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检索条件"机构=Institute for Systems and Robotics ISR and Department Electrical Engineering and Computers"

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Remote lab for Stochastic Computing using reconfigurable logic

Remote lab for Stochastic Computing using reconfigurable log...

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Experiment@ International Conference (exp.at)

作者： José Domingos Alves Jorge Lobo DEEC - Department of Electrical and Computer Engineering FCT University of Coimbra ISR - Institute of Systems and Robotics - University of Coimbra

In this interactive demonstration we show the basics of Stochastic Computing (SC) using a remote reconfigurable logic laboratory. A very simple web based approach is used to enable a remote access to a development board hosting a FPGA (Field Programmable Gate Array). The board switches and keys are virtualised with an online web form, and a webcam is used to provide feedback to the user. Recently, SC has been revisited and evaluated as a possible way of performing approximate probabilistic computations for artificial perception systems. Therefore, we provide the basic stochastic computing modules, so that any user can use them to build a stochastic computing circuit and go beyond software simulations, providing a remote hardware device to test real circuits at high clock speeds.

关键词： Hardware Field programmable gate arrays Generators computers Computational modeling Integrated circuit modeling Remote laboratories

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A Computationally Efficient Implementation of Fictitious Play in a Distributed Setting

A Computationally Efficient Implementation of Fictitious Pla...

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European Signal Processing Conference

作者： BRIAN SWENSON SOUMMYA KAR JOAO XAVIER Department of Electrical and Computer Engineering Carnegie Mellon University Institute for Systems and Robotics (ISR/IST) LARSyS Instituto Superior Tecnico University of Lisbon

ISBN: (纸本)9781479988518

The paper deals with distributed learning of Nash equilibria in games with a large number of players. The classical fictitious play (FP) algorithm is impractical in large games due to demanding communication requirements and high computational complexity. A variant of FP is presented that aims to mitigate both issues. Complexity is mitigated by use of a computationally efficient Monte-Carlo based best response rule. Demanding communication problems are mitigated by implementing the algorithm in a network-based distributed setting, in which player-to-player communication is restricted to local subsets of neighboring players as determined by a (possibly sparse, but connected) preassigned communication graph. Results are demonstrated via a simulation example.

关键词： Games Distributed Learning Fictitious Play Nash Equilibrium

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A trajectory tracking LQR controller for a quadrotor: Design and experimental evaluation

A trajectory tracking LQR controller for a quadrotor: Design...

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IEEE Region 10 International Conference TENCON

作者： Xie Heng David Cabecinhas Rita Cunha Carlos Silvestre Xu Qingsong Department of Electromechanical Engineering Avenida da Universidade Taipa Macau China Department of Electrical and Computer Engineering Institute for Systems and Robotics (ISR/IST) Macao China Electrical and Computer Engineering Universidade de Lisboa Lisboa Portugal Department of Electrical and Computer Engineering University of Lisbon Macao China

ISBN: (纸本)9781479986422

This paper addresses the problem of driving a quadrotor vehicle along a predefined 3-D trimming path. The proposed solution relies on the definition of a path-dependent error space to express the dynamic model of the vehicle, which results in linear time-invariant dynamics for the error system. The controller synthesis problem is then formulated as a linear quadratic regulator problem for LTI systems. The control strategy adopts the D-methodology integrated with the anti-windup technique in order to achieve zero static error for the integral states and to avoid actuator saturation. Experimental results where a quadrotor follows a trimming trajectory are presented to illustrate the performance of the proposed controller.

关键词： Vehicles Trajectory Aerospace electronics Vehicle dynamics Force Aerodynamics Angular velocity

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On Robustness Properties in Empirical Centroid Fictitious Play

On Robustness Properties in Empirical Centroid Fictitious Pl...

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IEEE Annual Conference on Decision and Control

作者： BRIAN SWENSON SOUMMYA KAR JOAO XAVIER Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA 15213 USA Institute for Systems and Robotics (ISR) Instituto Superior Tecnico (IST) Technical University of Lisbon Portugal

ISBN: (纸本)9781479978878

Empirical Centroid Fictitious Play (ECFP) is a generalization of the well-known Fictitious Play (FP) algorithm designed for implementation in large-scale games. In ECFP, the set of players is subdivided into equivalence classes with players in the same class possessing similar properties. Players choose a next-stage action by tracking and responding to aggregate statistics related to each equivalence class. This setup alleviates the difficult task of tracking and responding to the statistical behavior of every individual player, as is the case in traditional FP. Aside from ECFP, many useful modifications have been proposed to classical FP, e.g., rules allowing for network-based implementation, increased computational efficiency, and stronger forms of learning. Such modifications tend to be of great practical value;however, their effectiveness relies heavily on two fundamental properties of FP: robustness to alterations in the empirical distribution step size process, and robustness to best-response perturbations. The main contribution of the paper is to show that similar robustness properties also hold for the ECFP algorithm. This result serves as a first step in enabling practical modifications to ECFP, similar to those already developed for FP.

关键词： Equivalence classes Players Centroid practical value tracking Robustness Computational efficiency First Step

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Touch attention Bayesian models for robotic active haptic exploration of heterogeneous surfaces

Touch attention Bayesian models for robotic active haptic ex...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Ricardo Martins Joao Filipe Ferreira Jorge Dias Institute of Systems and Robotics Department of Electrical Engineering and Computers University of Coimbra 3030 Coimbra Portugal

ISBN: (纸本)9781479969357

This work contributes to the development of active haptic exploration strategies of surfaces using robotic hands in environments with an unknown structure. The architecture of the proposed approach consists two main Bayesian models, implementing the touch attention mechanisms of the system. The model π_(per) perceives and discriminates different categories of materials (haptic stimulus) integrating compliance and texture features extracted from haptic sensory data. The model π_(tar) actively infers the next region of the workspace that should be explored by the robotic system, integrating the task information, the permanently updated saliency and uncertainty maps extracted from the perceived haptic stimulus map, as well as, inhibition-of-return mechanisms. The experimental results demonstrate that the Bayesian model π_(per) can be used to discriminate 10 different classes of materials with an average recognition rate higher than 90%. The generalization capability of the proposed models was demonstrated experimentally. The ATLAS robot, in the simulation, was able to perform the following of a discontinuity between two regions made of different materials with a divergence smaller than 1cm (30 trials). The tests were performed in scenarios with 3 different configurations of the discontinuity. The Bayesian models have demonstrated the capability to manage the uncertainty about the structure of the surfaces and sensory noise to make correct motor decisions from haptic percepts.

关键词： Classes of materials Bayesian inference robotic hand discontinuities Workplace Exploration

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Strong convergence to mixed equilibria in fictitious play

Strong convergence to mixed equilibria in fictitious play

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Annual Conference on Information Sciences and systems (CISS)

作者： Brian Swenson Soummya Kar João Xavier Institute for Systems and Robotics (ISR) University of Lisbon Portugal Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA

Learning processes that converge to mixed-strategy equilibria often exhibit learning only in the weak sense in that the time-averaged empirical distribution of players' actions converges to a set of equilibria. A stronger notion of learning mixed equilibria is to require that players period-by-period strategies converge to a set of equilibria. A simple and intuitive method is considered for adapting algorithms that converge in the weaker sense in order to obtain convergence in the stronger sense. The adaptation is applied to the the well-known fictitious play (FP) algorithm, and the adapted version of FP is shown to converge to the set of Nash equilibria in the stronger sense for games known to have the FP property.

关键词： Games Convergence Robustness Game theory Algorithm design and analysis Heuristic algorithms Joints

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NETWORK OBSERVABILITY AND LOCALIZATION OF SOURCES OF DIFFUSION IN TREE NETWORKS WITH MISSING EDGES

NETWORK OBSERVABILITY AND LOCALIZATION OF SOURCES OF DIFFUSI...

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European Signal Processing Conference

作者： Sabina Zejnilovic Joao Gomes Bruno Sinopoli Carnegie Mellon University Department of Electrical and Computer Engineering Institute for Systems and Robotics - Instituto Superior Tecnico (ISR/IST) University of Lisbon

ISBN: (纸本)9781479946037

In order to quickly curb infections or prevent spreading of rumors, first the source of diffusion needs to be localized. We analyze the problem of source localization, based on infection times of a subset of nodes in incompletely observed tree networks, under a simple propagation model. Our scenario reflects the assumption that having access to all the nodes and full network topology is often not feasible. We evaluate the number of possible topologies that are consistent with the observed incomplete tree. We provide a sufficient condition for the selection of observed nodes, such that correct localization is possible, i.e. the network is observable. Finally, we formulate the source localization problem under these assumptions as a binary linear integer program. We then provide a small simulation example to illustrate the effect of the number of observed nodes on the problem complexity and on the number of possible solutions for the source.

关键词： Network observability Source localization Tree graphs Missing edges

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Corneal nerve morphometry for diabetic peripheral neuropathy assessment

Corneal nerve morphometry for diabetic peripheral neuropathy...

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International Conference on Health Informatics, ICHI 2013

作者： Silva, Susana Figueiredo. Otel, Iulian Gouveia, Sofia Gomes, Leonor Negrão, Luís Quadrado, Maria João Gonçalves, Nuno Barreto, João Pedro Morgado, António Miguel IBILI - Institute for Biomedical Imaging and Life Sciences University of Coimbra Coimbra Portugal Department of Endocrinology Diabetes and Metabolism Portugal Department of Neurology Portugal Department of Ophthalmology Coimbra Hospital University Center Coimbra Portugal ISR - Institute of Systems and Robotics University of Coimbra Coimbra Portugal Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal Department of Physics University of Coimbra Coimbra Portugal

ISBN: (纸本)9783319030043

Diabetic peripheral neuropathy (DPN) is one of the more common complications of diabetes, being associated to 50-75% of non-traumatic amputations. Early diagnosis of DPN often fails or occurs only when patients became symptomatic due to the non-availability of a simple, reliable, noninvasive method. We present the results of a pilot study where we used peripheral nerves morphometric information, retrieved from images of the corneal sub-basal nerve plexus, obtained in vivo by corneal confocal microscopy, to identify and stage patients with DPN. Nerve segmentation was done manually and using an automatic algorithm. Both standard statistical techniques and classification techniques were used for DPN identification. With manual segmentation, differences were found between controls and patients with mild and moderate DPN, for the nerve fiber length and density parameters. A simple comparison between individuals with and without DPN results in significant differences for those parameters, as well as for branching pattern and density. No differences were found with automatic segmentation. Simple classification techniques based on manually extracted parameters were tested for identification of DPN patients. The best results were obtained with a binary tree classifier, using PCA transformed data, for a pruning level 9. The classifier accuracy was 87%. The results confirm that morphometric analysis of corneal nerves images may be used as a complementing technique for DPN diagnosis. A fully automatic tool for identifying and staging DPN patients requires additional work on the nerve segmentation algorithm and the use of more robust classifiers with additional reliance on image features other than the tested morphometric parameters. © 2014, Springer International Publishing Switzerland.

关键词： Confocal microscopy

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Game-theoretic learning in a distributed-information setting: Distributed convergence to mean-centric equilibria

Game-theoretic learning in a distributed-information setting...

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Asilomar Conference on Signals, systems & computers

作者： Brian Swenson Soummya Kar João Xavier Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Institute for Systems and Robotics (ISR) Instituto Superior Tecnico (IST) University of Lisbon Portugal

ISBN: (纸本)9781479982981

The paper considers distributed learning in large-scale games via fictitious-play type algorithms. Given a preassigned communication graph structure for information exchange among the players, this paper studies a distributed implementation of the Empirical Centroid Fictitious Play (ECFP) algorithm that is well-suited to large-scale games in terms of complexity and memory requirements. It is shown that the distributed algorithm converges to an equilibrium set denoted as the mean-centric equilibria (MCE) for a reasonably large class of games.

关键词： Games Convergence Joints History Cognition Economics Protocols

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Genetically Optimized Extreme Learning Machine

Genetically Optimized Extreme Learning Machine

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IEEE Conference on Emerging Technologies & Factory Automation

作者： Tiago Matias Rui Araújo Carlos Henggeler Antunes Dulce Gabriel Institute of Systems and Robotics (ISR-UC) Department of Electrical and Computer Engineering (DEEC-UC)

ISBN: (纸本)9781479908639

This paper proposes a learning algorithm for singlehidden layer feedforward neural networks (SLFN) called genetically optimized extreme learning machine (GO-ELM). In the GO-ELM, the structure and the parameters of the SLFN are optimized by a genetic algorithm (GA). The output weights, like in the batch ELM, are obtained by a least squares algorithm, but using Tikhonov's regularization in order to improve the SLFN performance in the presence of noisy data. The GA is used to tune the set of input variables, the hidden-layer configuration and bias, the input weights and the Tikhonov's regularization factor. The proposed method was applied and compared with four other methods over five benchmark problems available in a public repository. Besides it was applied in the estimation of the temperature at the burning zone of a real cement kiln plant.

关键词： SLFN input weights real cement kiln plant

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