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DTSTART;TZID=Europe/Paris:20181108T130000
DTEND;TZID=Europe/Paris:20181108T140000
DTSTAMP:20260429T121805
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SUMMARY:Elio Tuci (UNamur)
DESCRIPTION:Title: Three recent research works in swarm robotics \nAbstract: In this talk\, I briefly illustrate objectives and achievements of three experiments that I have recently conducted with the support of my PhD students. All three works fall into the research area of swarm robotics/swarm intelligence.\nIn the first study\, we have developed a control system to allow a swarm of robots to cooperatively transport objects that due to their mass\, cannot be moved by single robots. The controller is a dynamic neural network synthesised using evolutionary computation techniques. The study shows that the robots do not need to feel forces to coordinate their action in order to find a common direction of transport.\nIn the second study\, we have looked at the process of aggregation in swarm of robots with “informed robots”. These are robots that have been instructed on which site to aggregate\, among those available in the environment. Our study looks at the proportion of informed robots required to gather all the swarm on a selected aggregation site.\nIn the third study\, we have tested a probabilistic adaptive defence mechanism to allow a swarm of agents to limit the disruptive effects of a communication manipulation attack implemented as modification of data in transit events. The results of our study show that the proposed mechanism can be largely effective in multiple context differing for the proportion of malicious agents carrying out the attack.\nI am happy to provide further details/readings for each of these works and to discuss about potential collaborations with anyone interested in pursuing interdisciplinary research work in the area of bio-inspired robotics\, swarm robotics\, swarm intelligence.
URL:https://www.naxys.be/event/elio-tuci-unamur/
LOCATION:E25
CATEGORIES:NAXYS Seminar
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DTSTART;TZID=Europe/Paris:20181122T130000
DTEND;TZID=Europe/Paris:20181122T140000
DTSTAMP:20260429T121805
CREATED:20181016T113538Z
LAST-MODIFIED:20181112T140039Z
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SUMMARY:Alexis Coyette (UNamur)
DESCRIPTION:Title: Modeling the rotation of Titan \nAbstract: Observation of the rotation of synchronously rotating satellites can help to probe their interior. We study here the variations in rotation rate and the polar motion of Titan due to (1) the gravitational force exerted by Saturn at orbital period and (2) exchanges of angular momentum between the seasonally varying atmosphere and the solid surface. The deviation of the mass distribution from hydrostaticity can significantly increase the diurnal libration and decrease the amplitude of the seasonal libration. By including a large spectrum of atmospheric perturbations\, the smaller than synchronous rotation rate measured by Cassini in the 2004–2009 period (Meriggiola et al.\, 2016) could be explained by the atmospheric forcing. The effect of the non-hydrostatic mass distribution is less important for polar motion\, which is more sensitive to flow in the subsurface ocean. For some interior models of Titan\, the amplitude of its polar motion can be resonantly amplified. Future observations of the polar motion of Titan could help constraining some properties of its interior structure as the ice shell thickness and ocean density.
URL:https://www.naxys.be/event/alexis-coyette-unamur/
LOCATION:E25
CATEGORIES:NAXYS Seminar
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DTSTART;TZID=Europe/Paris:20181129T130000
DTEND;TZID=Europe/Paris:20181129T140000
DTSTAMP:20260429T121805
CREATED:20181016T113244Z
LAST-MODIFIED:20181026T090642Z
UID:493-1543496400-1543500000@www.naxys.be
SUMMARY:Germain Van Bever (UNamur)
DESCRIPTION:Title: Symmetric Component Analysis and Functional Independent Component Analysis \nAbstract: With the increase in measurement precision\, functional data is becoming common practice. Relatively few techniques for analysing such data have been developed\, however\, and a first step often consists in reducing the dimension via Functional PCA\, which amounts to diagonalising the covariance operator. Joint diagonalisation of a pair of scatter functionals has proved useful in many different setups\, such has Independent Component Analysis (ICA)\, Invariant Coordinate Selection (ICS)\, etc.\nAfter an introduction to classical ICA techniques (and a look into several extensions of ICS)\, the main part of this talk will consist in extending the Fourth Order Blind Identification procedure to the case of data on a separable Hilbert space (with classical FDA setting being the go-to example). In the finite-dimensional setup\, this procedure provides a matrix Γ such that ΓX has independent components\, if one assumes that the random vector X satisfies X = ΨZ\, where Z has independent marginals and Ψ is an invertible mixing matrix. When dealing with distributions on Hilbert spaces\, two major problems arise: (i) the notion of marginals is not naturally defined and (ii) the covariance operator is\, in general\, non invertible. These limitations are tackled by reformulating the problem in a coordinate-free manner and by imposing natural restrictions on the mixing model.\nThe proposed procedure is shown to be Fisher consistent and affine invariant. A sample estimator is provided and its convergence rates are derived. The procedure is amply illustrated on simulated and real datasets.\nReferences\n[1] J.-F. Cardoso\, Source Separation Using Higher Moments Proceedings of IEEE international conference on acoustics\, speech and signal processing 2109-2112.\n[2] D. Tyler\, F. Critchley\, L. Dumbgen and H. Oja\, Invariant Co-ordinate Selection J. R. Statist. Soc. B.\, 2009\, 71\, 549–592.\n[3] J. Ramsay and B.W. Silverman Functional Data Analysis 2nd edn. Springer\, New York\, 2006.
URL:https://www.naxys.be/event/germain-van-bever-unamur/
LOCATION:E25
CATEGORIES:NAXYS Seminar
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