This paper presents a hybrid dynamic control approach to acquire biped walking of humanoid robots focussed on policy gradient episodic reinforcement learning with fuzzy evaluative feedback. The proposed structure of c...
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This paper presents a hybrid dynamic control approach to acquire biped walking of humanoid robots focussed on policy gradient episodic reinforcement learning with fuzzy evaluative feedback. The proposed structure of controller involves two feedback loops: conventional computed torque controller and episodic reinforcement learning controller. Reinforcement learning part includes fuzzy information about Zero-Moment Point errors. To demonstrate the effectiveness of our method, simulation tests using middle-size 36 DOFs humanoid robot MEXONE are performed.
Microarray ade4 or known as MADE4 is a multivariate software analysis package for microarray gene expression data. This software package is capable of accepting wide variety of gene expression data formats such as Bio...
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Microarray ade4 or known as MADE4 is a multivariate software analysis package for microarray gene expression data. This software package is capable of accepting wide variety of gene expression data formats such as Bioconductor Affy Batch and exprSet. This MADE4 R package extends the advantages of ade4 package in multivariate statistical and graphical functions for the use in the microarray data application. Moreover, MADE4 provides new graphical and visualization tools that assist in the interpretation of multivariate analysis of microarray data. Besides that, LLSimpute algorithm has been incorporated to assist in handling of datasets with missing values and this has eased the application for the users to analysis on gene expression data that contain missing values.
A Norm-Optimal Iterative Learning Control (NOILC) solution is developed for the problem when tracking is only required at a subset of isolated time points along the trial duration. Well-defined convergence properties ...
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This paper addresses the problem of Fault Detection and Isolation (FDI) for navigation systems equipped with sensors providing inertial measurements and vector observations. Two strategies are proposed. The first one ...
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This paper addresses the problem of Fault Detection and Isolation (FDI) for navigation systems equipped with sensors providing inertial measurements and vector observations. Two strategies are proposed. The first one takes advantage of existing hardware redundancy, providing sufficient conditions for the isolation of faults. The second approach exploits the analytical redundancy between the angular velocity measurements and the vector observations, by resorting to Set-Valued Observers (SVOs). The behavior of both strategies are illustrated in simulation.
This paper presents the age-group classification based on facial images. We perform age-group classification by dividing ages into five age groups according to the incremental regulation of age. Features are extracted...
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This paper presents the age-group classification based on facial images. We perform age-group classification by dividing ages into five age groups according to the incremental regulation of age. Features are extracted from face images through Active Appearance Model (AAM), which describe the shape and gray value variation of face images. Principle Component Analysis (PCA) is adopted to reduce the dimensions and Support Vector Machine (SVM) classifier with Gaussian Radian Basis Function (RBF) kernel is trained. Experimental results demonstrate that AAM can improve the performance of age estimation.
Our previous study successfully improved short term memory by individual alpha neurofeedback training. However, short term memory and its improvement in different languages are still not clear. Therefore, the purpose ...
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Our previous study successfully improved short term memory by individual alpha neurofeedback training. However, short term memory and its improvement in different languages are still not clear. Therefore, the purpose of this paper was to evaluate the memory performance in alphabetic and ideographic language groups. Besides, the relationship between initial memory and its improvement was investigated. The results indicated short term memory in ideographic language was higher than those in alphabetic language and forward digit span improvement was positive related to its initial performance.
An active handheld micromanipulator has been developed that is capable of automated intraocular acquisition of B-mode and C-mode optical coherence tomography scans that are up to 4 mm wide. The manipulator is a handhe...
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ISBN:
(纸本)9781424441198
An active handheld micromanipulator has been developed that is capable of automated intraocular acquisition of B-mode and C-mode optical coherence tomography scans that are up to 4 mm wide. The manipulator is a handheld Gough-Stewart platform actuated by ultrasonic linear motors. The manipulator has been equipped with a Fourier-domain common-path intraocular OCT probe that fits within a 25- gauge needle. The paper describes the systems and techniques involved, and presents preliminary results of B-mode and Cmode scans.
Modern myoelectric hand prostheses continue to increase in functionality, while their control is constrained by the limits of myoelectric input. This paper covers the development and testing of grasp control systems f...
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ISBN:
(纸本)9781457711992
Modern myoelectric hand prostheses continue to increase in functionality, while their control is constrained by the limits of myoelectric input. This paper covers the development and testing of grasp control systems for multifunctional myoelectric prosthetic hands. The functionality of modern hand prostheses is often focused on the task of grasping, which can be divided into high-level grasp planning and low-level finger control. Initially, models can used to test these control systems, but for proper evaluation actual implementation on a physical system is required. The University of Bologna (UB) Hand IV prototype is an anthropomorphic, tendon-driven robotic hand, which makes it well-suited to represent the structure of modern prostheses. One of the main control systems tested in this paper is based on the intrinsically passive controller (IPC), the structure of which offers guaranteed passivity and stability. After several grasping tests, the systems are evaluated on compliant behavior, grasping ability, and dynamic appearance. IPC proves to be a powerful approach to interaction control, without the associated sensor requirements which could be difficult to meet in modern hand prostheses.
Wireless sensor networks (WSNs) have attracted a great deal of research due to their wide-range of potential applications. Sensor deployment and coverage problems are their important issues. This article briefly intro...
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