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Micro and Nanosystems 2022年第3期14卷 187-187页

作者： Deen, Jamal Nano-Systems Laboratory Department Electrical Computer Engineering & School of Biomedical Engineering McMaster University HamiltonON Canada

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Analytical Model for Device Currents in 5-Level Active Neutral Point Clamped Converter

Analytical Model for Device Currents in 5-Level Active Neutr...

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International Conference on electrical systems for Aircraft, Railway, Ship Propulsion and Road Vehicles & International Transportation Electrification Conference (ESARS-ITEC)

作者： Daniel Zakzewski Rakesh Resalayyan Apurv Kumar Yadav Alireza Khaligh Department of Electrical and Computer Engineering Maryland Power Electronics Laboratory The Institute for Systems Research University of Maryland College Park United States Department of Electrical Engineering Indian Institute of Technology Roorkee Uttrakhand India

This paper presents a closed form analytical model for semiconductor and capacitor currents in a 5-Level Active Neutral Point Clamped Converter (5L-ANPC) topology. This model enables device selection, performance prediction, and design optimization of the topology. Models for the switch and FC currents are derived based on the topology's switching states. A model for input capacitor current is derived by analyzing the interaction of three phase legs of the topology. The model is verified using conventional time-domain switching simulation of the topology.

关键词： Semiconductor device modeling Analytical models Capacitors Transportation Stars Switches Predictive models

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Spiking neural networks: Towards bio-inspired multimodal perception in robotics

arXiv

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arXiv 2024年

作者： Oikonomou, Katerina Maria Balaska, Vasiliki Tsintotas, Konstantinos A. Mavridis, Christos N. Kansizoglou, Ioannis Gasteratos, Antonios The Department of Production and Management Engineering Laboratory of Robotics and Automation Democritus University of Thrace Xanthi Greece The Department of Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden

Spiking neural networks (SNNs) have captured apparent interest over the recent years, stemming from neuroscience and reaching the field of artificial intelligence. However, due to their nature SNNs remain far behind in achieving the exceptional performance of deep neural networks (DNNs). As a result, many scholars are exploring ways to enhance SNNs by using learning techniques from DNNs. While this approach has been proven to achieve considerable improvements in SNN performance, we propose another perspective: enhancing the biological plausibility of the models to leverage the advantages of SNNs fully. Our approach aims to propose a brain-like combination of audio-visual signal processing for recognition tasks, intended to succeed in more bio-plausible human-robot interaction applications. © 2024, CC BY-NC-SA.

关键词： Adversarial machine learning

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Open-Source Heterogeneous SoCs for AI The PULP Platform Experience

arXiv

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arXiv 2024年

作者： Conti, Francesco Garofalo, Angelo Rossi, Davide Tagliavini, Giuseppe Benini, Luca The Department of Electrical Electronic and Information Engineering University of Bologna Bologna40123 Italy The Department of Computer Science and Engineering University of Bologna Bologna40123 Italy The Integrated Systems Laboratory ETH Zürich Zurich8005 Switzerland

Since 2013, the PULP (parallel Ultra-Low Power) Platform project has been oneof the most active and successful initiatives in designing research IPs andreleasing them as open-source. Its portfolio now ranges from processor cores tonetwork-on-chips, peripherals, SoC templates, and full hardware *** this article, we focus on the PULP experience designing heterogeneous AIacceleration SoCs - an endeavour encompassing SoC architecture definition;development, verification, and integration of acceleration IPs;front- andback-end VLSI design;testing;development of AI deployment software. Copyright © 2024, The Authors. All rights reserved.

关键词： System-on-chip

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Meta-State-Space Learning: An Identification Approach for Stochastic Dynamical systems

arXiv

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arXiv 2023年

作者： Beintema, Gerben I. Schoukens, Maarten Toth, Roland Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands Systems and Control Laboratory HUN-REN Institute for Computer Science and Control Budapest Hungary

Available methods for identification of stochastic dynamical systems from input-output data generally impose restricting structural assumptions on either the noise structure in the data-generating system or the possible state probability distributions. In this paper, we introduce a novel identification method of such systems, which results in a dynamical model that is able to produce the time-varying output distribution accurately without taking restrictive assumptions on the data-generating process. The method is formulated by first deriving a novel and exact representation of a wide class of nonlinear stochastic systems in a so-called meta-state-space form, where the meta-state can be interpreted as a parameter vector of a state probability function space parameterization. As the resulting representation of the meta-state dynamics is deterministic, we can capture the stochastic system based on a deterministic model, which is highly attractive for identification. The meta-state-space representation often involves unknown and heavily nonlinear functions, hence, we propose an artificial neural network (ANN)-based identification method capable of efficiently learning nonlinear meta-state-space models. We demonstrate that the proposed identification method can obtain models with a log-likelihood close to the theoretical limit even for highly nonlinear, highly stochastic systems. © 2023, CC BY.

关键词： Stochastic systems

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Graph-Based Visual-Kinematic Fusion and Monte Carlo Initialization for Fast-Deployable Cable-Driven Robots

Graph-Based Visual-Kinematic Fusion and Monte Carlo Initiali...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： R. Khorrambakht H. Damirchi M.R. Dindarloo A. Saki S.A. Khalilpour Hamid D. Taghirad Stephan Weiss Electrical & Computer Engineering Department Control/Robotics Research Laboratory Tandon School of Engineering New York University Brooklyn NY School of Computer Science University of Adelaide Australia Faculty of Electrical Engineering University of Technology Tehran Iran Department of Smart Systems Technologies University of Klagenfurt Austria

Ease of calibration and high-accuracy task-space state-estimation purely based on onboard sensors is a key requirement for enabling easily deployable cable robots in real-world applications. In this work, we incorporate the onboard camera and kinematic sensors to drive a statistical fusion framework that presents a unified localization and calibration system which requires no initial values for the kinematic parameters. This is achieved by formulating a Monte-Carlo algorithm that initializes a factor-graph representation of the calibration and localization problem. With this, we are able to jointly identify both the kinematic parameters and the visual odometry scale alongside their corresponding uncertainties. We demonstrate the practical applicability of the framework using our state-estimation dataset recorded with the ARAS-CAM suspended cable driven parallel robot, and published as part of this manuscript.

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Work-in-Progress: A Hybrid Collaborative Multi Agent Decision Making Algorithm With Factored-Value Max-Plus

Work-in-Progress: A Hybrid Collaborative Multi Agent Decisio...

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International Black Sea Conference on Communications and Networking (BlackSeaCom)

作者： Paul Cotae Nii Emil Alexander Reindorf Myong Kang Alexander Velazquez Department of Electrical and Computer Engineering The University of the District of Columbia Washington DC USA U. S. Naval Research Laboratory Center for High Assurance Computer Systems Washington DC USA

We focus on a real-time multi agent decision-making algorithm that combines a centralized algorithm and a distributed algorithm. A network segmentation is unavoidable in a dynamic environment. In such cases, it is necessary for each agent to continually make the most urgent real-time decisions in both centralized and decentralized ways. In this paper, we present a Hybrid Factored-Value Max-Plus algorithm with cost which has online, anytime, and scalable properties despite network segmentation. We also study the performance of centralized and distributed algorithms to understand the performance characteristics of a hybrid algorithm.

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Accelerated Saddle Flow Dynamics for Bilinearly Coupled Minimax Problems

Accelerated Saddle Flow Dynamics for Bilinearly Coupled Mini...

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IEEE Conference on Decision and Control

作者： Yingzhu Liu Enrique Mallada Zhongkui Li Pengcheng You College of Engineering Peking University Beijing China State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China Department of Electrical and Computer Engineering Johns Hopkins University Baltimore MD USA

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

Minimax problems have attracted much attention due to various applications in constrained optimization problems and zero-sum games. Identifying saddle points within these problems is crucial, and saddle flow dynamics offer a straightforward yet useful approach. This study focuses on a class of bilinearly coupled minimax problems with strongly convex-linear objective functions. We design an accelerated algorithm based on saddle flow dynamics, achieving a convergence rate beyond the stereotype limit (the strong convexity constant). The algorithm is derived from a sequential two-step transformation of a given objective function. First, a change of variables is applied to render the objective function better-conditioned, introducing strong concavity (from linearity) while preserving strong convexity. Second, proximal regularization, when staggered with the first step, further enhances the strong convexity of the objective function by shifting some of the obtained strong concavity. After these transformations, saddle flow dynamics based on the new objective function can be tuned for accelerated exponential convergence. Besides, such an approach can be extended to weakly convex-weakly concave functions and still guarantees exponential convergence to one stationary point. The theory is verified by a numerical test on an affine equality-constrained convex optimization problem.

关键词： Couplings Heuristic algorithms Linearity Games Linear programming Convex functions Game theory Optimization Convergence

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Design, Dynamic Modeling and Control of a 2-DOF Robotic Wrist Actuated by Twisted and Coiled Actuators

arXiv

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arXiv 2025年

作者： Zhang, Yunsong Zhou, Xinyu Zhang, Feitian Department of Advanced Manufacturing and Robotics College of Engineering State Key Laboratory of Turbulence and Complex Systems Peking University Beijing100871 China Department of Electrical and Computer Engineering Michigan State University East LansingMI48824 United States

Robotic wrists play a pivotal role in the functionality of industrial manipulators and humanoid robots, facilitating manipulation and grasping tasks. In recent years, there has been a growing interest in integrating artificial muscle-driven actuators for robotic wrists, driven by advancements in technology offering high energy density, lightweight construction, and compact designs. However, in the study of robotic wrists driven by artificial muscles, dynamic model-based controllers are often overlooked, despite their critical importance for motion analysis and dynamic control of robots. This paper presents a novel design of a two-degree-of-freedom (2-DOF) robotic wrist driven by twisted and coiled actuators (TCA) utilizing a parallel mechanism with a 3RRRR configuration. The proposed robotic wrist is expected to feature lightweight structures and superior motion performance while mitigating friction issues. The Lagrangian dynamic model of the wrist is established, along with a nonlinear model predictive controller (NMPC) designed for trajectory tracking tasks. A prototype of the robotic wrist is developed, and extensive experiments are conducted to validate its superior motion performance and the proposed dynamic model. Subsequently, extensive comparative experiments between NMPC and PID controller were conducted under various operating conditions. The experimental results demonstrate the effectiveness and robustness of the dynamic model-based controller in the motion control of TCA-driven robotic wrists. Copyright © 2025, The Authors. All rights reserved.

关键词： Industrial manipulators

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Predictive Prescription of Unit Commitment Decisions Under Net Load Uncertainty

Predictive Prescription of Unit Commitment Decisions Under N...

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Innovative Smart Grid Technologies (ISGT)

作者： Ogun Yurdakul Feng Qiu Sahin Albayrak Department of Electrical Engineering and Computer Science Technical University of Berlin Berlin Germany Energy Systems Division Argonne National Laboratory Lemont IL USA

To take unit commitment (UC) decisions under uncertain net load, most studies utilize a stochastic UC (SUC) model that adopts a one-size-fits-all representation of uncertainty. Disregarding contextual information such as weather forecasts and temporal information, these models are typically plagued by a poor out-of-sample performance. To effectively exploit contextual information, in this paper, we formulate a conditional SUC problem that is solved given a covariate observation. The presented problem relies on the true conditional distribution of net load and so cannot be solved in practice. To approximate its solution, we put forward a predictive prescription framework, which leverages a machine learning model to derive weights that are used in solving a reweighted sample average approximation problem. In contrast with existing predictive prescription frameworks, we manipulate the weights that the learning model delivers based on the specific dataset, present a method to select pertinent covariates, and tune the hyperparameters of the framework based on the out-of-sample cost of its policies. We conduct extensive numerical studies, which lay out the relative merits of the framework vis-à-vis various benchmarks.

关键词： Radio frequency Training Costs Uncertainty Stochastic processes Weather forecasting Predictive models

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