Using the job-exposure matrix for elaborating job histories.

A first software (JHS) for the elaboration of job histories oriented toward risks was designed and results published In an article "A software for the elaboration of Job Histories". This article presents a second software (JES), based on the use of a job-exposure matrix designed for one company. The matrix is essentially a database, an organized gathering of information concerning the company. The two softwares are inter-faced and both run on a PC. When properly exploited, the two softwares can serve as an asset for epidemiological studies dealing with occupational health.     

Haar invariant signatures and spatial recognition using omnidirectional visual information only

This paper describes a method for spatial representation, place recognition and qualitative self-localization in dynamic indoor environments, based on omnidirectional images. This is a difficult problem because of the perceptual ambiguity of the acquired images, and their weak robustness to noise, geometrical and photometric variations of real world scenes. The spatial representation is built up invariant signatures using Invariance Theory where we suggest to adapt Haar invariant integrals to the particular geometry and image transformations of catadioptric omnidirectional sensors. It follows that combining simple image features in a process of integration over visual transformations and robot motion, can build discriminant percepts about robot spatial locations. We further analyze the invariance properties of the signatures and the apparent relation between their similarity measures and metric distances. The invariance properties of the signatures can be adapted to infer a hierarchical process, from global room recognition to local and coarse robot localization.     

3D model based tracking for omnidirectional vision: A new spherical approach

The current work addresses the problem of 3D model tracking in the context of monocular and stereo omnidirectional vision in order to estimate the camera pose. To this end, we track 3D objects modeled by line segments because the straight line feature is often used to model the environment. Indeed, we are interested in mobile robot navigation using omnidirectional vision in structured environments. In the case of omnidirectional vision, 3D straight lines are projected as conics in omnidirectional images. Under certain conditions, these conics may have singularities.In this paper, we present two contributions. We, first, propose a new spherical formulation of the pose estimation withdrawing singularities, using an object model composed of lines. The theoretical formulation and the validation on synthetic images thus show that the new formulation clearly outperforms the former image plane one. The second contribution is the extension of the spherical representation to the stereovision case. We consider in the paper a sensor which combines a camera and four mirrors. Results in various situations show the robustness to illumination changes and local mistracking. As a final result, the proposed new stereo spherical formulation allows us to localize online a robot indoor and outdoor whereas the classical formulation fails.     

Fuzzy identification in fuzzy databases: The nuanced relational division

In the present article we review the main research works in fuzzy databases; propose an extension of relation division operator to fuzzy databases; provide a model for fuzzy information and resolve the identification problem in fuzzy databases. For this, three notions are relevant: (a) the concept of nuanced information for representing fuzzy values and the associated nuance, (b) the nuanced division operator, (c) the possibility of weighting attributes in order to express data and query pertinence and trust. We then show how to resolve the problem of fuzzy identification with the nuanced division operator. © 1994 John Wiley & Sons, Inc.     

Oxidative dimerisation of methane on a supported Pd-Ag catalyst using a diffusion controlled ceramic wall reactor

Supported palladium-silver oxides were used as catalysts for the partial oxidation of methane by molecular oxygen in a tubular reactor with ceramic wall separation. The ceramic wall controls the O₂ supply in the catalyst bed. The results indicate that the reactor configuration can play an important role in methane oxidation. C₂H₆, C₂H₄, CO₂ and H₂O were obtained at temperatures less than 300 °C. At this temperature any contribution from homogeneous gas phase reaction can be ruled out.     

A study of a dynamic progressive reasoning system

Controlling resource-bounded systems not only involves taking decisions about planning and scheduling reasoning components to achieve time-constrained goals, but also about how to monitor the progress of these components. We propose an extended closed-loop planning, scheduling and execution. This extended closed-loop allows one to address the following limitations: (1) dynamic and time-constrained environments, (2) uncertainty regarding the duration of reasoning components and (3) tolerance to execution failure. The interactions in the extended closed-loop allow one: first to revise the current schedule when deviations from a predetermined schedule occur during execution, second to update continuously the set of goals on which the control focuses its decision and third how this set of goals is updated when an execution failure occurs. We discuss these issues in a progressive reasoning system implemented and applied to a railway control application where real-time (dynamic and time-constrained) situations occur.     

A software for the elaboration of job histories.

This article presents a software designed to help the occupational physician elaborate, print and automatically interrogate the job histories of workers. The need for the surveillance of professional risks throughout careers is the basic assumption on which this software is based and it runs on a PC.     

Solving efficiently Decentralized MDPs with temporal and resource constraints

Optimizing the operation of cooperative multi-agent systems that can deal with large and realistic problems has become an important focal area of research in the multi-agent community. In this paper, we first present a new model, the OC-DEC-MDP (Opportunity Cost Decentralized Markov Decision Process), that allows us to represent large multi-agent decision problems with temporal and precedence constraints. Then, we propose polynomial algorithms to efficiently solve problems formalized by OC-DEC-MDPs. The problems we deal with consist of a set of agents that have to execute a set of tasks in a cooperative way. The agents cannot communicate during task execution and they must respect resource and temporal constraints. Our approach is based on Decentralized Markov Decision Processes (DEC-MDPs) and uses the concept of opportunity cost borrowed from economics to obtain approximate control policies. Experimental results show that our approach produces good quality solutions for complex problems which are out of reach of existing approaches.     

Punctual versus continuous auction coordination for multi-robot and multi-task topological navigation

This paper addresses the interest of using punctual versus continuous coordination for mobile multi-robot systems where robots use auction sales to allocate tasks between them and to compute their policies in a distributed way. In continuous coordination, one task at a time is assigned and performed per robot. In punctual coordination, all the tasks are distributed in Rendezvous phases during the mission execution. However, tasks allocation problem grows exponentially with the number of tasks. The proposed approach consists in two aspects: (1) a control architecture based on topological representation of the environment which reduces the planning complexity and (2) a protocol based on sequential simultaneous auctions (SSA) to coordinate Robots’ policies. The policies are individually computed using Markov Decision Processes oriented by several goal-task positions to reach. Experimental results on both real robots and simulation describe an evaluation of the proposed robot architecture coupled wih the SSA protocol. The efficiency of missions’ execution is empirically evaluated regarding continuous planning.     

An Intelligent System Combining Different Resource-Bounded Reasoning Techniques

In this paper, PRIMES (Progressive Reasoning and Intelligent multiple MEthods System), a new architecture for resource-bounded reasoning that combines a form of progressive reasoning and the so-called multiple methods approach is presented. Each time-critical reasoning unit is designed in such a way that it delivers an approximate result in time whenever an overload or a failure prevents the system from producing the most accurate result. Indeed, reasoning units use approximate processing based on two salient features. First, an incremental processing unit constructs an approximate solution quickly and then refines it incrementally. Second, a multiple methods approach proposes different alternatives to solve the problem, each of them being selected according to the available resources. In allowing several resource-bounded reasoning paradigms to be combined, we hope to extend their actual scope to cover more real-world application domains.