Cartography for cooperative manoeuvres with autonomous land vehicles

This article presents a cartographic system to facilitate cooperative manoeuvres among autonomous vehicles in a well-known environment. The main objective is to design an extended cartographic system to help in the navigation of autonomous vehicles. This system has to allow the vehicles not only to access the reference points needed for navigation, but also noticeable information such as the location and type of traffic signals, the proximity to a crossing, the streets en route, etc. To do this, a hierarchical representation of the information has been chosen, where the information has been stored in two levels. The lower level contains the archives with the Universal Traverse Mercator (UTM) coordinates of the points that define the reference segments to follow. The upper level contains a directed graph with the relational database in which streets, crossings, roundabouts and other points of interest are represented. Using this new system it is possible to know when the vehicle approaches a crossing, what other paths arrive at that crossing, and, should there be other vehicles circulating on those paths and arriving at the crossing, which one has the highest priority. The data obtained from the cartographic system is used by the autonomous vehicles for cooperative manoeuvres.

Modelo de arquitectura para gestión cooperativa de sistemas y servicios distribuidos basado en agentes autónomos

La creciente complejidad, heterogeneidad y dinamismo inherente a las redes de telecomunicaciones, los sistemas distribuidos y los servicios avanzados de información y comunicación emergentes, así como el incremento de su criticidad e importancia estratégica, requieren la adopción de tecnologías cada vez más sofisticadas para su gestión, su coordinación y su integración por parte de los operadores de red, los proveedores de servicio y las empresas, como usuarios finales de los mismos, con el fin de garantizar niveles adecuados de funcionalidad, rendimiento y fiabilidad. Las estrategias de gestión adoptadas tradicionalmente adolecen de seguir modelos excesivamente estáticos y centralizados, con un elevado componente de supervisión y difícilmente escalables. La acuciante necesidad por flexibilizar esta gestión y hacerla a la vez más escalable y robusta, ha provocado en los últimos años un considerable interés por desarrollar nuevos paradigmas basados en modelos jerárquicos y distribuidos, como evolución natural de los primeros modelos jerárquicos débilmente distribuidos que sucedieron al paradigma centralizado. Se crean así nuevos modelos como son los basados en Gestión por Delegación, en el paradigma de código móvil, en las tecnologías de objetos distribuidos y en los servicios web. Estas alternativas se han mostrado enormemente robustas, flexibles y escalables frente a las estrategias tradicionales de gestión, pero continúan sin resolver aún muchos problemas. Las líneas actuales de investigación parten del hecho de que muchos problemas de robustez, escalabilidad y flexibilidad continúan sin ser resueltos por el paradigma jerárquico-distribuido, y abogan por la migración hacia un paradigma cooperativo fuertemente distribuido. Estas líneas tienen su germen en la Inteligencia Artificial Distribuida (DAI) y, más concretamente, en el paradigma de agentes autónomos y en los Sistemas Multi-agente (MAS). Todas ellas se perfilan en torno a un conjunto de objetivos que pueden resumirse en alcanzar un mayor grado de autonomía en la funcionalidad de la gestión y una mayor capacidad de autoconfiguración que resuelva los problemas de escalabilidad y la necesidad de supervisión presentes en los sistemas actuales, evolucionar hacia técnicas de control fuertemente distribuido y cooperativo guiado por la meta y dotar de una mayor riqueza semántica a los modelos de información. Cada vez más investigadores están empezando a utilizar agentes para la gestión de redes y sistemas distribuidos. Sin embargo, los límites establecidos en sus trabajos entre agentes móviles (que siguen el paradigma de código móvil) y agentes autónomos (que realmente siguen el paradigma cooperativo) resultan difusos. Muchos de estos trabajos se centran en la utilización de agentes móviles, lo cual, al igual que ocurría con las técnicas de código móvil comentadas anteriormente, les permite dotar de un mayor componente dinámico al concepto tradicional de Gestión por Delegación. Con ello se consigue flexibilizar la gestión, distribuir la lógica de gestión cerca de los datos y distribuir el control. Sin embargo se permanece en el paradigma jerárquico distribuido. Si bien continúa sin definirse aún una arquitectura de gestión fiel al paradigma cooperativo fuertemente distribuido, estas líneas de investigación han puesto de manifiesto serios problemas de adecuación en los modelos de información, comunicación y organizativo de las arquitecturas de gestión existentes. En este contexto, la tesis presenta un modelo de arquitectura para gestión holónica de sistemas y servicios distribuidos mediante sociedades de agentes autónomos, cuyos objetivos fundamentales son el incremento del grado de automatización asociado a las tareas de gestión, el aumento de la escalabilidad de las soluciones de gestión, soporte para delegación tanto por dominios como por macro-tareas, y un alto grado de interoperabilidad en entornos abiertos. A partir de estos objetivos se ha desarrollado un modelo de información formal de tipo semántico, basado en lógica descriptiva que permite un mayor grado de automatización en la gestión en base a la utilización de agentes autónomos racionales, capaces de razonar, inferir e integrar de forma dinámica conocimiento y servicios conceptualizados mediante el modelo CIM y formalizados a nivel semántico mediante lógica descriptiva. El modelo de información incluye además un “mapping” a nivel de meta-modelo de CIM al lenguaje de especificación de ontologías OWL, que supone un significativo avance en el área de la representación y el intercambio basado en XML de modelos y meta-información. A nivel de interacción, el modelo aporta un lenguaje de especificación formal de conversaciones entre agentes basado en la teoría de actos ilocucionales y aporta una semántica operacional para dicho lenguaje que facilita la labor de verificación de propiedades formales asociadas al protocolo de interacción. Se ha desarrollado también un modelo de organización holónico y orientado a roles cuyas principales características están alineadas con las demandadas por los servicios distribuidos emergentes e incluyen la ausencia de control central, capacidades de reestructuración dinámica, capacidades de cooperación, y facilidades de adaptación a diferentes culturas organizativas. El modelo incluye un submodelo normativo adecuado al carácter autónomo de los holones de gestión y basado en las lógicas modales deontológica y de acción.---ABSTRACT---The growing complexity, heterogeneity and dynamism inherent in telecommunications networks, distributed systems and the emerging advanced information and communication services, as well as their increased criticality and strategic importance, calls for the adoption of increasingly more sophisticated technologies for their management, coordination and integration by network operators, service providers and end-user companies to assure adequate levels of functionality, performance and reliability. The management strategies adopted traditionally follow models that are too static and centralised, have a high supervision component and are difficult to scale. The pressing need to flexibilise management and, at the same time, make it more scalable and robust recently led to a lot of interest in developing new paradigms based on hierarchical and distributed models, as a natural evolution from the first weakly distributed hierarchical models that succeeded the centralised paradigm. Thus new models based on management by delegation, the mobile code paradigm, distributed objects and web services came into being. These alternatives have turned out to be enormously robust, flexible and scalable as compared with the traditional management strategies. However, many problems still remain to be solved. Current research lines assume that the distributed hierarchical paradigm has as yet failed to solve many of the problems related to robustness, scalability and flexibility and advocate migration towards a strongly distributed cooperative paradigm. These lines of research were spawned by Distributed Artificial Intelligence (DAI) and, specifically, the autonomous agent paradigm and Multi-Agent Systems (MAS). They all revolve around a series of objectives, which can be summarised as achieving greater management functionality autonomy and a greater self-configuration capability, which solves the problems of scalability and the need for supervision that plague current systems, evolving towards strongly distributed and goal-driven cooperative control techniques and semantically enhancing information models. More and more researchers are starting to use agents for network and distributed systems management. However, the boundaries established in their work between mobile agents (that follow the mobile code paradigm) and autonomous agents (that really follow the cooperative paradigm) are fuzzy. Many of these approximations focus on the use of mobile agents, which, as was the case with the above-mentioned mobile code techniques, means that they can inject more dynamism into the traditional concept of management by delegation. Accordingly, they are able to flexibilise management, distribute management logic about data and distribute control. However, they remain within the distributed hierarchical paradigm. While a management architecture faithful to the strongly distributed cooperative paradigm has yet to be defined, these lines of research have revealed that the information, communication and organisation models of existing management architectures are far from adequate. In this context, this dissertation presents an architectural model for the holonic management of distributed systems and services through autonomous agent societies. The main objectives of this model are to raise the level of management task automation, increase the scalability of management solutions, provide support for delegation by both domains and macro-tasks and achieve a high level of interoperability in open environments. Bearing in mind these objectives, a descriptive logic-based formal semantic information model has been developed, which increases management automation by using rational autonomous agents capable of reasoning, inferring and dynamically integrating knowledge and services conceptualised by means of the CIM model and formalised at the semantic level by means of descriptive logic. The information model also includes a mapping, at the CIM metamodel level, to the OWL ontology specification language, which amounts to a significant advance in the field of XML-based model and metainformation representation and exchange. At the interaction level, the model introduces a formal specification language (ACSL) of conversations between agents based on speech act theory and contributes an operational semantics for this language that eases the task of verifying formal properties associated with the interaction protocol. A role-oriented holonic organisational model has also been developed, whose main features meet the requirements demanded by emerging distributed services, including no centralised control, dynamic restructuring capabilities, cooperative skills and facilities for adaptation to different organisational cultures. The model includes a normative submodel adapted to management holon autonomy and based on the deontic and action modal logics.

Supporting the software testing process through specification animation

Achieving consistency between a specification and its implementation is an important part of software development. In this paper, we present a method for generating passive test oracles that act as self-checking implementations. The implementation is verified using an animation tool to check that the behavior of the implementation matches the behavior of the specification. We discuss how to integrate this method into a framework developed for systematically animating specifications, which means a tester can significantly reduce testing time and effort by reusing work products from the animation. One such work product is a testgraph: a directed graph that partially models the states and transitions of the specification. Testgraphs are used to generate sequences for animation, and during testing, to execute these same sequences on the implementation.

Software Testing and Documenting Automation

This article describes some approaches to problem of testing and documenting automation in information systems with graphical user interface. Combination of data mining methods and theory of finite state machines is used for testing automation. Automated creation of software documentation is based on using metadata in documented system. Metadata is built on graph model. Described approaches improve performance and quality of testing and documenting processes.

About Methods of Mathematical Modelling in the Development of Information Systems

This article describes the approach, which allows to develop information systems without taking into consideration details of physical storage of the relational model and type database management system. Described in terms of graph model, this approach allows to construct several algorithms, for example, for verification application domain. This theory was introduced into operation testing as a part of CASE-system METAS.

Access Rights Inheritance in Information Systems Controlled by Metadata

All information systems have to be protected. As the number of information objects and the number of users increase the task of information system’s protection becomes more difficult. One of the most difficult problems is access rights assignment. This paper describes the graph model of access rights inheritance. This model takes into account relations and dependences between different objects and between different users. The model can be implemented in the information systems controlled by the metadata, describing information objects and connections between them, such as the systems based on CASE-technology METAS.

Learning Technology in Scheduling Based on the Mixed Graphs

We propose the adaptive algorithm for solving a set of similar scheduling problems using learning technology. It is devised to combine the merits of an exact algorithm based on the mixed graph model and heuristics oriented on the real-world scheduling problems. The former may ensure high quality of the solution by means of an implicit exhausting enumeration of the feasible schedules. The latter may be developed for certain type of problems using their peculiarities. The main idea of the learning technology is to produce effective (in performance measure) and efficient (in computational time) heuristics by adapting local decisions for the scheduling problems under consideration. Adaptation is realized at the stage of learning while solving a set of sample scheduling problems using a branch-and-bound algorithm and structuring knowledge using pattern recognition apparatus.

Fogalmak, módszerek. Páros összehasonlításokon alapuló rangsorolási módszerek (Ranking methods based on paired comparisons)

A páronként összehasonlított alternatívák rangsorolásának problémája egyaránt felmerül a szavazáselmélet, a statisztika, a tudománymetria, a pszichológia és a sport területén. A nemzetközi szakirodalom alapján részletesen áttekintjük a megoldási lehetőségeket, bemutatjuk a gyakorlati alkalmazások során fellépő kérdések kezelésének, a valós adatoknak megfelelő matematikai környezet felépítésének módjait. Kiemelten tárgyaljuk a páros összehasonlítási mátrix megadását, az egyes pontozási eljárásokat és azok kapcsolatát. A tanulmány elméleti szempontból vizsgálja a Perron-Frobenius tételen alapuló invariáns, fair bets, PageRank, valamint az irányított gráfok csúcsainak rangsorolásra javasolt internal slackening és pozíciós erő módszereket. A közülük történő választáshoz az axiomatikus megközelítést ajánljuk, ennek keretében bemutatjuk az invariáns és a fair bets eljárások karakterizációját, és kitérünk a módszerek vitatható tulajdonságaira. _____ The ranking of the alternatives or selecting the best one are fundamental issues of social choice theory, statistics, psychology and sport. Different solution concepts, and various mathematical models of applications are reviewed based on the international literature. We are focusing on the de¯nition of paired comparison matrix, on main scoring procedures and their relation. The paper gives a theoretical analysis of the invariant, fair bets and PageRank methods, which are founded on Perron-Frobenius theorem, as well as the internal slackening and positional power procedures used for ranking the nodes of a directed graph. An axiomatic approach is proposed for the choice of an appropriate method. Besides some known characterizations for the invariant and fair bets methods, we also discuss the violation of some properties, meaning their main weakness.

Design, development and control of a new generation high performance linear actuator for parallel robots and other applications

The main focus of this research is to design and develop a high performance linear actuator based on a four bar mechanism. The present work includes the detailed analysis (kinematics and dynamics), design, implementation and experimental validation of the newly designed actuator. High performance is characterized by the acceleration of the actuator end effector. The principle of the newly designed actuator is to network the four bar rhombus configuration (where some bars are extended to form an X shape) to attain high acceleration. Firstly, a detailed kinematic analysis of the actuator is presented and kinematic performance is evaluated through MATLAB simulations. A dynamic equation of the actuator is achieved by using the Lagrangian dynamic formulation. A SIMULINK control model of the actuator is developed using the dynamic equation. In addition, Bond Graph methodology is presented for the dynamic simulation. The Bond Graph model comprises individual component modeling of the actuator along with control. Required torque was simulated using the Bond Graph model. Results indicate that, high acceleration (around 20g) can be achieved with modest (3 N-m or less) torque input. A practical prototype of the actuator is designed using SOLIDWORKS and then produced to verify the proof of concept. The design goal was to achieve the peak acceleration of more than 10g at the middle point of the travel length, when the end effector travels the stroke length (around 1 m). The actuator is primarily designed to operate in standalone condition and later to use it in the 3RPR parallel robot. A DC motor is used to operate the actuator. A quadrature encoder is attached with the DC motor to control the end effector. The associated control scheme of the actuator is analyzed and integrated with the physical prototype. From standalone experimentation of the actuator, around 17g acceleration was achieved by the end effector (stroke length was 0.2m to 0.78m). Results indicate that the developed dynamic model results are in good agreement. Finally, a Design of Experiment (DOE) based statistical approach is also introduced to identify the parametric combination that yields the greatest performance. Data are collected by using the Bond Graph model. This approach is helpful in designing the actuator without much complexity.

Petri Net Siphon Analysis and Network Centrality Measures for Identifying Combination Therapies in Signaling Pathways

Aberrant behavior of biological signaling pathways has been implicated in diseases such as cancers. Therapies have been developed to target proteins in these networks in the hope of curing the illness or bringing about remission. However, identifying targets for drug inhibition that exhibit good therapeutic index has proven to be challenging since signaling pathways have a large number of components and many interconnections such as feedback, crosstalk, and divergence. Unfortunately, some characteristics of these pathways such as redundancy, feedback, and drug resistance reduce the efficacy of single drug target therapy and necessitate the employment of more than one drug to target multiple nodes in the system. However, choosing multiple targets with high therapeutic index poses more challenges since the combinatorial search space could be huge. To cope with the complexity of these systems, computational tools such as ordinary differential equations have been used to successfully model some of these pathways. Regrettably, for building these models, experimentally-measured initial concentrations of the components and rates of reactions are needed which are difficult to obtain, and in very large networks, they may not be available at the moment. Fortunately, there exist other modeling tools, though not as powerful as ordinary differential equations, which do not need the rates and initial conditions to model signaling pathways. Petri net and graph theory are among these tools. In this thesis, we introduce a methodology based on Petri net siphon analysis and graph network centrality measures for identifying prospective targets for single and multiple drug therapies. In this methodology, first, potential targets are identified in the Petri net model of a signaling pathway using siphon analysis. Then, the graph-theoretic centrality measures are employed to prioritize the candidate targets. Also, an algorithm is developed to check whether the candidate targets are able to disable the intended outputs in the graph model of the system or not. We implement structural and dynamical models of ErbB1-Ras-MAPK pathways and use them to assess and evaluate this methodology. The identified drug-targets, single and multiple, correspond to clinically relevant drugs. Overall, the results suggest that this methodology, using siphons and centrality measures, shows promise in identifying and ranking drugs. Since this methodology only uses the structural information of the signaling pathways and does not need initial conditions and dynamical rates, it can be utilized in larger networks.

Navigating a corpus of journal papers using Handles

For some years now the Internet and World Wide Web communities have envisaged moving to a next generation of Web technologies by promoting a globally unique, and persistent, identifier for identifying and locating many forms of published objects . These identifiers are called Universal Resource Names (URNs) and they hold out the prospect of being able to refer to an object by what it is (signified by its URN), rather than by where it is (the current URL technology). One early implementation of URN ideas is the Unicode-based Handle technology, developed at CNRI in Reston Virginia. The Digital Object Identifier (DOI) is a specific URN naming convention proposed just over 5 years ago and is now administered by the International DOI organisation, founded by a consortium of publishers and based in Washington DC. The DOI is being promoted for managing electronic content and for intellectual rights management of it, either using the published work itself, or, increasingly via metadata descriptors for the work in question. This paper describes the use of the CNRI handle parser to navigate a corpus of papers for the Electronic Publishing journal. These papers are in PDF format and based on our server in Nottingham. For each paper in the corpus a metadata descriptor is prepared for every citation appearing in the References section. The important factor is that the underlying handle is resolved locally in the first instance. In some cases (e.g. cross-citations within the corpus itself and links to known resources elsewhere) the handle can be handed over to CNRI for further resolution. This work shows the encouraging prospect of being able to use persistent URNs not only for intellectual property negotiations but also for search and discovery. In the test domain of this experiment every single resource, referred to within a given paper, can be resolved, at least to the level of metadata about the referred object. If the Web were to become more fully URN aware then a vast directed graph of linked resources could be accessed, via persistent names. Moreover, if these names delivered embedded metadata when resolved, the way would be open for a new generation of vastly more accurate and intelligent Web search engines.

An enforced cooperation : understanding scientific assessments in adversarial polities through Quebec shale gas policymaking, 2010-2014

Les biotechnologies, le réchauffement climatique, les ressources naturelles et la gestion des écosystèmes sont tous représentatifs de la “nouvelle politique de la nature” (Hajer 2003), un terme englobant les enjeux marqués par une grande incertitude scientifique et un encadrement réglementaire inadapté aux nouvelles réalités, suscitant de fait un conflit politique hors du commun. Dans l'espoir de diminuer ces tensions et de générer un savoir consensuel, de nombreux gouvernements se tournent vers des institutions scientifiques ad hoc pour documenter l'élaboration des politiques et répondre aux préoccupations des partie-prenantes. Mais ces évaluations scientifiques permettent-elles réellement de créer une compréhension commune partagée par ces acteurs politiques polarisés? Alors que l'on pourrait croire que celles-ci génèrent un climat d'apprentissage collectif rassembleur, un environnement politique conflictuel rend l'apprentissage entre opposant extrêmement improbable. Ainsi, cette recherche documente le potentiel conciliateur des évaluation scientifique en utilisant le cas des gaz de schiste québécois (2010-2014). Ce faisant, elle mobilise la littérature sur les dimensions politiques du savoir et de la science afin de conceptualiser le rôle des évaluations scientifiques au sein d'une théorie de la médiation scientifique (scientific brokerage). Une analyse de réseau (SNA) des 5751 références contenues dans les documents déposés par 268 organisations participant aux consultations publiques de 2010 et 2014 constitue le corps de la démonstration empirique. Précisément, il y est démontré comment un médiateur scientifique peut rediriger le flux d'information afin de contrer l'incompatibilité entre apprentissage collectif et conflit politique. L'argument mobilise les mécanismes cognitifs traditionnellement présents dans la théorie des médiateurs de politique (policy broker), mais introduit aussi les jeux de pouvoir fondamentaux à la circulation de la connaissance entre acteurs politiques.

Bidirectional Helmholtz Machines

L'entraînement sans surveillance efficace et inférence dans les modèles génératifs profonds reste un problème difficile. Une approche assez simple, la machine de Helmholtz, consiste à entraîner du haut vers le bas un modèle génératif dirigé qui sera utilisé plus tard pour l'inférence approximative. Des résultats récents suggèrent que de meilleurs modèles génératifs peuvent être obtenus par de meilleures procédures d'inférence approximatives. Au lieu d'améliorer la procédure d'inférence, nous proposons ici un nouveau modèle, la machine de Helmholtz bidirectionnelle, qui garantit qu'on peut calculer efficacement les distributions de haut-vers-bas et de bas-vers-haut. Nous y parvenons en interprétant à les modèles haut-vers-bas et bas-vers-haut en tant que distributions d'inférence approximative, puis ensuite en définissant la distribution du modèle comme étant la moyenne géométrique de ces deux distributions. Nous dérivons une borne inférieure pour la vraisemblance de ce modèle, et nous démontrons que l'optimisation de cette borne se comporte en régulisateur. Ce régularisateur sera tel que la distance de Bhattacharyya sera minisée entre les distributions approximatives haut-vers-bas et bas-vers-haut. Cette approche produit des résultats de pointe en terme de modèles génératifs qui favorisent les réseaux significativement plus profonds. Elle permet aussi une inférence approximative amérliorée par plusieurs ordres de grandeur. De plus, nous introduisons un modèle génératif profond basé sur les modèles BiHM pour l'entraînement semi-supervisé.

An enforced cooperation : understanding scientific assessments in adversarial polities through Quebec shale gas policymaking, 2010-2014

Les biotechnologies, le réchauffement climatique, les ressources naturelles et la gestion des écosystèmes sont tous représentatifs de la “nouvelle politique de la nature” (Hajer 2003), un terme englobant les enjeux marqués par une grande incertitude scientifique et un encadrement réglementaire inadapté aux nouvelles réalités, suscitant de fait un conflit politique hors du commun. Dans l'espoir de diminuer ces tensions et de générer un savoir consensuel, de nombreux gouvernements se tournent vers des institutions scientifiques ad hoc pour documenter l'élaboration des politiques et répondre aux préoccupations des partie-prenantes. Mais ces évaluations scientifiques permettent-elles réellement de créer une compréhension commune partagée par ces acteurs politiques polarisés? Alors que l'on pourrait croire que celles-ci génèrent un climat d'apprentissage collectif rassembleur, un environnement politique conflictuel rend l'apprentissage entre opposant extrêmement improbable. Ainsi, cette recherche documente le potentiel conciliateur des évaluation scientifique en utilisant le cas des gaz de schiste québécois (2010-2014). Ce faisant, elle mobilise la littérature sur les dimensions politiques du savoir et de la science afin de conceptualiser le rôle des évaluations scientifiques au sein d'une théorie de la médiation scientifique (scientific brokerage). Une analyse de réseau (SNA) des 5751 références contenues dans les documents déposés par 268 organisations participant aux consultations publiques de 2010 et 2014 constitue le corps de la démonstration empirique. Précisément, il y est démontré comment un médiateur scientifique peut rediriger le flux d'information afin de contrer l'incompatibilité entre apprentissage collectif et conflit politique. L'argument mobilise les mécanismes cognitifs traditionnellement présents dans la théorie des médiateurs de politique (policy broker), mais introduit aussi les jeux de pouvoir fondamentaux à la circulation de la connaissance entre acteurs politiques.

Bidirectional Helmholtz Machines

L'entraînement sans surveillance efficace et inférence dans les modèles génératifs profonds reste un problème difficile. Une approche assez simple, la machine de Helmholtz, consiste à entraîner du haut vers le bas un modèle génératif dirigé qui sera utilisé plus tard pour l'inférence approximative. Des résultats récents suggèrent que de meilleurs modèles génératifs peuvent être obtenus par de meilleures procédures d'inférence approximatives. Au lieu d'améliorer la procédure d'inférence, nous proposons ici un nouveau modèle, la machine de Helmholtz bidirectionnelle, qui garantit qu'on peut calculer efficacement les distributions de haut-vers-bas et de bas-vers-haut. Nous y parvenons en interprétant à les modèles haut-vers-bas et bas-vers-haut en tant que distributions d'inférence approximative, puis ensuite en définissant la distribution du modèle comme étant la moyenne géométrique de ces deux distributions. Nous dérivons une borne inférieure pour la vraisemblance de ce modèle, et nous démontrons que l'optimisation de cette borne se comporte en régulisateur. Ce régularisateur sera tel que la distance de Bhattacharyya sera minisée entre les distributions approximatives haut-vers-bas et bas-vers-haut. Cette approche produit des résultats de pointe en terme de modèles génératifs qui favorisent les réseaux significativement plus profonds. Elle permet aussi une inférence approximative amérliorée par plusieurs ordres de grandeur. De plus, nous introduisons un modèle génératif profond basé sur les modèles BiHM pour l'entraînement semi-supervisé.