FLAGRED -- Fuzzy Logic-based Algorithm Generalizing Risk Estimation for Drones

Accurately estimating risk in real-time is essential for ensuring the safety and efficiency of many applications involving autonomous robot systems. This paper presents a novel, generalizable algorithm for the real-time estimation of risks created by external disturbances on multirotors. Unlike conventional approaches, our method requires no additional sensors, accurate drone models, or large datasets. It employs motor command data in a fuzzy logic system, overcoming barriers to real-world implementation. Inherently adaptable, it utilizes fundamental drone characteristics, making it applicable to diverse drone models. The efficiency of the algorithm has been confirmed through comprehensive real-world testing on various platforms. It proficiently discerned between high and low-risk scenarios resulting from diverse wind disturbances and varying thrust-to-weight ratios. The algorithm surpassed the widely-recognized ArduCopter wind estimation algorithm in performance and demonstrated its capability to promptly detect brief gusts.Comment: 7 pages, 9 figure

Fast and Flexible Software Polar List Decoders

International audienceFlexibility is one mandatory aspect of channel coding in modern wireless communication systems. Among other things, the channel decoder has to support several code lengths and code rates. This need for flexibility applies to polar codes that are considered for control channels in the future 5G standard. This paper presents a new generic and flexible implementation of a software Successive Cancellation List (SCL) decoder. A large set of parameters can be fine-tuned dynamically without re-compiling the software source code: the code length, the code rate, the frozen bits set, the puncturing patterns, the cyclic redundancy check, the list size, the type of decoding algorithm, the tree-pruning strategy and the data quantization. This generic and flexible SCL decoder enables to explore tradeoffs between throughput, latency and decoding performance. Several optimizations are proposed to achieve a competitive decoding speed despite the constraints induced by the genericity and the flexibility. The resulting polar list decoder is about 4 times faster than a generic software decoder and only 2 times slower than a non-flexible unrolled decoder. Thanks to the flexibility of the decoder, the fully adaptive SCL algorithm can be easily implemented and achieves higher throughput than any other similar decoder in the literature (up to 425 Mb/s on a single processor core for N = 2048 and K = 1723 at 4.5 dB)

L'épuration économique en France à la Libération

Premier ouvrage, publié en France, sur la question de l’épuration économique, ce livre éclaire un angle longtemps mort de l’historiographie à la lumière de recherches récentes. En effet, entre les injustices dénoncées par les hagiographes du monde patronal - fixés sur quelques « victimes » emblématiques et expiatoires, telles que Renault ou Berliet, présentées comme autant d’arbres qui cachent la forêt - et l’idée communément admise de non-épuration économique, cette dernière apparaît encore trop souvent méconnue ou plutôt mal connue. Afin de faciliter une approche globale de l’épuration économique sous toutes ses formes (extra-légale et légale - judiciaire, professionnelle, financière -, mais aussi officieuse ou tacite) deux axes majeurs de réflexion ont été privilégiés. La première partie appréhende la définition, les enjeux, les contours, l’impact mais aussi les limites du phénomène au niveau national. Les deux suivantes présentent, la diversité des procédures et des acteurs engagés, mais aussi des objectifs poursuivis, selon des variables sectorielles et/ou spatiales (itinéraires patronaux, entreprises, institutions économiques, branches d’activité, territoires locaux ou régionaux, comparaisons internationales). Ce faisant, ce livre ouvre de nombreuses et souvent de nouvelles perspectives. Contrairement à une idée reçue, nombre de contributions insistent sur une épuration qui ne manque pas d’ampleur, au moins dans sa phase initiale, même si elle demeure ensuite plus inégale dans son application. Reste alors à comprendre ses facteurs d’inégalité dans le temps et dans l’espace. Au cœur d’une épuration de compromis, le livre dégage clairement plusieurs clés susceptibles de permettre un premier bilan du processus

Climate and environmental evolution scenarios for the Meuse/Haute-Marne region, France

International audienc

Horizontal gene transfer and gene dosage drives adaptation to wood colonization in a tree pathogen

Some of the most damaging tree pathogens can attack woody stems, causing lesions (cankers) that may be lethal. To identify the genomic determinants of wood colonization leading to canker formation, we sequenced the genomes of the poplar canker pathogen, Mycosphaerella populorum, and the closely related poplar leaf pathogen, M. populicola. A secondary metabolite cluster unique to M. populorum is fully activated following induction by poplar wood and leaves. In addition, genes encoding hemicellulosedegrading enzymes, peptidases, and metabolite transporters were more abundant and were up-regulated in M. populorum growing on poplar wood-chip medium compared with M. populicola. The secondary gene cluster and several of the carbohydrate degradation genes have the signature of horizontal transfer from ascomycete fungi associated with wood decay and fromprokaryotes. Acquisition andmaintenance of the gene battery necessary for growth in woody tissues and gene dosage resulting in gene expression reconfiguration appear to be responsible for the adaptation of M. populorum to infect, colonize, and cause mortality on poplar woody stems

Horizontal gene transfer and gene dosage drives adaptation to wood colonization in a tree pathogen

International audienceno abstrac