In many countries, the COVID-19 pandemic led to a period of lockdown that impacted individuals’ lifestyles, in both professional and personal spheres. New problems and challenges arose, as well as opportunities. Numerous studies have examined the negative effects of lockdown measures, but few have attempted to shine light on the potential positive effects that may come out of these measures. We focused on one particular positive outcome that might have emerged from lockdown: creativity. To this end, this paper compared self-reported (...) professional creativity and everyday creativity before and during lockdown, using a questionnaire-based study conducted on a French sample. We expected participants to be more creative during than prior to lockdown, in both professional and everyday spheres. Regarding Pro-C, we did not see any significant differences between the two comparison points, before and during lockdown. Regarding everyday creativity, we observed a significant increase during lockdown. Furthermore, our results suggest that participants with a lower baseline creativity benefited more from the situation than those with a higher initial baseline creativity. Our results provide new insights on the impact of lockdown and its positive outcomes. These measures may have inarguably negative consequences on the physical and mental health of many, but their positive impact exists as well. (shrink)

Le philosophe Gerald A. Cohen est décédé le 5 août 2009. Sa contribution s’est d’abord articulée autour de la pensée de Marx. Elle émergea sur la scène intellectuelle en 1978 avec la parution de Karl Marx’s Theory of History : A Defence, qui impulsa la constitution du marxisme analytique. Par la suite, Cohen tendit à se détacher progressivement de la théorie de Marx. Il participa à la discussion sur le concept libertarien de propriété de soi en vue de l’associer à (...) une approche marxiste, avant d’intégrer pleinement le débat normatif autour des problématiques de justice sociale, autour de la Théorie de la justice de John Rawls. Fondée sur la philosophie kantienne, sa critique de la théorie de Rawls lui reproche de ne pas accorder suffisamment d’autonomie aux choix individuels. Le présent article discute la pertinence du voyage intellectuel de Jerry Cohen dans son rapport à l’œuvre de Marx. (shrink)

We present the Jaina theory of sevenfold predication as a 7-valued logic, in which every logical value consists in a 3-tuple of opinions. A question-answer semantics is used in order to give an intuitive characterization of these logical values in terms of opinion polls. Two different interpretations are plausible for the latest sort of opinion, depending upon whether "non-assertability" refers to incompleteness or inconsistency. It is shown hat the incomplete version of JL_{G} is equivalent to Kleene's logic K3, whereas the (...) inconsistent version of JL_{M} is equivalent to Priest's Logic of Paradox LP. Finally, it is argued that the Indian logics depart from Western logics by conflating truth and justified belief: the different preconditions for belief ascription accounts for the difference between pluralist and skeptic logics. (shrink)

It is argued that the theory of opposition is in position to contribute as a formal method of conceptual engineering, by means of an increasing dichotomy-making process that augments the number of elements into any structured lexical field. After recalling the roots of this theory and its logical tenets, it is shown how the processes of expansion and contraction of discourse can modify a lexical field and, with it, our collective representation of ideas. This theory can also bring some order (...) to the question of disagreement in philosophical discourse: what do philosophers disagree about; how can we clarify the distinction between verbal disagreement (focused on words) and substantive disagreement (focused on things)? The ensuing construction of conceptual systems will be exemplified through three case studies of philosophy: desire, truth judgment, and the left–right political divide. The construction rules of such systems resort to the theory of opposition, which intends to improve our understanding of what entails either agreement or disagreement about the meaning of concepts. Such a better understanding of philosophical discourse relies on its formalization in terms of closed lexical fields, thereby leading to a comparative analysis of concepts in light of logical relations between their definitions. (shrink)

Science communication, as a field and as a practice, is fundamentally about knowledge distribution; it is about the access to, and the sharing of knowledge. All distribution brings with it issues of ethics and justice. Indeed, whether science communicators acknowledge it or not, they get to decide both which knowledge is shared, and who gets access to this knowledge. As a result, the decisions of science communicators have important implications for epistemic justice: how knowledge is distributed fairly and equitably. This (...) paper presents an overview of issues related to epistemic justice for science communication, and argues that there are two quite distinct ways in which science communicators can be just in the way they distribute knowledge. Both of these paths will be considered before concluding that, at least on one of these accounts, science communication as a field and as a practice is fundamentally epistemically unjust. Possible ways to redress this injustice are suggested. (shrink)

The logic of conditional is developed hereby in a series of papers, contributing to a historical and critical analysis of what the logical constant is expected to mean.

The renewal of the concept of continuous creation follows two steps: (1) an establishment of the concept of novelty in an exercise of philosophy of nature, as a means of interpreting the scientific discourse concerning the evolution of life; (2) starting out from philosophical and theological critiques and from the concept of novelty, this work proposes a reformulation of the concept of continuous creation in its dynamic perspective. If the universe of possibilities of creation proceeds from the Divine Word by (...) the will of the Father, as the first timeless ex nihilo creative moment, the Holy Spirit allows, in a second creative moment, the universe of possibilities to proceed continuously through a creative partnership in which all creatures are involved. Created novelty is the expression of a procession of one possibility among others, which has been selected by creatures during the evolutionary process, due to the interdependence of constitutive interactions and the propensities in which creatures are situated. (shrink)

In this article the author tries to answer the difficult question of the roots of the welfare state. The study of the French example shows that if some roots are ideological, at the same time they are sociological, too. In the article the main streams of ideological roots are described and conclusion is drawn that nowadays sociological issues are very important. The popularity of the welfare state shows that dismantlement is impossible in the democratic States. Yet, its crisis due to (...) its cost in a globalized world asks the question of the balance point between the fight against assistantship and maintenance of the redistributive nature of the welfare state. The answer to that question still remains the key challenge for European politicians. (shrink)

À propos de : Bruno Bachimont, Herméneutique matérielle et Artéfacture : des machines qui pensent aux machines qui donnent à penser. Critique du formalisme en intelligence artificielle, Thèse de doctorat en épistémologie sous la direction de Jean Petitot, École Polytechnique, 24 mai 1996. 354 p. Ce travail, qui n’a malheureusement pas encore bénéficié d’une publica­tion, est l’aboutissement de dix ans de travail. Herméneutique matérielle et Artéfacture : des machines qui pensent aux machines...

Claude Tresmontant (1925-1997) était professeur de philosophie médiévale et d'histoire des sciences à la Sorbonne. Ce livre présente ses thèses en insistant sur l'articulation entre les sciences et la question de l'existence de Dieu. La rationalité de la théologie chrétienne est soutenue. Ses travaux aboutissent à démontrer l'existence de Dieu et soulèvent l'alternative suivante : admettre l'existence du Créateur ou la refuser tout en continuant d'être les héritiers du matérialisme qui fit florès jusqu'aux réductionnistes contemporains. La finalité de l'évolution n'étant (...) autre que l'union de la nature humaine créée à la nature divine incréée, union dont le Christ incarne le Premier-Né. Les sciences donneraient alors accès à la Création en cours d'évolution, tandis que la Bible contiendrait le secret de l'information essentielle sur son avenir. 'Emounah' en hébreu, 'certitude de la vérité', la foi reviendrait ainsi à un acte rationnel, et non à une croyance purement affective"--Page 4 of cover. (shrink)

A logical theory of oppositions deals with the relation between propositions and their truth values. On the basis of a formal semantics that proceeds by means of questions-answers, three theses are claimed in the following: (1) the concept of opposition usually refers to incompatibility, but our logical analysis focusses upon a broader relation of difference; (2) more generally, opposition has to do with negativity; our semantics accounts for it through opposite-forming operators; (3) subalternation is a particular case of non-contradiction expressing (...) an “opposition of an opposition”; it is not a proper opposition, accordingly, but its very meaning depends upon the latter. There is not only one but rather a number of expressions for negativity and the paper presents a detailed analysis of these "floating" expressions in a twofold sense of the word: floating quantification is closely related to the logical operations of sentential negation and denial; to what extent natural languages do not clearly express the meaning of a negative thought will be exemplified. L'objectif du texte qui suit est double : non seulement proposer une analyse logique du concept d'opposition, susceptible d'apporter de la précision à cette notion tout aussi vague que courante ; mais aussi, proposer une explication des différentes façons dont la négation se manifeste dans les langues naturelles, en particulier dans notre modèle local de la langue française. Tandis que la communauté des linguistes propose couramment une distinction entre une négation logique et une négation linguistique, l'article qui suit a la prétention d'une explication unifiée de la négation, c'est-à-dire un cadre théorique commun dans lequel ces deux aspects de l'opérateur de négation apparaissent comme des cas particuliers aux significations distinctes. Il n'y aurait donc pas une négation logique, d'un côté, et une négation linguistique ou "métalinguistique", de l'autre. Une approche structurelle des expressions négatives devrait apporter un éclairage sur ce point, par le biais d'une analyse algébrique de la signification en termes de questions-réponses. Mais revenons pour commencer sur l'origine philosophique du concept d'opposition, avant d'en exposer les propriétés logiques par la suite et les expressions linguistiques pour conclure. (shrink)

The present paper wants to develop a formal semantics about a special class of formulas: quantifying statements, which are a kind of predicative statements where both subject- and predicate terms are quantifier expressions like ‘everything’, ‘something’, and ‘nothing’. After showing how talking about nothingness makes sense despite philosophical objections, I contend that there are two sorts of meaning in phrases including ‘thing’, viz. as an individual (e.g. ‘some thing’) or as a property (e.g. ‘something’). Then I display two kinds of (...) logical forms for quantifying statements, depending on how these ‘thing’s are ordered into a whole predication. Finally, an algebraic semantics is proposed for the finite set of quantifying statements to order these into a (fragmentary) dodecagon of logical relations. The corresponding Sub-Model Semantics (hereafter: $$\mathbb {SMS}$$ ) aims to update the usual theory of opposition whilst leading to a research program for other kinds of statement like categorical and even modal propositions. (shrink)

Cette contribution se propose d’étudier la place qu’occupe la renommée au sein du stoïcisme. Considérée par les stoïciens comme un indifférent préférable, elle a fait l’objet de discussions approfondies au cours de l’histoire de l’école. Cet article tente ainsi de proposer, à partir des sources conservées, une reconstitution terminologique diachronique des différentes notions théorisées par les stoïciens à propos de la bonne réputation. Il cherchera aussi à restituer les débats portant sur son statut au sein de la catégorie des préférables.

This article develops a historico-critical analysis of uncertainty and accuracy in measurement through a case-study of the adjustment of the fundamental physical constants, in order to investigate the sceptical “problem of unknowability” undermining realist accounts of measurement. Every scientific result must include a “measurement uncertainty”, but uncertainty cannot be be eval- uated against the unknown, and therefore cannot be taken as an assessment of “accuracy”, defined in the metrological vocabulary as the closeness to the truth. The way scientists use and (...) interpret uncertainty in the adjustment activity illustrates how they try to overcome this predicament. I iden- tify two operative roles of measurement uncertainty, in the comparison and in the combination of measurement results. This duality implies a tension between selection and combination when aggregating results, leading to a crucial question: should the evaluation of uncertainties favour safety over precision? I present contrasting answers and identify a specific account of physicists who implicitly try to conciliate realism with the problem of unknowability. I argue that this invites us to reconsider accuracy from a dynamical standpoint, as the gradual achievement of scientific progress through error correction. Finally, I present two interpretations of measurement uncertainty, objective and epistemic, which I criticize and suggest improvements to. (shrink)

An arithmetic theory of oppositions is devised by comparing expressions, Boolean bitstrings, and integers. This leads to a set of correspondences between three domains of investigation, namely: logic, geometry, and arithmetic. The structural properties of each area are investigated in turn, before justifying the procedure as a whole. Io finish, I show how this helps to improve the logical calculus of oppositions, through the consideration of corresponding operations between integers.

Dans le sillage de Chris Marker ou de Grégory Chatonsky, de plus en plus d’artistes contemporains pratiquent la réappropriation, le détournement, l’usage critique de l’intelligence artificielle. Grand connaisseur des arts numériques, Fabien Zocco est l’un d’entre eux. Il est l’auteur, avec le réalisateur Gwendal Sartre, d’ Attack The Sun, film dont des dialogues ont été générés par une IA au cours même du tournage qui suit la dérive d’un youtuber californien paraissant sombrer dans une folie de tuerie. L’enjeu : (...) éprouver « de l’intérieur » des outils contemporains comme l’IA pour « escompter ensuite analyser et déconstruire leurs effets ». (shrink)

The aim of this chapter is to develop a semantics for Calculus CL. CL is a diagrammatic calculus based on a logic machine presented by Johann Christian Lange in 1714, which combines features of Euler-, Venn-type, tree diagrams, squares of oppositions etc. In this chapter, it is argued that a Boolean account of formal ontology in CL helps to deal with logical oppositions and inferences of extended syllogistics. The result is a combination of Lange’s diagrams with an algebraic semantics of (...) terms: Bit-CL, in which any ordered objects are identified by characteristic bitstrings. Then, a number of objections to Bit-CL are answered to, and the process of inference is explained in this new logical framework. (shrink)

Les diagrammes appartiennent à une classe d’objets graphiques située à l’intersection de la théorie des médias, de la sémiotique visuelle et du design. Nous montrons que leur analyse révèle un mode de fonctionnement permettant de caractériser le diagrammatique comme un nouveau régime de rationalité dans l’histoire de l’écriture. Cette étude vise ainsi à identifier les spécificités de ce régime pour commencer à caractériser sa différence avec les régimes d’écritures alphabétique et numérique. Elle ouvre sur un programme de recherche initiant une (...) nouvelle approche médiatique qui s’inscrit dans le sillage de travaux réalisés en anthropologie historique des pratiques d’écriture. (shrink)

Cette note entend faire une critique constructive de la thèse du « mode de production managérial », due à Gérard Duménil et Dominique Lévy. Tout en reconnaissant les mérites de leurs travaux, la note essaye de montrer qu’il existe une disproportion entre leur proposition théorique, de grande ampleur, et sa base empirique, trop faible pour la soutenir. Trois contre-arguments sont développés en ce sens. D’abord, les auteurs ne se fondent pratiquement que sur le constat de la montée de la part (...) des salaires dans les hauts revenus aux États-Unis, une évolution qui peut être remise en cause en catégorisant correctement les revenus des cadres dirigeants. Ensuite, ils négligent des données et des indicateurs alternatifs qui donnent des images fort différentes de l’évolution historique. Enfin, ils n’étudient pas l’évolution des formes organisationnelles qui sont au fondement des théories sur l’évolution de la structure de classe, qui relativisent l’importance de la bureaucratie. Deux contreexemples sont données à l’encontre de la thèse du managérialisme : les associés des fonds de capitalinvestissement constituent des nouveaux capitalistes financiers ; les dirigeants des plus grandes entreprises multinationales sont des dirigeants actionnaires. (shrink)

On analyse ici la structure et la dynamique d’un champ économique : le champ des opérations de LBO en France dans les années 2000. À partir de données relationnelles et de documents couvrant la période 2000-2010, nous tentons d’en expliquer l’explosion et l’implosion en identifiant trois mécanismes opérant à des échelles de temps distinctes et superposées : l’hégémonie financière, la coopération entre concurrents et la réaction aux crises. L’article illustre une manière d’utiliser l’analyse de réseaux sociaux afin de formaliser un (...) champ organisationnel et d’articuler structure et processus dans des ordres sociaux de niveau intermédiaire. (shrink)

Valuing conservation and biodiversity outcomes in economic analysis is difficult, as it is in health economics. Because health economics has previously had to respond to the many challenges currently faced by conservation economics, health economists have developed very successful tools for responding to these challenges which conservation economists can draw upon. What is surprising is that despite rhetorical support for the use of these economic analysis tools in conservation valuations, in practice, these economic tools are used far less frequently in (...) conservation and biodiversity decision then they are in health decisions. Drawing on a simple database search and an analysis of universities that lead in both economics and environmental studies, this paper considers why conservation economists stick with philosophically and pragmatically difficult economic tools when they have other options, and argues that part of the reasons is the way conservation economics is framed and conceptualised. (shrink)

La présente contribution interroge le parcours intellectuel de Gerald A. Cohen, à la fois unifié par son objectif d’émancipation et marqué par des ruptures théoriques. Alors que le livre de Nicolas Vrousalis, The Political Philosophy of G. A. Cohen. Back to Socialist Basics (Bloomsbury, 2015) vise à présenter la construction intellectuelle de Cohen dans son caractère à la fois complet et cohérent, en vue d’affirmer l’unité de sa pensée politique autour d’un projet d’émancipation, établit très clairement les étapes décisives de (...) l’évolution intellectuelle, il nous apparaît qu’il met trop peu l’accent sur les ruptures dans la pensée de Cohen. Nous estimons que si son unité tient à la fois à sa méthode et à l’objectif qu’il a affiché, elle a sensiblement évolué à tel point que certains éléments de son parcours nous paraissent, au moins en partie, incompatibles entre eux. Vrousalis ne parvient pas à saisir pleinement ceci, au sens où il accorde peu d’importance aux phases de transition dans l’évolution de la pensée de Cohen. La présente contribution présente le livre de Vrousalis dans un premier temps et propose dans un deuxième temps une approche complémentaire voire alternative à celle de Vrousalis. Classification JEL : A13, B51, P20. (shrink)

La présente contribution interroge le rapport de la théorie de Marx aux problématiques en termes de justice sociale. Nous proposons une interprétation selon laquelle une théorie de la justice en soi est inutile car idéaliste. Nous la confrontons à une lecture qui implique qu’une critique du capitalisme fondée sur des critères de justice est nécessaire afin d’éviter l’écueil économiste niant l’individualité. Classification JEL : A13, B49, B51, D63.

English summary: Jan Lukasiewicz (1878-1956) was one of the most important members of the Lwow-Warsaw school of logic. The thirteen translated articles in this volume demonstrate the protean form of Lukasiewiczs work, from his texts on Aristotle and the principle of non-contradiction and syllogistics to modal logic, intuitionism, and multivalent logics. The articles show in particular his preoccupations with logical precision and the problem of human liberty. French description: Avec Kazimierz Twardowski, Stanislaw Lesniewski et Alfred Tarski, le logicien et philosophe (...) polonais Jan Lukasiewicz (1878-1956) est l'un des membres les plus importants de l'Ecole de Lvov-Varsovie. Celebre pour ses ouvrages consacres a Aristote, notamment sur le principe de non-contradiction et sur la syllogistique, il a egalement publie des articles majeurs sur la logique propositionnelle, la logique modale, l'intuitionnisme et les logiques multivalentes, dont il fut l'un des fondateurs. Enfin, il a contribue a faire reconnaitre l'importance des travaux en logique de l'ecole megarico-stoicienne, trop longtemps eclipses par ceux d'Aristote sur la syllogistique. Mais Lukasiewicz ne fut pas seulement un logicien et un historien brillant, il s'engagea aussi dans les polemiques philosophiques de son temps. Il defendit ainsi la methode logique en philosophie. Proche sur ce point des membres du Cercle de Vienne, il ne rejetait pas pour autant les questions metaphysiques, commecelle du determinisme qui l'occupa toute sa vie. Les treize articles de ce recueil, fruit d'un travail collectif de traduction, ont pour ambition de montrer le caractere proteiforme de l'oeuvre de Lukasiewicz, preoccupe autant par la precision logique que par le probleme de la liberte humaine. (shrink)

Ce livre commence avec un problème de nomination de ce que l'on appelle économie et avec la disparition du terme chrématistique. Il pose l'hypothèse qu'il s'agit d'un problème métaphysique d'interprétation du réel et du monde. Le livre continue avec l'hypothèse étrange qui consiste à dire que la disparition du terme chrématistique est en lien avec la transformation substantielle et radicale du terme poièsis. Il pose alors la thèse qu'il y a une source fondamentale pour penser le problème de l'agir et (...) de l'opérativité et pour interpréter ce que l'on nomme une économie de l'œuvre. Enfin ce livre indique des manières de lire l'œuvre moderne et contemporaine en supposant qu'il y a eu, à cet endroit, un irrémédiable tournant : c'est ce que nous appelons critique de la poièsis. Ce livre pourra être lu de trois manières différentes et conjointes : comme un traité métaphysique de l'opérativité et de la disqualification des agir, comme un traité esthétique pour la lecture moderne du concept de poièsis (autrement dit de l'œuvre et de ses crises) et enfin comme un traité de philosophie politique en vue de faire face à ce qui tient de notre extrême et scandaleux contemporain. (shrink)

Acoustic speech output results from coordinated articulation of dozens of muscles, bones and cartilages of the vocal mechanism. While we commonly take the fluency and speed of our speech productions for granted, the neural mechanisms facilitating the requisite muscular control are not completely understood. Previous neuroimaging and electrophysiology studies of speech sensorimotor control has typically concentrated on speech sounds (i.e., phonemes, syllables and words) in isolation; sentence-length investigations have largely been used to inform coincident linguistic processing. In this study, we (...) examined the neural representations of segmental features (place and manner of articulation, and voicing status) in the context of fluent, continuous speech production. We used recordings from the cortical surface (electrocorticography (ECoG)) to simultaneously evaluate the spatial topography and temporal dynamics of the neural correlates of speech articulation that may mediate the generation of hypothesized gestural or articulatory scores. We found that the representation of place of articulation involved broad networks of brain regions during all phases of speech production: preparation, execution and monitoring. In contrast, manner of articulation and voicing status were dominated by auditory cortical responses after speech had been initiated. These results provide a new insight into the articulatory and auditory processes underlying speech production in terms of their motor requirements and acoustic correlates. (shrink)

My aim in this book is to propose a comparativist, Buddhist-Neoplatonic interpretation of the idea of “logos” in the Prologue to the Gospel according to John. To do so, I proceed in three steps. I begin with Nāgārjuna’s doctrine of emptiness. Nāgārjuna thinks that that all things are empty because they depend on causes and conditions in a way that makes it impossible for them to genuinely exist. Nevertheless, they are not completely non-existent, for they possess the appearance of something (...) that exists. This corresponds, in turn, to Vasubandhu’s response to Nāgārjuna. Emptiness is not ultimate because there is the appearance of empty things. The place where this appearance unfolds is the mind, which, in an absolute sense, exists, but which, in the sense of external, objectifiable reality does not exist. Vasubandhu thus thinks of the mind as an entity that does not conform to the categories of ordinary existence. This, then, corresponds to what Meister Eckhart says about God. God is a Mind ("intellectus"). But due to his fundamental ontological role, God transcends ordinary existence and cannot be compared to any specific being. God is the mind of which Vasubandhu states that it is non-dual, transcendent knowledge. To conclude, I use this triadic constellation of Buddhist and Neoplatonic concepts to read John’s Prologue. The Prologue describes the generation of a foundational concept, “logos,” by a primordial, divine Mind. Since this Mind is, in a Buddhist sense, “empty,” the concept that it generates can be said to be absolute. It has no beginning and no cause. Against this background of Buddhist and Neoplatonic ideas, John’s Prologue can thus be interpreted as a narrative describing the foundation of reality as an intellectual process. (shrink)

Key activities in biomedicine and related research rely on collections of biological samples and related files. Access to such resources in industry and in academic contexts has become strategic and represents a central issue in the general framework of rising patenting practices and in debates about the knowledge economy. It raises important issues concerning the organisation of scientific and medical work, the outline of data-sharing guidelines, and science policy's contribution to the elaboration of an adapted framework. This paper presents an (...) ethnographic study of three French human biobanks. Building on field work (participant observation and in-depth interviews), the study focuses on data access in the concrete practices in biobanks. The paper develops a perspective based on an analysis of different exchange regimes. We argue that access practices are submitted to the different regimes that can coexist and be articulated within the daily activities of each biobank. We also discuss how this perspective can further our understanding of biomedical research, and how it might inform data access policy. (shrink)

This editorial of the special issue addresses the question of whether/how responses to the Covid-19 pandemic corresponded with authentic CSR. The literature on CSR has tended to endorse a business-centric perspective and its inherent focus on the search for alignments between CSR activities and the economic/financial interests of the firm. The Covid-19 pandemic has put this perspective to the test, pushing many companies to engage in distinctively more genuine and authentic CSR and/or demonstrating the importance of prior CSR engagement in (...) facilitating crisis management. The papers included in the special issue appear to converge on the idea that firms combining evidence of both pre-crisis engagement in CSR and strong CSR performance during the crisis (demonstrated through the deployment of various CSR assets and resources, including certified reporting, social marketing, individual engagement, resilience, legitimacy, trust) have coped better. This provides interested researchers with an opportunity to appreciate the value of CSR during a crisis. (shrink)

In this article, we present our work to provide a navigation and localization system on a constrained humanoid platform, the NAO robot, without modifying the robot sensors. First, we tried to implement a simple and light version of classic monocular Simultaneous Localization and Mapping algorithms, while adapting to the CPU and camera quality, which turned out to be insufficient on the platform for the moment. From our work on keypoints tracking, we identified that some keypoints can be still accurately tracked (...) at little cost, and used them to build a visual compass. This compass was then used to correct the robot walk because it makes it possible to control the robot orientation accurately. (shrink)