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American Control Conference

作者： Pedro Casau Christopher G. Mayhew Ricardo G. Sanfelice Carlos Silvestre Department of Electrical and Computer Engineering and Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico Universidade Tecnica de Lisboa 1049-001 Lisboa Portugal Department of Computer Engineering University of California Santa Cruz CA 95064 Department of Electrical and Computer Engineering of the Faculty of Science and Technology of the University of Macau Macao China

ISBN: (纸本)9781479917730

In this paper, we show that the existence of centrally synergistic potential functions on the n-dimensional sphere, denoted by S~n, is a sufficient condition for the global asymptotic stabilization of a point in S~n. Additionally, if these functions decrease exponentially fast during flows and are bounded from above and from below by some polynomial function of the tracking error, then the reference point can be globally exponentially stabilized. We construct two kinds of centrally synergistic functions: the first kind consists of a finite family of potential functions on S~n while the second kind consists of an uncountable number of potential functions on S~n. While the former generates a simpler jump logic, the latter is optimal in the sense that it generates flows with minimal length.

关键词： Tin Manifolds Robots Trajectory Robustness Three-dimensional displays computers

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROscience 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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A compositional hierarchical model for music information retrieval 15

A compositional hierarchical model for music information ret...

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15th International Society for Music Information Retrieval Conference, ISMIR 2014

作者： Pesek, Matevž Leonardis, Aleš Marolt, Matija University of Ljubljana Faculty of computer and information science Slovenia Centre for Computational Neuroscience and Cognitive Robotics School of Computer Science University of Birmingham United Kingdom

This paper presents a biologically-inspired compositional hierarchical model for MIR. The model can be treated as a deep learning model, and poses an alternative to deep architectures based on neural networks. Its main features are generativeness and transparency that allow clear insight into concepts learned from the input music signals. The model consists of multiple layers, each is composed of a number of parts. The hierarchical nature of the model corresponds well with the hierarchical structures in music. Parts in lower layers correspond to low-level concepts (e.g. tone partials), while parts in higher layers combine lower-level representations into more complex concepts (tones, chords). The layers are unsupervisedly learned one-by-one from music signals. Parts in each layer are compositions of parts from previous layers based on statistical co-occurrences as the driving force of the learning process. We present the model’s structure and compare it to other deep architectures. A preliminary evaluation of the model’s usefulness for automated chord estimation and multiple fundamental frequency estimation tasks is provided. Additionally, we show how the model can be extended to event-based music processing, which is our final goal. © Matevž Pesek, Aleš Leonardis, Matija Marolt.

关键词： Music

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Pheromone-Based Kohonen Self-Organizing Map (PKSOM) in Clustering of Tropical Wood Species: Performance and Scalability

Pheromone-Based Kohonen Self-Organizing Map (PKSOM) in Clust...

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Asian Control Conference

作者： Azlin Ahmad Rubiyah Yusof Yasue Mitsukura Faculty of Computer and Mathematical Sciences Universiti Teknologi MARA (UiTM) Center of Artificial Intelligence and Robotics (CAIRO) Malaysia-Japan International Institute of Technology (MJIIT) Universiti Teknologi Malaysia (UTM) Graduate School of Science and Technology Keio University

ISBN: (纸本)9781479978632

Clustering is proposed to cluster the high dimensional data, into clusters of data that exhibit some similarities. Due to this ability, it has been chosen to solve many problems in various areas, including tropical wood species classification. It has ease the recognition process which has been done manually before. Pheromone-based Kohonen Self-Organizing Map (PKSOM) is proposed a clustering tool to cluster the wood datasets;the filtered and raw datasets. This paper discusses the performance and scalability of modified Kohonen Self-Organizing Map (KSOM), named Pheromone-based KSOM (PKSOM). The PKSOM algorithm is trained and tested using two types of wood datasets;the raw wood dataset and filtered dataset using Genetic Algorithm (GA). The results are then being compared with two conventional clustering methods;KSOM and standard K-Mean. As a conclusion, PKSOM has produced 97.5% of accuracy for the raw wood dataset and 97.55% for the filtered wood dataset, slightly higher compared to the other two methods.

关键词： Clustering Pheromone-Based KSOM (PKSOM) Pheromone Tropical Wood Species

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EU project MORPH: Current status after 3 years of cooperation under and above water

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IFAC-PapersOnLine 2015年第2期28卷 119-124页

作者： Kalwa, J. Pascoal, A. Ridao, P. Birk, A. Glotzbach, T. Brignone, L. Bibuli, M. Alves, J. Silva, M.C. ATLAS ELEKTRONIK GmbH Bremen Germany Institute of Robotics Instituto Superior Técnico Lisbon Portugal Universiat de Girona Girona Spain Jacobs Universität Bremen Bremen Germany Ilmenau University of Technology Faculty of Computer Science and Automation Ilmenau Germany Institut Français de Recherche pour l'Exploitation de la Mer La Seyne sur Mer France Consiglio Nazionale delle Ricerche Istituto di Studi Sui Sistemi Intelligenti per l'Automazion Genova Italy NATO Undersea Research Centre La Spezia Italy Instituto do Mar Morta Portugal

The MORPH project (FP 7, 2012-2016) advances a novel concept of an underwater robotic system composed of a number of spatially separated mobile robot-modules, carrying complementary resources. Instead of being physically coupled, the modules are connected via communication links that allow a limited flow of information among them. Without rigid links, the so called Morph Supra-Vehicle can reconfigure itself and adapt in response to the shape of the terrain, including walls with negative slope. The MORPH concept requires new concepts in a number of technological fields. Examples are adaptive sensor placement for perception and navigation or environmental modeling in complex environments. As the project enters its final year the basic developments have been achieved. It is still a huge effort to create a system out of components which can be perceived as a supra-vehicle. This paper focuses on a presentation of the current state. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Robots Architecture Control engineering Navigation robotics Vehicles Adaptive behaviour Adaptive sensors Complex environments Current status Environmental model Negative slope Robotic vehicles Underwater robotics

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Modal structure of a cylindrical duct acoustic field-theoretical predictions and experimental verification 7

Modal structure of a cylindrical duct acoustic field-theoret...

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7th Forum Acusticum, FA 2014

作者： Gorazd, Lukasz Kolber, Karolina Raab, Slawomir Smolik, Damian Department of Mechanics and Vibroacoustics Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Cracow Poland Faculty of Physics and Applied Computer Science AGH University of Science and Technology Cracow Poland

ISBN: (纸本)9788361402282

The paper presents consistence of the theoretical predictions with obtained experimental results of the pressure field inside a wave-guide modeled mathematically as an infinite/semi-infinite cylindrical duct. The experiments were carried out in two ducts of radius 77 mm and 150 mm. The distribution of the acoustic pressure was measured by means of 1/4 inch microphone on four different duct cross sections with the step 5 mm along the duct radius and 15° in the azimuthal angle. Based on the measurement data the complex amplitudes (i.e. amplitude module and phase) were calculated solving the inverse problem by means of the least square method The obtained experimental data present, in general, consistence with the theoretical predictions, however the accuracy has been improved with the duct radius. The up to date experimental results confirm the multimodal structure of the sound field inside a cylindrical duct. Moreover, the theoretical values of the cut-on frequencies calculated for a hard duct are in very good agreement with the observed ones. These findings confirm that the assumptions of the hard duct and the lossless environment are well justified.

关键词： Ducts

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25th Annual Computational Neuroscience Meeting CNS-2016, Seogwipo City, South Korea, July 2-7, 2016 Abstracts

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BMC NEUROscience 2016年第1期17卷 1-112页

作者： [Anonymous] Computational Neurobiology Laboratory The Salk Institute for Biological Studies San Diego USA UNIC CNRS Gif sur Yvette France The European Institute for Theoretical Neuroscience (EITN) Paris France ATR Computational Neuroscience Laboratories Kyoto Japan Krembil Research Institute University Health Network Toronto Canada Department of Physiology University of Toronto Toronto Canada Department of Medicine (Neurology) University of Toronto Toronto Canada Department of Physics University of New Hampshire Durham USA Department of Neurophysiology Nencki Institute of Experimental Biology Warsaw Poland Department of Theory Wigner Research Centre for Physics of the Hungarian Academy of Sciences Budapest Hungary Department of Mathematical Sciences KAIST Daejoen Republic of Korea Department of Mathematics University of Houston Houston USA Department of Biochemistry & Cell Biology and Institute of Biosciences and Bioengineering Rice University Houston USA Department of Biology and Biochemistry University of Houston Houston USA Grupo de Neurocomputación Biológica Dpto. de Ingeniería Informática Escuela Politécnica Superior Universidad Autónoma de Madrid Madrid Spain Department of Biological Sciences University of Southern California Los Angeles USA Center for Neuroscience Korea Institute of Science and Technology Seoul South Korea Department of Neurology Albert Einstein College of Medicine Bronx USA Center for Neuroscience KIST Seoul South Korea Department of Neuroscience University of Science and Technology Daejon South Korea Systems Neuroscience Group QIMR Berghofer Medical Research Institute Herston Australia Department of Psychology Yonsei University Seoul South Korea Department of Psychiatry Kyung Hee University Hospital at Gangdong Seoul South Korea Department of Psychiatry Veterans Administration Boston Healthcare System and Harvard Medical School Brockton USA Department of Electrical and Electronic Engineering The University of Melbourne Parkvil

A1 Functional advantages of cell-type heterogeneity in neural circuits Tatyana O. Sharpee A2 Mesoscopic modeling of propagating waves in visual cortex Alain Destexhe A3 Dynamics and biomarkers of mental disorders Mitsuo Kawato F1 Precise recruitment of spiking output at theta frequencies requires dendritic h-channels in multi-compartment models of oriens-lacunosum/moleculare hippocampal interneurons Vladislav Sekulić, Frances K. Skinner F2 Kernel methods in reconstruction of current sources from extracellular potentials for single cells and the whole brains Daniel K. Wójcik, Chaitanya Chintaluri, Dorottya Cserpán, Zoltán Somogyvári F3 The synchronized periods depend on intracellular transcriptional repression mechanisms in circadian clocks. Jae Kyoung Kim, Zachary P. Kilpatrick, Matthew R. Bennett, Kresimir Josić O1 Assessing irregularity and coordination of spiking-bursting rhythms in central pattern generators Irene Elices, David Arroyo, Rafael Levi, Francisco B. Rodriguez, Pablo Varona O2 Regulation of top-down processing by cortically-projecting parvalbumin positive neurons in basal forebrain Eunjin Hwang, Bowon Kim, Hio-Been Han, Tae Kim, James T. McKenna, Ritchie E. Brown, Robert W. McCarley, Jee Hyun Choi O3 Modeling auditory stream segregation, build-up and bistability James Rankin, Pamela Osborn Popp, John Rinzel O4 Strong competition between tonotopic neural ensembles explains pitch-related dynamics of auditory cortex evoked fields Alejandro Tabas, André Rupp, Emili Balaguer-Ballester O5 A simple model of retinal response to multi-electrode stimulation Matias I. Maturana, David B. Grayden, Shaun L. Cloherty, Tatiana Kameneva, Michael R. Ibbotson, Hamish Meffin O6 Noise correlations in V4 area correlate with behavioral performance in visual discrimination task Veronika Koren, Timm Lochmann, Valentin Dragoi, Klaus Obermayer O7 Input-location dependent gain modulation in cerebellar nucleus neurons Maria Psarrou, Maria Schilstra, Neil Davey, Benjamin Torben-Ni

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Three-dimensional urban-type scene representation in vision system of unmanned flying vehicles

Three-dimensional urban-type scene representation in vision ...

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13th International Conference on Artificial Intelligence and Soft Computing, ICAISC 2014

作者： Bielecki, Andrzej Buratowski, Tomasz Śmigielski, Piotr AGH University of Science and Technology Faculty of Electrical Engineering Automation Computer Science and Biomedical Engineering Department of Applied Computer Science Al. Mickiewicza 30 30-059 Cracow Poland AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Robotics and Mechatronics Al. Mickiewicza 30 30-059 Cracow Poland Asseco Poland S.A. Podwale 3 31-118 Cracow Poland

ISBN: (纸本)9783319071725

In this paper a vision system for autonomous flying agents is considered in the context of industrial inspection tasks performed by unmanned aerial vehicles. A syntactic algorithm of a three-dimensional scene representation is proposed. The algorithm of creating three-dimensional single object representation has been tested by using artificial data. It has turned out to be effective. © 2014 Springer International Publishing.

关键词： Antennas

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Erratum to: Surgical robotics beyond enhanced dexterity instrumentation: a survey of machine learning techniques and their role in intelligent and autonomous surgical actions

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International journal of computer assisted radiology and surgery 2016年第5期11卷 847页

作者： Yohannes Kassahun Bingbin Yu Abraham Temesgen Tibebu Danail Stoyanov Stamatia Giannarou Jan Hendrik Metzen Emmanuel Vander Poorten Robotics Innovation Center German Research Center for Artificial Intelligence Robert-Hooke-Str. 1 28359 Bremen Germany. yohannes.kassahun@dfki.de. Faculty 3 - Mathematics and Computer Science University of Bremen Robert-Hooke-Str. 1 28359 Bremen Germany. Centre for Medical Image Computing Department of Computer Science University College London London UK. Hamlyn Centre for Robotic Surgery Imperial College London London UK. Department of Mechanical Engineering University of Leuven Celestijnenlaan 300B 3001 Heverlee Belgium.

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Microscopic image segmentation using quantum inspired evolutionary algorithm

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Journal of Advanced Microscopy Research 2015年第3期10卷 164-173页

作者： Choudhury, Alokeparna Samanta, Sourav Dey, Nilanjan Ashour, Amira S. Balas-Timar, Dana Gospodinov, Mitko Gospodinova, Evgeniya Department of Computer Science and Engineering University Institute of Technology Burdwan West Bengal713104 India Department of Information Technology Techno India College of Technology Kolkata700156 India Department of Electronics and Electrical Communications Engineering Faculty of Engineering Tanta University 31527 Egypt Aurel Vlaicu University of Arad Arad310130 Romania Institute of Systems Engineering and Robotics Bulgarian Academy of Sciences Sofia1113 Bulgaria

Image segmentation has became an important research area for various medical imaging fields. The automated complex analytical process makes it a huge time consuming procedure. The intention to microscopic images segmentation is to extract the cellular, nuclear or tissue components. This is considered a challenging process due to the large variations of features of these components (size, shape, orientation or texture). In this paper, a novel approach to deal with rats' microscopic hippocampus images segmentation based on the hybrid evolutionary strategy (ES) is proposed. The proposed work used the quantum-inspired evolutionary algorithm (QIEA) to establish the optimal level for the multilevel thresholding. The QIEA depends on both quantum and evolutionary computing. An intensive works for automatic hippocampus segmentation is performed on a database of 179 images. The acquired results have demonstrated that the proposed algorithm provides superior segmentation with eight levels (L = 8), that offer the highest correlation between the original and the corresponding segmented image. © Copyright 2015 American Scientific Publishers All rights reserved.

关键词： Evolutionary algorithms

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