Barbara Nicolas

Mikael Carmona, Olivier Michel, Jean-Louis Lacoume et al.

Sensor network attitude problem consists in retrieving the attitude of each sensor of a network knowing some relative orientations between pairs of sensors. The attitude of a sensor is its orientation in an absolute axis system. We present in this paper a method for solving the sensor network attitude problem using quaternion formalism which allows to apply linear algebra tools. The proposed algorithm solves the problem when all of the relative attitudes are known. A complete characterisation of the algorithm is established: spatial complexity, time complexity and robustness. Our algorithm is validated in simulations and with real experiments.

Tatiana Gelvez-Barrera, Barbara Nicolas, Bruno Gilles et al.

Passive acoustic mapping (PAM) is a key imaging technique for characterizing cavitation activity in therapeutic ultrasound applications. Recent model-based beamforming algorithms offer high reconstruction quality and strong physical interpretability. However, their computational burden and limited temporal resolution restrict their use in applications with time-evolving cavitation. To address these challenges, we introduce a PAM beamforming framework based on a novel convolutional formulation in the time domain, which enables efficient computation. In this framework, PAM is formulated as an inverse problem in which the forward operator maps spatiotemporal cavitation activity to recorded radio-frequency signals accounting for time-of-flight delays defined by the acquisition geometry. We then formulate a regularized inversion algorithm that incorporates prior knowledge on cavitation activity. Experimental results demonstrate that our framework outperforms classical beamforming methods, providing higher temporal resolution than frequency-domain techniques while substantially reducing computational burden compared with iterative time-domain formulations.

Tatiana Gelvez-Barrera, Barbara Nicolas, Denis Kouamé et al.

Passive acoustic mapping enables the spatial mapping and temporal monitoring of cavitation activity, playing a crucial role in therapeutic ultrasound applications. Most conventional beamforming methods, whether implemented in the time or frequency domains, suffer from limited axial resolution due to the absence of a reference emission onset time. While frequency-domain methods, the most efficient of which are based on the cross-spectral matrix, require long signals for accurate estimation, time-domain methods typically achieve lower spatial resolution. To address these limitations, we propose a linear model-based beamforming framework fully formulated in the time domain. The linear forward model relates a discretized spatiotemporal distribution of cavitation activity to the temporal signals recorded by a probe, explicitly accounting for time-of-flight delays dictated by the acquisition geometry. This model is then inverted using regularization techniques that exploit prior knowledge of cavitation activity in both spatial and temporal domains. Experimental results show that the proposed framework achieves enhanced or competitive cavitation map quality while using only 20\% of the data typically required by frequency-domain methods. This highlights the substantial gain in data efficiency and the flexibility of our spatiotemporal regularization to adapt to diverse passive cavitation scenarios, outperforming state-of-the-art techniques.