Alfred Prédhumeau (Hg.), Literaturbeziehungen im Kalten Krieg – Österreich und die DDR. Berlin, Frank & Timme, Reihe Forum: Östererreich, Bd.21,

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Experimental Validation of Sensitivity-Aware Trajectory Planning for a Redundant Robotic Manipulator Under Payload Uncertainty

International audienceIn this paper, we experimentally validate the recent concepts of closed-loop state and input sensitivity in the context of robust manipulation control for a robot manipulator. Our objective is to assess how optimizing trajectories with respect to sensitivity metrics can enhance the closed-loop system's performance w.r.t. model uncertainties, such as those arising from payload variations during precise manipulation tasks. We conduct a series of experiments to validate our optimization approach across different trajectories, focusing primarily on evaluating the precision of the manipulator's end-effector at critical moments where high accuracy is essential. Our findings offer valuable insights into improving the closed-loop robustness of the robot's state and inputs against physical parametric uncertainties that could otherwise degrade the system's performance

Critical function placement based on service chains in multi-administrative federated networks

International audienceAlthough the Service Function Chains (SFCs) embedding problem is broadly investigated in the literature, few works address it in a sliced multi-administrative network federation. In this work, we provide several insights into the problem. First, we describe a new federated-level topology abstraction. Second, we introduce a novel optimization model and heuristic (for large scale), which solve SFC embedding. Third, we conduct experiments on various multi-domain topologies and compare the algorithms regarding resource allocation efficiency and runtime. We analyze the trade-off between slice deployment costs and link utilization. Finally, we emulate two security scenarios on Containernet, Docker, and Open vSwitch architecture

Large-Time Asymptotics for Hyperbolic Systems with Non-Symmetric Relaxation: An Algorithmic Approach

We study the stability of one-dimensional linear hyperbolic systems with non-symmetric relaxation. Introducing a new frequency-dependent Kalman stability condition, we prove an abstract decay result underpinning a form of inhomogeneous hypocoercivity. In contrast with the homogeneous setting, the decay rates depend on how the Kalman condition is fulfilled and, in most cases, a loss of derivative occurs: one must assume an additional regularity assumption on the initial data to ensure the decay. Under structural assumptions, we refine our abstract result by providing an algorithm, of wide applicability, for the construction of Lyapunov functionals. This allows us to systematically establish decay estimates for a given system and uncover algebraic cancellations (beyond the reach of the Kalman-based approach) reducing the loss of derivatives in high frequencies. To demonstrate the applicability of our method, we derive new stability results for the Sugimoto model, which describes the propagation of nonlinear acoustic waves, and for a beam model of Timoshenko type with memory

HadamRNN: Binary and Sparse Ternary Orthogonal RNNs

International audienceBinary and sparse ternary weights in neural networks enable faster computations and lighter representations, facilitating their use on edge devices with limited computational power. Meanwhile, vanilla RNNs are highly sensitive to changes in their recurrent weights, making the binarization and ternarization of these weights inherently challenging. To date, no method has successfully achieved binarization or ternarization of vanilla RNN weights. We present a new approach leveraging the properties of Hadamard matrices to parameterize a subset of binary and sparse ternary orthogonal matrices. This method enables the training of orthogonal RNNs (ORNNs) with binary and sparse ternary recurrent weights, effectively creating a specific class of binary and sparse ternary vanilla RNNs. The resulting ORNNs, called HadamRNN and Block-HadamRNN, are evaluated on benchmarks such as the copy task, permuted and sequential MNIST tasks, the IMDB dataset, two GLUE benchmarks, and two IoT benchmarks. Despite binarization or sparse ternarization, these RNNs maintain performance levels comparable to state-of-the-art full-precision models, highlighting the effectiveness of our approach. Notably, our approach is the first solution with binary recurrent weights capable of tackling the copy task over 1000 timesteps

Évaluer les attitudes implicites face au handicap : une illustration en milieu scolaire

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IGUALDADE ENTRE MENINAS E MENINOS: ANÁLISE DO DISCURSO DE CRIANÇAS APÓS VISITA A UM MUSEU

International audienceWhat is the impact of a school visit with 5-6 year olds to an exhibition that deals with a socially sensitive issue: equality between girls and boys? How can we analyse what they understand from the exhibition, what they take away from it and, above all, how they position themselves in relation to the values defended? This article presents the methodological issues involved in collecting this discourse and, in particular, the choice of focus group (of 5 to 6 children) to ensure that the exchanges are as open as possible. It also addresses the theoretical decisions made in analysing the interactions from a pragmatic linguistic approach. One hundred and twenty children took part in the study, which made it possible to identify a typology of the roles assumed by the children during the discussions. While some children expressed the possibility of equal rights and powers, others were firmly opposed. In this way, we were able to measure the educational potential of school visits to museums.Qual é o impacto de uma visita escolar com crianças de 5 a 6 anos a uma exposiçãoque trata de uma questão socialmente sensível: a igualdade entre meninas e meninos? Como podemos analisar o que eles entendem da exposição, o que retêm dela e, acima de tudo, como se posicionam em relação aos valores defendidos? Este artigo apresenta as questões metodológicas envolvidas na coleta desse discurso e, em particular, a escolha de focusgrup (de 5 a 6 crianças) para garantir que as trocas sejam as mais abertas possíveis. Também aborda as decisões teóricas tomadas na análise das interações numa abordagem linguística pragmática. Cento e vinte crianças participaram no estudo, que permitiu identificar uma tipologia dos papéis assumidos pelas crianças durante as discussões.Enquanto algumas crianças expressaram a possibilidade de direitos e poderes iguais, outras se opuseram firmemente.Dessa forma, pudemos medir o potencial educacional das visitas escolares a museus

: ISBN 978-2-35755-039-1

978-2-35755-039-1Carlo Gozzi, Memorie inutili, Venise, ed. Palese, 1797Traduction française collective fondée sur la princeps de 1797: Carlo Gozzi, Memorie inutili, Venise, ed. Palese, 179

Avis critique SERVA AMOROSA-Théâtre de la Porte Saint-Martin (2024-2025)Mise en scène: Catherie Hiegel, avec Isabelle Carré (Corallina)

https://goldoni.hypotheses.org/232En 1993, Catherine Hiegel est déjà Maddalena Marliani, avec sa fougue, son regard distancié, sa centralité, sa puissance actancielle et son ascendant sur l'ensemble choral des autres personnages-troupe. En 2024, la sociétaire du Français reprend le flambeau comme metteuse en scène, en n'éludant jamais la facette puissamment méta-théatrale de la pièce au coeur de laquelle oeuvre une Corallina véritable « cheval de Troie » du dramaturge. D'une part, Corallina met en péril sa réputation en habitant, pour le protéger, avec son jeune maître chassé de la maison de son père par une belle-mère avide obnubilée par le testament du vieux Pantalon qui l'a épousée en secondes noces. D'autre part, elle provoque une relation amoureuse entre son jeune maître en déréliction familiale et Rosaura, une honnête jeune fille à marier. Tout cela fait de Corallina celle à qui Goldoni confie la tâche de tirer les ficelles des relations entre les personnages : ainsi le livre du monde (l'intrigue familiale et ses personnages) croise habilement le livre du théâtre (l'art de Maddalena Marliani-Corallina au coeur d'un système dramaturgique complexe), à l'image de ces deux livres si chers à Carlo Goldoni. Dans cette version directement héritée de Jacques Lassalle, Isabelle Carré est magnifique...https://goldoni.hypotheses.org/23

Anticipatory action and future urban living in a context of increasing temperatures: an analysis from the Barcelona Climate Shelter Network

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