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Control, Robotics, and Autonomous Systems 1000年第1期2卷 63-88页

作者： Jungwon Seo Jamie Paik Mark Yim 1Department of Mechanical and Aerospace Engineering and Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong China email: junseo@ust.hk 2Reconfigurable Robotics Laboratory École Polytechnique Fédérale de Lausanne (EPFL) 1015 Lausanne Switzerland email: jamie.paik@epfl.ch 3General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Philadelphia Pennsylvania 19104 USA email: yim@seas.upenn.edu

This article reviews the current state of the art in the development of modular reconfigurable robot (MRR) systems and suggests promising future research directions. A wide variety of MRR systems have been presented to date, and these robots promise to be versatile, robust, and low cost compared with other conventional robot systems. MRR systems thus have the potential to outperform traditional systems with a fixed morphology when carrying out tasks that require a high level of flexibility. We begin by introducing the taxonomy of MRRs based on their hardware architecture. We then examine recent progress in the hardware and the software technologies for MRRs, along with remaining technical issues. We conclude with a discussion of open challenges and future research directions.

关键词： cellular and modular robots distributed robot systems multirobot systems reconfigurable robots

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Robotics at the University of Pennsylvania from Birth to Maturity: A Review of 30 Years of Research

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Control, Robotics, and Autonomous Systems 1000年第1期8卷 49-75页

作者： Ruzena Bajcsy 1Department of Computer and Information Science University of Pennsylvania Philadelphia Pennsylvania USA email: bajcsy@seas.upenn.edu 2Center for Information Technology Research in the Interest of Society (CITRIS) University of California Berkeley California USA

This article is an attempt to reexamine the evolution of robotics research at the University of Pennsylvania and all that it entailed, covering the successes and struggles of PhD students, postdoctoral researchers, and a few dedicated faculty between 1972 and 2000. In 1945, Penn's Moore School of Electrical engineering was famous for developing the first electronic digital computer, ENIAC, but after a few years, the research had diminished. In 1972, a new department of computer and information Science was formed. I came to Penn from Stanford University's Artificial Intelligence Laboratory full of energy, enthusiasm, and the goal of establishing a similar lab at Penn. This article demonstrates the creativity and ingenuity of young professionals at the General Robotics, Automation, Sensing, and Perception (GRASP) Laboratory. We built hardware. We built software. We collaborated with psychologists and electrical and mechanical engineers and tried to build a community of roboticists. Our curiosity led us to build new vision and tactile systems and to investigate cooperative robotics systems on the ground and in the air. We used computational models supported and verified by experiments. Today, I am proud to say that almost all of the students who cycled through the GRASP Lab are successful in academia or industry.

关键词： active perception segmentation of 3D scenes representation of the real world GRASP Laboratory

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Applications of Evolutionary Computation 1

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丛书名： Lecture Notes in computer Science

1000年

作者： Cecilia Chio Stefano Cagnoni Carlos Cotta Marc Ebner Anikó Ekárt Anna I. Esparcia-Alcazar Chi-Keong Goh Juan J. Merelo Ferrante Neri Mike Preuß Julian Togelius Georgios N. Yannakakis

ISBN: (数字)9783642122392

ISBN: (纸本)9783642122385

Evolutionary Computation (EC) techniques are e?cient, nature-inspired me- ods based on the principles of natural evolution and genetics. Due to their - ciency and simple underlying principles, these methods can be used for a diverse rangeofactivitiesincludingproblemsolving,optimization,machinelearningand pattern recognition. A large and continuously increasing number of researchers and professionals make use of EC techniques in various application domains. This volume presents a careful selection of relevant EC examples combined with a thorough examination of the techniques used in EC. The papers in the volume illustrate the current state of the art in the application of EC and should help and inspire researchers and professionals to develop e?cient EC methods for design and problem solving. All papers in this book were presented during EvoApplications 2010, which included a range of events on application-oriented aspects of EC. Since 1998, EvoApplications — formerly known as EvoWorkshops— has provided a unique opportunity for EC researchers to meet and discuss application aspects of EC and has been an important link between EC research and its application in a variety of domains. During these 12 years, new events have arisen, some have disappeared,whileothershavematuredtobecomeconferencesoftheirown,such as EuroGP in 2000, EvoCOP in 2004, and EvoBIO in 2007. And from this year, EvoApplications has become a conference as well.

关键词： Artificial Intelligence Computation by Abstract Devices Pattern Recognition Algorithm Analysis and Problem Complexity Image Processing and computer Vision information Systems Applications (incl. Internet)

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The Many Facets of information in Networked Estimation and Control

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Control, Robotics, and Autonomous Systems 1000年第1期6卷 233-259页

作者： Massimo Franceschetti Mohammad Javad Khojasteh Moe Z. Win 1Department of Electrical and Computer Engineering University of California San Diego La Jolla California USA email: massimo@ece.ucsd.edu 2Wireless Information and Network Sciences Laboratory Massachusetts Institute of Technology Cambridge Massachusetts USA email: mkhojast@mit.edu 3Laboratory for Information and Decision Systems Massachusetts Institute of Technology Cambridge Massachusetts USA email: moewin@mit.edu

Networked control systems, where feedback loops are closed over communication networks, arise in several domains, including smart energy grids, autonomous driving, unmanned aerial vehicles, and many industrial and robotic systems active in service, production, agriculture, and smart homes and cities. In these settings, the two main layers of the system, control and communication, strongly affect each other's performance, and they also reveal the interaction between a cyber-system component, represented by information-based computing and communication technologies, and a physical-system component, represented by the environment that needs to be controlled. The information access and distribution constraints required to achieve reliable state estimation and stabilization in networked control systems have been intensively studied over the course of roughly two decades. This article reviews some of the cornerstone results in this area, draws a map for what we have learned over these years, and describes the new challenges that we will face in the future. Rather than simply listing different results, we present them in a coherent fashion using a uniform notation, and we also put them in context, highlighting both their theoreticalinsights and their practical significance. Particular attention is given to recent developments related to decentralized estimation in distributed sensing and communication systems and the information-theoretic value of event timing in the context of networked control.

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Macroeconomic Models for Monetary Policy: A Critical Review from a Finance Perspective

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Financial Economics 1000年第1期12卷 95-140页

作者： Winston W. Dou Andrew W. Lo Ameya Muley Harald Uhlig 1Department of Finance The Wharton School University of Pennsylvania Philadelphia Pennsylvania 19104 USA email: wdou@wharton.upenn.edu 3Santa Fe Institute Santa Fe New Mexico 87501 USA 2Sloan School of Management Laboratory for Financial Engineering and Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge Massachusetts 02142 USA email: alo-admin@mit.edu 4Department of Economics Massachusetts Institute of Technology Cambridge Massachusetts 02142 USA email: ameyamuley@*** 5Department of Economics University of Chicago Chicago Illinois 60637 USA email: huhlig@uchicago.edu

We provide a critical review of macroeconomic models used for monetary policy at central banks from a finance perspective. We review the history of monetary policy modeling, survey the core monetary models used by major central banks, and construct an illustrative model for those readers who are unfamiliar with the literature. Within this framework, we highlight several important limitations of current models and methods, including the fact that local-linearization approximations omit important nonlinear dynamics, yielding biased impulse-response analysis and parameter estimates. We also propose new features for the next generation of macrofinancial policy models, including a substantial role for the financial sector, the government balance sheet, and unconventional monetary policies; heterogeneity, reallocation, and redistribution effects;the macroeconomic impact of large nonlinear risk premium dynamics; time-varying uncertainty; financial sector and systemic risks; imperfect product market and markups; and further advances in solution, estimation, and evaluation methods for dynamic quantitative structural models.

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Toward a Theoretical Foundation of Policy Optimization for Learning Control Policies

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Control, Robotics, and Autonomous Systems 1000年第1期6卷 123-158页

作者： Bin Hu Kaiqing Zhang Na Li Mehran Mesbahi Maryam Fazel Tamer Başar 1Coordinated Science Laboratory and Department of Electrical and Computer Engineering University of Illinois Urbana-Champaign Urbana Illinois USA email: binhu7@illinois.edubasar1@illinois.edu 3Current affiliation: Department of Electrical and Computer Engineering and Institute for Systems Research University of Maryland College Park Maryland USA email: kaiqing@umd.edu 2Laboratory for Information and Decision Systems and Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge Massachusetts USA 4School of Engineering and Applied Sciences Harvard University Cambridge Massachusetts USA email: nali@seas.harvard.edu 5Department of Aeronautics and Astronautics University of Washington Seattle Washington USA email: mesbahi@uw.edu 6Department of Electrical and Computer Engineering University of Washington Seattle Washington USA email: mfazel@uw.edu

Gradient-based methods have been widely used for system design and optimization in diverse application domains. Recently, there has been a renewed interest in studying theoretical properties of these methods in the context of control and reinforcement learning. This article surveys some of the recent developments on policy optimization, a gradient-based iterative approach for feedback control synthesis that has been popularized by successes of reinforcement learning. We take an interdisciplinary perspective in our exposition that connects control theory, reinforcement learning, and large-scale optimization. We review a number of recently developed theoretical results on the optimization landscape, global convergence, and sample complexityof gradient-based methods for various continuous control problems, such as the linear quadratic regulator (LQR), control, risk-sensitive control, linear quadratic Gaussian (LQG) control, and output feedback synthesis. In conjunction with these optimization results, we also discuss how direct policy optimization handles stability and robustness concerns in learning-based control, two main desiderata in control engineering. We conclude the survey by pointing out several challenges and opportunities at the intersection of learning and control.

关键词： policy optimization reinforcement learning feedback control synthesis

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Nanoscale Electrokinetics and Microvortices: How Microhydrodynamics Affects Nanofluidic Ion Flux

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Fluid Mechanics 1000年第1期44卷 401-426页

作者： Hsueh-Chia Chang Gilad Yossifon Evgeny A. Demekhin 1Department of Chemical and Biomolecular Engineering Center for Microfluidics and Medical Diagnostics University of Notre Dame Notre Dame Indiana 46556 email: hchang@nd.edu 2Faculty of Mechanical Engineering Micro- and Nanofluidics Laboratory Technion – Israel Institute of Technology Technion City 32000 Israel email: yossifon@tx.technion.ac.il 3Department of Computational Mathematics and Computer Science Kuban State University Krasnodar 350040 Russia email: edemekhi@***

When a direct current (DC) electric field is applied across an ion-selective nanoporous membrane or a nanochannel with an overlapping Debye layer, a surprising microvortex instability occurs on the side of the membrane/channel through which counterions enter. Despite its micro and nano length scales, this instability exhibits all the hallmarks of other classical hydrodynamic instabilities—a subharmonic cascade, a wide-band fluctuation spectrum, and a coherent structure dominated by spatiotemporal dynamics. Moreover, the resulting convection enhances the ion flux into the ion-selective medium and gives rise to an overlimiting-current bifurcation in the current-voltage relationship. This hydrodynamically driven nonequilibrium ion flux does not seem to have any equivalent in cell membrane ion channels. Yet, by introducing asymmetric entrances to provide different polarized regions and/or viscous arrest of the vortex instability, one can fabricate a hydrodynamic nanofluidic diode. With other modifications, hysteretic, excitable, and oscillatory ion flux dynamics could also be elicited—all with strong hydrodynamic features.

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Mapping the Multiscale Proteomic Organization of Cellular and Disease Phenotypes

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Biomedical Data Science 1000年第1期7卷 369-389页

作者： Anthony Cesnik Leah V. Schaffer Ishan Gaur Mayank Jain Trey Ideker Emma Lundberg 1Department of Bioengineering Stanford University Stanford California USA email: emmalu@stanford.edu 2Department of Medicine University of California San Diego La Jolla California USA email: tideker@health.ucsd.edu 3Departments of Computer Science and Engineering and Bioengineering University of California San Diego La Jolla California USA 4Department of Pathology Stanford University Palo Alto California USA 5Science for Life Laboratory School of Engineering Sciences in Chemistry Biotechnology and Health KTH Royal Institute of Technology Stockholm Sweden 6Chan Zuckerberg Biohub San Francisco California USA

While the primary sequences of human proteins have been cataloged for over a decade, determining how these are organized into a dynamic collection of multiprotein assemblies, with structures and functions spanning biological scales, is an ongoing venture. Systematic and data-driven analyses of these higher-order structures are emerging, facilitating the discovery and understanding of cellular phenotypes. At present, knowledge of protein localization and function has been primarily derived from manual annotation and curation in resources such as the Gene Ontology, which are biased toward richly annotated genes in the literature. Here, we envision a future powered by data-driven mapping of protein assemblies. These maps can capture and decode cellular functions through the integration of protein expression, localization, and interaction data across length scales and timescales. In this review, we focus on progress toward constructing integrated cell maps that accelerate the life sciences and translational research.

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Formal Methods for Control Synthesis: An Optimization Perspective

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Control, Robotics, and Autonomous Systems 1000年第1期2卷 115-140页

作者： Calin Belta Sadra Sadraddini 1Department of Mechanical Engineering Boston University Boston Massachusetts 02215 USA email: cbelta@bu.edu 2Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge Massachusetts 02139 USA email: sadra@mit.edu

In control theory, complicated dynamics such as systems of (nonlinear) differential equations are controlled mostly to achieve stability. This fundamental property, which can be with respect to a desired operating point or a prescribed trajectory, is often linked with optimality, which requires minimizing a certain cost along the trajectories of a stable system. In formal verification (model checking), simple systems, such as finite-state transition graphs that model computer programs or digital circuits, are checked against rich specifications given as formulas of temporal logics. The formal synthesis problem, in which the goal is to synthesize or control a finite system from a temporal logic specification, has recently received increased interest. In this article, we review some recent results on the connection between optimal control and formal synthesis. Specifically, we focus on the following problem: Given a cost and a correctness temporal logic specification for a dynamical system, generate an optimal control strategy that satisfies the specification. We first provide a short overview of automata-based methods, in which the dynamics of the system are mapped to a finite abstraction that is then controlled using an automaton corresponding to the specification. We then provide a detailed overview of a class of methods that rely on mapping the specification and the dynamics to constraints of an optimization problem. We discuss advantages and limitations of these two types of approaches and suggest directions for future research.

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Modeling and Control of Discrete-event Dynamic Systems 1

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丛书名： Advanced Textbooks in Control and Signal Processing

1000年

作者： Branislav Hrúz MengChu Zhou

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