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4,003 results on '"Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)"'

1. A dynamic computational model of motivation based on self-determination theory and CANN

Author: Fernanda P. Mota, Silvia Silva da Costa Botelho, Hendry Ferreira Chame, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Robotique, and Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN)
Subjects: Information Systems and Management, Computer science, media_common.quotation_subject, [SCCO.COMP]Cognitive science/Computer science, 02 engineering and technology, Field (computer science), Developmental robotics, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], Theoretical Computer Science, Artificial Intelligence, 0202 electrical engineering, electronic engineering, information engineering, Personality, Representation (mathematics), ComputingMilieux_MISCELLANEOUS, Self-determination theory, media_common, Cognitive science, Artificial neural network, 05 social sciences, Perspective (graphical), Educational technology, 050301 education, Computer Science Applications, Control and Systems Engineering, 020201 artificial intelligence & image processing, 0503 education, Software
Abstract: The hierarchical model of intrinsic and extrinsic motivation (HMIEM) is a framework based on the principles of self-determination theory (SDT) which describes human motivation from a multilevel perspective, and integrates knowledge on personality and social psychological determinants of motivation and its consequences. Although over the last decades HMIEM has grounded numerous correlational studies in diverse fields, it is conceptually defined as a schematic representation of the dynamics of motivation, that is not suitable for human and artificial agents research based on tracking. In this work we propose an analytic description named dynamic computational model of motivation (DCMM), inspired by HMIEM and based on continuous attractor neural networks, which consists in a computational framework of motivation. In DCMM the motivation state is represented within a self-determination continuum with recurrent feedback connections, receiving inputs from heterogeneous layers. Through simulations we show the modeling of complete scenarios in DCMM. A field study with faculty subjects illustrates how DCMM can be provided with data from SDT constructs observations. We believe that DCMM is relevant for investigating unresolved issues in HMIEM, and potentially interesting to related fields, including psychology, artificial intelligence, behavioral and developmental robotics, and educational technology.
Published: 2019

2. Solutions de simulation numérique de l'impression 3d de matériaux expansifs pour la réalisation de pièces de très grandes dimensions

Author: Paquet, Elodie, Furet, Benoit, Garnier, Sébastien, Le Loch, Sébastien, Bernard, Alain, Laboratoire des Sciences du Numérique de Nantes (LS2N), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-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), RoMas - Robots and Machines for Manufacturing, Society and Services, LS2N - Laboratoire des Sciences du Numérique de Nantes, Modélisation et Optimisation de Process de Production (MO2P), Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Institut de Recherche en Génie Civil et Mécanique (GeM), and Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST)
Subjects: [SPI]Engineering Sciences [physics], ComputingMilieux_MISCELLANEOUS
Abstract: International audience
Published: 2020

3. A Real-Time Multi-Objective Predictive Control Strategy for Wheelchair Ergometer Platform

Author: Thierry Poulain, Viet Thuan Nguyen, Toufik Bentaleb, Gerald Conreur, Chouki Sentouh, Philippe Pudlo, Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 (LAMIH), Université de Valenciennes et du Hainaut-Cambrésis (UVHC)-Centre National de la Recherche Scientifique (CNRS)-INSA Institut National des Sciences Appliquées Hauts-de-France (INSA Hauts-De-France), Commande, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), and Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)
Subjects: 0209 industrial biotechnology, Computer science, PID controller, 020206 networking & telecommunications, 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Manual wheelchair, Model predictive control, 020901 industrial engineering & automation, Wheelchair, Control theory, Control system, 0202 electrical engineering, electronic engineering, information engineering, Torque, ComputingMilieux_MISCELLANEOUS, Simulation, Haptic technology
Abstract: This paper describes a real-time multi-objective predictive control strategy for the wheelchair ergometer platform, which allows simulating the manual wheelchair (MWC) propulsion in virtual reality (VR). A nonlinear least-square method is used to build the predictive wheelchair ergometer model, where the trust-region-reflective algorithm is adopted. A detailed study of the wheelchair dynamics, and its performance on the rollers, and the frictions are presented. The main contribution is the implementation of a wheelchair ergometer model into a proposed controller in order to provide realistic navigation within the VR world by accurately detecting and tracking the rotation of the driving wheels. In particular, the proposed strategy has two objectives: 1) to generate force feedback (haptics) during the push phase (hand-to-rim contact); 2) assistance control to make the wheelchair movement more realistic in the immersive virtual environment during the recovery phase (hand-to-rim no contact). Various numerical examples emphasize the flexibility of the approach and experimental results confirm that the proposed controller successfully tracks the speed reference. It is also shown that the real-time tracking ability of the explicit MPC (eMPC) controller is superior to that of the PI controller.
Published: 2019

4. Saliency-based stereoscopic image retargeting

Author: Lei Jianjun, Yuan Yuan, Junle Wang, Weisi Lin, Patrick Le Callet, Yuming Fang, Jiangxi University of Finance and Economics (JUFE), irccyn-ivc, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Laboratoire de Chimie Physique - Matière et Rayonnement (LCPMR), Université Pierre et Marie Curie - Paris 6 (UPMC)-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS), School of Computer Engineering [Singapore] (NTU), School of Computer Engineering, Nanyang Technological University, and Nanyang Technological University [Singapour]
Subjects: Information Systems and Management, Computer science, ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, Stereoscopy, 02 engineering and technology, Theoretical Computer Science, Image (mathematics), law.invention, [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing, Seam carving, Artificial Intelligence, law, Distortion, 0202 electrical engineering, electronic engineering, information engineering, Visual attention, Computer vision, ComputingMilieux_MISCELLANEOUS, ComputingMethodologies_COMPUTERGRAPHICS, Pixel, business.industry, Distortion (optics), 020207 software engineering, Computer Science Applications, Control and Systems Engineering, Human visual system model, 020201 artificial intelligence & image processing, Artificial intelligence, business, Software
Abstract: In this paper, we propose a new saliency based stereoscopic image retargeting method based on the characteristics of the Human Visual System (HVS). A new stereoscopic saliency detection method is designed by adopting low-level features of intensity, color, texture and depth. Besides, the viewing bias factors including center bias and depth bias existing in the HVS are adopted for stereoscopic visual attention modeling. Since the HVS is sensitive to edges in images, we fuse the saliency and edge maps to predict the visual significance of image pixels for image resizing. With the visual significance measure, we propose an image resizing method by minimizing the structure and depth distortion for stereoscopic image retargeting. Experimental results have shown that both our stereoscopic saliency detection and image retargeting methods can obtain better performance than the existing related methods on the public databases.
Published: 2016

5. Polymorphisme des gènes HLA et KIR et l’impact sur le devenir de la greffe et le choix du donneur non apparenté de cellules souche hématopoïétiques : recommandations de la Société francophone de greffe de moelle et de thérapie cellulaire (SFGM-TC)

Author: Pauline Varlet, Florent Delbos, Anne Brignier, Ibrahim Yakoub-Agha, Valérie Dubois, Vincent Elsermans, Christophe Picard, Katia Gagne, Anne Kennel, Béatrice Pédron, Anne Cesbron, Aurélie Ravinet, Pascale Loiseau, Sociétés, Acteurs, Gouvernement en Europe (SAGE), Université de Strasbourg (UNISTRA)-Centre National de la Recherche Scientifique (CNRS), Politique, Religion, Institutions et Sociétés : Mutations Européennes - Groupe de Sociologie Politique Européenne (PRISME-GSPE), Centre National de la Recherche Scientifique (CNRS), Laboratory of molecular mechanisms of hematologic disorders and therapeutic implications (ERL 8254 - Equipe Inserm U1163), Imagine - Institut des maladies génétiques (IMAGINE - U1163), Université Paris Descartes - Paris 5 (UPD5)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Université Paris Descartes - Paris 5 (UPD5)-Institut National de la Santé et de la Recherche Médicale (INSERM), Etablissement Français du Sang - Alpes-Méditerranée (EFS - Alpes-Méditerranée), Etablissement Français du Sang, Service Immunologie Biologique [Paris], AP-HP Hôpital universitaire Robert-Debré [Paris], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), Anthropologie bio-culturelle, Droit, Ethique et Santé (ADES), Aix Marseille Université (AMU)-EFS ALPES MEDITERRANEE-Centre National de la Recherche Scientifique (CNRS), Université Paris Descartes - Paris 5 (UPD5), Etablissement Français du Sang [Nantes], Développement du Systeme Immunitaire, Université Paris Descartes - Paris 5 (UPD5)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), Centre Hospitalier Régional Universitaire [Lille] (CHRU Lille), Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Sociétés, Acteurs, Gouvernement en Europe ( SAGE ), Université de Strasbourg ( UNISTRA ) -Centre National de la Recherche Scientifique ( CNRS ), Politique, Religion, Institutions et Sociétés : Mutations Européennes - Groupe de Sociologie Politique Européenne ( PRISME-GSPE ), Centre National de la Recherche Scientifique ( CNRS ), Laboratoire d'hématologie ( ERL 8254 ), Imagine - Institut des maladies génétiques ( IMAGINE - U1163 ), Université Paris Descartes - Paris 5 ( UPD5 ) -Institut National de la Santé et de la Recherche Médicale ( INSERM ) -Centre National de la Recherche Scientifique ( CNRS ) -Université Paris Descartes - Paris 5 ( UPD5 ) -Institut National de la Santé et de la Recherche Médicale ( INSERM ) -Centre National de la Recherche Scientifique ( CNRS ), Etablissement Français du Sang - Alpes-Méditerranée ( EFS - Alpes-Méditerranée ), Anthropologie bio-culturelle, Droit, Ethique et Santé ( ADES ), Aix Marseille Université ( AMU ) -EFS ALPES MEDITERRANEE-Centre National de la Recherche Scientifique ( CNRS ), Université Paris Descartes - Paris 5 ( UPD5 ), Université Paris Descartes - Paris 5 ( UPD5 ) -Institut National de la Santé et de la Recherche Médicale ( INSERM ) -Centre National de la Recherche Scientifique ( CNRS ), Centre Hospitalier Régional Universitaire [Lille] ( CHRU Lille ), Institut de Recherche en Communications et en Cybernétique de Nantes ( IRCCyN ), Mines Nantes ( Mines Nantes ) -École Centrale de Nantes ( ECN ) -Ecole Polytechnique de l'Université de Nantes ( Polytech Nantes ), Université de Nantes ( UN ) -Université de Nantes ( UN ) -PRES Université Nantes Angers Le Mans ( UNAM ) -Centre National de la Recherche Scientifique ( CNRS ), Centre National de la Recherche Scientifique (CNRS)-Université de Strasbourg (UNISTRA), Centre National de la Recherche Scientifique (CNRS)-Université Paris Descartes - Paris 5 (UPD5)-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS)-Université Paris Descartes - Paris 5 (UPD5)-Institut National de la Santé et de la Recherche Médicale (INSERM), and Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (Polytech Nantes)
Subjects: Cancer Research, medicine.medical_specialty, Bone marrow transplantation, [SDV]Life Sciences [q-bio], medicine.medical_treatment, Hematopoietic stem cell transplantation, 03 medical and health sciences, 0302 clinical medicine, Unrelated Donor, medicine, [ SDV.IMM ] Life Sciences [q-bio]/Immunology, Radiology, Nuclear Medicine and imaging, ComputingMilieux_MISCELLANEOUS, Gynecology, [ SDV ] Life Sciences [q-bio], business.industry, French, Hematology, General Medicine, language.human_language, 3. Good health, Clinical Practice, Transplantation, Oncology, 030220 oncology & carcinogenesis, language, [SDV.IMM]Life Sciences [q-bio]/Immunology, business, 030215 immunology
Abstract: In an attempt to harmonize clinical practices among French hematopoietic stem cell transplantation centers, the Francophone Society of Bone Marrow Transplantation and Cellular Therapy (SFGM-TC) held its sixth annual workshop series in September 2015 in Lille. This event brought together practitioners from across the country with the purpose of offering careful analysis of published studies on clinical practice issues that remain to be disputed. This article addresses the impact of HLA and KIR gene polymorphism on the outcome of the transplantation in order to optimize unrelated donor selection.
Published: 2016

6. A Morphological Model for Simulating Acoustic Scenes and Its Application to Sound Event Detection

Author: Axel Roebel, Grégoire Lafay, Mathieu Lagrange, Mathias Rossignol, Emmanouil Benetos, ADTSI, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Analyse et synthèse sonores [Paris], Sciences et Technologies de la Musique et du Son (STMS), Institut de Recherche et Coordination Acoustique/Musique (IRCAM)-Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS)-Institut de Recherche et Coordination Acoustique/Musique (IRCAM)-Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS), Queen Mary University of London (QMUL), and ANR-11-JS03-0005,Houle,Apprentissage de structures hiérarchiques pour l'analyse computationnelle de scènes auditives(2011)
Subjects: Auditory scene analysis, Acoustics and Ultrasonics, auditory scene analysis, Computer science, Speech recognition, Morphological model, acoustic event detection, 02 engineering and technology, 030507 speech-language pathology & audiology, 03 medical and health sciences, [STAT.ML]Statistics [stat]/Machine Learning [stat.ML], experimental validation, Robustness (computer science), 0202 electrical engineering, electronic engineering, information engineering, Computer Science (miscellaneous), Computer vision, Electrical and Electronic Engineering, business.industry, Acoustic model, Speech processing, Sound event detection, Sound recording and reproduction, Computational Mathematics, Computational auditory scene analysis, 020201 artificial intelligence & image processing, Artificial intelligence, 0305 other medical science, business, [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing
Abstract: International audience; This paper introduces a model of environmental acoustic scenes which adopts a morphological approach by ab-stracting temporal structures of acoustic scenes. To demonstrate its potential, this model is employed to evaluate the performance of a large set of acoustic events detection systems. This model allows us to explicitly control key morphological aspects of the acoustic scene and isolate their impact on the performance of the system under evaluation. Thus, more information can be gained on the behavior of evaluated systems, providing guidance for further improvements. The proposed model is validated using submitted systems from the IEEE DCASE Challenge; results indicate that the proposed scheme is able to successfully build datasets useful for evaluating some aspects the performance of event detection systems, more particularly their robustness to new listening conditions and the increasing level of background sounds.
Published: 2016

7. Neural network for black-box fusion of underwater robot localization under unmodeled noise

Author: Hendry Ferreira Chame, Silvia Silva da Costa Botelho, Matheus M. dos Santos, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Robotique, and Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN)
Subjects: 0209 industrial biotechnology, Inertial frame of reference, Computer science, General Mathematics, Context (language use), 02 engineering and technology, computer.software_genre, Task (project management), [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], 020901 industrial engineering & automation, Black box, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], ComputingMilieux_MISCELLANEOUS, Artificial neural network, Noise (signal processing), business.industry, Monte Carlo localization, Robotics, Kalman filter, Computer Science Applications, Control and Systems Engineering, 020201 artificial intelligence & image processing, Data mining, Artificial intelligence, business, computer, Software
Abstract: The research on autonomous robotics has focused on the aspect of information fusion from redundant estimates. Choosing a convenient fusion policy, that reduces the impact of unmodeled noise, and is computationally efficient, is an open research issue. The objective of this work is to study the problem of underwater localization which is a challenging field of research, given the dynamic aspect of the environment. For this, we explore navigation task scenarios based on inertial and geophysical sensory. We propose a neural network framework named B-PR-F which heuristically performs adaptable fusion of information, based on the principle of contextual anticipation of the localization signal within an ordered processing neighborhood. In the framework black-box unimodal estimations are related to the task context, and the confidence on individual estimates is evaluated before fusing information. A study conducted in a virtual environment illustrates the relevance of the model in fusing information under multiple task scenarios. A real experiment shows that our model outperforms the Kalman Filter and the Augmented Monte Carlo Localization algorithms in the task. We believe that the principle proposed can be relevant to related application fields, involving the problem of state estimation from the fusion of redundant information.
Published: 2018

8. Reliable fusion of black-box estimates of underwater localization

Author: Matheus M. dos Santos, Hendry Ferreira Chame, Silvia Silva da Costa Botelho, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Robotique, Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Universidade Federal do Rio Grande (FURG), Institut de Recherche en Communications et en Cybernétique de Nantes ( IRCCyN ), Mines Nantes ( Mines Nantes ) -École Centrale de Nantes ( ECN ) -Ecole Polytechnique de l'Université de Nantes ( Polytech Nantes ), Université de Nantes ( UN ) -Université de Nantes ( UN ) -PRES Université Nantes Angers Le Mans ( UNAM ) -Centre National de la Recherche Scientifique ( CNRS ), Université de Nantes ( UN ) -Université de Nantes ( UN ) -PRES Université Nantes Angers Le Mans ( UNAM ) -Centre National de la Recherche Scientifique ( CNRS ) -Mines Nantes ( Mines Nantes ) -École Centrale de Nantes ( ECN ) -Ecole Polytechnique de l'Université de Nantes ( Polytech Nantes ), Équipe Robotique et InteractionS ( LAAS-RIS ), Laboratoire d'analyse et d'architecture des systèmes [Toulouse] ( LAAS ), Centre National de la Recherche Scientifique ( CNRS ) -Université Toulouse III - Paul Sabatier ( UPS ), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Institut National Polytechnique [Toulouse] ( INP ) -Centre National de la Recherche Scientifique ( CNRS ) -Université Toulouse III - Paul Sabatier ( UPS ), and Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Institut National Polytechnique [Toulouse] ( INP )
Subjects: 0209 industrial biotechnology, Inertial frame of reference, Computer science, Heuristic (computer science), Context (language use), 02 engineering and technology, 01 natural sciences, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, [ SPI.AUTO ] Engineering Sciences [physics]/Automatic, Black box, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], 0105 earth and related environmental sciences, Parametric statistics, 010505 oceanography, business.industry, [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], Monte Carlo localization, Kalman filter, Data fusion, Neural network, Localization, Global Positioning System, Task analysis, Robot, Underwater robotics, Noise (video), business, Algorithm
Abstract: International audience; The research on robot tracking has focused on the problem of information fusion from redundant parametric estimations, though the aspect of choosing an adaptive fusion policy, that is computationally efficient, and is able to reduce the impact of un-modeled noise, are still open issues.The objective of this work is to study the problem of underwater robot localization. For this, we have considered a task relying on inertial and geophysical sensory. We propose an heuristic model that performs adaptable fusion of information based on the principle of contextually anticipating the localization signal within an ordered neighborhood, such that a set of nodes properties is related to the task context, andthe confidence on individual estimates is evaluated before fusing information. The results obtained show that our model outperforms the Kalman filter and the Augmented Monte Carlo Localization algorithms in the task.
Published: 2018

9. A knowledge-based intelligent decision system for production planning

Author: Jean-Yves Hascoet, Rafiq Ahmad, Stephane Tichadou, Modélisation et Optimisation de Process de Production (MO2P), Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Laboratoire SYstèmes et Matériaux pour la MEcatronique (SYMME), and Université Savoie Mont Blanc (USMB [Université de Savoie] [Université de Chambéry])
Subjects: 0209 industrial biotechnology, Engineering drawing, Computer science, Mechanical Engineering, Context (language use), 02 engineering and technology, Plan (drawing), Industrial engineering, Blank, Industrial and Manufacturing Engineering, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], Computer Science Applications, 020901 industrial engineering & automation, Production planning, Machining, Control and Systems Engineering, Synchronization (computer science), 0202 electrical engineering, electronic engineering, information engineering, Production (economics), 020201 artificial intelligence & image processing, Industrial and production engineering, ComputingMilieux_MISCELLANEOUS, Software
Abstract: This paper presents a Knowledge-Based Intelligent Decision system (KIDs) that takes information from a vision sensor within the manufacturing process and generates automatic planning/path-planning decisions in for collision avoidance in virtual CAM production. In this paper, the integration of KIDs approach is presented in the context of conventional multi-axis machining. The proposed system would be implemented in the conventional machining processes and, in this paper, its future implementation in the context of STEP-NC-based CAM systems is also discussed. This contribution provides secure solutions that can detect and avoid collisions using multiple solutions including tool diversion strategy, but also offers many other opportunities such as process change, sequence change, plan change, etc. A bi-turret machining scenario is used as a test case, where two tools working together possess a synchronization issue. Multi-tool synchronization cycles during preparation should take into account the management of materials left on the work part. The proposed solutions allow multiple opportunities where the machining units (blank groove) can be enriched with new associated data such as uncut material (identified visually) that may cause collisions during production. It is not limited however and therefore could be integrated into the STEP-NC in CAM simulation environment where the system is gaining acceptance from industry.
Published: 2016

10. Envisioning Future Urban Scenarios: The outcomes of the international Mobiance 3 workshop on Sharing Cities, Ambient Commons and Urban Futures

Author: Piga, Barbara E. A., Myriam Servières, Daniel Siret, Steven Saulnier-Sinan, Gwendoline l'Her, Ignacio Requena-Ruiz, Eugenio Morello, Politecnico di Milano [Milan] (POLIMI), irccyn-ivc, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Centre de recherche nantais Architectures Urbanités (CRENAU), Ambiances, Architectures, Urbanités (AAU ), École Centrale de Nantes (ECN)-École nationale supérieure d'architecture de Nantes (ENSA Nantes)-École nationale supérieure d'architecture de Grenoble (ENSAG)-Ministère de la Culture et de la Communication (MCC)-Centre National de la Recherche Scientifique (CNRS)-École Centrale de Nantes (ECN)-École nationale supérieure d'architecture de Nantes (ENSA Nantes)-École nationale supérieure d'architecture de Grenoble (ENSAG)-Ministère de la Culture et de la Communication (MCC)-Centre National de la Recherche Scientifique (CNRS), Centre de recherche sur l'espace sonore et l'environnement urbain (CRESSON), CUMINCAD, and École nationale supérieure d'architecture de Nantes (ENSA Nantes)-Ministère de la Culture et de la Communication (MCC)-École nationale supérieure d'architecture de Grenoble (ENSAG)-Centre National de la Recherche Scientifique (CNRS)-École Centrale de Nantes (ECN)-École nationale supérieure d'architecture de Nantes (ENSA Nantes)-Ministère de la Culture et de la Communication (MCC)-École nationale supérieure d'architecture de Grenoble (ENSAG)-Centre National de la Recherche Scientifique (CNRS)-École Centrale de Nantes (ECN)
Subjects: [SHS.ARCHI]Humanities and Social Sciences/Architecture, space management, [SHS.SOCIO]Humanities and Social Sciences/Sociology, [SHS.INFO]Humanities and Social Sciences/Library and information sciences, Urban design, Sharing cities, Mobile devices, Ambiance
Abstract: International audience; New digital devices, mainly mobile ones, raise new questions on architectural and urban design practices. People became ''sensors", being at the same time able to move into the city and to move into the information space. Mobiance, a mix between Mobile and Ambiance, is a research and creation process focused on the impacts of innovative ICT technologies, especially mobile, on urban design. This paper first presents the context of the third workshop based on the topic, then it introduces the proposals produced by participants; to conclude the contribution develops an analysis of these proposals based on the sharing society paradigm.
Published: 2018

11. Estimating Heat-Transport and Time-Delays in a Heat Exchanger

Author: Clement Fauvel, Delphine Bresch-Pietri, Sandra Malik Hamze, Emmanuel Witrant, GIPSA - Systèmes linéaires et robustesse (GIPSA-SLR), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), Centre Automatique et Systèmes (CAS), MINES ParisTech - École nationale supérieure des mines de Paris, Université Paris sciences et lettres (PSL)-Université Paris sciences et lettres (PSL), Commande, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), and Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)
Subjects: 0209 industrial biotechnology, Time delays, Partial differential equation, Materials science, 010102 general mathematics, 02 engineering and technology, Mechanics, Systems modeling, 01 natural sciences, Temperature measurement, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Method of characteristics, Flow (mathematics), Heat transfer, Heat exchanger, 0101 mathematics
Abstract: International audience; Transport and heat exchange phenomena occuring in a heat exchanger can be modeled as first-order hyperbolic partial differential equations (PDEs). Reformulating these equations as a time-delay system preserves the infinite-dimensional property of the system, yet decreases its mathematical complexity. Using a space-averaging technique and the method of characteristics, this paper proposes a time-delay system modeling of the flow temperatures of a heat exchanger. We propose to use a gradient-descent optimization method to estimate the parameters of this time-delay system, using boudary measurements of temperature in the heat exchanger. The interest of this approach is emphasized with experimental data obtained from the test-bench.
Published: 2018

12. Underwater navigation based on passive electric sense: New perspectives for underwater docking

Author: Cesare Stefanini, Vincent Lebastard, Stefano Mintchev, Christine Chevallereau, Frédéric Boyer, Mines Nantes (Mines Nantes), Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Robotique, Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), The BioRobotics Institute, and Scuola Universitaria Superiore Sant'Anna [Pisa] (SSSUP)
Subjects: 0209 industrial biotechnology, Engineering, 02 engineering and technology, Underwater robotics, Sonar, electric sense, Modeling and simulation, [SPI]Engineering Sciences [physics], 020901 industrial engineering & automation, Software, Artificial Intelligence, Underwater navigation, 14. Life underwater, Electrical and Electronic Engineering, Underwater, Simulation, business.industry, docking strategy, Applied Mathematics, Mechanical Engineering, bio-inspiration, Modeling and Simulation, 021001 nanoscience & nanotechnology, 13. Climate action, Data exchange, Robot, Docking station, 0210 nano-technology, business
Abstract: International audience; In underwater robotics, several homing and docking techniques are currently being investigated. They aim to facilitate the recovery of underwater vehicles, as well as their connection to underwater stations for battery charging and data exchange. Developing reliable underwater docking strategies is a critical issue especially in murky water and/or in confined and cluttered environments. Commonly used underwater sensors such as sonar and camera can fail under these conditions. We show how a bio-inspired sensor could be used to help guide an underwater robot during a docking phase. The sensor is inspired by the passive electro-location ability of electric fish. Exploiting the electric interactions and the morphology of the vehicle, a sensor-based reactive control law is proposed. It allows the guidance of the robot toward the docking station by following an exogenous electric field generated by a set of electrodes fixed to the environment. This is achieved while avoiding insulating perturbative objects. This control strategy is theoretically analysed and validated with experiments carried out on a setup dedicated to the study of electric sense. Though promising, these results are but a first step towards the implementation of an approach to docking in more realistic conditions, such as in turbid salt water or in the presence of conductive perturbative objects.
Published: 2015

13. Hidden Cusps

Author: Michel Coste, Philippe Wenger, Damien Chablat, 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 Agrocampus Ouest, 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), Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Jadran Lenarcic, Jean-Pierre Merlet, ANR-14-CE34-0008,KAPAMAT,Kinematic analysis of lower-mobility parallel manipulators using efficient algebraic tools(2014), Institut de Recherche Mathématique de Rennes ( IRMAR ), Université de Rennes 1 ( UR1 ), Université de Rennes ( UNIV-RENNES ) -Université de Rennes ( UNIV-RENNES ) -AGROCAMPUS OUEST-École normale supérieure - Rennes ( ENS Rennes ) -Institut National de Recherche en Informatique et en Automatique ( Inria ) -Institut National des Sciences Appliquées ( INSA ) -Université de Rennes 2 ( UR2 ), Université de Rennes ( UNIV-RENNES ) -Centre National de la Recherche Scientifique ( CNRS ), Institut de Recherche en Communications et en Cybernétique de Nantes ( IRCCyN ), Mines Nantes ( Mines Nantes ) -École Centrale de Nantes ( ECN ) -Ecole Polytechnique de l'Université de Nantes ( Polytech Nantes ), Université de Nantes ( UN ) -Université de Nantes ( UN ) -PRES Université Nantes Angers Le Mans ( UNAM ) -Centre National de la Recherche Scientifique ( CNRS ), ANR-14-CE34-0008,KAPAMAT,Kinematic analysis of lower-mobility parallel manipulators using efficient algebraic tools ( 2014 ), AGROCAMPUS OUEST, 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 Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Université de Rennes 2 (UR2), Université de Rennes (UNIV-RENNES)-École normale supérieure - Rennes (ENS Rennes)-Centre National de la Recherche Scientifique (CNRS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), and Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)
Subjects: FOS: Computer and information sciences, 0209 industrial biotechnology, perturbation, [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], 010102 general mathematics, 02 engineering and technology, 01 natural sciences, parallel robot, Computer Science - Robotics, 020901 industrial engineering & automation, cusp, non-generic singularity, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], 0101 mathematics, Robotics (cs.RO)
Abstract: International audience; This paper investigates a situation pointed out in a recent paper, in which a non-singular change of assembly mode of a planar 2-RPR-PR parallel manipulator was realized by encircling a point of multiplicity 4. It is shown that this situation is, in fact, a non-generic one and gives rise to cusps under a small perturbation. Furthermore , we show that, for a large class of singularities of multiplicity 4, there are only two types of stable singularities occurring in a small perturbation: these two types are given by the complex square mapping and the quarto mapping. Incidentally , this paper confirms the fact that, generically, a local non-singular change of solution must be accomplished by encircling a cusp point.
Published: 2017

14. Characteristics of and risk factors for severe neurological deficit in patients with pyogenic vertebral osteomyelitis: A case-control study

Author: Lemaignen, Adrien, Ghout, Idir, Dinh, Aurélien, Gras, Guillaume, Fantin, Bruno, Zarrouk, Virginie, Carlier, Robert, Loret, Jean-Edouard, Denes, Eric, Greder, Alix, Lescure, François-Xavier, Boutoille, David, Tattevin, Pierre, Issartel, Bertrand, Cottier, Jean-Philippe, Bernard, Louis, Bernard, Adrien, Service de Médecine Interne et Maladies Infectieuses [Tours], Centre Hospitalier Régional Universitaire de Tours (CHRU Tours), Clinic Research Unit Boulogne, University Hospital A Pare, Services des maladies infectieuses [AP-HP Hôpital Raymond Poincaré, Garches], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Hôpital Raymond Poincaré [AP-HP], Laboratoire de Mathématiques de Besançon (UMR 6623) (LMB), Université de Bourgogne (UB)-Université de Franche-Comté (UFC), Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université Bourgogne Franche-Comté [COMUE] (UBFC)-Centre National de la Recherche Scientifique (CNRS), Dpt médecine interne [CHU Beaujon], Hôpital Beaujon [AP-HP], Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP), Université de Versailles Saint-Quentin-en-Yvelines (UVSQ), Hôpital Raymond Poincaré [AP-HP], Service de Neurochirurgie [CHRU Tours], Service des Maladies infectieuses et tropicales [CHU Limoges], CHU Limoges, Service des Maladies Infectieuses [CH de Versailles André Mignot], Centre Hospitalier de Versailles André Mignot (CHV), Infection, Anti-microbiens, Modélisation, Evolution (IAME (UMR_S_1137 / U1137)), Institut National de la Santé et de la Recherche Médicale (INSERM)-Université Paris 13 (UP13)-Université Paris Diderot - Paris 7 (UPD7)-Université Sorbonne Paris Cité (USPC), Service des maladies infectieuses et tropicales [CHU Nantes], Centre hospitalier universitaire de Nantes (CHU Nantes), Service des maladies infectieuses et réanimation médicale [Rennes] = Infectious Disease and Intensive Care [Rennes], CHU Pontchaillou [Rennes], Department of Infectious Diseases Clinique du Parc Lyon, Clinique Résidence du Parc, Imagerie et cerveau (iBrain - Inserm U1253 - UNIV Tours ), Université de Tours (UT)-Institut National de la Santé et de la Recherche Médicale (INSERM), Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS)-Université de Franche-Comté (UFC), Université Bourgogne Franche-Comté [COMUE] (UBFC)-Université Bourgogne Franche-Comté [COMUE] (UBFC), Université Paris 13 (UP13)-Université Paris Diderot - Paris 7 (UPD7)-Université Sorbonne Paris Cité (USPC)-Institut National de la Santé et de la Recherche Médicale (INSERM), Université de Bourgogne (UB)-Centre National de la Recherche Scientifique (CNRS)-Université de Franche-Comté (UFC), Michel, Geneviève, Centre Hospitalier Régional Universitaire de Tours (CHRU TOURS), Assistance publique - Hôpitaux de Paris (AP-HP) (APHP)-AP-HP Hôpital Raymond Poincaré [Garches], Laboratoire de Mathématiques de Besançon, Chercheur indépendant, Hôpital Beaujon, AP-HP Hôpital Raymond Poincaré [Garches], Centre Hospitalier de Versailles (CHV), Service des maladies infectieuses et réanimation médicale, Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-Université de Rennes (UNIV-RENNES)-Hôpital Pontchaillou, Imagerie et cerveau, Université de Tours-Institut National de la Santé et de la Recherche Médicale (INSERM), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (Polytech Nantes), Centre Hospitalier Régional Universitaire de Tours ( CHRU TOURS ), Assistance publique - Hôpitaux de Paris (AP-HP)-AP-HP Hôpital Raymond Poincaré [Garches], Université de Versailles Saint-Quentin-en-Yvelines ( UVSQ ), Centre Hospitalier de Versailles André Mignot, Infection, Antimicrobiens, Modélisation, Evolution ( IAME ), Université Paris Diderot - Paris 7 ( UPD7 ) -Université Paris 13 ( UP13 ) -Université Sorbonne Paris Cité ( USPC ) -Institut National de la Santé et de la Recherche Médicale ( INSERM ), Centre hospitalier universitaire de Nantes ( CHU Nantes ), Université de Rennes 1 ( UR1 ), Université de Rennes ( UNIV-RENNES ) -Université de Rennes ( UNIV-RENNES ) -Hôpital Pontchaillou, Université de Tours-Institut National de la Santé et de la Recherche Médicale ( INSERM ), Institut de Recherche en Communications et en Cybernétique de Nantes ( IRCCyN ), Mines Nantes ( Mines Nantes ) -École Centrale de Nantes ( ECN ) -Ecole Polytechnique de l'Université de Nantes ( Polytech Nantes ), and Université de Nantes ( UN ) -Université de Nantes ( UN ) -PRES Université Nantes Angers Le Mans ( UNAM ) -Centre National de la Recherche Scientifique ( CNRS )
Subjects: Male, medicine.medical_specialty, Epidural abscess, [SDV.IMM] Life Sciences [q-bio]/Immunology, Observational Study, 03 medical and health sciences, 0302 clinical medicine, neurologic manifestations, Spinal cord compression, Internal medicine, spinal cord compression, medicine, Vertebral osteomyelitis, [ SDV.IMM ] Life Sciences [q-bio]/Immunology, Humans, risk factors, 030212 general & internal medicine, Retrospective Studies, business.industry, Osteomyelitis, Hazard ratio, vertebral osteomyelitis, Case-control study, Retrospective cohort study, General Medicine, Odds ratio, Middle Aged, Staphylococcal Infections, medicine.disease, 3. Good health, Surgery, Anti-Bacterial Agents, Treatment Outcome, Epidural Abscess, Case-Control Studies, ComputingMethodologies_DOCUMENTANDTEXTPROCESSING, [SDV.IMM]Life Sciences [q-bio]/Immunology, Female, Spinal Diseases, France, Nervous System Diseases, business, 030217 neurology & neurosurgery, Follow-Up Studies, Research Article
Abstract: Supplemental Digital Content is available in the text, Severe neurological deficit (SND) is a rare but major complication of pyogenic vertebral osteomyelitis (PVO). We aimed to determine the risk factors and the variables associated with clinical improvement for SND during PVO. This case–control study included patients without PVO-associated SND enrolled in a prospective randomized antibiotic duration study, and patients with PVO-associated SND managed in 8 French referral centers. Risk factors for SND were determined by logistic regression. Ninety-seven patients with PVO-associated SND cases, and 297 controls were included. Risk factors for SND were epidural abscess [adjusted odds ratio, aOR 8.9 (3.8–21)], cervical [aOR 8.2 (2.8–24)], and/or thoracic involvement [aOR 14.8 (5.6–39)], Staphylococcus aureus PVO [aOR 2.5 (1.1–5.3)], and C-reactive protein (CRP) >150 mg/L [aOR 4.1 (1.9–9)]. Among the 81 patients with PVO-associated SND who were evaluated at 3 months, 62% had a favorable outcome, defined as a modified Rankin score ≤ 3. No factor was found significantly associated with good outcome, whereas high Charlson index [adjusted Hazard Ratio (aHR) 0.3 (0.1–0.9)], low American Spinal Injury Association (ASIA) impairment scale at diagnosis [aHR 0.4 (0.2–0.9)], and thoracic spinal cord compression [aHR 0.2 (0.08–0.5)] were associated with poor outcome. Duration of antibiotic treatment was not associated with functional outcome. SND is more common in cervical, thoracic, and S. aureus PVO, in the presence of epidural abscess, and when CRP >150 mg/L. Although neurological deterioration occurs in 30% of patients in early follow-up, the functional outcome is quite favorable in most cases after 3 months. The precise impact of optimal surgery and/or corticosteroids therapy must be specified by further studies.
Published: 2017

15. Vox Sanguinis International Forum on donor notification and counselling strategies for markers of transfusion-transmissible infections

Author: Sharma , R., Lozano , M, Fearon , M., Bigham , M., Djoudi , R., Gallian , P., Woimant , G., Lee , C, Leung , S., Tsoi , C., Marwaha , N., Sachdev , S., Tadokoro , K., Tani , Y., Matsukura , H., Shantseva , N., Zhiburt , E., Hindawi , S., Chay , J., Huang , T., Teo , D, Moleli , N., Oyonarte , S., Jayasekara , A., Bokhorst , A., van den Burg , P., Hewitt , P, Bianco , C., Kessler , D, Sharma , S, Fearon , C, Bigham , C, Djoudi , D, Gallian , D, Woimant , D, Leung , D, Tsoi , D, Marwaha , D, Sachdev , D, Tadokoro , D, Tani , C, Matsukura , C, Shantseva , D, Zhiburt , D, Hindawi , P, Chay , C, Huang , A, Moleli , C, Oyonarte , C, Jayasekara , D, Bokhorst , C, van den Burg , C, BIANCO , Dominique, Institut de Chimie de la Matière Condensée de Bordeaux (ICMCB), Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Institut Polytechnique de Bordeaux-Université de Bordeaux (UB), Institute for Study of Earth, Oceans and Space, University of New Hampshire (UNH), Etablissement Français du Sang - Alpes-Méditerranée (EFS - Alpes-Méditerranée), Etablissement Français du Sang, Emergence des Pathologies Virales (EPV), Institut National de la Santé et de la Recherche Médicale (INSERM)-Institut de Recherche pour le Développement (IRD)-Aix Marseille Université (AMU)-Assistance Publique - Hôpitaux de Marseille (APHM), Etablissement Français du Sang [La Plaine Saint-Denis] (EFS), Assistance publique - Hôpitaux de Paris (AP-HP) (AP-HP)-Hôpital Saint-Vincent de Paul, University of Sydney, Institute of Molecular Functional Materials & Department of Chemistry, Tohoku National Fisheries Research Institute, National Fisheries Research Institute, Department of Biological Environment, Akita University, Laboratoire de Tribologie et Dynamique des Systèmes (LTDS), École Centrale de Lyon (ECL), Université de Lyon-Université de Lyon-École Nationale des Travaux Publics de l'État (ENTPE)-Ecole Nationale d'Ingénieurs de Saint Etienne-Centre National de la Recherche Scientifique (CNRS), Massachusetts General Hospital [Boston], Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Structural Mass Spectrometry and Proteomics Unit [Italy], Novartis Vaccines and Diagnostics [Siena], Zhejiang University, Laboratoire d'Economie de Dijon (LEDi), Université de Bourgogne (UB)-Centre National de la Recherche Scientifique (CNRS), Laboratoire d'Electrochimie et de Physico-chimie des Matériaux et des Interfaces ( LEPMI ), Université Joseph Fourier - Grenoble 1 ( UJF ) -Institut National Polytechnique de Grenoble ( INPG ) -Université Savoie Mont Blanc ( USMB [Université de Savoie] [Université de Chambéry] ) -Centre National de la Recherche Scientifique ( CNRS ), Institut de Chimie de la Matière Condensée de Bordeaux ( ICMCB ), Université de Bordeaux ( UB ) -Centre National de la Recherche Scientifique ( CNRS ), University of New Hampshire ( UNH ), Etablissement Français du Sang - Alpes-Méditerranée ( EFS - Alpes-Méditerranée ), Emergence des Pathologies Virales ( EPV ), Institut de Recherche pour le Développement ( IRD ) -Aix Marseille Université ( AMU ) -Assistance Publique - Hôpitaux de Marseille ( APHM ) -Institut National de la Santé et de la Recherche Médicale ( INSERM ), Etablissement Français du Sang [La Plaine Saint-Denis] ( EFS ), Assistance publique - Hôpitaux de Paris (AP-HP)-Hôpital Saint-Vincent de Paul, Akita Prefectural University, Laboratoire de Tribologie et Dynamique des Systèmes ( LTDS ), École Centrale de Lyon ( ECL ), Université de Lyon-Université de Lyon-École Nationale des Travaux Publics de l'État ( ENTPE ) -Ecole Nationale d'Ingénieurs de Saint Etienne-Centre National de la Recherche Scientifique ( CNRS ), Massachusetts General Hospital [Boston] ( MGH ), Institut de Recherche en Communications et en Cybernétique de Nantes ( IRCCyN ), Mines Nantes ( Mines Nantes ) -École Centrale de Nantes ( ECN ) -Ecole Polytechnique de l'Université de Nantes ( Polytech Nantes ), Université de Nantes ( UN ) -Université de Nantes ( UN ) -PRES Université Nantes Angers Le Mans ( UNAM ) -Centre National de la Recherche Scientifique ( CNRS ), Novartis Vaccines and Diagnostics, Laboratoire d'Economie de Dijon ( LEDi ), Université de Bourgogne ( UB ) -Centre National de la Recherche Scientifique ( CNRS ), Centre for Innovation, Canadian Blood Services, Hong Kong Red Cross Blood Transfusion Service, Hospital Authority, Blood Services Group [Singapour], Singapore General Hospital, South African National Blood Service (SANBS), Sanquin Blood Supply Foundation, NHS Blood and Transplant [London, UK], and New York Blood Center
Subjects: 03 medical and health sciences, 0302 clinical medicine, [ SDV ] Life Sciences [q-bio], [SDV]Life Sciences [q-bio], Hematology, General Medicine, 030204 cardiovascular system & hematology, ComputingMilieux_MISCELLANEOUS, 030215 immunology, 3. Good health
Abstract: International audience
Published: 2017

16. Exploring the MIS M2 glaciation occurring during a warm and high atmospheric CO 2 Pliocene background climate

Author: Ning Tan, Stijn De Schepper, Camille Contoux, Zhongshi Zhang, Pierre Sepulchre, Jean-Baptiste Ladant, Christophe Dumas, Gilles Ramstein, Discovery Oncology, Genentech, Inc. [San Francisco], Laboratoire des Sciences du Climat et de l'Environnement [Gif-sur-Yvette] (LSCE), Université Paris-Saclay-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Université de Versailles Saint-Quentin-en-Yvelines (UVSQ)-Centre National de la Recherche Scientifique (CNRS), LUNAM / Ecole des Mines de Nantes / IRCCyN, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (Polytech Nantes), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (Polytech Nantes), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Centre européen de recherche et d'enseignement des géosciences de l'environnement (CEREGE), Centre National de la Recherche Scientifique (CNRS)-Institut de Recherche pour le Développement (IRD)-Collège de France (CdF)-Institut national des sciences de l'Univers (INSU - CNRS)-Aix Marseille Université (AMU)-Institut National de la Recherche Agronomique (INRA), Institut national des sciences de l'Univers (INSU - CNRS)-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Université de Versailles Saint-Quentin-en-Yvelines (UVSQ), Modélisation du climat (CLIM), Institut national des sciences de l'Univers (INSU - CNRS)-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Université de Versailles Saint-Quentin-en-Yvelines (UVSQ)-Institut national des sciences de l'Univers (INSU - CNRS)-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Université de Versailles Saint-Quentin-en-Yvelines (UVSQ), Aix Marseille Université (AMU)-Institut national des sciences de l'Univers (INSU - CNRS)-Collège de France (CdF (institution))-Institut de Recherche pour le Développement (IRD)-Centre National de la Recherche Scientifique (CNRS)-Institut National de la Recherche Agronomique (INRA), Genentech: South San Francisco, Laboratoire des Sciences du Climat et de l'Environnement [Gif-sur-Yvette] ( LSCE ), Université de Versailles Saint-Quentin-en-Yvelines ( UVSQ ) -Commissariat à l'énergie atomique et aux énergies alternatives ( CEA ) -Université Paris-Saclay-Centre National de la Recherche Scientifique ( CNRS ), Institut de Recherche en Communications et en Cybernétique de Nantes ( IRCCyN ), Mines Nantes ( Mines Nantes ) -École Centrale de Nantes ( ECN ) -Ecole Polytechnique de l'Université de Nantes ( Polytech Nantes ), Université de Nantes ( UN ) -Université de Nantes ( UN ) -PRES Université Nantes Angers Le Mans ( UNAM ) -Centre National de la Recherche Scientifique ( CNRS ) -Mines Nantes ( Mines Nantes ) -École Centrale de Nantes ( ECN ) -Ecole Polytechnique de l'Université de Nantes ( Polytech Nantes ), Université de Nantes ( UN ) -Université de Nantes ( UN ) -PRES Université Nantes Angers Le Mans ( UNAM ) -Centre National de la Recherche Scientifique ( CNRS ), Centre européen de recherche et d'enseignement de géosciences de l'environnement ( CEREGE ), Centre National de la Recherche Scientifique ( CNRS ) -Institut de Recherche pour le Développement ( IRD ) -Aix Marseille Université ( AMU ) -Collège de France ( CdF ) -Institut National de la Recherche Agronomique ( INRA ) -Institut national des sciences de l'Univers ( INSU - CNRS ), Laboratoire de Physique de Clermont ( LPC ), Institut National de Physique Nucléaire et de Physique des Particules du CNRS ( IN2P3 ) -Université Clermont Auvergne ( UCA ) -Centre National de la Recherche Scientifique ( CNRS ), Université de Versailles Saint-Quentin-en-Yvelines (UVSQ)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Institut national des sciences de l'Univers (INSU - CNRS)-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS), Université de Versailles Saint-Quentin-en-Yvelines (UVSQ)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Institut national des sciences de l'Univers (INSU - CNRS)-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS)-Université de Versailles Saint-Quentin-en-Yvelines (UVSQ)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Institut national des sciences de l'Univers (INSU - CNRS)-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS), and Institut de Recherche pour le Développement (IRD)-Institut National de la Recherche Agronomique (INRA)-Aix Marseille Université (AMU)-Collège de France (CdF (institution))-Institut national des sciences de l'Univers (INSU - CNRS)-Centre National de la Recherche Scientifique (CNRS)
Subjects: [ SDU.OCEAN ] Sciences of the Universe [physics]/Ocean, Atmosphere, Marine isotope stage, Piacenzian, 010504 meteorology & atmospheric sciences, Central American Seaway, 010502 geochemistry & geophysics, 01 natural sciences, Huronian glaciation, Geochemistry and Petrology, [ SDU.ENVI ] Sciences of the Universe [physics]/Continental interfaces, environment, Earth and Planetary Sciences (miscellaneous), Glacial period, [SDU.ENVI]Sciences of the Universe [physics]/Continental interfaces, environment, ComputingMilieux_MISCELLANEOUS, 0105 earth and related environmental sciences, [SDU.OCEAN]Sciences of the Universe [physics]/Ocean, Atmosphere, geography, geography.geographical_feature_category, Ice-sheet model, Geophysics, Marinoan glaciation, 13. Climate action, Space and Planetary Science, Climatology, Ice sheet, Geology
Abstract: Prior to the Northern Hemisphere glaciation around ∼2.7 Ma, a large global glaciation corresponding to a 20 to 60 m sea-level drop occurred during Marine Isotope Stage (MIS) M2 (3.312–3.264 Ma), interrupted the period of global warmth and high CO 2 concentration (350–450 ppmv) of the mid Piacenzian. Unlike the late Quaternary glaciations, the M2 glaciation only lasted 50 kyrs and occurred under uncertain CO 2 concentration (220–390 ppmv). The mechanisms causing the onset and termination of the M2 glaciation remain enigmatic, but a recent geological hypothesis suggests that the re-opening and closing of the shallow Central American Seaway (CAS) might have played a key role. In this article, thanks to a series of climate simulations carried out using a fully coupled Atmosphere Ocean General Circulation Model (GCM) and a dynamic ice sheet model, we show that re-opening of the shallow CAS helps precondition the low-latitude oceanic circulation and affects the related northward energy transport, but cannot alone explain the onset of the M2 glaciation. The presence of a shallow open CAS, together with favourable orbital parameters, 220 ppmv of CO 2 concentration, and the related vegetation and ice sheet feedback, led to a global ice sheet build-up producing a global sea-level drop in the lowest range of proxy-derived estimates. More importantly, our results show that the simulated closure of the CAS has a negligible impact on the NH ice sheet melt and cannot explain the MIS M2 termination.
Published: 2017

17. A novel methodology of design for Additive Manufacturing applied to Additive Laser Manufacturing process

Author: Jean-Yves Hascoet, Pascal Mognol, Rémi Ponche, Olivier Kerbrat, MO2P, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), and Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)
Subjects: Rapid prototyping, Engineering, Additive manufacturing, Process (engineering), General Mathematics, media_common.quotation_subject, Design for additive manufacturing, DFAM, [PHYS.MECA.GEME]Physics [physics]/Mechanics [physics]/Mechanical engineering [physics.class-ph], Context (language use), Industrial and Manufacturing Engineering, Computer-integrated manufacturing, Additive Laser Manufacturing (ALM), Quality (business), manufacturing path, media_common, numerical chain, business.industry, Manufacturing process, numerical modelling, Manufacturing engineering, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], Computer Science Applications, Cost reduction, Control and Systems Engineering, business, Software
Abstract: International audience; Nowadays, due to rapid prototyping processes improvements, a functional metal part can be built directly by Additive Manufacturing. It is now accepted that these new processes can increase productivity while enabling a mass and cost reduction and an increase of the parts functionality. However, the physical phenomena that occur during these processes have a strong impact on the quality of the produced parts. Especially, because the manufacturing paths used to produce the parts lead these physical phenomena, it is essential to considerate them right from the parts design stage.In this context, a new numerical chain based on a new design for Additive Manufacturing (DFAM) methodology is proposed in this paper, the new DFAM methodology being detailed; both design requirements and manufacturing speci cities are taken into account. The corresponding numerical tools are detailed in the particular case of thin-walled metal parts manufactured by an Additive Laser Manufacturing (ALM) process.
Published: 2014

18. Analysis of Human-Machine Cooperation When Driving with Different Degrees of Haptic Shared Control

Author: Franck Mars, Jean-Michel Hoc, Mathieu Deroo, PsyCoTec, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), and ANR-08-VPTT-0012,PARTAGE,Contrôle partagé entre conducteur et assistance à la conduite automobile pour une trajectoire sécurisée(2008)
Subjects: Adult, Male, Automobile Driving, Engineering, genetic structures, business.industry, Control (management), Poison control, Steering wheel, Computer Science Applications, Human-Computer Interaction, Control system, [SCCO.PSYC]Cognitive science/Psychology, Task Performance and Analysis, Trajectory, Humans, Computer Simulation, Female, Performance indicator, business, Visibility, Man-Machine Systems, Simulation, Haptic technology
Abstract: International audience; This study investigated human-machine cooperation when driving with different degrees of a shared control system. By means of a direct intervention on the steering wheel, shared control systems partially correct the vehicle's trajectory and, at the same time, provide continuous haptic guidance to the driver. A crucial point is to determine the optimal level of steering assistance for effective cooperation between the two agents. Five system settings were compared with a condition in which no assistance was present. In addition, road visibility was manipulated by means of additional fog or self-controlled visual occlusions. Several performance indicators and subjective assessments were analyzed. The results show that the best repartition of control in terms of cooperation between human and machine can be identified through an analysis of the steering wheel reversal rate, the steering effort and the mean lateral position of the vehicle. The best cooperation was achieved with systems of relatively low-level haptic authority, although more intervention may be preferable in poor visibility conditions. Increasing haptic authority did not yield higher benefits in terms of steering behavior, visual demand or subjective feeling.
Published: 2014

19. Angular approach combined to mechanical model for tool breakage detection by eddy current sensors

Author: Sébastien Garnier, Benoit Furet, Mathieu Ritou, Jean-Yves Hascoet, Modélisation et Optimisation de Process de Production (MO2P), Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), and Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)
Subjects: Engineering, Eddy-current sensor, media_common.quotation_subject, Phase (waves), [PHYS.MECA.GEME]Physics [physics]/Mechanics [physics]/Mechanical engineering [physics.class-ph], Aerospace Engineering, Mechanical engineering, law.invention, Machining, law, synchronous average, Eddy current, Control chart, Eccentricity (behavior), Milling, Reliability (statistics), Civil and Structural Engineering, media_common, Dynamometer, business.industry, Mechanical Engineering, Eddy current sensor, Structural engineering, Tool Condition Monitoring, Cutting force model, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], Computer Science Applications, Control and Systems Engineering, Signal Processing, business
Abstract: International audience; The paper presents a new complete approach for Tool Condition Monitoring (TCM) in milling. The aim is the early detection of small damages so that catastrophic tool failures are prevented. A versatile in-process monitoring system is introduced for reliability concerns. The tool condition is determined by estimates of the radial eccentricity of the teeth. An adequate criterion is proposed combining mechanical model of milling and angular approach. Then, a new solution is proposed for the estimate of cutting force using eddy current sensors implemented close to spindle nose. Signals are analysed in the angular domain, notably by synchronous averaging technique. Phase shifts induced by changes of machining direction are compensated. Results are compared with cutting forces measured with a dynamometer table. The proposed method is implemented in an industrial case of pocket machining operation. One of the cutting edges has been slightly damaged during the machining, as shown by a direct measurement of the tool. A control chart is established with the estimates of cutter eccentricity obtained during the machining from the eddy current sensors signals. Efficiency and reliability of the method is demonstrated by a successful detection of the damage.
Published: 2014

20. Sensitivity analysis of parallel manipulators using an interval linearization method

Author: Mikhael Tannous, Alexandre Goldsztejn, Stéphane Caro, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Robotique, Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Laboratoire d'Informatique de Nantes Atlantique (LINA), and Mines Nantes (Mines Nantes)-Université de Nantes (UN)-Centre National de la Recherche Scientifique (CNRS)
Subjects: Mechanical Engineering, Bioengineering, Interval (mathematics), Planar parallel manipulator, [SPI.TRON]Engineering Sciences [physics]/Electronics, Computer Science Applications, Computer Science::Robotics, Parallel manipulators, Mechanics of Materials, Linearization, Simple (abstract algebra), Control theory, Robot, Gravitational singularity, Sensitivity (control systems), Interval linearization method, Sensitivity analysis, Mathematics
Abstract: International audience; The subject of this paper is about an interval linearization method for the sensitivity analysis of manipulators to variations in their geometric parameters. First, the proposed method is presented. Then, three manipulators are used as illustrative examples: The five-bar mechanism, the $3$-RRR planar parallel manipulator and the Orthoglide. The benefits and restrictions of the proposed method are also discussed and appropriate indices are derived to show the efficiency of the method. The obtained results are also compared with the results obtained with frequently used methods. The proposed method is simple to implement and provides verified results in low computational time and thus can be applied to complex robots such as the Orthoglide. In particular, the standard linearization method computes unreliable results near singularities, whereas the proposed interval linearization method automatically detects such situations.
Published: 2014

21. Fast Constrained Least Squares Spectral Unmixing Using Primal-Dual Interior-Point Optimization

Author: Saïd Moussaoui, Emilie Chouzenoux, Maxime Legendre, Jérôme Idier, Laboratoire d'Informatique Gaspard-Monge (LIGM), Université Paris-Est Marne-la-Vallée (UPEM)-École des Ponts ParisTech (ENPC)-ESIEE Paris-Fédération de Recherche Bézout-Centre National de la Recherche Scientifique (CNRS), ADTSI, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), and Centre National de la Recherche Scientifique (CNRS)-Fédération de Recherche Bézout-ESIEE Paris-École des Ponts ParisTech (ENPC)-Université Paris-Est Marne-la-Vallée (UPEM)
Subjects: Atmospheric Science, Mathematical optimization, Endmember, Spectral signature, Optimization problem, Pixel, interior-point optimization, Hyperspectral imaging, constrained least squares, GPU computing, [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing, spectral unmixing, primal-dual algorithm, Computers in Earth Sciences, Graphics, General-purpose computing on graphics processing units, [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing, Interior point method, Mathematics
Abstract: International audience; Hyperspectral data unmixing aims at identifying the components (endmembers) of an observed surface and at determining their fractional abundances inside each pixel area. Assuming that the spectral signatures of the surface components have been previously determined by an endmember extraction algorithm, or to be part of an available spectral library, the main problem is reduced to the estimation of the fractional abundances. For large hyperspectral image data sets, the estimation of the abundance maps requires the resolution of a large-scale optimization problem subject to linear constraints such as non-negativity and sum less or equal to one. This paper proposes a primal-dual interior-point optimization algorithm allowing a constrained least squares estimation approach. In comparison with existing methods, the proposed algorithm is more flexible since it can handle any linear equality and/or inequality constraint and has the advantage of a reduced computational cost. It also presents an algorithmic structure suitable for a parallel implementation on modern intensive computing devices such as Graphics Processing Units (GPU). The implementation issues are discussed and the applicability of the proposed approach is illustrated with the help of examples on synthetic and real hyperspectral data.
Published: 2014

22. Reconnaissance de documents manuscrits structurés : Des équations manuscrites aux documents anciens

Author: Mouchère, Harold, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), IRCCyN-IVC, Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-School of Physics, Monash University [Clayton]-Monash University [Clayton], Ecole Doctorale STIM (503), Université de Nantes (UNAM), and Jean-Marc Ogier, Professeur des Universités à l’Université de La Rochelle
Subjects: reconnaissance d’expressions mathématiques manuscrites, reconnaissance des documents structurés manuscrits, [INFO.INFO-LG]Computer Science [cs]/Machine Learning [cs.LG], graphes, réseaux de neurones, [INFO.INFO-TI]Computer Science [cs]/Image Processing [eess.IV], [INFO.INFO-NE]Computer Science [cs]/Neural and Evolutionary Computing [cs.NE], Handwriting Recognition
Published: 2016

23. Active control of broadband noise in a car cabin

Author: Loiseau, Paul, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Commande, Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Ecole des Mines de Nantes, and Philippe Chevrel
Subjects: Atténuation large bande, Commande robuste, Multi-Objective control, Automobile, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Robust control, Active noise control, Contrôle actif acoustique, Commande multi-Objectif, Automotive control, Broadband noise attenuation
Abstract: Classical methods used for noise reduction in cars are based on adjusting the mechanical properties: mass, stiffness and damping. They are qualified as passive and induce significative addition of weight for reducing low frequency noises. Active noise control is seen as a possible solution to achieve low frequency noise attenuation and weight reduction.The goal of this work is to evaluate achievable performances with such solution.Acoustic enclosures are known to be resonant systems of highorder. Obtaining a model of it, therefore requires a suitable identification method. The approach chosen is based on subspace methods. It processes data in the frequency domain for obtaining a continuous time model.The control problem derived from the specifications is a MIMO H1, multi-objective and multi-model problem with a strong stability constraint. Futhermore, actuators and sensors are not-colocated, and no measure of the disturbance is available. In order to precisely evaluate the achievable performances, this problem is solved using non smooth optimization.Such approach ensures the absence of pessimism, but requires an appropriate initialization and a parsimonious controller structure, because it does not ensure convergence toward the global optimum. The proposed methodology was validated in simulation and experimentally. It allows a precise evaluation and comparison of achievable performances according to the constraints on available measures and means of action.; L’atténuation des bruits gênants dans une automobile est classiquement réalisée par ajustement des caractéristiques mécaniques du véhicule : masse, raideur et amortissement. C’est une approche dite passive. Malheureusement, elle induit un ajout de masse important pour traiter les basses fréquences. Le contrôle actif de bruit (atténuation d’un bruit par superposition d’un contrebruit) est actuellement envisagé comme une solution possible à ce problème. L’objectif de cette thèse est d’évaluer les performances atteignables par cette solution. Un système acoustique étant par essence fortement résonant, sa modélisation sur une large plage de fréquence conduit à des modèles d’ordre élevé, pour l’obtention desquels une méthode d’identification appropriée doit être utilisée. C’est la méthode dessous espaces par approche fréquentielle dans le domaine continu qui a été retenue.La traduction du cahier des charges conduit à un problème de régulation multivariable H1 multi-objectif et multi-modèle avec contrainte de stabilité forte. Par ailleurs, actionneurs et capteurs ne sont pas colocalisés et on ne mesure pas la perturbation à rejeter. La volonté d’évaluer au plus près les performances atteignables justifie la résolution du problème par optimisation non lisse. Cette approche évite tout pessimisme, mais nécessite de par son caractère local une bonne initialisation et une structuration du régulateur parcimonieuse.La méthodologie proposée a été validée en simulation et expérimentalement. Elle permet une évaluation et une comparaison précises des performances atteignables en fonction des contraintes sur les mesures et les moyens d’action disponibles.
Published: 2016

24. Scheduling a two-stage hybrid flow shop with dedicated machines, time lags and sequence-dependent family setup times

Author: O. Bellenguez Morineau, H. Harbaoui, Soulef Khalfallah, Systèmes Logistiques et de Production (SLP), Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Mines Nantes (Mines Nantes), and Institut Supérieur de Gestion de Sousse, Université de Sousse
Subjects: 0209 industrial biotechnology, Mathematical optimization, Schedule, 021103 operations research, Sequence-dependent setup, Job shop scheduling, Computer science, 0211 other engineering and technologies, Scheduling (production processes), 02 engineering and technology, Flow shop scheduling, [INFO.INFO-RO]Computer Science [cs]/Operations Research [cs.RO], Resolution (logic), Upper and lower bounds, Scheduling (computing), 020901 industrial engineering & automation, Genetic algorithm, Stage (hydrology), ComputingMilieux_MISCELLANEOUS
Abstract: This article concerns the resolution of a hybrid flow shop with dedicated machines, sequence dependent setup and time lags. Such a configuration is encountered in the pasta production industry. The objective is to minimize the maximum completion time of all the jobs (makespan). We first propose a mathematical model for the problem. Given the complexity of the problem, we also developed an upper bound using genetic algorithm and a lower bound in order to evaluate the GA. Computational experiments are applied to a number of randomly generated test problems. The results show that the proposed algorithm can produce results that are very close to optimal schedules if they are known or very close to the lower bounds.
Published: 2016

25. Estimation de la distraction fondée sur un modèle dynamique de conducteur : principes et algorithmes

Author: Ameyoe, Ablamvi, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Commande, Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Ecole des Mines de Nantes, and Philippe Chevrel
Subjects: Identification, Filtres de Kalman, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Diagnosis, Observateur, Distraction, Cybernetic driver model, Diagnostic, Observers, Kalman filters, Modèle cybernétique du conducteur
Abstract: Distracted driving is one of the important factors that cause road accidents. The detection of the driver’s state of distraction in the industrial context and at low-cost leads to privilege the indicators based on sensors that are already available on the vehicle. However,current systems are generally not reliable enough, especially because the observed magnitudes to achieve detection are quite far from a purely physiological phenomenon distraction. This led us to propose solutions based on a cybernetic driver model that represent the visual and motor process involved in the lateral control of the vehicle. The parameters of this model have been estimated by conducting successively identification exploiting data packets and recursive identification, the latter allowing to track continuously the parametric evolution over time. Then, three approaches were considered to model or estimate the state of distraction, by modeling alternately thedistraction as a disturbance affecting parameters, the output or the input of the cybernetic model of the driver:Approach 1 - The distraction is modeled as an additive disturbance on the model output. The experimental output, the driver steering wheel torque, is then compared with the predicted steering wheel torque to generate the torque prediction error that is sensitive to the state of distraction.Approach 2 - The distraction is modeled as disturbances that affect the model parameters. The analysis of these parameters identified during normal and distracted driving periods showed that the parameters’ variation depends effectively on the driver’s state of distraction.Approach 3 - Distraction is modeled as an additive disturbance on the input of the model. The estimate of this disturbance is also a significant residue, sensitive to the state of distraction. The principles and algorithms proposed for estimating the state of distraction were validated using experimental data collected during a test campaign conducted on a fixed-base driving simulator, involving 35 drivers. The test conditions alternated normal driving phases and prone to distractions of various kinds: cognitive distractions, visual, visual-motor and motor. The three proposed approaches give similar and consistent results between them.; La distraction du conducteur est un des facteurs importants à l’origine des accidents de la route. La détection de la distraction dans le contexte industriel et à faible coût conduit à privilégier des indicateurs reposant sur les capteurs déjà disponibles dans un véhicule série. Cependant, les systèmes actuels sont en général insuffisamment fiables, notamment parce que les grandeurs observées pour réaliser la détection sont assez éloignées du phénomène purement physiologique de distraction. L’approche étudiée ici a consisté à rajouter un modèle de comportement du conducteur (modèle cybernétique), rendant compte des fonctions perceptives et motrices support du contrôle latéral du véhicule. Les paramètres de ce modèle ont été estimés en procédant tour à tour à une identification par paquet de données d’entrée/sortie et à une identification récursive, cette dernière permettant de suivre continûment l'évolution paramétrique. Ensuite, trois approches ont été envisagées pour modéliser voire estimer l’état de distraction, considérant successivement la distraction comme une perturbation affectant les paramètres, la sortie ou l’entrée du modèle cybernétique du conducteur:Approche 1 - La distraction est modélisée comme une perturbation additive en sortie du modèle. Le couple produit par le conducteur est comparé au couple prédit par le modèle rendant compte de la conduite hors distraction. L’erreur de prédiction du couple constitue dans ce cadre le résidu dont la sensibilité à l’état de distraction du conducteur a été étudiée.Approche 2 - La distraction est modélisée par des perturbations multiplicatives, affectant certains paramètres du modèle. L’analyse des paramètres obtenus dans des phases de conduite avec et sans distraction a permis d’étudier leur capacité à rendre compte de la nature et de l’état de la distraction.Approche 3 - La distraction est modélisée comme une perturbation additive sur l’entrée du modèle. L’estimation de cette perturbation constitue un résidu également sensible à l’état de distraction. Les principes et algorithmes proposés pour estimer l’état de distraction ont été validés à partir de données expérimentales collectées pendant une campagne de tests effectuée sur un simulateur de conduite à base fixe, impliquant 35 conducteurs. Les conditions de test alternaient des phases de conduite normale et sujettes à des distractions de différentes natures : distractions cognitive, visuelle, visuomotrice et motrice. Les trois approches proposées donnent des résultats similaires et cohérents entre eux.
Published: 2016

26. An adaptive large neighborhood search for the two-echelon multiple-trip vehicle routing problem with satellite synchronization

Author: Philippe Grangier, Louis-Martin Rousseau, Michel Gendreau, Fabien Lehuédé, Centre Interuniversitaire de Recherche sur les Réseaux d'Entreprise, la Logistique et le Transport (CIRRELT), École Polytechnique de Montréal (EPM)-Université de Montréal [Montréal]-HEC Montréal (HEC Montréal), LUNAM / Ecole des Mines de Nantes / IRCCyN, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (Polytech Nantes), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (Polytech Nantes), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), École Polytechnique de Montréal (EPM)-Université de Montréal (UdeM)-HEC Montréal (HEC Montréal), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), and Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN)
Subjects: Information Systems and Management, General Computer Science, Computer science, Two-echelon VRP, Real-time computing, 0211 other engineering and technologies, 02 engineering and technology, Management Science and Operations Research, Synchronization, Industrial and Manufacturing Engineering, Set (abstract data type), 0502 economics and business, Synchronization (computer science), Vehicle routing problem, Routing, Distribution center, 050210 logistics & transportation, 021103 operations research, Adaptive large neighborhood search, 05 social sciences, [INFO.INFO-RO]Computer Science [cs]/Operations Research [cs.RO], Modeling and Simulation, Large neighborhood search, Satellite, Routing (electronic design automation), Heuristics, City logistics
Abstract: International audience; The two-echelon vehicle routing problem (2E-VRP) consists in making deliveries to a set of customers using two distinct fleets of vehicles. First-level vehicles pick up requests at a distribution center and bring them to intermediate sites. At these locations, the requests are transferred to second-level vehicles, which deliver them. This paper addresses a variant of the 2E-VRP that integrates constraints arising in city logistics such as time window constraints, synchronization constraints, and multiple trips at the second level. The corresponding problem is called the two-echelon multiple-trip vehicle routing problem with satellite synchronization (2E-MTVRP-SS). We propose an adaptive large neighborhood search to solve this problem. Custom destruction and repair heuristics and an efficient feasibility check for moves have been designed and evaluated on modified benchmarks for the VRP with time windows.
Published: 2016

27. Haptic feedback tuning in colonoscopy simulation

Author: Timothy R. Coles, Florian Grimpen, Caroline G. L. Cao, Hans de Visser, Cédric Dumas, LUNAM / Ecole des Mines de Nantes / IRCCyN, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), CSIRO ICT Centre Brisbane - AEHRC, Commonwealth Scientific and Industrial Research Organisation [Canberra] (CSIRO)-Queensland Government, Wright State University, The Royal Brisbane and Woman’s Hospital, and IEEE
Subjects: Computer science, simulation, Visualization, 03 medical and health sciences, 0302 clinical medicine, acceptability, 030220 oncology & carcinogenesis, 030211 gastroenterology & hepatology, [INFO.INFO-HC]Computer Science [cs]/Human-Computer Interaction [cs.HC], Haptic perception, human factors, Simulation, Haptic, Haptic technology
Abstract: International audience; — According to medical experts, haptic realism is difficult to achieve, and even more difficult to have inter-expert agreement on the haptic feedback of one simulation. However haptic feedback is important in medical training, and allows educators to share the forces felt during a procedure if they know and trust what a particular virtual simulator will provide to the trainee. A new approach is proposed to refine bio-mechanical models with experts' input, to closely match the forces felt during a simulated procedure with an expert trainer's expectations. By allowing experts to tune a training scenario's haptic feedback as they trial a newly developed case, the experts can replicate their haptic perception and match their expectations with the simulation.
Published: 2016

28. A Top-Down and Bottom-Up Visual Attention Model for Humanoid Object Approaching and Obstacle Avoidance

Author: Hendry Ferreira Chame, Christine Chevallereau, Robotique, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), and Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)
Subjects: Image segmentation, 0209 industrial biotechnology, Computer science, business.industry, Representation (systemics), 02 engineering and technology, Visual servoing, Object (philosophy), [SPI.AUTO]Engineering Sciences [physics]/Automatic, Task (project management), Visualization, 020901 industrial engineering & automation, Robot sensing systems, Encoding, Obstacle avoidance, 0202 electrical engineering, electronic engineering, information engineering, Legged locomotion, Robot, 020201 artificial intelligence & image processing, Computer vision, Artificial intelligence, business, Humanoid robot
Abstract: International audience; Most of the research on humanoid walk tasks has considered a global representation of the scene that frequently relies on external sensors. This is detrimental to the autonomy and the reactivity of the agent under unknown or changing scenarios. Ego-centric localization has been less explored, and the works considering on-board acquisitions have mostly dealt with tasks under controlled scenarios where the path to the object is cleared from obstacles. In this work a behavior-based control scheme is proposed, so the robot Nao can approach and position in relation to a given face of an object, while avoiding obstacles. For this, the solution relies on top-down (color-based) and bottom-up (optic-flow-based) visual features, and proprioceptive information registered on-board. The model is decentralized and exploits the emergent aspect of behavior from the independent contribution of a walk and a look-at task. An embodied visual encoding approach is proposed to support the arbitration between competing behavioral modes.
Published: 2016

29. An Adaptive Large Neighborhood Search for the Pickup and Delivery Problem with Transfers

Author: Renaud Masson, Olivier Péton, Fabien Lehuédé, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Mines Nantes (Mines Nantes), Systèmes Logistiques et de Production (SLP), and Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN)
Subjects: Engineering, Mathematical optimization, 0211 other engineering and technologies, Transportation, 02 engineering and technology, Set (abstract data type), Combinatorial analysis, Transfer (computing), 0502 economics and business, Vehicle routing problem, Pickup, Pickup and Delivery Problem, Integer programming, ComputingMilieux_MISCELLANEOUS, Civil and Structural Engineering, 050210 logistics & transportation, 021103 operations research, business.industry, 05 social sciences, [INFO.INFO-RO]Computer Science [cs]/Operations Research [cs.RO], Adaptive Large Neighborhood Search, Embedded system, Large neighborhood search, Transfers, business, Heuristics
Abstract: International audience; The Pickup and Delivery Problem (PDP) consists in defining a set of routes that satisfy transportation requests between a set of pickup points and a set of delivery points. This paper addresses a variant of the PDP where requests can change vehicle during their trip. The transshipment is made at specific locations called "transfer points". The corresponding problem is called the Pickup and Delivery with Transfers (PDPT). Solving the PDPT leads to new modeling and algorithmic difficulties. We propose new heuristics capable of efficiently inserting requests through transfer points. These heuristics are embedded into an Adaptive Large Neighborhood Search. We evaluate the method on generated instances and apply it to the transportation of people with disabilities. On these real-life instances we show that the introduction of transfer points generally brings non-negligible improvements (up to 9%). Experiments on related instances from the literature show clearly that the method is competitive with existing method.
Published: 2013

30. Shared Steering Control Between a Driver and an Automation: Stability in the Presence of Driver Behavior Uncertainty

Author: P. Chevrel, Fabien Claveau, Louay Saleh, Franck Mars, Jean-François Lafay, Commande, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), PsyCoTec, and ANR-08-VPTT-0012,PARTAGE,Contrôle partagé entre conducteur et assistance à la conduite automobile pour une trajectoire sécurisée(2008)
Subjects: 0209 industrial biotechnology, Engineering, Automotive industry, Advanced driver assistance systems, 02 engineering and technology, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Robustness (computer science), 0502 economics and business, Cybernetics, H2-Preview, shared steering control, Simulation, driver model, 050210 logistics & transportation, business.industry, [SCCO.NEUR]Cognitive science/Neuroscience, Mechanical Engineering, 05 social sciences, Driving simulator, Control engineering, lane keeping, Steering wheel, Automation, Computer Science Applications, Automotive Engineering, vehicle lateral control, Robust control, business
Abstract: International audience; This paper presents an advanced driver assistance system (ADAS) for lane keeping, together with an analysis of its performance and stability with respect to variations in driver behavior. The automotive ADAS proposed is designed so as to share control of the steering wheel with the driver in the best possible way. Its development was derived from a H2-preview optimization control problem, which is based on the global driver-vehicle-road (DVR) system. The DVR model makes use of a cybernetic driver model so as to take into account any driver-vehicle interactions. Such a formulation allows to: i) consider driver-assistance cooperation criteria in the control synthesis, ii) improve the performance of the assistance as a cooperative copilot, and iii) analyze the stability of the whole system in the presence of driver model uncertainty. The results have been validated experimentally with one participant using a fixed-base driving simulator. The developed assistance system improved lane-keeping performance and reduced the risk of a lane departure accident. Good results were obtained using several criteria for human-machine cooperation. Poor stability situations were successfully avoided thanks to the robustness of the whole system in spite of a large range of driver model uncertainty.
Published: 2013

31. Comparative Study of Fixation Density Maps

Author: Hans-Jurgen Zepernick, P. Le Callet, Anthony Maeder, Ulrich Engelke, Hantao Liu, Ingrid Heynderickx, Junle Wang, Philips Research Laboratories [Eindhoven], Delft University of Technology (TU Delft), irccyn-ivc, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Blekinge Institute of Technology, Blekinge Institute of Technology [Karlskrona] (BTH), Health informatics, Western Sydney University, and Human Technology Interaction
Subjects: Adult, Male, fixation density maps, Adolescent, Eye Movements, Computer science, Image quality, Image processing, Fixation, Ocular, 02 engineering and technology, Models, Biological, Young Adult, [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing, Seam carving, 0202 electrical engineering, electronic engineering, information engineering, Humans, Visual attention, Computer Simulation, Computer vision, Eye tracking, Models, Statistical, business.industry, 020206 networking & telecommunications, Middle Aged, Computer Graphics and Computer-Aided Design, inter-laboratory differences, visual attention, Data Interpretation, Statistical, Video tracking, Fixation (visual), Visual Perception, Female, 020201 artificial intelligence & image processing, Artificial intelligence, business, [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing, Software
Abstract: International audience; Fixation density maps (FDM) created from eye tracking experiments are widely used in image processing applications. The FDM are assumed to be reliable ground truths of human visual attention and as such one expects high similarity between FDM created in different laboratories. So far, no studies have analysed the degree of similarity between FDM from independent laboratories and the related impact on the applications. In this paper, we perform a thorough comparison of FDM from three independently conducted eye tracking experiments. We focus on the effect of presentation time and image content and evaluate the impact of the FDM differences on three applications: visual saliency modelling, image quality assessment, and image retargeting. It is shown that the FDM are very similar and that their impact on the applications is low. The individual experiment comparisons, however, are found to be significantly different, showing that inter-laboratory differences strongly depend on the experimental conditions of the laboratories. The FDM are publicly available to the research community.
Published: 2013

32. Exact and hybrid methods for the multiperiod field service routing problem

Author: Pierre Guez, Pierre Dejax, Fabien Tricoire, Nathalie Bostel, National ICT Australia [Sydney] (NICTA), Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Systèmes Logistiques et de Production (SLP), and Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN)
Subjects: 050210 logistics & transportation, Mathematical optimization, Static routing, column generation, 021103 operations research, Computer science, Equal-cost multi-path routing, ACM, 05 social sciences, Policy-based routing, 0211 other engineering and technologies, [INFO.INFO-RO]Computer Science [cs]/Operations Research [cs.RO], 02 engineering and technology, Management Science and Operations Research, branch and price, hybrid methods, field service logistics, Link-state routing protocol, 0502 economics and business, Multipath routing, Vehicle routing problem, Column generation, Destination-Sequenced Distance Vector routing, technician routing, vehicle routing
Abstract: International audience; This article deals with a particular class of routing problem, consisting of the planning and routing of technicians in the eld. This problem has been identi ed as a multiperiod, multidepot uncapacitated vehicle routing problem with speci c constraints that we call the Multiperiod Field Service Routing Problem (MPFSRP). We propose a set covering formulation of the problem for the column generation technique and we develop an exact branch and price solution method for small-sized instances. We also propose several heuristic versions for larger instances. We present the results of experiments on realistic data adapted from an industrial application.
Published: 2013

33. Méthodes de reconstruction en tomographie de diffraction 3D

Author: FRIEDRICH, Corentin, ADTSI (IRCCYN), Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Ecole Centrale de Nantes, France / Ecole Polytechnique de Montréal, and Yves Goussard, Jérôme Idier et Sébastien Bourguignon
Subjects: Inverse problems, [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing, Problèmes inverses, optimisation, tomography, optimization, microwaves, tomographie, microondes
Abstract: Ce travail porte sur la tomographie micro-ondes, technique d’imagerie permettant de reconstruire une image tridimensionnelle des propriétés diélectriques d’un volume inconnu à partir d’une succession de mesures du champ électromagnétique diffracté par ce volume. Cette modalité d’imagerie est prometteuse dans un grand nombre d’applications (imagerie médicale,géophysique, contrôle non destructif de matériaux, ...) mais souffre d’un inconvénient majeur, un coût de calcul très élevé des algorithmes de reconstruction, qui freine son développement industriel. Dans cette thèse, le problème d’imagerie micro-ondes est vu comme un problème inverse où l’on cherche à minimiser l’erreur entre les données et un modèle direct simulant la diffraction de l’onde en fonction des propriétés de l’objet inconnu. Le modèle physique est discrétisé par la méthode des moments. Ce problème est mal-posé, en particulier car le nombre d’inconnues est supérieur au nombre de mesures. La solution est donc définie par la minimisation d’un critère des moindres carrés pénalisé par une fonction de régularisation, dont l’optimisation requiert la mise en oeuvre d’algorithmes itératifs d’optimisation locale. Le modèle direct est en outre non-linéaire, rendant la reconstruction plus difficile. Le calcul numérique de ce modèle direct, nécessaire au calcul du critère et de son gradient à chaque itération, concentre la majorité du coût de calcul de l’inversion. Il repose sur la résolution d’un grand nombre de systèmes linéaires. Nous proposons dans cette thèse de réduire le coût de calcul de ces méthodes de reconstruction en se focalisant sur ces résolutions de systèmes. Pour cela, les travaux sont divisés en deux contributions. Tout d’abord, nous proposons une procédure permettant de réduire le nombre de systèmes à résoudre en s’appuyant sur la configuration du montage d’acquisition. La seconde contribution est d’accélérer les résolutions de systèmes à l’aide d’algorithmes par blocs. Ce type d’approche permet de résoudre conjointement plusieurs systèmes linéaires impliquant la même matrice opérateur. Ces méthodes sont validées sur des simulations de problèmes 3D réalistes, puis appliquées à la reconstruction d’objets réels sur des données expérimentales de champs diffractés.; This thesis is focused on microwave tomography. This imaging technique consists in estimating a three-dimensional mapping of the dielectric properties of an unknown volume from measurements of the electromagnetic field from a known incident wave and scattered by this volume. This is a promising technique that is used in various applications (medical imaging, geophysics, non- destructive testing, ...) but suffers from high computational costs. This is a reason why microwave imaging is not widely used in industry. In this thesis, microwave imaging is considered as an inverse problem, where the error between the measurements and a forward model that describes the scattered field is minimized as a function of the properties of the volume. The physical model is discretized using the method of moments. This inverse problem is ill-posed because the number of unknowns is higher than the number of measurements. It is tackled through the minimization of a regularized leastsquares cost function, which is addresed by local iterative optimization algorithms. Moreover, the forward model is non-linear. Thus, reconstruction is a difficult and costful procedure. The computation of the objective function and of its gradient requires the resolution of a high number of linear systems, which are performed at each iteration of the optimization algorithm and represent most of the computational cost. In this thesis, we propose to reduce the computational costs of the reconstruction algorithms by focusing on the resolution of these linear systems. Two contributions are presented. The first one is a procedure in order to reduce the number of linear systems depending on the configuration of the measurement setup. The second contribution offers an efficient way to speed up the resolutions of the systems. We adapt block resolution algorithms, in order to jointly solve multiple linear systems involving a common operator matrix. These methods are validated on simulated, realistic, 3D problems, and applied to the reconstruction of real objects from experimental measurements of scattered fields. satisfactory results are obtained, where the computation time can be reduced by a factor of two, in particular for the most difficult reconstruction problems.
Published: 2016

34. The implementation of a methodology for robotic repair operations on composite structures

Author: Elodie, Paquet, Garnier, Sébastien, Ritou, Mathieu, FURET, Benoit, vincent, Desfontaines, Laboratoire des Sciences du Numérique de Nantes (LS2N), 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 Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Modélisation et Optimisation de Process de Production (MO2P), Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), and Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)
Subjects: ComputingMilieux_MISCELLANEOUS, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract: International audience
Published: 2016

35. Automated visibility map of the internal colon surface from colonoscopy video

Author: Cédric Dumas, Florian Grimpen, Olivier Salvado, Girija Chetty, Mohammad Ali Armin, Hans de Visser, University of Canberra, LUNAM / Ecole des Mines de Nantes / IRCCyN, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), CSIRO Information and Commuciation Technologies (CSIRO ICT Centre), and Commonwealth Scientific and Industrial Research Organisation [Canberra] (CSIRO)
Subjects: Colon, Visibility map, Biomedical Engineering, Optical flow, Video Recording, Colonoscopy, Image registration, Colonic Polyps, Health Informatics, Colonoscopes, 030218 nuclear medicine & medical imaging, Optical colonoscopy, 03 medical and health sciences, 0302 clinical medicine, Imaging, Three-Dimensional, Camera motion drift, medicine, Humans, Radiology, Nuclear Medicine and imaging, Computer vision, Sensitivity (control systems), [INFO.INFO-HC]Computer Science [cs]/Human-Computer Interaction [cs.HC], Ground truth, medicine.diagnostic_test, business.industry, Camera motion parameters, Visibility (geometry), General Medicine, Equipment Design, Computer Graphics and Computer-Aided Design, 3. Good health, Computer Science Applications, Uncovered area, Stereopsis, Colonoscopy quality, 030211 gastroenterology & hepatology, Surgery, Computer Vision and Pattern Recognition, Artificial intelligence, business
Abstract: International audience; PurposeOptical colonoscopy is a prominent procedure by which clinicians examine the surface of the colon for cancerous polyps using a flexible colonoscope. One of the main concerns regarding the quality of the colonoscopy is to ensure that the whole colonic surface has been inspected for abnormalities. In this paper, we aim at estimating areas that have not been covered thoroughly by providing a map from the internal colon surface.MethodsCamera parameters were estimated using optical flow between consecutive colonoscopy frames. A cylinder model was fitted to the colon structure using 3D pseudo stereo vision and projected into each frame. A circumferential band from the cylinder was extracted to unroll the internal colon surface (band image). By registering these band images, drift in estimating camera motion could be reduced, and a visibility map of the colon surface could be generated, revealing uncovered areas by the colonoscope. Hidden areas behind haustral folds were ignored in this study. The method was validated on simulated and actual colonoscopy videos. The realistic simulated videos were generated using a colonoscopy simulator with known ground truth, and the actual colonoscopy videos were manually assessed by a clinical expert.ResultsThe proposed method obtained a sensitivity and precision of 98 and 96 % for detecting the number of uncovered areas on simulated data, whereas validation on real videos showed a sensitivity and precision of 96 and 78 %, respectively. Error in camera motion drift could be reduced by almost 50 % using results from band image registration.ConclusionUsing a simple cylindrical model for the colon and reducing drift by registering band images allows for the generation of visibility maps. The current results also suggest that the provided feedback through the visibility map could enhance clinicians’ awareness of uncovered areas, which in return could reduce the probability of missing polyps.
Published: 2016

36. DIBR-synthesized image quality assessment based on morphological multi-scale approach

Author: Dragana Sandic-Stankovic, Dragan Kukolj, Patrick Le Callet, Inst. for Telecommun. & Electron. IRITEL, Belgrade, Serbia, University of Novi Sad, irccyn-ivc, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), and Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)
Subjects: Mean squared error, Biometrics, Computer science, business.industry, Image quality, Computation, 020206 networking & telecommunications, Stereoscopy, Pattern recognition, 02 engineering and technology, Rendering (computer graphics), law.invention, Wavelet, law, [INFO.INFO-TI]Computer Science [cs]/Image Processing [eess.IV], Signal Processing, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, Computer vision, Artificial intelligence, Electrical and Electronic Engineering, business, ComputingMilieux_MISCELLANEOUS, Transformation geometry, Information Systems
Abstract: The depth-image-based rendering (DIBR) algorithms used for 3D video applications introduce new types of artifacts mostly located around the disoccluded regions. As the DIBR algorithms involve geometric transformations, most of them introduce non-uniform geometric distortions affecting the edge coherency in the synthesized images. Such distortions are not handled efficiently by the common image quality assessment metrics which are primarily designed for other types of distortions. In order to better deal with specific geometric distortions in the DIBR-synthesized images, we propose a full-reference metric based on multi-scale image decomposition applying morphological filters. Using non-linear morphological filters in multi-scale image decomposition, important geometric information such as edges is maintained across different resolution levels. Edge distortion between the multi-scale representation subbands of the reference image and the DIBR-synthesized image is measured precisely using mean squared error. In this way, areas around edges that are prone to synthesis artifacts are emphasized in the metric score. Two versions of morphological multiscale metric have been explored: (a) Morphological Pyramid Peak Signal-to-Noise Ratio metric (MP-PSNR) based on morphological pyramid decomposition, and (b) Morphological Wavelet Peak Signal-to-Noise Ratio metric (MW-PSNR) based on morphological wavelet decomposition. The performances of the proposed metrics have been tested using two databases which contain DIBR-synthesized images: the IRCCyN/IVC DIBR image database and MCL-3D stereoscopic image database. Proposed metrics achieve significantly higher correlation with human judgment compared to the state-of-the-art image quality metrics and compared to the tested metric dedicated to synthesis-related artifacts. The proposed metrics are computationally efficient given that the morphological operators involve only integer numbers and simple computations like min, max, and sum as well as simple calculation of MSE. MP-PSNR has slightly better performances than MW-PSNR. It has very good agreement with human judgment, Pearson’s 0.894, Spearman 0.77 when it is tested on the MCL-3D stereoscopic image database. We have demonstrated that PSNR has particularly good agreement with human judgment when it is calculated between images at higher scales of morphological multi-scale representations. Consequently, simplified and in essence reduced versions of multi-scale metrics are proposed, taking into account only detailed images at higher decomposition scales. The reduced version of MP-PSNR has very good agreement with human judgment, Pearson’s 0.904, Spearman 0.863 using IRCCyN/IVC DIBR image database.
Published: 2016

37. Grounding Humanoid Visually Guided Walking: From Action-independent to Action-oriented Knowledge

Author: Hendry Ferreira Chame, Christine Chevallereau, Robotique, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Ecole Centrale de Nantes (ECN) and EQUIPEX ROBOTEX, France, and and the CAPES Foundation, Ministry of Education of Brazil, Brasília - DF 700040-020, Brazil
Subjects: Information Systems and Management, Computer science, Context (language use), 02 engineering and technology, Cognitive robotics, 050105 experimental psychology, Theoretical Computer Science, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], Artificial Intelligence, 0202 electrical engineering, electronic engineering, information engineering, 0501 psychology and cognitive sciences, business.industry, 05 social sciences, Representation (systemics), [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV], 020207 software engineering, Robotics, Visual Attention, Computer Science Applications, Embodied cognition, Humanoid robotics, Control and Systems Engineering, Ego-localization, Artificial intelligence, business, Software, Humanoid robot
Abstract: In the context of humanoid and service robotics, it is essential that the agent can be positioned with respect to objects of interest in the environment. By relying mostly on the cognitivist conception in artificial intelligence, the research on visually guided walking has tended to overlook the characteristics of the context in which behavior occurs. Consequently, considerable efforts have been directed to define action-independent explicit models of the solution, often resulting in high computational requirements. In this study, inspired by the embodied cognition research, our interest has focused on the analysis of the sensory-motor coupling. Notably, on the relation between embodiment, information, and action-oriented representation. Hence, by mimicking human walking, a behavior scheme is proposed and endowed the agent with the skill of approaching stimuli. A significant contribution to object discrimination was obtained by proposing an efficient visual attention mechanism, that exploits the redundancies and the statistical regularities induced in the sensory-motor coordination, thus the information flow is anticipated from the fusion of visual and proprioceptive features in a Bayesian network. The solution was implemented on the humanoid platform Nao, where the task was accomplished in an unstructured scenario.
Published: 2016

38. Hinf Multi-objective and Multi-model MIMO control design for Broadband noise attenuation in an enclosure

Author: Loiseau, Paul, Chevrel, Philippe, Yagoubi, Mohamed, Duffal, Jean-Marc, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Mines Nantes (Mines Nantes), Commande, Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Renault SA -Service Synthese Acoustique et Vibrations, EUCA, IFAC, CSS, and IRCCyN Commande - RENAULT
Subjects: Active Noise Control, Multi objective optimisation, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, robust control
Abstract: International audience; The Active Noise Control (ANC) problem considered throughout this paper consists of attenuating the noise in one point of an enclosure, over a broadband frequency range, using a feedback control scheme. This paper proposes a general framework and a benchmark which allow a fair and quantitative comparison of achievable performances according to the number of actuator(s) and sensor(s) used for the control. At first, the experimental set up is described, then the identification of a low order MIMO acoustic model is presented. A multi-objective and multi-model control approach, is then proposed. The multi-objective synthesis allows to cope with design trade-off without conservatism, while the multimodel design enhances the robustness of the control. Finally some simulation and experimentation results are given which illustrate how the proposed methodology makes possible to compare achievable performances depending on the number of sensors and actuators used.
Published: 2016

39. A pickup and delivery problem with full truckloads in the public works sector

Author: Grimault, Axel, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Systèmes Logistiques et de Production (SLP), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Ecole des Mines de Nantes, and Nathalie Bostel
Subjects: Synchronisation, Pickup and delivery problem, Problème de collectes et livraisons, Metaheuristic, Camions complets, [INFO.INFO-RO]Computer Science [cs]/Operations Research [cs.RO], Synchronization, Operations research, Full truckloads, Recherche opérationnelle, Métaheuristique
Abstract: In 2013, the transportation of materials for roads construction and earthwork represents more than half of the whole activity of in the public works sector. Optimization methods for vehicle routing problems allow to solve big-size problems with industrial sector constraints. In this thesis, we focus on solving the rich full truckload pickup and delivery problem with resource synchronization. First, we solve this vehicle routing problem with a two phase heuristic method. Then, we study the integration of regulation of drivers’ working hours and the addition of lunch breaks in routes of vehicles. These methods are tested on instances from the literature and real life instances from a public works company.; Le transport de matériaux pour la réalisation d’infrastructures routières et le terrassement représente, en 2013, plus de la moitié de l’activité du secteur des travaux publics. Les méthodes d’optimisation de tournées de véhicules permettent aujourd’hui de résoudre des problèmes de grandes tailles en intégrant les contraintes liées au métier. Dans cette thèse, nous nous intéressons à la résolution du problème riche de collectes et livraisons en camions complets avec des contraintes de synchronisation sur les ressources. Dans un premier temps, nous résolvons le problème de tournées de véhicules avec une méthode heuristique en deux phases. Dans un second temps, nous étudions l’intégration des contraintes liées aux temps de conduite des chauffeurs ainsi que l’ajout des pauses déjeuners aux tournées. Nous testons les algorithmes proposés sur des instances de la littérature et des instances réelles issues d’une application industrielle d’une entreprise de Travaux Publics.
Published: 2016

40. Heuristics for routes duration minimization in full truckload routing with resource synchronization

Author: Grimault, Axel, Bostel, Nathalie, Lehuédé, Fabien, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), LUNAM / Ecole des Mines de Nantes / IRCCyN, Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), and Systèmes Logistiques et de Production (SLP)
Subjects: [INFO.INFO-RO]Computer Science [cs]/Operations Research [cs.RO], ComputingMilieux_MISCELLANEOUS
Abstract: International audience
Published: 2016

41. Système de pilotage de l'orientation d'une remorque par rapport à un véhicule en marche arrière

Author: Chevrel, Philippe, Claveau, Fabien, Commande, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), and Mines Nantes (Mines Nantes)
Subjects: [SPI.AUTO]Engineering Sciences [physics]/Automatic
Published: 2016

42. The Application of Visual Saliency Models in Objective Image Quality Assessment: A Statistical Evaluation

Author: Wei Zhang, Hantao Liu, Zhou Wang, Ali Borji, Patrick Le Callet, Cardiff University, University of Central Florida [Orlando] (UCF), University of Waterloo [Waterloo], irccyn-ivc, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), and Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)
Subjects: QA75, Computer Networks and Communications, Image quality, Computer science, business.industry, ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, 020206 networking & telecommunications, 02 engineering and technology, Machine learning, computer.software_genre, Computer Science Applications, Visualization, Artificial Intelligence, Salience (neuroscience), [INFO.INFO-TI]Computer Science [cs]/Image Processing [eess.IV], 0202 electrical engineering, electronic engineering, information engineering, Visual attention, 020201 artificial intelligence & image processing, Artificial intelligence, business, computer, Software, ComputingMilieux_MISCELLANEOUS, Visual saliency
Abstract: Advances in image quality assessment have shown the potential added value of including visual attention aspects in its objective assessment. Numerous models of visual saliency are implemented and integrated in different image quality metrics (IQMs), but the gain in reliability of the resulting IQMs varies to a large extent. The causes and the trends of this variation would be highly beneficial for further improvement of IQMs, but are not fully understood. In this paper, an exhaustive statistical evaluation is conducted to justify the added value of computational saliency in objective image quality assessment, using 20 state-of-the-art saliency models and 12 best-known IQMs. Quantitative results show that the difference in predicting human fixations between saliency models is sufficient to yield a significant difference in performance gain when adding these saliency models to IQMs. However, surprisingly, the extent to which an IQM can profit from adding a saliency model does not appear to have direct relevance to how well this saliency model can predict human fixations. Our statistical analysis provides useful guidance for applying saliency models in IQMs, in terms of the effect of saliency model dependence, IQM dependence, and image distortion dependence. The testbed and software are made publicly available to the research community.
Published: 2016

43. Shift Design Personnel Task Scheduling Problem with Equity: Improving a constraint-based approach with a Large Neighborhood Search

Author: Lapègue, Tanguy, Prot, Damien, Bellenguez-Morineau, Odile, IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT), Institut des Nanosciences de Paris (INSP), Université Pierre et Marie Curie - Paris 6 (UPMC)-Centre National de la Recherche Scientifique (CNRS), Systèmes Logistiques et de Production (SLP), Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), and IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique)
Subjects: Shift Design, Personnel Task Scheduling Problem, Task Assignment, Large Neighborhood Search, Fixed Job Scheduling Problem, Equity, [INFO.INFO-RO]Computer Science [cs]/Operations Research [cs.RO]
Abstract: This paper introduces a new approach to solve the Shift-Design Personnel Task Scheduling Problem with an Equity criterion. This problem has been introduced in the context of drug evaluation, which requires to assign a set of medical tasks,fixed in time, to a set of skilled employees, whose shifts are to design. Employees' schedules must consider both legal and organizational constraints. The optimality criterion concerns the equity of the workload sharing. Two dedicated methods, one based on Constraint Programming and the other on a two-phase method, have been proposed in the literature to solve this problem. In this paper, we propose a new approach by improving the Constraint Programming model with a Large Neighborhood Search and we show that this new method clearly outperforms existing literature.
Published: 2016

44. Gamer Style: Performance Factors in Gamified Simulation

Author: DanaKai Bradford, Timothy R. Coles, Simon McBride, Cedric Dumas, Surabhi Gupta, The University of Western Australia (UWA), CSIRO ICT Centre Brisbane - AEHRC, Commonwealth Scientific and Industrial Research Organisation [Canberra] (CSIRO)-Queensland Government, LUNAM / Ecole des Mines de Nantes / IRCCyN, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), and Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)
Subjects: serious games, Computer science, cognitive load, 05 social sciences, ComputingMilieux_PERSONALCOMPUTING, Interactive learning environment, electroencephalogram, Knowledge acquisition, 050105 experimental psychology, 03 medical and health sciences, 0302 clinical medicine, Game design, Human–computer interaction, ACM: I.: Computing Methodologies/I.2: ARTIFICIAL INTELLIGENCE/I.2.1: Applications and Expert Systems/I.2.1.1: Games, 0501 psychology and cognitive sciences, EEG, [INFO.INFO-HC]Computer Science [cs]/Human-Computer Interaction [cs.HC], Competence (human resources), 030217 neurology & neurosurgery, Cognitive load
Abstract: International audience; Serious games and gamified simulations are increasingly being used to aid instruction in technical disciplines including the medical field. Assessments of player performance are important in understanding user profiles in order to establish serious games as a reliable, consistent method for increasing skills and competence in all trainees. In this study we used questionnaires, game characteristic metrics and EEG analysis to explore players' performance in a bronchoscopy simulator. We found that players who performed better were younger, made fewer errors, were quicker and differed in spectral profile during game play. Our findings, while speculative, have implications for training regimes in which gamified simulations are employed. We make suggestions for game design and for tailoring training regimes to suit individual learning styles to enhance knowledge acquisition and retention.
Published: 2016

45. A new bronchoscopy teaching tool (a high definition lap top based simulator—The Circular Checklist) shows training benefit in a cross over evaluation

Author: David Fielding, Bashirzadeh, F., Coles, T., Dumas, C., Salvado, O., Royal Brisbane and Women's Hospital, CSIRO ICT Centre Brisbane - AEHRC, Commonwealth Scientific and Industrial Research Organisation [Canberra] (CSIRO)-Queensland Government, LUNAM / Ecole des Mines de Nantes / IRCCyN, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), and TSANZ
Subjects: web based simulation, e-simulation, medical training, narrow band imaging, nbi, [INFO.INFO-HC]Computer Science [cs]/Human-Computer Interaction [cs.HC], endoscopy
Abstract: International audience; Introduction/Aim: Simulated training is fundamental for all trainees starting bronchoscopy training. Access to simulators can be difficult and costly. A new high definition laptop based training tool (The Circular Checklist, CCL) has been developed. It simulates the experience of moving around the bronchial tree in a sequential fashion using the Boyden classification of bronchial naming. Subjects must sequentially name and move into bronchial openings before moving on to the next bronchus, starting at B1 and finishing at B10 on each side.Methods: At a bronchoscopy training school, a prospective study was conducted with informed consent of participants. Trainees who had bronchoscopy experience were new to the Boyden classification, which were divided into two groups after stratification based on anatomy knowledge. After a bronchoscopic anatomy lecture, Group 1 was given 1 h to train on the CCL, completing all tasks and then assessed on a low fidelity bronchoscopy model with a real bronchoscope, using the Bronchoscopy Skills and Tasks Assessment Tool (B STAT). Group 2 had no such training but had the BSAT. BSTAT tests at each point were done in duplicate with the second test reported. Then there was a cross over with Group 2 having CCL training and both groups had repeat BSTAT. Maximum score on BSTAT is 42.Results: Nineteen subjects completed the CCL training and did both sets of assessment. Group 2 showed a significant learning gain. Group 1 results were on the whole better after their first CCL training. Subjects found the CCL easy to use and had high satisfaction from the training. BSTAT results (Mean, SD) Test 1Test 2Group 1 (CCL training before BSTAT test 1)32.9 ± 9.831.1 ± 6.5P = 0.3,NSGroup 2 (CCL training after BSTAT Test 1)20.7 ± 14.127.7 ± 9.3P = 0.019Conclusion: The CCL assists in bronchoscopic anatomy learning and sequential bronchial navigation.
Published: 2016

46. High Dynamic Range Video

Author: Dufaux, F., Le Callet, P., Mantiuk, R. K., Marta Mrak, Laboratoire Traitement et Communication de l'Information (LTCI), Télécom ParisTech-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS), IRCCyN-IVC, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-School of Physics, Monash University [Clayton]-Monash University [Clayton], University of Cambridge [UK] (CAM), BBC Research & Development, BBC, Multimédia (MM), Institut Mines-Télécom [Paris] (IMT)-Télécom Paris-Institut Mines-Télécom [Paris] (IMT)-Télécom Paris, Département Traitement du Signal et des Images (TSI), Télécom ParisTech-Centre National de la Recherche Scientifique (CNRS), and HAL, TelecomParis
Subjects: [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing, [INFO.INFO-TS] Computer Science [cs]/Signal and Image Processing, [INFO.INFO-TI]Computer Science [cs]/Image Processing [eess.IV], ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing, ComputingMilieux_MISCELLANEOUS, [SPI.SIGNAL] Engineering Sciences [physics]/Signal and Image processing
Abstract: International audience; At the time of rapid technological progress and uptake of High Dynamic Range (HDR) video content in numerous sectors, this book provides an overview of the key supporting technologies, discusses the effectiveness of various techniques, reviews the initial standardization efforts and explores new research directions in all aspects involved in HDR video systems.Topics addressed include content acquisition and production, tone mapping and inverse tone mapping operators, coding, quality of experience, and display technologies. This book also explores a number of applications using HDR video technologies in the automotive industry, medical imaging, spacecraft imaging, driving simulation and watermarking.
Published: 2016

47. Comprehensive admissibility for descriptor systems

Author: Mohamed Yagoubi, Yu Feng, Commande, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), and Mines Nantes (Mines Nantes)
Subjects: Output feedback, 0209 industrial biotechnology, Current (mathematics), Descriptor systems, Control engineering, 02 engineering and technology, Unobservable, 020901 industrial engineering & automation, Control and Systems Engineering, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, 020201 artificial intelligence & image processing, Electrical and Electronic Engineering, Mathematics
Abstract: International audience; This paper presents a complete solution to the problem of comprehensive admissibility for descriptor systems with unstable and nonproper weights. In such non-standard circumstances, it is hard to render the closed-loop system admissible due to the uncontrollable and unobservable weights. The necessary and sufficient condition is given and a specifically structured output feedback controller is conducted in terms of the dynamics of the weighs. It is shown that determining suitable controllers for a given descriptor system with the presence of unstable and nonproper weights requires solving an admissibility problem for an augmented system explicitly constructed in this paper. A numerical example is included to illustrate the current result.
Published: 2016

48. Learning Dispatching Rules for Scheduling: A Synergistic View Comprising Decision Trees, Tabu Search and Simulation

Author: Nasser Mebarki, Atif Shahzad, ACSED, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), and IUT de Nantes
Subjects: 0209 industrial biotechnology, Mathematical optimization, Computer Networks and Communications, Computer science, Job shop, Scheduling (production processes), 02 engineering and technology, Dynamic priority scheduling, Machine learning, computer.software_genre, Tabu search, lcsh:QA75.5-76.95, Fair-share scheduling, shop scheduling, 020901 industrial engineering & automation, 0202 electrical engineering, electronic engineering, information engineering, data mining, job shop, dispatching rules, decision trees, simulation, Job shop scheduling, business.industry, Flow shop scheduling, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, Human-Computer Interaction, Problem domain, Combinatorial optimization, 020201 artificial intelligence & image processing, lcsh:Electronic computers. Computer science, Artificial intelligence, business, computer
Abstract: International audience; A promising approach for an effective shop scheduling that synergizes the benefits of the combinatorial optimization, supervised learning and discrete-event simulation is presented. Though dispatching rules are in widely used by shop scheduling practitioners, only ordinary performance rules are known; hence, dynamic generation of dispatching rules is desired to make them more effective in changing shop conditions. Meta-heuristics are able to perform quite well and carry more knowledge of the problem domain, however at the cost of prohibitive computational effort in real-time. The primary purpose of this research lies in an offline extraction of this domain knowledge using decision trees to generate simple if-then rules that subsequently act as dispatching rules for scheduling in an online manner. We used similarity index to identify parametric and structural similarity in problem instances in order to implicitly support the learning algorithm for effective rule generation and quality index for relative ranking of the dispatching decisions. Maximum lateness is used as the scheduling objective in a job shop scheduling environment.
Published: 2016

49. Assessment of solid state and liquid phase sintering models by comparison of isothermal densification kinetics in W and W-Cu systems

Author: Jean-Michel Missiaen, Francis Delannay, irccyn-ivc, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Science et Ingénierie des Matériaux et Procédés (SIMaP ), and Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut de Chimie du CNRS (INC)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])
Subjects: 010302 applied physics, Materials science, Polymers and Plastics, Capillary action, Diffusion, Metallurgy, Metals and Alloys, Sintering, Thermodynamics, 02 engineering and technology, [CHIM.MATE]Chemical Sciences/Material chemistry, 021001 nanoscience & nanotechnology, 01 natural sciences, Isothermal process, Grain size, Electronic, Optical and Magnetic Materials, Stress (mechanics), Grain growth, 0103 physical sciences, Ceramics and Composites, Grain boundary, 0210 nano-technology
Abstract: International audience; The role of liquid phase and grain growth during the intermediate stage of sintering is investigated by comparing the isothermal densification rate of the tungsten skeleton in two systems: solid-state sintered W and liquid-phase sintered W-lOwt%Cu. Densification curves at 1380 degrees C, i.e. well after completion of capillary rearrangement in W-Cu, are confronted to the predictions of a model that considers a single representative grain size with quasi-equilibrium interfaces and a monotonic increase in grain size and coordination with density. In both systems, the densification mechanism is taken to be governed by W diffusion along grain boundaries. For system W-Cu, a phenomenological law is proposed to allow accounting for the decrease in liquid surface curvature during funicular filling of the pores by the liquid phase. The kinetics of grain growth is described via current literature model. Good agreement is demonstrated between experimental measurements and model predictions when relying on material parameter values given in literature. In system W-Cu, the detrimental effect of the decrease in dihedral angle is, at the beginning of the funicular stage, compensated by the contribution to sintering stress brought about by the concave curvature of liquid/vapour interface. The sensitivity of computational results to model hypotheses and material parameters is assessed. The most influential parameters are diffusivities along W grain boundaries and along W/vapour and W/Cu interfaces. (C) 2015 Acta Materialia Inc. Published by Elsevier Ltd. All rights reserved.
Published: 2016

50. Linking bone microarchitecture to projections texture analysis

Author: Yves Amouriq, Florent Autrusseau, Jean-Pierre Guédon, irccyn-ivc, Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Laboratoire d'ingénierie osteo-articulaire et dentaire (LIOAD), and Université de Nantes (UN)-IFR26-Institut National de la Santé et de la Recherche Médicale (INSERM)
Subjects: 030203 arthritis & rheumatology, Ground truth, business.industry, 030206 dentistry, Texture (geology), Microarchitecture, Mojette Transform, 03 medical and health sciences, Trabecular bone, 0302 clinical medicine, medicine.anatomical_structure, Projection (mathematics), [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing, Epiphysis, medicine, Computer vision, Artificial intelligence, business, Texture orientation, Geology, ComputingMilieux_MISCELLANEOUS
Abstract: Trabecular bone and its microarchitecture are of prime importance for health. This paper focuses onto the relationship between bone microarchitecture and the texture found on micro CT projections. From a small animal study, 5 mice legs were studied by microCT at a resolution of 6μm. The 3D reconstructions are only used as ground truth for their microarchitecture parameters. The study uses 2 different sets of tomographic data : 3 volumes acquired at ANU in Canberra and 2 volumes acquired in Nantes. For each projection set, we determine the texture orientation onto a ROI region of both medial epiphysis and diaphisys using a local variance computed onto Mojette projections from the ROI.
Published: 2016

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