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2015年中国生物医学工程联合学术年会

作者： Wenya Nan Feng Wan Vai Mang I Rosa Agostino Department of Electrical and Computer Engineering Faculty of Science and TechnologyUniversity of Ma Department of Bio Engineering Systems and Robotics InstituteUniversity of Lisbon1049-001

Neurofeedback(NF)training is an operant conditioning procedure which regulates brain activity for human cognition,peak performance and health *** paper briefly introduces the new progress in neurofeedback research in optimizing cognition and behavior performance including memory,peripheral vision,physical balance and brain computer interface(BCI)in our research group.

关键词： neurofeedback alpha beta/theta ratio brain computer interface cognition

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Sequential observer selection for source localization

Sequential observer selection for source localization

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IEEE Global Conference on Signal and Information Processing (GlobalSIP)

作者： Sabina Zejnilović João Gomes Bruno Sinopoli Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA Institute for Systems and Robotics Universidade de Lisboa Portugal

Identifying the source of network diffusion is an important task in applications such as epidemics management and understanding the trend propagation over social networks. As observing each node carries a cost, we study the problem of sequential selection of observed nodes from two aspects: which nodes to observe such that the source is localized with the lowest cost, and for a pre-specified number of time-steps, which nodes to observe such that the resulting number of possible source candidates is the lowest. We show that both problems can be framed, under a simple propagation scenario, as dynamic programing with imperfect state knowledge. The proposed approach is optimal, but computationally intensive, hence we propose two simple greedy strategies. Using adaptive submodularity, we provide performance guarantees for one greedy algorithm. We evaluate the proposed approaches through simulation.

关键词： Observers Dynamic programming Measurement Conferences Information processing Social network services Computational modeling

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Distributed state estimation for linear multi-agent systems with time-varying measurement topology

Distributed state estimation for linear multi-agent systems ...

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作者： Viegas, Daniel Batista, Pedro Oliveira, Paulo Silvestre, Carlos Philip Chen, C.L. Institute for Systems and Robotics Instituto Superior Técnico Av. Rovisco Pais Lisboa1049-001 Portugal Department of Mechanical Engineering Instituto Superior Técnico Universidade de Lisboa Lisboa Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau Taipa China Department of Computer and Information Science Faculty of Science and Technology University of Macau Taipa China

This paper addresses the problem of distributed state estimation in formations of vehicles with time-varying measurement topology. One or more vehicles have access to measurements of their own state, while the rest must rely on measurements relative to other vehicles in the vicinity and limited communication to estimate their own state, and it is assumed that the vehicles may gain or lose access to some measurements over time. The proposed solution consists in the implementation of a local state observer on-board each vehicle, and the effects of changes in the measurement topology on the estimation error dynamics are studied resorting to switched systems theory. Sufficient conditions for exponential stability of the global estimation error dynamics are presented for two different switching laws. The results are applied to the practical case of a formation of Autonomous Underwater Vehicles (AUVs), and simulation results are presented that validate the proposed solution. © 2015 Elsevier Ltd.

关键词： Multi agent systems

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A Behavior-based Architecture for Multi-Robot Chemical Source Localization and its Implementation with Evolutionary Computation

A Behavior-based Architecture for Multi-Robot Chemical Sourc...

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IEEE International Conference on robotics and Biomimetics

作者： Meng-Li Cao Qing-Hao Meng Wei Li Ying-Jie Liu Ming Zeng Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China and Department of Computer and Electrical Engineering California State University Bakersfield CA 933311 USA

ISBN: (纸本)9781467396769

Chemical source localization (CSL) is significant for the protection of public security. In typical CSL problems, a collaborative group of multiple robots are expected to perform better than a single robot. This paper proposes a behavior-based multi-robot chemical source localization (BbMR-CSL) architecture. It includes three group behaviors, i.e., the chemical finding, chemical source tracing (CST), and chemical source declaration behaviors, among which the CST behavior is further divided into two individual behaviors. A hierarchical behavior selection method is designed for coordinating the behaviors in the BbMRCSL architecture. Then, a method framework is also proposed for combining evolutionary computation (EC) with the BbMRCSL architecture. Based on the proposed framework, three typical EC algorithms (i.e., the genetic algorithm, the artificial bee colony algorithm (ABC), and the global-best-guided ABC) are implemented in the BbMR-CSL architecture. The resulting behavior-based CSL methods were tested and compared in a simulated filamentous plume environment.

关键词： CSL significant protection

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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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Global Exponential Stabilization on the n-Dimensional Sphere

Global Exponential Stabilization on the n-Dimensional Sphere

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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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Selecting observers for source localization via error exponents

Selecting observers for source localization via error expone...

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IEEE International Symposium on Information Theory

作者： Sabina Zejnilović João Xavier João Gomes Bruno Sinopoli Carnegie Mellon University Pittsburgh PA US Institute for Systems and Robotics University of Lisbon Portugal Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA

ISBN: (纸本)9781467377058

In today's large social and technological networks, since it is unfeasible to observe all the nodes, the source of diffusion is determined based on the observations of a subset of nodes. The probability of source localization error depends on the particular choice of observer nodes. We propose a criterion for observer node selection based on the minimal pairwise Chernoff distance between distributions of different source candidates. The proposed approach is optimal for the fastest error decay with vanishing noise. Although suboptimal for non-negligible noise, through simulation, we demonstrate its applicability in achieving low error probability. We also analyze the effect of network topology on the resulting error by bounding the smallest Chernoff distance for some specific networks.

关键词： Observers Noise Error probability Measurement Topology Noise level Network topology

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Control Schemes for Passive Teleoperation systems over Wide Area Communication Networks with Time Varying Delay

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International Journal of Automation and computing 2014年第1期11卷 100-108页

作者： Shafiqul Islam Xiaoping P.Liu Abdulmotaleb El Saddik Lakmal Seneviratne Jorge Dias School of Information Technology and Engineering University of Ottawa School of Engineering and Applied Sciences Harvard University Robotics and Mechanical Engineering Khalifa University of Science & Technology Department of Systems and Computer Engineering Carleton University Electrical Engineering New York University Division of Engineering Kings College London Robotics and Electrical and Computer Engineering Khalifa University of Science & Technology Institute of Systems and Robotics University of Coimbra

In this paper,the problem of time varying telecommunication delays in passive teleoperation systems is *** design comprises delayed position,velocity and position-velocity signals with the local position and velocity signals of the master and slave *** adaptive control terms are employed locally to cope with uncertain parameters associated with the gravity loading vector of the master and slave ***-Krasovskii function is employed for three methods to establish asymptotic tracking property of the closed loop teleoperation *** stability analysis is derived for both symmetrical and unsymmetrical time varying delays in the forward and backward communication channel that connects the local and remote ***,evaluation results are presented to illustrate the efectiveness of the proposed design for real-time applications.

关键词： Teleoperation telerobotics Lyapunov-Krasovskii functional time varying delay passive systems

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Dexterity optimization of a three degrees of freedom DELTA parallel manipulator 1

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ROBOT 2013: 1st Iberian robotics Conference

作者： Silva, Vitor Gaspar Tavakoli, Mahmoud Marques, Lino Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Portugal

ISBN: (纸本)9783319036526

This paper demonstrates dexterity optimization of a Deltalike three degrees of freedom (3 DOF) spatial parallel manipulator. The parallel manipulator consists of three identical chains and is able to move on all three translational axes. In order to optimize the manipulator in term of dexterity, a Genetic Algorithm (GA) global search method was applied. This algorithm aims to propose the best design parameters such as the length of the links which results in a better dexterity. Results of the optimization are presented. © Springer International Publishing Switzerland 2014.

关键词： Manipulators

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Structure from motion;ToF-aided 3D reconstruction of isometric surfaces

Structure from motion;ToF-aided 3D reconstruction of isometr...

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3rd International Conference on Pattern Recognition Applications and Methods, ICPRAM 2014

作者： Jafar Hosseini, S. Araujo, Helder Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Coimbra Portugal

ISBN: (纸本)9789897580185

This paper deals with structure-from-motion (SfM) for non-rigid surfaces that undergo isometric motion. Our SfM framework aims at the joint estimation of the 3D surface and the camera motion by combining a ToF range sensor and a monocular RGB camera through a template-based approach. Our goal is to use the 2D low-resolution depth estimates provided by the TOF camera, in order to facilitate the estimation of non-rigid structure using the high-resolution images obtained by means of a RGB camera. In this paper, we model isometric surfaces with a triangular mesh. The ToF sensor is used to obtain the depth of a sparse set of 3D feature points, from which the depth of the mesh vertices can be recovered using a multivariate linear system. Subsequently, we form a non-linear constraint based on the projected length of each edge. A second non-linear constraint is then used for minimizing re-projection errors. These constraints are finally incorporated into an optimization scheme to solve for structure and motion. Experimental results show that the proposed approach has good performance even if only a low-resolution depth image is used. Copyright © 2014 SCITEPRESS.

关键词： Linear systems

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