Commissariat &#xc0; L'&#xc9;nergie Atomique Et Aux &#xc9;nergies Alternatives

Commissariat a L'energie Atomique

Université Joseph Fourier

Movea

Institut National Polytechnique De Grenoble

Universitè De Montpellier

Centre National De La Recherche Scientifique

Université Montpellier 2 Sciences Et Techniques

Suzanne Lesecq

Diego Puschini Pascual

Christelle Godin

Joe Youssef

Mykhailo Zarudniev

Julien Mottin

Alain Barraud

Roxana Dia

Laurent Ouvry

Antoine Dupret

Sylvain Leirens

Yanis Caritu

Viviane Cattin

Edith Beigne

Stéphane Bonnet

Nathalie Sprynski

Henri-Pierre Charles

Nicolas Ravot

Lionel Vincent

Alex Pereira Da Silva

Wafa Ben Hassen

Tiana Rakotovao Andriamahefa

Olivier Debicki

Pascal Benoit

Philippe Maurine

Miguel Gallego Roman

Frédéric Heitzmann

Nicolas Mareau

Jérémy Barra

Stephane Mancini

Arnaud Tonda

Armando Zanchetta

Yeter Akgul

Carolina Albea Sanchez

Stèphane Bonnet

Tiana Rakotovao Andriamehefa

Cédric Berbra

A method is provided for collaboratively detecting tangible bodies in an environment employing a plurality of distance sensors with which respective carriers are equipped, including: for each sensor, acquiring a series of measurements of distance of a closest tangible body along a line of sight; applying an inverse model of the sensor on a local occupancy grid; and constructing a consolidated local occupancy grid via Bayesian fusion of the occupancy probabilities thus determined; and, computing occupancy probabilities of the cells of a global occupancy grid via Bayesian fusion of the occupancy probabilities of corresponding cells of at least certain of said consolidated local occupancy grids. A system for implementing such a method is also provided.

Method and system for collaboratively detecting tangible bodies in an environment

A method for measuring, using a radar or sonar, the velocity with respect to the ground of a carrier moving parallel to the ground, includes the following steps: a) orienting the line of sight of the radar or sonar toward the ground; b) emitting a plurality of radar or sonar signals (P-P) that are directed toward the ground, and acquiring respective echo signals (E-E); c) processing the acquired echo signals so as to obtain, for one or more echo delay values, a corresponding Doppler spectrum; d) for the or at least one the echo delay value, determining a high cut-off frequency of the corresponding Doppler spectrum; and e) computing the velocity of the carrier with respect to the ground on the basis of the one or more high cut-off frequencies. A system allowing such a method to be implemented.

Method and system for measuring the velocity of a carrier with respect to the ground

A method of localizing a mobile body (MB) in a known environment, includes the following steps: a) defining an occupancy grid (G) modeling the environment; b) defining a set of position grids (&#x3a0;) each position grid being associated to a heading of the mobile body; c) receiving a time series of measurements (z, z, . . . ) from a distance sensor carried by the mobile body; and d) upon receiving a measurement of the time series, updating the pose probabilities of the position grids as a function of present values of the occupancy probabilities and of the received measurement; wherein step d) is carried out by applying an inverse sensor model to the received measurement, while considering the distance sensor co-located with a detected obstacle and by applying Bayesian fusion to update the pose probabilities of the position grids.

Method and apparatus for performing grid-based locailization of a mobile body

An environment sensing method includes the following steps, carried out by a data processor a) defining an occupancy grid comprising a plurality of cells; b) acquiring at least one measurement result from a distance sensor, representative of the distance of one or more nearest targets; and c) computing an occupation probability of the cells of the occupancy grid by applying to the measurement an inverse sensor model stored in a memory device in the form of a data structure representing a plurality of model grids associated to respective distance measurement results, at least some cells of a model grid corresponding to a plurality of contiguous cells of the occupancy grid belonging to a same of a plurality of angular sectors into which the field of view of the distance sensor is divided, and associating a same occupation probability to each one of the plurality of cells. An apparatus programmed or configured for carrying out the environment sensing method and a computer-implemented method of computing an inverse sensor model suitable for carrying out the environment sensing method are also provided.

Environment sensing method and apparatus using a wide-angle distance sensor

A method for detecting soft faults in a transmission line includes the following steps: acquiring a measurement, called time-domain reflectogram, of a signal characteristic of the reflection of a reference signal previously injected into the line, determining the difference between the time-domain reflectogram and a time-domain reflectogram measured previously for the same line or an identical line of similar characteristics, in order to obtain a corrected time-domain reflectogram, applying a plurality of independent transformations to the corrected time-domain reflectogram in order to obtain a plurality of independent transformed reflectograms, converting the transformed reflectograms into a plurality of mutually independent probabilities of occurrence of a fault, applying a data merging method to the probabilities of occurrence of a fault to deduce therefrom a unified value of the probability of occurrence of a fault.

Method for detecting soft faults in a cable by data fusion

A method for estimating a path of a moving element or body using a sensor assembly includes: receiving acceleration values provided by an accelerometer; receiving angular velocity values provided by a gyrometer; processing the values provided for estimating at least one angular position value using the angular velocity values and at least two Cartesian position values defining a path of the moving element or body using acceleration values and the at least one previously estimated angular position value; estimating rotation parameters, by inverting a rotational realignment model of the estimated path subject to prior knowledge of the path; retroactively correcting the at least one estimated angular position value, by applying a rotation on this value using estimated rotation parameters, so as to provide at least one corrected angular position value.

Method and system for estimating a path of a mobile element or body

A datum to be preloaded includes the acquisition of a, so-called 'model', statistical distribution of the deltas of a model access sequence, the construction of a, so-called 'observed', statistical distribution of the deltas of an observed access sequence, the identification in the observed statistical distribution, by comparing it with the model statistical distribution, of the most deficient class, that is to say of the class for which the difference NoDSM&#x2212;NoDSO is maximal, where NoDSM and NoDSO are the numbers of occurrences of this class that are deduced, respectively, from the model statistical distribution and from the observed statistical distribution, the provision as prediction of the datum to be preloaded into the cache memory, of at least one predicted address where the datum to be preloaded is contained, this predicted address being constructed on the basis of the most deficient class identified.

Method of predicting a datum to be preloaded into a cache memory

A method for automatically focusing a camera comprising an image sensor, at least one lens configured to project an image onto the sensor and an actuator configured to modify a focusing parameter of the lens, comprises: a first phase of controlling the actuator in an open loop so the focusing parameter successively takes a plurality of predefined values, images being acquired for each value of the focusing parameter and a sharpness indicator being calculated on the basis of each image; and a second phase of controlling the actuator in a closed loop to maximize the sharpness indicator, the second closed-loop control phase being implemented by making use of a control law and starting conditions determined on the basis of the sharpness indicators calculated during the first phase. A system for automatically focusing a camera for implementing the method, and a camera equipped with such a system is provided.

Method and system for automatically focusing a camera

A device for supplying an electronic circuit with a clock signal having a dock frequency includes a frequency actuator that generates the clock signal in accordance with a frequency setting according to a regulation mechanism. A control module selectively applies to the frequency actuator a first frequency setting or a second frequency setting that is higher than the first setting. An adaptation module modifies the regulation mechanism in accordance with the applied setting.

Supply device for supplying an electronic circuit

A method for controlling an electronic circuit by means of the first, second and third operating parameters, comprises: determining a range of variation of the third parameter for each value of the first parameter by varying the second parameter, said ranges being different; determining a target value of the third parameter; if the target value is within one of the ranges, operating the electronic circuit by setting the third parameter to the target value; and in the opposite case, selecting the two ranges framing the target value and operating the electronic circuit by consecutively bringing the third parameter into each one of the selected ranges.

Method for controlling an electronic circuit

A method for controlling an electronic circuit, characterised in that it comprises a step of feedback control of a current voltage-frequency operating point relative to a reference curve of a voltage-frequency domain of operation associated with the circuit, to bring the circuit from a first operating point to a second operating point, said reference curve linking said first and second operating points in an optimal trajectory relative to a boundary of said domain.

Optimized voltage-frequency control

A method determining values of parameters representing a movement of an entity represented by an articulated chain, by a sensor assembly including at least one sensor for a parameter representing an orientation of a first segment of the articulated chain, the method including: reception of an orientation value measured and supplied by the orientation sensor; estimation of a value of at least one first parameter representing a movement of the first segment by processing the orientation value; and, based on a predetermined movement model of the articulated chain, as a time change model, including at least one relationship of time dependency between the at least one first parameter and at least one other parameter representing a movement of another segment of the articulated chain: estimation of a value of the at least one other parameter by application of the time change model to the estimated value of the at least one first parameter.

Method and system for determining the values of parameters representative of a movement of at least two limbs of an entity represented in the form of an articulated line

Identifying measurement subset comprising a disturbed measurement disturbed by a magnetic disturber includes emitting and measuring magnetic fields using mono-axial source/mono-axial transducer pairs to obtain real measurements distinguished by position of a source used to emit the field, position of transducer used to measure the field, and field frequency, a source being tied to a mobile object and the transducer tied to a frame of reference in which a position of the mobile object is to be expressed (or vice versa), estimating position of the object in the reference frame based on an observer and involving only a first subset of the measurements, estimating the measurements based at least in part on the estimated position Pi and on a direct model linking the object's position to the measurements, and determining whether or not the first measurement subset comprises a disturbed measurement by comparing the estimated and real measurements.

Method and device for identifying a subset of measurements, method and system for locating an object, recording medium for these methods

A method for calibrating coefficients of an observer of a variable state of a physical system from measurements of physical quantities of the system, at different instants includes measuring a variable of the physical system at several instants, the variable being a function of a system state variable, and determining a vector of coefficients that minimizes a sum of the number of measurements of a square of a norm of a vector that is the difference between the measured variable and a function of the system state variable and the vector of coefficients. The minimization is subject to a constraint that the trajectory of the measured variable be within a corridor of uncertainty on either side of a trajectory of its estimate, at least for the measurement instants.

Calibrating method and system, recording medium for this method

A method for detecting a substantially invariant rotation axis of a motion of a mobile body equipped with at least one inertial or magnetic sensor with three sensitive axes that includes acquiring physical measurements with respect to the three sensitive axes of the sensor, the physical measurements including at least three samples at different times, estimating a substantially invariant rotation axis in the physical measurements space, and identifying the estimated axis as the substantially invariant rotation axis of the motion. In one aspect, the method is applicable for estimating the motion of a mobile body rotating about a substantially invariant axis.

Method and device for detecting a substantially invariant rotation axis

Growing community of inventors

Froges, France

Suzanne Lesecq