TaMaris Project : Interpretation of detected suspect vessel events

International audienceAs we face varied unlawful activities and other threats, innovative solution shall be set up to permanently track and monitor all type of ship traffics, in vulnerable trading lanes and country border zones in order to detect abnormal vessel behaviour, to understand suspicious event and to early identify threatening situation. TaMaris on going development is a technical capability grouping analysis tools and operational procedures, operated from state of art human machine interface (HMI), to support experts group in understanding suspicious event, early identify threat and generating argued electronic report. Reports required for keeping continuously informed decisional authority ..

Territorial assemblages simulation for territorial intelligence

International audienceThe following article is based on the theory of assemblage ontology seen as a framework to formalize new projects territories in a perspective of territorial intelligence. The area of research is PARIS-SACLAY Campus, which views the development of a world science cluster. The assemblages are simulating by means of simplicial complexes. Its objective is to offer new decision-making tools to territorial community

TAMARIS : Traitement et Authentification des MenAces et RISques en mer

National audienceL'objectif du projet de démonstrateur TAMARIS est d'intégrer un processus et des outils innovants de traitement de l'information pour l'analyse d'une situation qui comporte une série d'alertes correspondant à un comportement suspect de navire. Ce comportement suspect peut se dérouler dans le temps (sur plusieurs jours, voir mois) et sur un espace maritime étendu (plusieurs centaines de miles nautiques). L'analyse est traduite par l'élaboration, en temps réel, d'un dossier d'interprétation électronique. Ce dernier est standardisé, et permet de rassembler l'ensemble des informations et l'analyse sur un seul support réactualisé au fil du déroulement de la situation. Ce dossier peut être transmis aux autorités décisionnelles afin de suivre en permanence les évolutions et d'être informées de l'identification progressive du comportement suspect durant son déroulement. Une table tactile permet de constituer et visualiser ce dossier, mais aussi à une équipe d'experts de différentes organisations de travailler ensemble ou à distance de façon interactive. Enfin, le dossier constitue une archive quasi complète et chronologique qui peut être transmise également à des enquêteurs pour mener des investigations ultérieures suites à une plainte

A simple phase transition relaxation solver for liquid-vapor flows

International audienceDetermining liquid-vapor phase equilibrium is often required in multiphase flow computations. Existing equilibrium solvers are either accurate but computationally expensive, or cheap but inaccurate. The present paper aims at building a fast and accurate specific phase equilibrium solver, specifically devoted to unsteady multiphase flow computations. Moreover, the solver is efficient at phase diagram bounds, where non-equilibrium pure liquid and pure gas are present. It is systematically validated against solutions based on an accurate (but expensive) solver. Its capability to deal with cavitating, evaporating and condensing two-phase flows is highlighted on severe test problems both 1D and 2D

Torque Controlled Locomotion of a Biped Robot with Link Flexibility

When a big and heavy robot moves, it exerts large forces on the environment and on its own structure, its angular momentum can varysubstantially, and even the robot's structure can deform if there is a mechanical weakness. Under these conditions, standard locomotion controllers can fail easily. In this article, we propose a complete control scheme to work with heavy robots in torque control. The full centroidal dynamics is used to generate walking gaits online, link deflections are taken into account to estimate the robot posture and all postural instructions are designed to avoid conflicting with each other, improving balance. These choices reduce model and control errors, allowing our centroidal stabilizer to compensate for the remaining residual errors. The stabilizer and motion generator are designed together to ensure feasibility under the assumption of bounded errors. We deploy this scheme to control the locomotion of the humanoid robot Talos, whose hip links flex when walking. It allows us to reach steps of 35~cm, for an average speed of 25~cm/sec, which is among the best performances so far for torque-controlled electric robots.Comment: IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), IEEE, Nov 2022, Ginowan, Okinawa, Japa

Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos

This paper presents the first successful experiment implementing whole-body model predictive control with state feedback on a torque-control humanoid robot. We demonstrate that our control scheme is able to do whole-body target tracking, control the balance in front of strong external perturbations and avoid collision with an external object. The key elements for this success are threefold. First, optimal control over a receding horizon is implemented with Crocoddyl, an optimal control library based on differential dynamics programming, providing state-feedback control in less than 10 msecs. Second, a warm start strategy based on memory of motion has been implemented to overcome the sensitivity of the optimal control solver to initial conditions. Finally, the optimal trajectories are executed by a low-level torque controller, feedbacking on direct torque measurement at high frequency. This paper provides the details of the method, along with analytical benchmarks with the real humanoid robot Talos

IA et données de santé : regards croisés sur les droits, devoirs et responsabilités des personnes publiques

National audienc

Ocupación materna, duración de la gestación y bajo peso al nacimiento

ResumenObjetivoEvaluar la relación de la ocupación materna durante el embarazo con el bajo peso en los recién nacidos y con los partos pretérmino.MétodoLa muestra consistió en 1.341.686 nacimientos pretérmino y 1.217.897 con bajo peso, en España (1996–2000), con información válida sobre ocupación materna procedente del Registro Nacional de Nacimientos. La ocupación materna fue la variable principal codificada por grupos de ocupación (CNO-79), y las de resultados fueron el bajo peso (< 2.500 gramos) y los partos pretérmino (< 37 semanas). Se calcularon las odds ratios (OR) y sus intervalos de confianza al 95% (IC95%), crudas y ajustadas mediante el método no condicional de máxima verosimilitud.ResultadosLa mayor prevalencia de recién nacidos pretérmino se encuentra en las madres que se dedican a la agricultura (10,8%) y la menor en las profesionales (6,6%). Respecto al bajo peso, la prevalencia más alta se observa en las trabajadoras del sector servicios (3,5%) y del manual de industria y construcción (3,4%); las profesionales son las que muestran menor prevalencia (2,5%). En comparación con las mujeres profesionales, las agricultoras presentan un mayor riesgo de nacimientos pretérmino (ORa=1,68; IC95%: 1,57–1,80). En relación con el bajo peso, se observan riesgos mayores en las trabajadoras del sector servicios (ORa=1,36; IC95%: 1,30–1,42), las dedicadas a las labores del hogar (ORa=1,30; IC95%: 1,28–1,38), las que trabajaron en la agricultura (ORa=1,29; IC95%: 1,14–1,44) y las trabajadoras manuales en industria y construcción (ORa=1,29; IC95%: 1,21–1,36).ConclusionesLos resultados de este estudio sugieren que pertenecer a determinados grandes grupos ocupacionales durante el embarazo puede tener un efecto en el riesgo de bajo peso al nacer y de parto pretérmino.AbstractObjectiveTo assess the association between maternal occupation during pregnancy with the presence of low birth weight and preterm delivery.MethodThe sample consisted of 1,341,686 preterm infants and 1,217,897 low birth weight infants in Spain (1996–2000) with valid information on maternal occupation from the National Registry of Births. Maternal occupation was the main exposure variable coded according to groups of occupation (CNO-79) and outcomes were low birth weight (<2500g) and preterm birth (<37 weeks). Crude and adjusted odds ratios (OR) and 95% confidence interval (CI) were calculated through the maximum verisimilitude method.ResultsThe highest prevalence of preterm infants was found in mothers working in agriculture (10.8%) and the lowest in professional women (6.6%). The highest prevalence of low birth weight was observed in the women working in the services sector (3.5%) and manual workers in industry and construction (3.4%) while the lowest prevalence was found in professional women (2.5%). Women working in agriculture had a higher risk of preterm birth than professional women (aOR=1.68; 95%CI: 1.57–1.80). The risk of low birth weight was higher in women working in the service sector (aOR=1.36; 95%CI: 1.30–1.42), housewives (aOR=1.30; 95%CI: 1.28–1.38), agricultural laborers (aOR=1.29; 95%CI: 1.14–1.44) and manual workers in industry and construction (aOR=1.29; 95%CI: 1.21–1.36).ConclusionsThe results of this study suggest that belonging to certain occupational groups during pregnancy could affect the risk of low birth weight and preterm birth

Overcoming Ostrea edulis seed production limitations to meet ecosystem restoration demands in the UN decade on restoration

The European flat oyster, Ostrea edulis, is a habitat-forming bivalve which was historically widespread throughout Europe. Following its decline due to overfishing, pollution, sedimentation, invasive species, and disease, O. edulis and its beds are now listed as a threatened and/or declining species and habitat by OSPAR. Increasing recognition of the plight of the oyster, alongside rapidly developing restoration techniques and growing interest in marine restoration, has resulted in a recent and rapid growth in habitat restoration efforts. O. edulis seed supply is currently a major bottleneck in scaling up habitat restoration efforts in Europe. O. edulis has been cultured for centuries, however, research into its culture declined following the introduction of the Pacific oyster, Crassostrea gigas to Europe in the early 1970 s. Recent efforts to renew both hatchery and pond production of O. edulis seed for habitat restoration purposes are hampered by restoration project timelines and funding typically being short, or projects not planning appropriately for the timescales required for investment, research-and-development and delivery of oyster seed by commercial producers. Furthermore, funding for restoration is intermittent, making long-term commitments between producers and restoration practitioners difficult. Long-term, strategic investment in research and production are needed to overcome these bottlenecks and meet current ambitious restoration targets across Europe

Initial results from a hydroacoustic network to monitor submarine lava flows near Mayotte Island

In 2019, a new underwater volcano was discovered at 3500 m below sea level (b.s.l.), 50 km east of Mayotte Island in the northern part of the Mozambique Channel. In January 2021, the submarine eruption was still going on and the volcanic activity, along with the intense seismicity that accompanies this crisis, was monitored by the recently created REVOSIMA (MAyotte VOlcano and Seismic Monitoring) network. In this framework, four hydrophones were moored in the SOFAR channel in October 2020. Surrounding the volcano, they monitor sounds generated by the volcanic activity and the lava flows. The first year of hydroacoustic data evidenced many earthquakes, underwater landslides, large marine mammal calls, along with anthropogenic noise. Of particular interest are impulsive signals that we relate to steam bursts during lava flow emplacement. A preliminary analysis of these impulsive signals (ten days in a year, and only one day in full detail) reveals that lava emplacement was active when our monitoring started, but faded out during the first year of the experiment. A systematic and robust detection of these specific signals would hence contribute to monitor active submarine eruptions in the absence of seafloor deep-tow imaging or swath-bathymetry surveys of the active area