Bayesian inference for inverse problems

Traditionally, the MaxEnt workshops start by a tutorial day. This paper summarizes my talk during 2001'th workshop at John Hopkins University. The main idea in this talk is to show how the Bayesian inference can naturally give us all the necessary tools we need to solve real inverse problems: starting by simple inversion where we assume to know exactly the forward model and all the input model parameters up to more realistic advanced problems of myopic or blind inversion where we may be uncertain about the forward model and we may have noisy data. Starting by an introduction to inverse problems through a few examples and explaining their ill posedness nature, I briefly presented the main classical deterministic methods such as data matching and classical regularization methods to show their limitations. I then presented the main classical probabilistic methods based on likelihood, information theory and maximum entropy and the Bayesian inference framework for such problems. I show that the Bayesian framework, not only generalizes all these methods, but also gives us natural tools, for example, for inferring the uncertainty of the computed solutions, for the estimation of the hyperparameters or for handling myopic or blind inversion problems. Finally, through a deconvolution problem example, I presented a few state of the art methods based on Bayesian inference particularly designed for some of the mass spectrometry data processing problems.Comment: Presented at MaxEnt01. To appear in Bayesian Inference and Maximum Entropy Methods, B. Fry (Ed.), AIP Proceedings. 20pages, 13 Postscript figure

Trusted-HB: a low-cost version of HB+ secure against Man-in-The-Middle attacks

Since the introduction at Crypto'05 by Juels and Weis of the protocol HB+, a lightweight protocol secure against active attacks but only in a detection based-model, many works have tried to enhance its security. We propose here a new approach to achieve resistance against Man-in-The-Middle attacks. Our requirements - in terms of extra communications and hardware - are surprisingly low.Comment: submitted to IEEE Transactions on Information Theor

Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach

We introduce a real-time, constrained, nonlinear Model Predictive Control for the motion planning of legged robots. The proposed approach uses a constrained optimal control algorithm known as SLQ. We improve the efficiency of this algorithm by introducing a multi-processing scheme for estimating value function in its backward pass. This pass has been often calculated as a single process. This parallel SLQ algorithm can optimize longer time horizons without proportional increase in its computation time. Thus, our MPC algorithm can generate optimized trajectories for the next few phases of the motion within only a few milliseconds. This outperforms the state of the art by at least one order of magnitude. The performance of the approach is validated on a quadruped robot for generating dynamic gaits such as trotting.Comment: 8 page

Substructured formulations of nonlinear structure problems - influence of the interface condition

We investigate the use of non-overlapping domain decomposition (DD) methods for nonlinear structure problems. The classic techniques would combine a global Newton solver with a linear DD solver for the tangent systems. We propose a framework where we can swap Newton and DD, so that we solve independent nonlinear problems for each substructure and linear condensed interface problems. The objective is to decrease the number of communications between subdomains and to improve parallelism. Depending on the interface condition, we derive several formulations which are not equivalent, contrarily to the linear case. Primal, dual and mixed variants are described and assessed on a simple plasticity problem.Comment: in International Journal for Numerical Methods in Engineering, Wiley, 201