovation program under the Marie Skłodowska-Curie grant agreement N° 754362., European Project: 754362,MathInParis(2017), and Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS)-Université de Paris (UP)
Subjects: [INFO.INFO-SC]Computer Science [cs]/Symbolic Computation [cs.SC], FOS: Computer and information sciences, Computer Science - Symbolic Computation, Computational Mathematics, Algebra and Number Theory, Bit complexity, Parametric curve, Symbolic Computation (cs.SC), [INFO.INFO-CG]Computer Science [cs]/Computational Geometry [cs.CG], Topology, Polynomial systems
Abstract: We consider the problem of computing the topology and describing the geometry of a parametric curve in $\mathbb{R}^n$. We present an algorithm, PTOPO, that constructs an abstract graph that is isotopic to the curve in the embedding space. Our method exploits the benefits of the parametric representation and does not resort to implicitization. Most importantly, we perform all computations in the parameter space and not in the implicit space. When the parametrization involves polynomials of degree at most $d$ and maximum bitsize of coefficients $\tau$, then the worst case bit complexity of PTOPO is $ \tilde{\mathcal{O}}_B(nd^6+nd^5\tau+d^4(n^2+n\tau)+d^3(n^2\tau+ n^3)+n^3d^2\tau)$. This bound matches the current record bound $\tilde{\mathcal{O}}_B(d^6+d^5\tau)$ for the problem of computing the topology of a plane algebraic curve given in implicit form. For plane and space curves, if $N = \max\{d, \tau \}$, the complexity of PTOPO becomes $\tilde{\mathcal{O}}_B(N^6)$, which improves the state-of-the-art result, due to Alc\'azar and D\'iaz-Toca [CAGD'10], by a factor of $N^{10}$. In the same time complexity, we obtain a graph whose straight-line embedding is isotopic to the curve. However, visualizing the curve on top of the abstract graph construction, increases the bound to $\tilde{\mathcal{O}}_B(N^7)$. For curves of general dimension, we can also distinguish between ordinary and non-ordinary real singularities and determine their multiplicities in the same expected complexity of PTOPO by employing the algorithm of Blasco and P\'erez-D\'iaz [CAGD'19]. We have implemented PTOPO in Maple for the case of plane and space curves. Our experiments illustrate its practical nature.
Published: 2023

32. Geometry of spiking patterns in early visual cortex: a topological data analytic approach

Author: Andrea Guidolin, Mathieu Desroches, Jonathan D. Victor, Keith P. Purpura, Serafim Rodrigues, Mathematical, Computational and Experimental Neuroscience [Bilbao] (MCEN), Basque Center for Applied Mathematics (BCAM), Department of Mathematics [Sweden] (KTH), Stockholm University, Mathématiques pour les Neurosciences (MATHNEURO), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Department of Neurology and Feil Family Brain and Mind Research Institute [New-York] (BMRI), Weill Medical College of Cornell University [New York], and Ikerbasque - Basque Foundation for Science
Subjects: Neurons, Quantitative Biology::Neurons and Cognition, [SCCO.NEUR]Cognitive science/Neuroscience, [MATH.MATH-DS]Mathematics [math]/Dynamical Systems [math.DS], Data Science, Biomedical Engineering, Biophysics, Action Potentials, Bioengineering, Biochemistry, persistent homology, Biomaterials, topological data analysis, spike metric, Animals, Macaca, Photic Stimulation, Biotechnology, Visual Cortex
Abstract: In the brain, spiking patterns live in a high-dimensional space of neurons and time. Thus, determining the intrinsic structure of this space presents a theoretical and experimental challenge. To address this challenge, we introduce a new framework for applying topological data analysis (TDA) to spike train data and use it to determine the geometry of spiking patterns in the visual cortex. Key to our approach is a parametrized family of distances based on the timing of spikes that quantifies the dissimilarity between neuronal responses. We applied TDA to visually driven single-unit and multiple single-unit spiking activity in macaque V1 and V2. TDA across timescales reveals a common geometry for spiking patterns in V1 and V2 which, among simple models, is most similar to that of a low-dimensional space endowed with Euclidean or hyperbolic geometry with modest curvature. Remarkably, the inferred geometry depends on timescale and is clearest for the timescales that are important for encoding contrast, orientation and spatial correlations., NIH grants number EY09314 and EY07977 from the National Eye Institute of the NIH. NIH grants no. EY034150 from the National Eye Institute and NS111019 from the National Institute of Neurological Disorders and Stroke. Ikerbasque. Wallenberg AI, Autonomous Systems and Software Program (WASP) funded by the Knut and Alice Wallenberg Foundation. Inria Associated Team "NeuroTransSF".
Published: 2023

33. Understanding the Effects of Permanent Faults in GPU's Parallelism Management and Control Units

Author: Guerrero-Balaguera, Juan-David, Condia, Josie E. Rodriguez, Santos, Fernando F. dos, Sonza, Matteo, Rech, Paolo, Department of Computer Engineering (DAUIN), Politecnico di Torino = Polytechnic of Turin (Polito), Architectures matérielles spécialisées pour l’ère post loi-de-Moore (TARAN), Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-ARCHITECTURE (IRISA-D3), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), University of Trento [Trento], ACM, IEEE, and European Project: 899546,MSCA
Subjects: FOS: Computer and information sciences, [INFO.INFO-AR]Computer Science [cs]/Hardware Architecture [cs.AR], GPUs, fault injection, Hardware Architecture (cs.AR), Permanent faults, Computer Science - Hardware Architecture, Reliability, Error models, Error models GPUs Permanent faults Reliability fault injection
Abstract: International audience; Graphics Processing Units (GPUs) are over-stressed to accelerate High-Performance Computing applications and are used to accelerate Deep Neural Networks in several domains where they have a life expectancy of many years. These conditions expose the GPUs hardware to (premature) aging, causing permanent faults to arise after the usual end-of-manufacturing test. Techniques to assess the impact of permanent faults in GPUs are then strongly required, thus allowing to estimate the reliability risk and to possibly mitigate it. In this paper, we present a method to evaluate the effects of permanent faults affecting the GPU scheduler and control units, which are the most peculiar and stressed resources, along with the first figures that allow quantifying these effects. We characterize over 5.83x10^5 permanent fault effects in the scheduler and controllers of a gate-level GPU model. Then, we map the observed error categories in software by instrumenting the code of 13 applications and two convolutional neural networks, injecting more than 1.65x10^5 permanent errors. Our two-level fault injection strategy reduces the evaluation time from hundreds of years of gate-level evaluation to hundreds of hours.We found that faults in the GPU parallelism management units can modify the opcode, the addresses, and the status of thread(s) and warp(s). The large majority (up to 99%) of these hardware permanent errors impacts the running software execution. Errors affecting the instruction operation or resource management hang the code, while 45% of errors in the parallelism management or control-flow induce silent data corruptions.
Published: 2023

34. Total Least Squares in-field Identification for MEMS-based Triaxial Accelerometers

Author: Ducchi, Massimo, Zaccaria, Federico, Briot, Sébastien, Idá, Edoardo, Dipartimento di Scienze dell'Informazione [Bologna] (DISI), Alma Mater Studiorum Università di Bologna [Bologna] (UNIBO), Laboratoire des Sciences du Numérique de Nantes (LS2N), Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-École Centrale de Nantes (Nantes Univ - ECN), Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes université - UFR des Sciences et des Techniques (Nantes univ - UFR ST), Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ), Centre National de la Recherche Scientifique (CNRS), Autonomie des Robots et Maîtrise des interactions avec l’ENvironnement (LS2N - équipe ARMEN), and Nantes Université (Nantes Univ)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique)
Subjects: [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]
Abstract: International audience
Published: 2023

35. Singularity Conditions of Concentric Tube Robots

Author: Zaccaria, Federico, Idá, Edoardo, Briot, Sébastien, Laboratoire des Sciences du Numérique de Nantes (LS2N), Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-École Centrale de Nantes (Nantes Univ - ECN), Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes université - UFR des Sciences et des Techniques (Nantes univ - UFR ST), Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ), Centre National de la Recherche Scientifique (CNRS), Autonomie des Robots et Maîtrise des interactions avec l’ENvironnement (LS2N - équipe ARMEN), and Nantes Université (Nantes Univ)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique)
Subjects: [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]
Abstract: International audience
Published: 2023

36. 3D Restitution of Saint-Maurice Residence in Cairo – 3D as a tool to monitor and study architectural reuses

Author: Baillet, Vincent, Mora, Pascal, Cou, Corentin, Granier, Xavier, Volait, Mercedes, Archéosciences Bordeaux, Université de Bordeaux (UB)-Université Bordeaux Montaigne (UBM)-Centre National de la Recherche Scientifique (CNRS), Laboratoire Photonique, Numérique et Nanosciences (LP2N), Université de Bordeaux (UB)-Institut d'Optique Graduate School (IOGS)-Centre National de la Recherche Scientifique (CNRS), L'information visuelle et textuelle en histoire de l'art : nouveaux terrains, corpus, outils (InVisu), INHA-Centre National de la Recherche Scientifique (CNRS), Melting the frontiers between Light, Shape and Matter (MANAO), 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)-Université de Bordeaux (UB)-École Nationale Supérieure d'Électronique, Informatique et Radiocommunications de Bordeaux (ENSEIRB)-Centre National de la Recherche Scientifique (CNRS)-Inria Bordeaux - Sud-Ouest, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Photonique, Numérique et Nanosciences (LP2N), and Université de Bordeaux (UB)-Institut d'Optique Graduate School (IOGS)-Centre National de la Recherche Scientifique (CNRS)-Institut d'Optique Graduate School (IOGS)-Centre National de la Recherche Scientifique (CNRS)
Subjects: [SPI.OPTI]Engineering Sciences [physics]/Optics / Photonic, [INFO.INFO-GR]Computer Science [cs]/Graphics [cs.GR], [SHS]Humanities and Social Sciences
Abstract: International audience; The Saint-Maurice residence in Cairo fully illustrates the reuse of Islamic architectural elements during the 19th century. Built between 1875-1879, it was dismantled in 1937. The decorative elements are certainly those of the current French Embassy in Cairo. If the multiform documentation is large, the information on the building remains incomplete. Our work toward a 3D restitution tends to demonstrate that these technologies are particularly suitable for understanding and validating multiple and fragmentary data for architectural studies. For this purpose, photographic and 3D data were acquired on-site (including ceilings and doors at the French Embassy) and compared with surveys or even old photographs and lithographs. 3D modeling based on these elements leads to a renewed visualization of the volumes, as well as the outbreak of architectural and structural inconsistencies (plans of an older state) which made it possible to refine the restitution hypotheses. The confrontation of documents with a 3D restitution has provided some answers. The acquired ceiling of the "grand salon", when placed back in the 3D model, demonstrates that the current dimensions are similar to the original ones. The other dimensions of the building are now more validated by adjustments as close as possible to all the documents. This leads to discard certain plans which appear to be architectural preliminary blueprints prior to the residence built. Enriched by hyperspectral images, this work has shown a posteriori that the origins of architectural ornaments, particularly ceramics, may be more diversified than expected. This research constitutes an essential milestone in a better understanding of the Islamic reuses of this building. However, remains to better characterize the origin of the ceramics and the appearance of the painted and sculpted decorations of the Saint-Maurice Residence in order to be able to compare it with the existing visual documents.
Published: 2023

37. On Stability of Homogeneous Systems in Presence of Parasitic Dynamics

Author: Jesus Mendoza-Avila, Denis Efimov, Leonid Fridman, Jaime A. Moreno, Finite-time control and estimation for distributed systems (VALSE), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS), ITMO University [Russia], Facultad de Ingeniería, Universidad Nacional Autónoma de México = National Autonomous University of Mexico (UNAM), This work was supported in part by Homogeneity Tools for Sliding Mode Control and Estimation (HoTSMoCE) INRIA associate team program, by CONACyT (Consejo Nacional de Ciencia y Tecnologia) project 241171, 282013 and CVU 711867, by PAPIIT-UNAM (Programa de Apoyo a Proyectos de Investigacion e Innovacion Tecnologica) IN 115419 and IN 113617., Finite-time control and estimation for distributed systems [VALSE], and Universidad Nacional Autónoma de México = National Autonomous University of Mexico [UNAM]
Subjects: Singular Perturbations, Control and Systems Engineering, Chattering Analysis, Homogeneity, Electrical and Electronic Engineering, Interconnected Systems, Computer Science Applications, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract: International audience; Usually, singularly perturbed models are used to justify the decomposition of the interconnected systems into the Main Dynamics (MD) and the Parasitic Dynamics (PD). In this paper, the effect of a homogeneous PD on the stability of a homogeneous MD, when Homogeneity Degrees (HD) are possibly different, is studied via ISS approach in the framework of singular perturbations. Thus, the possibilities to reduce the order of the interconnected system considering only Reduced-Order Dynamics (ROD) and neglecting PD are examined. Proposed analysis discovers three kinds of stability in the behavior of such an interconnection by assuming that both, ROD and unforced PD, are Globally Asymptotically Stable (GAS). In the first case, when the HD of both systems coincide and the Singular Perturbation Parameter (SPP) is small enough, GAS of the interconnection can be concluded. In the second case, when the HD of ROD is greater, only local stability of interconnection can be ensured. Moreover, proposed approach allows to estimate the domain of attraction for the trajectories of the interconnection as a function of the SPP. In the third case, when the HD of ROD is smaller than the HD of PD, only practical stability can be concluded, and a kind of chattering phenomenon can arise when the HD of ROD is negative. Furthermore, the asymptotic bound of the system's trajectories is also estimated in terms of the SPP.
Published: 2023

38. Towards a finite volume discretization of the atmospheric surface layer consistent with physical theory

Author: Clément, Simon, Lemarié, Florian, Blayo, Eric, Mathematics and computing applied to oceanic and atmospheric flows (AIRSEA), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université Grenoble Alpes (UGA)-Laboratoire Jean Kuntzmann (LJK), Institut National de Recherche en Informatique et en Automatique (Inria)-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)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP ), and Université Grenoble Alpes (UGA)
Subjects: Monin-Obukhov theory, [PHYS.PHYS.PHYS-AO-PH]Physics [physics]/Physics [physics]/Atmospheric and Oceanic Physics [physics.ao-ph], Physics - Atmospheric and Oceanic Physics, Finite Volume, Surface flux scheme, Atmospheric and Oceanic Physics (physics.ao-ph), FOS: Mathematics, FOS: Physical sciences, Numerical Analysis (math.NA), Mathematics - Numerical Analysis, [MATH.MATH-NA]Mathematics [math]/Numerical Analysis [math.NA]
Abstract: International audience; We study an atmospheric column and its discretization. Because of numerical considerations, the column must be divided into two parts: (1) a surface layer, excluded from the computational domain and parameterized, and (2) the rest of the column, which reacts more slowly to variations in surface conditions. A usual practice in atmospheric models is to parameterize the surface layer without excluding it from the computational domain, leading to possible consistency issues. We propose here to unify the two representations in a Finite Volume discretization. In order to do so, the reconstruction inside the first grid cell is performed using the particular functions involved in the parameterizations and not only with polynomials. Using a consistency criterion, surface layer management strategies are compared in different physical situations.
Published: 2023

39. Vision-based interface for grasping intention detection and grip selection : towards intuitive upper-limb assistive devices

Author: Moullet, Etienne, Bailly, François, Carpentier, Justin, Coste, Christine Azevedo, Contrôle Artificiel de Mouvements et de Neuroprothèses Intuitives (CAMIN), Inria Sophia Antipolis - Méditerranée (CRISAM), Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), 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, Institut National de Recherche en Informatique et en Automatique (Inria), and 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)
Subjects: Grasping, Assistive devices, FOS: Biological sciences, Intuitive assistance, Computer vision, [INFO.INFO-BI]Computer Science [cs]/Bioinformatics [q-bio.QM], Quantitative Biology - Quantitative Methods, Quantitative Methods (q-bio.QM)
Abstract: International audience; Assistive devices for indivuals with upper-limb movement often lack controllability and intuitiveness, in particular for grasping function. In this work, we introduce a novel user interface for grasping movement control in which the user delegates the grasping task decisions to the device, only moving their (potentially prosthetic) hand toward the targeted object.
Published: 2023

40. Genetic algorithms for force polytopes prediction

Author: Laisné, Gautier, Salotti, Jean-Marc, Rezzoug, Nasser, Augmenting human comfort in the factory using cobots (AUCTUS), Inria Bordeaux - Sud-Ouest, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut Polytechnique de Bordeaux (Bordeaux INP), Laboratoire de l'intégration, du matériau au système (IMS), Université Sciences et Technologies - Bordeaux 1 (UB)-Institut Polytechnique de Bordeaux-Centre National de la Recherche Scientifique (CNRS), Université de Poitiers, Institut Pprime (PPRIME), Université de Poitiers-ENSMA-Centre National de la Recherche Scientifique (CNRS), and Société de Biomécanique
Subjects: genetic algorithm, [PHYS.MECA.BIOM]Physics [physics]/Mechanics [physics]/Biomechanics [physics.med-ph], musculoskeletal model, force polytope, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI]
Abstract: National audience; Knowledge of human’s force capacities enables the design of physical Human-Robot Interaction (pHRI) workspaces. As measuring force capacities for all postures is time consuming, predicting force capacities from a subset of measurements performed in a limited number of postures is crucial. The force capacities can be described as a convex polytope by means of a personalized musculoskeletal (MSK) model (Skuric et al. 2022). However, the tuning of a MSK model is difficult due to the high number of parameters. Thanks to its constraint-free nature on the optimization function, a genetic algorithm is implemented to find a MSK model parameter set, which fits and predicts force polytopes.
Published: 2023

41. Unveiling stealth attack paths in Windows Environments using AWARE

Author: Poisson, Manuel, Viet Triem Tong, Valérie, Guette, Gilles, Abgrall, Erwan, Guihéry, Frédéric, Crémilleux, Damien, Confidentialité, Intégrité, Disponibilité et Répartition (CIDRE), CentraleSupélec-Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-SYSTÈMES LARGE ÉCHELLE (IRISA-D1), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), CentraleSupélec [campus de Rennes], AMOSSYS, and IEEE ComSoc
Subjects: Attack graph, [INFO.INFO-CR]Computer Science [cs]/Cryptography and Security [cs.CR], LotL, attack campaign, intrusion, Attack graph attack campaign intrusion LotL
Abstract: International audience; When an attacker targets a system, he aims to remain undetected as long as possible. He must therefore avoid performing actions that are characteristic of an identified malicious behavior. One way to avoid detection is to only perform actions on the system that appear legitimate. That is, actions that are allowed because of the system configuration or actions that are possible by diverting the use of legitimate services. This article presents and experiments AWARE (Attacks in Windows Architectures REvealed), a defensive tool able to query a Windows system and build a directed graph highlighting possible stealthily attack paths that an attacker could use during the propagation phase of an attack campaign. These attack paths only rely on legitimate system actions and the use of Living-Off-The-Land binaries. AWARE also proposes a range of corrective measures to prevent these attack paths.; Lorsqu'un attaquant cible un système, son objectif est de rester indétecté le plus longtemps possible. Il doit donc éviter d'effectuer des actions caractéristiques d'un comportement malveillant identifié. Une façon d'éviter la détection est de n'effectuer que des actions sur le système qui semblent légitimes. C'est-à-dire des actions autorisées en raison de la configuration du système ou des actions possibles en détournant l'utilisation de services légitimes. Cet article présente et expérimente AWARE (Attacks in Windows Architectures REvealed), un outil défensif capable d'interroger un système Windows et de construire un graphe dirigé mettant en évidence les chemins d'attaque furtifs possibles qu'un attaquant pourrait utiliser lors de la phase de propagation d'une campagne d'attaque. Ces chemins d'attaque reposent uniquement sur des actions système légitimes et l'utilisation de binaires Living-Off-The-Land. AWARE propose également une gamme de mesures correctives pour prévenir ces chemins d'attaque.
Published: 2023

42. SMART: Selective MAC zero-optimzation for neural network reliability under radiation

Author: Rajappa, Anuj Justus, Reiter, Philippe, Sartori, Tarso Kraemer Sarzi, Laurini, Luiz Henrique, Fourati, Hassen, Mercelis, Siegfried, Hellinckx, Peter, Possamai Bastos, Rodrigo, Internet Technology and Data Science Lab (IDLab), Universiteit Antwerpen = University of Antwerpen [Antwerpen]-Universiteit Gent = Ghent University (UGENT), Architectures and Methods for Resilient Systems (TIMA-AMfoRS ), Techniques de l'Informatique et de la Microélectronique pour l'Architecture des systèmes intégrés (TIMA), 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), Dynamics and Control of Networks (DANCE), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-GIPSA Pôle Automatique et Diagnostic (GIPSA-PAD), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Grenoble Alpes (UGA)-Grenoble Images Parole Signal Automatique (GIPSA-lab), and Universiteit Antwerpen = University of Antwerpen [Antwerpen]
Subjects: radiation, MAC, PACS 85.42, sparsity, [SPI.NANO]Engineering Sciences [physics]/Micro and nanotechnologies/Microelectronics, sparsity radiation MAC multiply-accumulate optimization, optimization, multiply-accumulate
Abstract: This work has been partially supported by: MultiRad (PAI project funded by Région Auvergne-Rhône-Alpes); IRT Nanoelec (ANR-10-AIRT-05) and LabEx PERSYVAL-Lab (ANR- 11-LABX-0025-01), both projects funded by the French program PIA; UGA/LPSC/GENESIS platform; Bourse de mobilité Génération IA 2030, funded by French embassy in Belgium; and MOVIQ (Mastering Onboard Vision Intelligence and Quality) project funded by Flanders Innovation and Entrepreneurship (VLAIO) and Flanders Space (VRI).; International audience
Published: 2023

43. TwistSLAM++: Fusing multiple modalities for accurate dynamic semantic SLAM

Author: Gonzalez, Mathieu, Marchand, Eric, Kacete, Amine, Royan, Jérôme, B<>COM [Cesson Sévigné], Sensor-based and interactive robotics (RAINBOW), Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-RÉALITÉ VIRTUELLE, HUMAINS VIRTUELS, INTERACTIONS ET ROBOTIQUE (IRISA-D5), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)
Subjects: FOS: Computer and information sciences, Computer Science - Robotics, SLAM Localization Mapping, Mapping, Computer Vision and Pattern Recognition (cs.CV), Localization, SLAM, Computer Science - Computer Vision and Pattern Recognition, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Robotics (cs.RO)
Abstract: International audience; Most classical SLAM systems rely on the static scene assumption, which limits their applicability in real world scenarios. Recent SLAM frameworks have been proposed to simultaneously track the camera and moving objects. However they are often unable to estimate the canonical pose of the objects and exhibit a low object tracking accuracy. To solve this problem we propose TwistSLAM++, a semantic, dynamic, SLAM system that fuses stereo images and LiDAR information. Using semantic information, we track potentially moving objects and associate them to 3D object detections in LiDAR scans to obtain their pose and size. Then, we perform registration on consecutive object scans to refine object pose estimation. Finally, object scans are used to estimate the shape of the object and constrain map points to lie on the estimated surface within the bundle adjustment. We show on classical benchmarks that this fusion approach based on multimodal information improves the accuracy of object tracking.
Published: 2023

44. Recovering Headerless Frames in LR-FHSS

Author: Fraire, Juan Andrés, Guitton, Alexandre, Iova, Oana, ALGorithmes et Optimisation pour Réseaux Autonomes (AGORA), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-CITI Centre of Innovation in Telecommunications and Integration of services (CITI), Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA), Consejo Nacional de Investigaciones Científicas y Técnicas [Buenos Aires] (CONICET), Saarland University [Saarbrücken], AlGorithmes et Optimisation pour Réseaux Autonomes (AGORA), CITI Centre of Innovation in Telecommunications and Integration of services (CITI), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Inria Lyon, Institut National de Recherche en Informatique et en Automatique (Inria), Laboratoire d'Informatique, de Modélisation et d'Optimisation des Systèmes (LIMOS), Ecole Nationale Supérieure des Mines de St Etienne (ENSM ST-ETIENNE)-Centre National de la Recherche Scientifique (CNRS)-Université Clermont Auvergne (UCA)-Institut national polytechnique Clermont Auvergne (INP Clermont Auvergne), Université Clermont Auvergne (UCA)-Université Clermont Auvergne (UCA), Université Clermont Auvergne (UCA), ANR-22-CE25-0014,STEREO,Convergence IoT - Satellite(2022), ANR-21-CE25-0002,DOLL,DOLL: Communication DOwnLink efficace pour une capacité LoRaWAN augmenté(2021), and European Project: 101008233 ,MISSION
Subjects: Networking and Internet Architecture (cs.NI), FOS: Computer and information sciences, Computer Science - Networking and Internet Architecture, ILP, satellite IoT, [INFO.INFO-NI]Computer Science [cs]/Networking and Internet Architecture [cs.NI], headerless frames, Frame recovery, LR-FHSS, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation
Abstract: International audience; Long-Range Frequency Hopping Spread Spectrum (LR-FHSS) is a recent modulation designed for communications from low-power ground end-devices to Low-Earth Orbit (LEO) satellites. To decode a frame, an LR-FHSS gateway must receive at least one header replica and a large proportion of payload fragments. However, LR-FHSS headers will likely be lost when there are many concurrent transmissions. In this paper, we motivate the header loss problem with an analytical model, propose a linear programming model to extract headerless frames and design a cost-effective sliding window heuristic. Simulation results show that our approach exhibits near-optimal headerless detection and extraction results while ensuring a low computational cost. The proposed method is, therefore, suitable for future LR-FHSS gateways located onboard resource-constrained LEO satellites.
Published: 2023

45. Studying the Energy Consumption of Stream Processing Engines in the Cloud

Author: KP, Govind, Pierre, Guillaume, Rouvoy, Romain, Design and Implementation of Autonomous Distributed Systems (MYRIADS), Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-SYSTÈMES LARGE ÉCHELLE (IRISA-D1), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Self-adaptation for distributed services and large software systems (SPIRALS), Inria Lille - Nord Europe, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 (CRIStAL), Centrale Lille-Université de Lille-Centre National de la Recherche Scientifique (CNRS)-Centrale Lille-Université de Lille-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.), IEEE, and Grid5000
Subjects: Energy consumption, Green computing, Data stream processing, [INFO]Computer Science [cs], Reproducibility
Abstract: International audience; Reducing the energy consumption of the global IT industry requires one to understand and optimize the large software infrastructures the modern data economy relies on. Among them are the data stream processing systems that are deployed in cloud data centers by companies, such as Twitter, to process billion of events per day in real time. However, studying the energy consumption of such infrastructures is difficult because they rely on a complex virtualized software ecosystem where attributing energy consumption to individual software components is a challenge, and because the space of possible configurations is large. We present GreenFlow, a principled methodology and tool designed to automate the deployment of energy measurement experiments for data stream processing systems in cloud environments. GreenFlow is designed to deliver reproducible results while remaining flexible enough to support a wide range of experiments. We illustrate its usage and show in particular that consolidating a DSP system in the smallest number of servers that are capable of processing it is an effective way to reduce energy consumption.
Published: 2023

46. Primitive Equations Under Location Uncertainty: Analytical Description and Model Development

Author: Tucciarone, Francesco, Mémin, Etienne, Li, Long, Océan Dynamique Observations Analyse (ODYSSEY), Université de Bretagne Occidentale - UFR Sciences et Techniques (UBO UFR ST), Université de Brest (UBO)-Université de Brest (UBO)-Université de Rennes (UR)-Institut Français de Recherche pour l'Exploitation de la Mer (IFREMER)-Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-IMT Atlantique (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)
Subjects: [SDU.OCEAN]Sciences of the Universe [physics]/Ocean, Atmosphere
Abstract: Resolving numerically all the scale interactions of ocean dynamics in a high resolution realistic configuration is today far beyond reach, and only large scale representations can be afforded. In this work, we study a stochastic parameterization of the ocean primitive equations derived within the modelling under location uncertainty framework. First numerical assessments built with the NEMO core’s code are provided for a double-gyres configuration.
Published: 2023

47. Observation-Based Noise Calibration: An Efficient Dynamics for the Ensemble Kalman Filter

Author: Dufée, Benjamin, Mémin, Etienne, Crisan, Dan, Océan Dynamique Observations Analyse (ODYSSEY), Université de Bretagne Occidentale - UFR Sciences et Techniques (UBO UFR ST), Université de Brest (UBO)-Université de Brest (UBO)-Université de Rennes (UR)-Institut Français de Recherche pour l'Exploitation de la Mer (IFREMER)-Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Department of Mathematics [Imperial College London], and Imperial College London
Subjects: [MATH.MATH-PR]Mathematics [math]/Probability [math.PR]
Abstract: We investigate the calibration of the stochastic noise in order to guide the realizations towards the observational data used for the assimilation. This is done in the context of the stochastic parametrization under Location Uncertainty (LU) and data assimilation. The new methodology is rigorously justified by the use of the Girsanov theorem, and yields significant improvements in the experiments carried out on the Surface Quasi Geostrophic (SQG) model, when applied to Ensemble Kalman filters. The particular test case studied here shows improvements of the peak MSE from 85% to 93%.
Published: 2023

48. Modeling Under Location Uncertainty: A Convergent Large-Scale Representation of the Navier-Stokes Equations

Author: Debussche, Arnaud, Hug, Berenger, Mémin, Etienne, École normale supérieure - Rennes (ENS Rennes), Institut de Recherche Mathématique de Rennes (IRMAR), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-École normale supérieure - Rennes (ENS Rennes)-Université de Rennes 2 (UR2)-Centre National de la Recherche Scientifique (CNRS)-Institut Agro Rennes Angers, Institut national d'enseignement supérieur pour l'agriculture, l'alimentation et l'environnement (Institut Agro)-Institut national d'enseignement supérieur pour l'agriculture, l'alimentation et l'environnement (Institut Agro), Océan Dynamique Observations Analyse (ODYSSEY), Université de Bretagne Occidentale - UFR Sciences et Techniques (UBO UFR ST), Université de Brest (UBO)-Université de Brest (UBO)-Université de Rennes (UR)-Institut Français de Recherche pour l'Exploitation de la Mer (IFREMER)-Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-IMT Atlantique (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)
Subjects: [MATH.MATH-AP]Mathematics [math]/Analysis of PDEs [math.AP]
Abstract: We construct martingale solutions for the stochastic Navier-Stokes equations in the framework of the modelling under location uncertainty (LU). These solutions are pathwise and unique when the spatial dimension is 2D. We then prove that if the noise intensity goes to zero, these solutions converge, up to a subsequence in dimension 3, to a solution of the deterministic Navier-Stokes equation. This warrants that the LU Navier-Stokes equations can be interpreted as a large-scale model of the deterministic Navier-Stokes equation.
Published: 2023

49. Modified (Hyper-)Viscosity for Coarse-Resolution Ocean Models

Author: Thiry, Louis, Li, Long, Mémin, Etienne, Océan Dynamique Observations Analyse (ODYSSEY), Université de Bretagne Occidentale - UFR Sciences et Techniques (UBO UFR ST), Université de Brest (UBO)-Université de Brest (UBO)-Université de Rennes (UR)-Institut Français de Recherche pour l'Exploitation de la Mer (IFREMER)-Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-IMT Atlantique (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)
Subjects: [SDU.OCEAN]Sciences of the Universe [physics]/Ocean, Atmosphere
Abstract: We present a simple parameterization for coarse-resolution ocean models. To replace computationally expensive high-resolution ocean models, we develop a computationally cheap parameterization for coarse-resolution models based solely on the modification of the viscosity term in advection equations. It is meant to reproduce the mean quantities like pressure, velocity, or vorticity computed from a high-resolution reference solution or using observations. We test this new parameterization on a double-gyre quasi-geostrophic model in the eddy-permitting regime. Our results show that the proposed scheme improves significantly the energy statistics and the intrinsic variability on the coarse mesh. This method shall serve as a deterministic basis model for coarse-resolution stochastic parameterizations in future works.
Published: 2023

50. Evaluating Reification with Multi-valued Properties in a Knowledge Graph of Licensed Educational Resources

Author: Kieffer, Manoé, Fakih, Ginwa, Serrano-Alvarado, Patricia, Laboratoire des Sciences du Numérique de Nantes (LS2N), Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-École Centrale de Nantes (Nantes Univ - ECN), Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes université - UFR des Sciences et des Techniques (Nantes univ - UFR ST), Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ), Gestion de Données Distribuées (LS2N - équipe GDD), Nantes Université (Nantes Univ)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), LABEX Cominlabs - ANR-10-LABX-07-01, and Projet Cominlabs CLARA
Subjects: Knowledge graph, [INFO.INFO-DB]Computer Science [cs]/Databases [cs.DB], [INFO.INFO-IR]Computer Science [cs]/Information Retrieval [cs.IR], RDF reification, [INFO.INFO-WB]Computer Science [cs]/Web, multi-valued properties, query evaluation, educational resources, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI]
Abstract: International audience; This paper presents the construction of a Knowledge Graph (KG) of Educational Resources (ER), where RDF reification is essential. The ERs are described based on the subjects they cover considering their relevance. RDF reification is used to incorporate this subject’s relevance. Multiple reification models with distinct syntax and performance implications for storage and query processing exist. This study aims to experimentally compare four statement-based reification models with four triplestores to determine the most pertinent choice for our KG. We built four versions of the KG. Each version has a distinct reification model, namely standard reification, singleton properties, named graphs, and RDF-star, which were obtained using RML mappings. Each of the four triplestores (Virtuoso, Jena, Oxigraph, and GraphDB) was setup four times (except for Virtuoso, which does not support RDF-star), and seven different SPARQL queries were experimentally evaluated. This study shows that standard reification and named graphs lead to good performance. It also shows that, in the particular context of the used KG, Virtuoso outperforms Jena, GraphDB, and Oxigraph in most queries. The recent specification of RDF-star and SPARQL-star sheds light on statement-level annotations. The empirical study reported in this paper contributes to the efforts towards the efficient usage of RDF reification. In addition, this paper shares the pipeline of the KG con- struction using standard semantic web technologies.
Published: 2023

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