Abstract: A method for perceiving physical bodies comprises the following steps: a) acquisition of a plurality of distance measurements of the physical bodies, arising from one or more sensor; b) application of an inverse sensor model on an occupancy grid to determine a probability of occupancy of a set of cells of the grid; and c) construction of a consolidated occupancy grid by fusion of the occupancy probabilities estimated during step b); wherein the inverse sensor model is a discrete model, associating with each cell of the corresponding occupancy grid, and for each distance measurement, a probability class chosen inside one and the same set of finite cardinality and identified by an integer index; and wherein step c) is implemented by means of integer computations performed on the indices of the probability classes determined during said step b). A system for perceiving physical bodies is also provided.

Abstract: An environment sensing method includes the following steps, carried out by a data processor a) defining an occupancy grid comprising a plurality of cells; b) acquiring at least one measurement result from a distance sensor, representative of the distance of one or more nearest targets; and c) computing an occupation probability of the cells of the occupancy grid by applying to the measurement an inverse sensor model stored in a memory device in the form of a data structure representing a plurality of model grids associated to respective distance measurement results, at least some cells of a model grid corresponding to a plurality of contiguous cells of the occupancy grid belonging to a same of a plurality of angular sectors into which the field of view of the distance sensor is divided, and associating a same occupation probability to each one of the plurality of cells.

Abstract: A method is provided for collaboratively detecting tangible bodies in an environment employing a plurality of distance sensors with which respective carriers are equipped, including: for each sensor, acquiring a series of measurements of distance of a closest tangible body along a line of sight; applying an inverse model of the sensor on a local occupancy grid; and constructing a consolidated local occupancy grid via Bayesian fusion of the occupancy probabilities thus determined; and, computing occupancy probabilities of the cells of a global occupancy grid via Bayesian fusion of the occupancy probabilities of corresponding cells of at least certain of said consolidated local occupancy grids. A system for implementing such a method is also provided.

Abstract: A method for detecting soft faults in a transmission line includes the following steps: acquiring a measurement, called time-domain reflectogram, of a signal characteristic of the reflection of a reference signal previously injected into the line, determining the difference between the time-domain reflectogram and a time-domain reflectogram measured previously for the same line or an identical line of similar characteristics, in order to obtain a corrected time-domain reflectogram, applying a plurality of independent transformations to the corrected time-domain reflectogram in order to obtain a plurality of independent transformed reflectograms, converting the transformed reflectograms into a plurality of mutually independent probabilities of occurrence of a fault, applying a data merging method to the probabilities of occurrence of a fault to deduce therefrom a unified value of the probability of occurrence of a fault.

Abstract: A method of performing simultaneous localization of a mobile body and mapping of its environment, includes the steps of: a) defining an occupancy grid (G) on a region of the environment and a pose grid (?) comprising for the mobile body; b) receiving a first time series of distance measurements (z1, z2) and, upon reception of a distance measurement: either b1) updating occupancy probabilities of the occupancy grid; or b2) updating pose probabilities of the pose grid; and c) receiving a second time series of odometry measurements (u1, u2), each of the measurements being representative of a motion of the mobile body in the environment and, upon reception of an odometry measurement, updating the pose probabilities of the pose grid. An apparatus for carrying out such a method is also provided.

Abstract: An environment sensing method includes the following steps, carried out by a data processor a) defining an occupancy grid comprising a plurality of cells; b) acquiring at least one measurement result from a distance sensor, representative of the distance of one or more nearest targets; and c) computing an occupation probability of the cells of the occupancy grid by applying to the measurement an inverse sensor model stored in a memory device in the form of a data structure representing a plurality of model grids associated to respective distance measurement results, at least some cells of a model grid corresponding to a plurality of contiguous cells of the occupancy grid belonging to a same of a plurality of angular sectors into which the field of view of the distance sensor is divided, and associating a same occupation probability to each one of the plurality of cells.

Abstract: A method for detecting soft faults in a transmission line includes the following steps: acquiring a measurement, called time-domain reflectogram, of a signal characteristic of the reflection of a reference signal previously injected into the line, determining the difference between the time-domain reflectogram and a time-domain reflectogram measured previously for the same line or an identical line of similar characteristics, in order to obtain a corrected time-domain reflectogram, applying a plurality of independent transformations to the corrected time-domain reflectogram in order to obtain a plurality of independent transformed reflectograms, converting the transformed reflectograms into a plurality of mutually independent probabilities of occurrence of a fault, applying a data merging method to the probabilities of occurrence of a fault to deduce therefrom a unified value of the probability of occurrence of a fault.

Abstract: A method to locate material bodies on an at least 2-dimensional occupancy grid G, having a first resolution stepsize RG, that includes a set of cells represented by vertices and segments connecting these vertices. The method uses a sensor for detecting an obstacle which is positioned at source point S, and includes at least the following steps: acquisition by the sensor of a measurement of the position of a material body detected at a point F; defining the coordinates of a point M by using a space discretized with the aid of a spatial stepsize ? which is finer than the resolution stepsize RG, initializing an integer, error parameter, and calculating the value of the error parameter for at least one first vertex of the cell of the current grid.

Abstract: A method for perceiving physical bodies comprises the following steps: a) acquisition of a plurality of distance measurements of the physical bodies, arising from one or more sensor; b) application of an inverse sensor model on an occupancy grid to determine a probability of occupancy of a set of cells of the grid; and c) construction of a consolidated occupancy grid by fusion of the occupancy probabilities estimated during step b); wherein the inverse sensor model is a discrete model, associating with each cell of the corresponding occupancy grid, and for each distance measurement, a probability class chosen inside one and the same set of finite cardinality and identified by an integer index; and wherein step c) is implemented by means of integer computations performed on the indices of the probability classes determined during said step b). A system for perceiving physical bodies is also provided.

Abstract: A method to locate material bodies on an at least 2-dimensional occupancy grid G, having a first resolution stepsize RG, comprises a set of cells represented by vertices and segments connecting these vertices, the method using a sensor for detecting obstacles which is positioned at source point S, comprises at least the following steps: acquisition by the sensor of a measurement of the position of a material body detected at a point F; defining the coordinates of a point M by using a space discretized with the aid of a spatial stepsize ? which is finer than the resolution stepsize RG, initializing an integer, error parameter, representative of the position of at least one coordinate of a vertex of the cell containing the source point S in the discretized space with respect to a path defined in the observation space, calculating the value of the error parameter for at least one first vertex of the cell of the current grid, by carrying out additions or subtractions of integer numbers, establishing the list {ci}

Abstract: A device for supplying an electronic circuit with a clock signal having a dock frequency includes a frequency actuator that generates the clock signal in accordance with a frequency setting according to a regulation mechanism. A control module selectively applies to the frequency actuator a first frequency setting or a second frequency setting that is higher than the first setting. An adaptation module modifies the regulation mechanism in accordance with the applied setting.

Abstract: A method for controlling an electronic circuit by means of the first, second and third operating parameters, comprises: determining a range of variation of the third parameter for each value of the first parameter by varying the second parameter, said ranges being different; determining a target value of the third parameter; if the target value is within one of the ranges, operating the electronic circuit by setting the third parameter to the target value; and in the opposite case, selecting the two ranges framing the target value and operating the electronic circuit by consecutively bringing the third parameter into each one of the selected ranges.

Abstract: A method for controlling an electronic circuit, characterised in that it comprises a step of feedback control of a current voltage-frequency operating point relative to a reference curve of a voltage-frequency domain of operation associated with the circuit, to bring the circuit from a first operating point to a second operating point, said reference curve linking said first and second operating points in an optimal trajectory relative to a boundary of said domain.

Abstract: A method for controlling an electronic circuit by means of the first, second and third operating parameters, comprises: determining a range of variation of the third parameter for each value of the first parameter by varying the second parameter, said ranges being different; determining a target value of the third parameter; if the target value is within one of the ranges, operating the electronic circuit by setting the third parameter to the target value; and in the opposite case, selecting the two ranges framing the target value and operating the electronic circuit by consecutively bringing the third parameter into each one of the selected ranges.

Abstract: A device for supplying an electronic circuit with a dock signal having a dock frequency includes a frequency actuator that generates the dock signal in accordance with a frequency setting according to a regulation mechanism. A control module selectively applies to the frequency actuator a first frequency setting or a second frequency setting that is higher than the first setting.

Abstract: A method for optimizing operation which is applicable to a multiprocessor integrated circuit chip. Each processor runs with a variable parameter, for example its clock frequency, and the optimization includes determination, in real time, of a characteristic data value associated with the processor (temperature, consumption, latency), transfer of the characteristic data to the other processors, calculation by each processor of various values of an optimization function depending on the characteristic data value of the block, on the characteristic data values of the other blocks, and on the variable parameter, the function being calculated for the current value of this parameter and for other possible values, selection, from among the various parameter values, of that which yields the best value for the optimization function, and application of this variable parameter to the processor for the remainder of the execution of the task.

Abstract: A method for controlling an electronic circuit, characterised in that it comprises a step of feedback control of a current voltage-frequency operating point relative to a reference curve of a voltage-frequency domain of operation associated with the circuit, to bring the circuit from a first operating point to a second operating point, said reference curve linking said first and second operating points in an optimal trajectory relative to a boundary of said domain

Abstract: A method for optimizing operation which is applicable to a multiprocessor integrated circuit chip. Each processor runs with a variable parameter, for example its clock frequency, and the optimization includes determination, in real time, of a characteristic data value associated with the processor (temperature, consumption, latency), transfer of the characteristic data to the other processors, calculation by each processor of various values of an optimization function depending on the characteristic data value of the block, on the characteristic data values of the other blocks, and on the variable parameter, the function being calculated for the current value of this parameter and for other possible values, selection, from among the various parameter values, of that which yields the best value for the optimization function, and application of this variable parameter to the processor for the remainder of the execution of the task.