A discontinuous Galerkin method for a new class of Green-Naghdi equations on simplicial unstructured meshes

In this paper, we introduce a discontinuous Finite Element formulation on simplicial unstructured meshes for the study of free surface flows based on the fully nonlinear and weakly dispersive Green-Naghdi equations. Working with a new class of asymptotically equivalent equations, which have a simplified analytical structure, we consider a decoupling strategy: we approximate the solutions of the classical shallow water equations supplemented with a source term globally accounting for the non-hydrostatic effects and we show that this source term can be computed through the resolution of scalar elliptic second-order sub-problems. The assets of the proposed discrete formulation are: (i) the handling of arbitrary unstructured simplicial meshes, (ii) an arbitrary order of approximation in space, (iii) the exact preservation of the motionless steady states, (iv) the preservation of the water height positivity, (v) a simple way to enhance any numerical code based on the nonlinear shallow water equations. The resulting numerical model is validated through several benchmarks involving nonlinear wave transformations and run-up over complex topographies

Taming Web Sources with Minute-Made Wrappers

The Web has become a major conduit to information repositories of all kinds. Today, more than 80% of information published on the Web is generated by underlying databases and this proportion keeps increasing. In some cases, database access is only granted through a Web gateway using forms as a query language and HTML as a display vehicle. In order to permit inter-operation (between Web sources and legacy databases or among Web sources themselves) there is a strong need for Web wrappers. Web wrappers share some of the characteristics of standard database wrappers but usually the underlying data sources offer very limited query capabilities and the struc- ture of the result (due to HTML shortcomings) might be loose and unstable. To overcome these problems, we divide the architecture of our Web wrappers into three components: (1) fetching the document, (2) extracting the information from its HTML formatting, and (3) mapping the information into a structure that can be used by applications (such as mediators)

Building Intelligent Web Applications Using Lightweight Wrappers

The Web so far has been incredibly successful at delivering information to human users. So successful actually, that there is now an urgent need to go beyond a browsing human. Unfortunately, the Web is not yet a well organized repository of nicely structured documents but rather a conglomerate of volatile HTML pages. To address this problem, we present the World Wide Web Wrapper Factory (W4F), a toolkit for the generation of wrappers for Web sources, that offers: (1) an expressive language to specify the extraction of complex structures from HTML pages; (2) a declarative mapping to various data formats like XML; (3) some visual tools to make the engineering of wrappers faster and easier

Doping quantum dimer models on the square lattice

A family of models is proposed to describe the motion of holes in a fluctuating quantum dimer background on the square lattice. Following Castelnovo et al. [Ann. Phys. (NY) 318, 316 (2005)], a generalized Rokhsar-Kivelson Hamiltonian at **finite doping** which can be mapped on a **doped** interacting classical dimer model is constructed. A simple physical extension of this model is also considered. Using numerical computations and simple considerations based on the above exact mapping, we determine the phase diagram of the model showing a number of quantum phases typical of a doped Mott insulator. The two-hole correlation function generically exhibits short-range or long-range algebraic correlations in the solid (columnar) and liquid (critical) phases of the model, respectively. Evidence for an extended region of a doped VBS phase exhibiting holon pairing but **no** phase separation is given. In contrast, we show that hole deconfinement occurs in the staggered dimer phase.Comment: 5 page

A Distributed Model Predictive Control Framework for Road-Following Formation Control of Car-like Vehicles (Extended Version)

This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and with other vehicles in a highly structured environment, 2) dynamic reconfiguration of the formation to handle different task specifications. In this paper, we design a local MPC-based tracking controller for each individual vehicle to follow a reference trajectory while satisfying various constraints (kinematics and dynamics, collision avoidance, \textit{etc.}). The reference trajectory of a vehicle is computed from its leader's trajectory, based on a pre-defined formation tree. We use logic rules to organize the collision avoidance behaviors of member vehicles. Moreover, we propose a methodology to safely reconfigure the formation on-the-fly. The proposed framework has been validated using high-fidelity simulations.Comment: Extended version of the conference paper submission on ICARCV'1

A Hierarchical Model Predictive Control Framework for On-road Formation Control of Autonomous Vehicles

International audienceThis paper presents an approach for formation control of autonomous vehicles traversing along a multi-lane road with obstacles and traffic. A major challenge in this problem is a requirement for integrating individual vehicle behaviors such as lane-keeping and collision avoidance with a global formation maintenance behavior. We propose a hierarchical Model Predictive Control (MPC) approach. The desired formation is modeled as a virtual structure evolving curvilinearly along a centerline, and vehicle configurations are expressed as curvilinear relative longitudinal and lateral offsets from the virtual center. At high-level, the trajectory generation of the virtual center is achieved through an MPC framework, which allows various on-road driving constraints to be considered in the optimization. At low-level, a local MPC controller computes the vehicle inputs in order to track the desired trajectory, taking into account more personalized driving constraints. High-fidelity simulations show that the proposed approach drives vehicles to the desired formation while retains some freedom for individual vehicle behaviors

Humanoid robot navigation: getting localization information from vision

International audienceIn this article, we present our work to provide a navigation and localization system on a constrained humanoid platform, the NAO robot, without modifying the robot sensors. First we try to implement a simple and light version of classical monocular Simultaneous Localization and Mapping (SLAM) algorithms, while adapting to the CPU and camera quality, which turns out to be insufficient on the platform for the moment. From our work on keypoints tracking, we identify that some keypoints can be still accurately tracked at little cost, and use them to build a visual compass. This compass is then used to correct the robot walk, because it makes it possible to control the robot orientation accurately

7200 years of Rhône river flooding activity in Lake Le Bourget, France: a high-resolution sediment record of NW Alps hydrology.

Magnetic susceptibility (MS) was measured with high resolution (5 mm) on a 9 m long, 14C dated core from Lake Le Bourget (Savoie, France), spanning the last 7200 years. The strong correlation (R = 0.85) of the MS with the silicate-borne suite of elements (Si, Al, Fe,Mg, K) and anti-correlation with the carbonate content (R = -0.87) allows it to be used as a proxy for the fluctuations of the abundance of riverborne clastic fraction versus authigenic carbonates in sediment. As the Rhône is the only river bringing a significant amountof silicate minerals to the coring site, the MS downstream is interpreted as a proxy of the Rhône suspended load discharge in Lake Le Bourget. This is confirmed over the last 3000 years by the good match with the evolution of hydrological activity of the Rhône as it is known throughgeomorphological studies of well-dated archaeological sites. Over the last 7200 years, the record is consistent with the regional record of lake water-level fluctuations. While the intensity of the MS signal might be widely affected by the human impact on soil stability, the timing of theperiod of enhanced hydrological activity appears to be mostly climate-related, and should thus constitute a first step toward a high-resolution (<8 yr) continuous history of hydrological conditions in the NW Alps

Decentralized model predictive control for smooth coordination of automated vehicles at intersection

International audienceWe consider the problem of coordinating a set of automated vehicles at an intersection with no traffic light. The priority-based coordination framework is adopted to separate the problem into a priority assignment problem and a vehicle control problem under fixed priorities. This framework ensures good properties like safety (collision-free trajectories, brake-safe control) and liveness (no gridlock). We propose a decentralized Model Predictive Control (MPC) approach where vehicles solve local optimization problems in parallel, ensuring them to cross the intersection smoothly. The proposed decentralized MPC scheme considers the requirements of efficiency, comfort and fuel economy and ensures the smooth behaviors of vehicles. Moreover, it maintains the system-wide safety property of the priority-based framework. Simulations are performed to illustrate the benefits of our approach