Contribution A Lintegration Robotique Vision En Manipulation Automatisee Modelisation De La Tache Placement Dune Camera Mobile Et Localisation Fine Dobjets

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Contribution à l'intégration robotique/vision en manipulation automatisée

Author : OUSSAMA.. AL CHAMI
Publisher :
ISBN 13 : 9782726108826
Total Pages : 129 pages
Book Rating : 4.1/5 (88 download)

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Book Synopsis Contribution à l'intégration robotique/vision en manipulation automatisée by : OUSSAMA.. AL CHAMI

Download or read book Contribution à l'intégration robotique/vision en manipulation automatisée written by OUSSAMA.. AL CHAMI and published by . This book was released on 1994 with total page 129 pages. Available in PDF, EPUB and Kindle. Book excerpt: POUR QU'UN ROBOT PUISSE MANIPULER UN OBJET CONNU (SAISIR, DEMONTER, ETC) IL DOIT CONNAITRE SA POSITION/ORIENTATION. PAR AILLEURS, POUR LOCALISER UN OBJET PAR LA PERCEPTION VISUELLE, IL FAUT PLUSIEURS IMAGES QUI DOIVENT REMPLIR DES CONDITIONS IMPOSEES PAR LE PROCESSUS DE LOCALISATION MIS EN JEU. LA POSITION/ORIENTATION DE LA CAMERA UTILISEE AINSIQUE SA MISE AU POINT, FONT PARTIE DE CES CONDITIONS. CETTE CAMERA EST EMBARQUEE SUR UN ROBOT QUI ASSURE SON DEPLACEMENT. DANS CETTE THESE, NOUS CONTRIBUONS A L'INTEGRATION ROBOTIQUE/VISION EN CONSIDERANT LES ASPECTS SUIVANTS: 1 LA MODELISATION DES TACHES ET DES ENVIRONNEMENTS PARTIELLEMENT CONNUS. POUR CELA, NOUS PRESENTONS UN SYSTEME DE SIMULATION ET DE MODELISATION MIXTE: CAO-ROBOTIQUE ET DONNEES PERCEPTIVES. 2 LE DEVELOPPEMENT D'UNE METHODE DE POSITIONNEMENT AUTOMATIQUE D'UNE CAMERA MOBILE EN FONCTION D'UNE TACHE PERCEPTIVE (LOCALISATION, CONTROLE D'EXECUTION VISUELLE, ETC). 3 LA LOCALISATION FINE D'UN OBJET DE FORME QUELCONQUE A L'AIDE DES DONNEES DE LA PERCEPTION VISUELLE. 4 L'INTEGRATION DE L'ENSEMBLE DES METHODES DEVELOPPEES ET LES OUTILS ADOPTES DANS LE SYSTEME ACT DE CAO-ROBOTIQUE

Contribution a l'integration robotique-vision en manipulation automatisee : modelisation de la tache, placement d'une camera mobile et localisation fine d'objets

Download Contribution a l'integration robotique-vision en manipulation automatisee : modelisation de la tache, placement d'une camera mobile et localisation fine d'objets PDF Online Free

Author : Oussama Al-Chami
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (494 download)

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Book Synopsis Contribution a l'integration robotique-vision en manipulation automatisee : modelisation de la tache, placement d'une camera mobile et localisation fine d'objets by : Oussama Al-Chami

Download or read book Contribution a l'integration robotique-vision en manipulation automatisee : modelisation de la tache, placement d'une camera mobile et localisation fine d'objets written by Oussama Al-Chami and published by . This book was released on 1994 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Contributions à l'intégration vision-robotique

Author : Fadi Dornaika
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (125 download)

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Book Synopsis Contributions à l'intégration vision-robotique by : Fadi Dornaika

Download or read book Contributions à l'intégration vision-robotique written by Fadi Dornaika and published by . This book was released on 2004 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Cette thèse concerne principalement l'intégration des fonctionnalités d'un système de vision avec celles d'un système robotique. Cette intégration apporte beaucoup d'avantages pour l'interaction d'un robot avec son environnement. Dans un premier temps, nous nous intéressons aux aspects de modélisation. Deux sujets liés à cette modélisation ont été traités : i) le calibrage caméra/pince et ii) la localisation caméra/objet. Pour le premier, nous proposons une méthode de calibrage non linéaire qui s'avère robuste en présence des erreurs de mesure ; pour le second, nous proposons une méthode linéaire très rapide et bien adaptée aux applications temps-réel puisqu'elle est basée sur des approximations successives par une projection para-perspective. Dans un deuxième temps, nous nous intéressons au contrôle visuel de robots. Nous adaptons la méthode "commande référencée capteur" à une caméra indépendante du robot asservi. De plus, dans le cas d'un positionnement relatif, nous montrons que le calcul de la position de référence ne dépend pas de l'estimation explicite des paramètres intrinsèques et extrinsèques de la caméra. Pour une tâche donnée, le problème de la commande peut alors se traduire sous la forme d'une régulation d'une erreur dans l'image. Nous montrons que la localisation temps-réel caméra/robot améliore le comportement dynamique de l'asservissement. Cette méthode de contrôle a été expérimentée dans la réalisation de tâches de saisie avec un robot manipulateur à six degrés de liberté. Toutes les méthodes proposées sont validées avec des mesures réelles et simulées.

Contribution à l'intégration de la vision passive tridimensionnelle en robotique

Author : Régis Petit
Publisher :
ISBN 13 :
Total Pages : 302 pages
Book Rating : 4.:/5 (465 download)

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Book Synopsis Contribution à l'intégration de la vision passive tridimensionnelle en robotique by : Régis Petit

Download or read book Contribution à l'intégration de la vision passive tridimensionnelle en robotique written by Régis Petit and published by . This book was released on 1985 with total page 302 pages. Available in PDF, EPUB and Kindle. Book excerpt: CETTE CONTRIBUTION DESTINEE A DES TACHES ROBOTIQUES DE TRI, D'ASSEMBLAGE ET DE MANIPULATION D'OBJETS

Vision pour la robotique de manipulation

Author : Vincent Garric
Publisher :
ISBN 13 :
Total Pages : 340 pages
Book Rating : 4.:/5 (49 download)

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Book Synopsis Vision pour la robotique de manipulation by : Vincent Garric

Download or read book Vision pour la robotique de manipulation written by Vincent Garric and published by . This book was released on 1996 with total page 340 pages. Available in PDF, EPUB and Kindle. Book excerpt: LE RETOUR D'INFORMATIONS DE CAPTEURS EXTERNES PEUT ETRE UNE NECESSITE POUR LA LOCALISATION ET LA SAISIE D'OBJETS STATIQUES, PAR UN ROBOT MANIPULATEUR ; NOTAMMENT SI LA CONNAISSANCE DE LA SITUATION DE L'OBJET ET LE POSITIONNEMENT ABSOLU DU ROBOT NE SONT PAS SUFFISAMMENT PRECIS. NOUS PROPOSONS L'UTILISATION D'UNE CAMERA MONOCULAIRE PLACEE SUR L'EXTREMITE DU BRAS MANIPULATEUR POUR UN ASSERVISSEMENT EN POSITION STATIQUE A PARTIR DE CONNAISSANCES 3D. NOUS TRAITONS D'ABORD LA CALIBRATION DE CAMERAS QUI INCLUT LA LOCALISATION D'OBJETS POLYEDRIQUES, LES ALGORITHMES DE RESOLUTION ET L'ETUDE DE LA PRECISION DE LOCALISATION. NOUS PROPOSONS DE NOUVELLES METHODES DE CALIBRATION ET COMPARONS ENSUITE DES ALGORITHMES DE RESOLUTION PROPAGEANT LES IMPRECISIONS DE PRIMITIVES ISSUES DES MODELES D'OBJETS OU DE METHODES D'EXTRACTION DANS L'IMAGE. DES CRITERES DE COMPARAISON DES METHODES DE LOCALISATION SONT PRESENTES ET UNE METHODE D'EVALUATION DE LA PRECISION REELLE DE LOCALISATION EST PROPOSEE AVEC DES RESULTATS. LA SECONDE PARTIE ABORDE LA VISION APPLIQUEE A LA MANIPULATION. NOUS DETAILLONS LA MODELISATION DU SITE EXPERIMENTAL ET PROPOSONS UNE AMELIORATION DES METHODES D'IDENTIFICATION DE LA SITUATION DE LA PINCE ET DE LA CAMERA SUR LE ROBOT. NOUS UTILISONS LA REPRESENTATION DE TRANSFORMATIONS EN VISAGES POUR L'IDENTIFICATION D'AXES DE ROTATION. NOUS PROPOSONS ENSUITE DES PRINCIPES ET UN SCENARIO, QUI UTILISENT LES POINTS PRECEDENTS ET UNE RECONNAISSANCE LOCALE D'OBJETS POUR EFFECTUER LA SAISIE D'OBJETS. DES RESULTATS DE SAISIE SONT PRESENTES. NOUS PRESENTONS ENFIN L'ARCHITECTURE D'UN SYSTEME DE VISION POUR LA MANIPULATION ET SON UTILISATION POUR LES PRINCIPALES EXPERIMENTATIONS DE VALIDATION DES PRINCIPES, METHODES ET ALGORITHMES PROPOSES DANS CETTE THESE. CES TRAVAUX ONT ETE MENES SUR LES SITES DU LAAS ET DU CNES, RESPECTIVEMENT DANS LE CADRE D'UN PROJET SCIENTIFIQUE INTERNE A L'EQUIPE RIA ET D'UN PROJET APPLICATIF INTERNE AU CNES

Modélisation et placement automatique de capteurs de vision

Author : Chokri Ben Amar
Publisher :
ISBN 13 :
Total Pages : 173 pages
Book Rating : 4.:/5 (49 download)

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Book Synopsis Modélisation et placement automatique de capteurs de vision by : Chokri Ben Amar

Download or read book Modélisation et placement automatique de capteurs de vision written by Chokri Ben Amar and published by . This book was released on 1994 with total page 173 pages. Available in PDF, EPUB and Kindle. Book excerpt: Simuler les procédés de production, dès leur conception, présente des avantages qui apparaissent chaque jour plus intéressants, du fait des économies engendrées: gain de temps, non immobilisation de l'outil de production, optimisation de l'investissement, etc... Les logiciels disponibles, tout performants qu'ils soient, pêchent cependant par un manque notable concernant la simulation réaliste de capteurs évolués. Cette lacune est encore plus manifeste vis-à-vis des systèmes de vision industriels, pourtant de plus en plus utilisés sur les chaînes de production pour le contrôle-qualité et/ou pour l'identification des pièces en cours d'approvisionnement ou de fabrication. C'est pour pallier cette insuffisance que nous proposons un simulateur de capteurs complexes, tels que les caméras CCD, qui permet d'obtenir des images d'objets ou de scènes virtuels. Ces images, très proches de la réalité, peuvent être alors utilisées pour simuler, par exemple, une tâche de reconnaissance de formes ou une tâche de contrôle dimensionnel ; la fonction de ce nouvel outil est absolument nécessaire pour la simulation d'un poste de contrôle-Vision et autorise la programmation hors-ligne de celui-ci. Ce résultat acquis, on constate que pour parfaire cet outil il convient de se préoccuper également du choix de la position de la caméra dans le poste de travail ; choix qui n'est pas évident, car devant tenir compte des problèmes de champ de vision, de résolution, de mise au point, d'éclairage, de collision, etc... C'est pour cette raison que notre proposition associe à la simulation une méthode de placement automatique de caméra. L'ensemble de modélisation et de placement automatique de capteurs-Vision constitue un poste virtuel de Vision, qui peut valablement être intégré à un système de CAO-Robotique, afin de disposer d'un outil complet de simulation de tâches faisant appel à des robots et à des systèmes de vision. Ce module-Vision est validé par la description de deux applications, l'une dans l'optique contrôle, l'autre dans un processus d'assemblage robotisé.

Medical Image Computing and Computer-Assisted Intervention -- MICCAI 2012

Author : Nicholas Ayache
Publisher : Springer
ISBN 13 : 9783642334535
Total Pages : 645 pages
Book Rating : 4.3/5 (345 download)

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Book Synopsis Medical Image Computing and Computer-Assisted Intervention -- MICCAI 2012 by : Nicholas Ayache

Download or read book Medical Image Computing and Computer-Assisted Intervention -- MICCAI 2012 written by Nicholas Ayache and published by Springer. This book was released on 2012-08-28 with total page 645 pages. Available in PDF, EPUB and Kindle. Book excerpt: The three-volume set LNCS 7510, 7511, and 7512 constitutes the refereed proceedings of the 15th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2012, held in Nice, France, in October 2012. Based on rigorous peer reviews, the program committee carefully selected 252 revised papers from 781 submissions for presentation in three volumes. The third volume includes 79 papers organized in topical sections on diffusion imaging: from acquisition to tractography; image acquisition, segmentation and recognition; image registration; neuroimage analysis; analysis of microscopic and optical images; image segmentation; diffusion weighted imaging; computer-aided diagnosis and planning; and microscopic image analysis.

Advances in Computer Graphics

Author : Günter Enderle
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (86 download)

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Book Synopsis Advances in Computer Graphics by : Günter Enderle

Download or read book Advances in Computer Graphics written by Günter Enderle and published by . This book was released on 1986 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Medical image computing and computer assisted intervention

Author : Nicholas Ayache
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (636 download)

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Book Synopsis Medical image computing and computer assisted intervention by : Nicholas Ayache

Download or read book Medical image computing and computer assisted intervention written by Nicholas Ayache and published by . This book was released on with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Multidisciplinary Computational Anatomy

Author : Makoto Hashizume
Publisher : Springer Nature
ISBN 13 : 9811643253
Total Pages : 370 pages
Book Rating : 4.8/5 (116 download)

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Book Synopsis Multidisciplinary Computational Anatomy by : Makoto Hashizume

Download or read book Multidisciplinary Computational Anatomy written by Makoto Hashizume and published by Springer Nature. This book was released on 2021-11-30 with total page 370 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume thoroughly describes the fundamentals of a new multidisciplinary field of study that aims to deepen our understanding of the human body by combining medical image processing, mathematical analysis, and artificial intelligence. Multidisciplinary Computational Anatomy (MCA) offers an advanced diagnosis and therapeutic navigation system to help detect or predict human health problems from the micro-level to macro-level using a four-dimensional, dynamic approach to human anatomy: space, time, function, and pathology. Applying this dynamic and “living” approach in the clinical setting will promote better planning for – and more accurate, effective, and safe implementation of – medical management. Multidisciplinary Computational Anatomy will appeal not only to clinicians but also to a wide readership in various scientific fields such as basic science, engineering, image processing, and biomedical engineering. All chapters were written by respected specialists and feature abundant color illustrations. Moreover, the findings presented here share new insights into unresolved issues in the diagnosis and treatment of disease, and into the healthy human body.

Historical Dictionary of Iran

Author : John Henry Lorentz
Publisher : Historical Dictionaries of Asia, Oceania, and the Middle East
ISBN 13 :
Total Pages : 570 pages
Book Rating : 4.F/5 ( download)

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Book Synopsis Historical Dictionary of Iran by : John Henry Lorentz

Download or read book Historical Dictionary of Iran written by John Henry Lorentz and published by Historical Dictionaries of Asia, Oceania, and the Middle East. This book was released on 2007 with total page 570 pages. Available in PDF, EPUB and Kindle. Book excerpt: Provides an overview of specific events, movements, people, political and social groups, places, trends, and chronology. Allows for considerable exploration of a number of historical and contemporary topics and issues. The modern period, defined as 1800-present, is covered extensively.

Simplexity

Author : Alain Berthoz
Publisher : Odile Jacob
ISBN 13 : 2738147453
Total Pages : 194 pages
Book Rating : 4.7/5 (381 download)

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Book Synopsis Simplexity by : Alain Berthoz

Download or read book Simplexity written by Alain Berthoz and published by Odile Jacob. This book was released on 2018-12-20 with total page 194 pages. Available in PDF, EPUB and Kindle. Book excerpt: “Simplexity, as I understand it, is the range of solutions living organisms have found, despite the complexity of natural processes, to enable the brain to prepare an action and plan for the consequences of it. These solutions are simplifying principles that enable the processing of information or situations, by taking into account past experience and anticipating the future. They are neither caricatures, shortcuts, or summaries. They are new ways of asking questions, sometimes at the cost of occasional detours, in order to achieve faster, more elegant, more effective actions.” A. B. As Alain Berthoz demonstrates in this profoundly original book, simplicity is never easy; it requires suppressing, selecting, connecting, thinking, in order to then act in the best way possible. And what if we, in turn, are inspired by the living world to process the complexity that surrounds us? Alain Berthoz is professor at the Collège de France where he is co-director of the Laboratoire de physiologie de la perception et de l’action. [Laboratory for the physiology of perception and action]. He is a member of the French Academy of Sciences, and is the author of Le Sens du mouvement [The Brain's Sense of Movement] and La Décision [Emotion and Reason].

Metamorphoses

Author : Emanuele Coccia
Publisher : John Wiley & Sons
ISBN 13 : 1509545689
Total Pages : 180 pages
Book Rating : 4.5/5 (95 download)

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Book Synopsis Metamorphoses by : Emanuele Coccia

Download or read book Metamorphoses written by Emanuele Coccia and published by John Wiley & Sons. This book was released on 2021-06-09 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt: We are all fascinated by the mystery of metamorphosis – of the caterpillar that transforms itself into a butterfly. Their bodies have almost nothing in common. They don’t share the same world: one crawls on the ground and the other flutters its wings in the air. And yet they are one and the same life. Emanuele Coccia argues that metamorphosis – the phenomenon that allows the same life to subsist in disparate bodies – is the relationship that binds all species together and unites the living with the non-living. Bacteria, viruses, fungi, plants, animals: they are all one and the same life. Each species, including the human species, is the metamorphosis of all those that preceded it – the same life, cobbling together a new body and a new form in order to exist differently. And there is no opposition between the living and the non-living: life is always the reincarnation of the non-living, a carnival of the telluric substance of a planet – the Earth – that continually draws new faces and new ways of being out of even the smallest particle of its disparate body. By highlighting what joins humans together with other forms of life, Coccia’s brilliant reflection on metamorphosis encourages us to abandon our view of the human species as static and independent and to recognize instead that we are part of a much larger and interconnected form of life.

Advances in Computer Graphics II

Author : F.Robert A. Hopgood
Publisher : Springer Science & Business Media
ISBN 13 : 9783540169109
Total Pages : 200 pages
Book Rating : 4.1/5 (691 download)

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Book Synopsis Advances in Computer Graphics II by : F.Robert A. Hopgood

Download or read book Advances in Computer Graphics II written by F.Robert A. Hopgood and published by Springer Science & Business Media. This book was released on 1986-08-01 with total page 200 pages. Available in PDF, EPUB and Kindle. Book excerpt: Karst Systems deal with the question of how the subsurface drainage system, typical of Karst areas develops from its initial state to maturity. Equal attention is given to physical, chemical and geological conditions which determine karstification. The reader will find discussions of mass transport, chemical kinetics, hydrodynamics of fluxes, and the role of dissolution and precipitation of Calcite as they occur in experiments and natural environments. It offers a wealth of information on a complex natural system to hydrologists, hydrochemists, geologists and geographers.

Proof Theory and Automated Deduction

Author : Jean Goubault-Larrecq
Publisher : Springer Science & Business Media
ISBN 13 : 9781402003684
Total Pages : 448 pages
Book Rating : 4.0/5 (36 download)

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Book Synopsis Proof Theory and Automated Deduction by : Jean Goubault-Larrecq

Download or read book Proof Theory and Automated Deduction written by Jean Goubault-Larrecq and published by Springer Science & Business Media. This book was released on 2001-11-30 with total page 448 pages. Available in PDF, EPUB and Kindle. Book excerpt: Interest in computer applications has led to a new attitude to applied logic in which researchers tailor a logic in the same way they define a computer language. In response to this attitude, this text for undergraduate and graduate students discusses major algorithmic methodologies, and tableaux and resolution methods. The authors focus on first-order logic, the use of proof theory, and the computer application of automated searches for proofs of mathematical propositions. Annotation copyrighted by Book News, Inc., Portland, OR

Archaeologies of Vision

Author : Gary Shapiro
Publisher : University of Chicago Press
ISBN 13 : 0226750477
Total Pages : 460 pages
Book Rating : 4.2/5 (267 download)

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Book Synopsis Archaeologies of Vision by : Gary Shapiro

Download or read book Archaeologies of Vision written by Gary Shapiro and published by University of Chicago Press. This book was released on 2003-04-15 with total page 460 pages. Available in PDF, EPUB and Kindle. Book excerpt: While many acknowledge that Friedrich Nietzsche and Michel Foucault have redefined our notions of time and history, few recognize the crucial role that 'the infinite relation' between seeing and saying plays in their work. Shapiro reveals the full extent of Nietzsche and Foucault's concern with the visual.

Network Coding

Author : Khaldoun Al Agha
Publisher : John Wiley & Sons
ISBN 13 : 1118563107
Total Pages : 171 pages
Book Rating : 4.1/5 (185 download)

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Book Synopsis Network Coding by : Khaldoun Al Agha

Download or read book Network Coding written by Khaldoun Al Agha and published by John Wiley & Sons. This book was released on 2012-12-27 with total page 171 pages. Available in PDF, EPUB and Kindle. Book excerpt: Network coding, a relatively new area of research, has evolved from the theoretical level to become a tool used to optimize the performance of communication networks – wired, cellular, ad hoc, etc. The idea consists of mixing “packets” of data together when routing them from source to destination. Since network coding increases the network performance, it becomes a tool to enhance the existing protocols and algorithms in a network or for applications such as peer-to-peer and TCP. This book delivers an understanding of network coding and provides a set of studies showing the improvements in security, capacity and performance of fixed and mobile networks. This is increasingly topical as industry is increasingly becoming more reliant upon and applying network coding in multiple applications. Many cases where network coding is used in routing, physical layer, security, flooding, error correction, optimization and relaying are given – all of which are key areas of interest. Network Coding is the ideal resource for university students studying coding, and researchers and practitioners in sectors of all industries where digital communication and its application needs to be correctly understood and implemented. Contents 1. Network Coding: From Theory to Practice, Youghourta Benfattoum, Steven Martin and Khaldoun Al Agha. 2. Fountain Codes and Network Coding for WSNs, Anya Apavatjrut, Claire Goursaud, Katia Jaffrès-Runser and Jean-Marie Gorce. 3. Switched Code for Ad Hoc Networks: Optimizing the Diffusion by Using Network Coding, Nour Kadi and Khaldoun Al Agha. 4. Security by Network Coding, Katia Jaffrès-Runser and Cédric Lauradoux. 5. Security for Network Coding, Marine Minier, Yuanyuan Zhang and Wassim Znaïdi. 6. Random Network Coding and Matroids, Maximilien Gadouleau. 7. Joint Network-Channel Coding for the Semi-Orthogonal MARC: Theoretical Bounds and Practical Design, Atoosa Hatefi, Antoine O. Berthet and Raphael Visoz. 8. Robust Network Coding, Lana Iwaza, Marco Di Renzo and Michel Kieffer. 9. Flow Models and Optimization for Network Coding, Eric Gourdin and Jeremiah Edwards.