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Morphological computation in a fast-running quadruped with elastic spine

IFAC-PapersOnLine 2015年第13期48卷 170-175页

作者： Gerrit A. Folkertsma Arjan J. van der Schaft Stefano Stramigioli Robotics and Mechatronics group CTIT institute University of Twente The Netherlands Johann Bernoulli Institute for Mathematics and Computer Science University of Groningen The Netherlands

In high-speed locomotion, control is best shared between \brain" and \body": if the natural body dynamics already exhibit desired behaviour, control action can be restricted to stabilising this behaviour, or providing energy to keep it going. This morphological computation can be modelled and designed using Port-Hamiltonian systems (PHS) theory, since the basis of both is the interconnection of dynamic elements. In this paper, we explore the application of PHS to morphological computation, showing that a three degrees-of-freedom elastic spring functioning as spine in a quadrupedal robot can lead to forward locomotion|without any complicated control action whatsoever.

关键词： Robot dynamics Control by interconnection Locomotion Numerical simulation Port-Hamiltonian Systems

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Stochastic Models, Statistics and Their Applications: Wroclaw, Poland, February 2015

Stochastic Models, Statistics and Their Applications: Wrocla...

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12th Workshop on Stochastic Models, Statistics and their Applications, 2015

作者： Steland, Ansgar Szajowski, Krzysztof Rafajlowicz, Ewaryst Institute of Statistics RWTH Aachen University Aachen Germany Inst. of Mathematics and Computer Science Wroclaw University of Technology Wroclaw Poland Dept. of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

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Towards a child-robot symbiotic co-development: A theoretical approach

Towards a child-robot symbiotic co-development: A theoretica...

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AISB Convention 2015

作者： Charisi, Vicky Davison, Daniel Wijnen, Frances Van Der Meij, Jan Reidsma, Dennis Prescott, Tony Van Joolingen, Wouter Evers, Vanessa Dept. of Electrical Engineering Mathematics and Computer Science HMI University of Twente Enschede Netherlands Faculty of Behavioural Management and Social Sciences ELAN University of Twente Enschede Netherlands Sheffield Robotics University of Sheffield Mappin Street Sheffield United Kingdom Freudenthal Institute for Science and Mathematics Education Faculty of Science Utrecht University Utrecht Netherlands

12One of the main characteristics for an effective learning is the possibility for learners to choose their own ways and pace of learning, according to their personal previous experiences and needs. Social interaction during the learning process has a crucial role to the skills that learners may develop. In this paper, we present a theoretical approach, which considers relevant theories of child's development in order to proceed from a child-child collaborative learning approach to a childrobot symbiotic co-development. In this symbiotic interaction, the robot is able to interact with the learner and adapt its behaviours according to the child's behaviour and development. This sets some theoretical foundations for an on-going research project that develops technologies for a social robot that facilitates learning through symbiotic interaction.

关键词： Learning systems

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Flat Rotman lens for 5G beamforming antenna

Flat Rotman lens for 5G beamforming antenna

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IEEE Asia-Pacific Conference on Antennas and Propagation (APCAP)

作者： Muhammad Kamran Khattak Changhyung Lee Dajung Han Sungtek Kahng Department of Information Technologies Università degli Studi di Milano Doctoral School of Computer Science Crema Italy Doctoral School of Applied Informatics and Applied Mathematics Obuda University Budapest Hungary Antal Bejczy Center for Intelligent Robotics (ABC iRob) Obuda University Budapest Hungary Institute of Mechatronics and Vehicle Engineering Obuda University Budapest Hungary Department of Mathematics and Informatics J. Selye University Komarno Slovakia Department of Information Technologies Università degli Studi di Milano Crema Italy

ISBN: (纸本)9781467372381

In this paper, a planar Rotman lens featured as beamforming and multiple beams is presented, aimed at the potential use for 5G communication. The feeding network and the radiating patches are made as a single layer Taconic-microstrip structure for a 24-GHz area operation for low cost and practicality. The beamforming characteristics are verified by the full-wave simulation which is validated by the fabrication and measurement.

关键词： Lenses Ports (computers) Feeds Array signal processing 5G mobile communication Microstrip

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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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On the approximate period problem

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IAENG International Journal of Applied mathematics 2014年第1期44卷 1-9页

作者： Gorbenko, Anna Ural Federal University Department of Intelligent Systems and Robotics of Mathematics and Computer Science Institute 620083 Ekaterinburg Russia

Different regularities can be used to identify the sequence among other sequences. Regularities allow us to infer an information about the evolution of the sequence. Tandem repeats are the most frequent in the genomes of eukaryotes. Extraction of regularities is a widely studied problem. However, searching for exact tandem repeats can be too restrictive. So, a natural extension of the repetition is to allow errors. In this paper, we consider the approximate period problem. In particular, we consider an explicit reduction from the approximate period problem to the satisfiability problem and present experimental results for different satisfiability algorithms. Also, we consider the approximate period problem for sequences of motor primitives of robots. In particular, we use the approximate period problem to obtain some meta-parameters that adapt the global motion behavior. We try to use such metaparameters for learning to generalize motor primitives to a different behavior by trial and error without re-learning the task.

关键词： Genetic algorithms

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A Novel Gesture Driven Fuzzy Interface System For Car Racing Game

A Novel Gesture Driven Fuzzy Interface System For Car Racing...

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IEEE International Conference on Fuzzy Systems

作者： Chiranjib Saha Debdipta Goswami Sriparna Saha Amit Konar Anna Lekova Atulya K. Nagar Department of of Electronics and Telecommunication Engineering Jadavpur University Kolkata-700050 India Institute of System Engineering and Robotics Bulgarian Academy of Sciences Sofia Bulgaria Department of Mathematics and Computer Science Liverpool Hope University United Kingdom

ISBN: (纸本)9781467374293

The recently developed Kinect sensor has opened a new horizon to Human-computer Interface (HCI) and its native connection with Microsoft's product line of Xbox 360 and Xbox One video game consoles makes completely hands-free control in next generation of gaming. Games that requires a lot of degree of freedoms, especially the driving control of a car in racing games is best suitable to be driven by gestures, as the use of simple buttons does not scale to the increased number of assistive, comfort, and infotainment functions. In this paper, we propose a Mamdani type-I fuzzy inference system based data processing module which effectively takes into account the dependence of actual steering angle with the distance of two palm positions and angle generated with respect to the sagittal plane. The FIS output variable controls the duration of a virtual "key-pressed" event which mocks the users pressing of actual keys assigned to control car direction in the original game. The acceleration and brake(deceleration) of the vehicle is controlled using the relative displacement of left and right feet. The proposed experimental setup, interfacing Kinect and a desktop based racing game, has shown that the virtual driving environment can be easily applied to any games belonging to this particular genre.

关键词： Novel Gesture Driven Fuzzy Interface System Car Racing Game HCI computer human interaction Game theory interface system game player Gestures Automobile driving Hunting Game animals virtual drive Cars relative displacement DETRAINING Car owner acceleration

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Weight update sequence in MLP networks

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Lecture Notes in computer science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2014年 8669卷 266-274页

作者： Kordos, Miroslaw Rusiecki, Andrzej Kamiński, Tomasz Greń, Krzysztof University of Bielsko-Biala Department of Mathematics and Computer Science Bielsko-Biala Willowa 2 Poland Wroclaw University of Technology Institute of Computer Engineering Control and Robotics Wroclaw Wybrzeże Wyspiańskiego 27 Poland

ISBN: (纸本)9783319108391

The advantages of Variable Step Search algorithm - a simple local search-based method of MLP training is that it does not require differentiable error functions, has better convergence properties than backpropagation and lower memory requirements and computational cost than global optimization and second order methods. However, in some applications, the issue of training time reduction becomes very important. In this paper we evaluate several approaches to achieve this reduction. © Springer International Publishing Switzerland 2014.

关键词： Global optimization

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BLDC wheel hub motor and motor controller performance test of a concept electric robotic vehicle in HIL according to real driving characteristics

BLDC wheel hub motor and motor controller performance test o...

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International Conference on Electrical and Electronics Engineering, ELECO

作者： Mehmed Yüksel Stefan Losch Sven Kroffke Michael Rohn Frank Kirchner German Research Center for Artificial Intelligence (DFKI) Robotics Innovation Center (RIC) Robert-Hooke-Str. 1 - 28359 Bremen Germany Fraunhofer Institute for Manufacturing Technology and Advanced Materials (IFAM) Bremen Germany German Research Center for Artificial Intelligence (DFKI) Robotics Innovation Center (RIC) Bremen Germany Department of Mathematics and Computer Science University of Bremen Bremen Germany

In this paper we are presenting a method, which is developed as a part of our framework for designing complex robotic vehicle systems, to test a power train of a robotic concept car according to the real driving characteristic from telemetry data gathered from a subset of a pilot electric vehicle fleet in northern Germany in Hardware-in-the-Loop. Our aim is to investigate the driving performance of our modified BLDC wheel hub motor and its motorcontroller under urban area traffic conditions.

关键词： Vehicles Wheels Robots Torque Brushless DC motors

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Automatic and robust single-camera specular highlight removal in cardiac images

Automatic and robust single-camera specular highlight remova...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Samar M. Alsaleh Angelica I. Aviles Pilar Sobrevilla Alicia Casals James K. Hahn Department of Computer Science George Washington University Washington DC U.S.A. Intelligent Robotics and Systems Group Universitat Politecnica de Cataluya Barcelona Spain Department of Applied Mathematics II Universitat Politecnica de Cataluya Barcelona Spain Institute for Bioengineering of Catalonia Universitat Politecnica de Cataluya Barcelona Spain

In computer-assisted beating heart surgeries, accurate tracking of the heart's motion is of huge importance and there is a continuous need to eliminate any source of error that might disturb the tracking process. One source of error is the specular reflection that appears on the glossy surface of the heart. In this paper, we propose a robust solution for the detection and removal of specular highlights. A hybrid color attributes and wavelet based edge projection approach is applied to accurately identify the affected regions. These regions are then recovered using a dynamic search-based inpainting with adaptive windowing. Experimental results demonstrate the precision and efficiency of the proposed method. Moreover, it has a real-time performance and can be generalized to various other applications.

关键词： Image color analysis Heart Image edge detection Wavelet transforms Surgery Tracking

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