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

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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Infeasibility-free inverse kinematics method

Infeasibility-free inverse kinematics method

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IEEE/SICE International Symposium on System Integration

作者： Wael Suleiman Fumio Kanehiro Eiichi Yoshida Electrical and Computer Engineering Department Université de Sherbrooke Sherbrooke Quebec Canada Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology (AIST) Tsukuba Ibaraki Japan CNRS-AIST JRL (Joint Robotics Laboratory) Tsukuba Ibaraki Japan

ISBN: (纸本)9781467372435

The problem of inverse kinematics is revisited in the present paper. The paper is focusing on the problem of solving the inverse kinematics problem while respecting velocity limits on both the robot's joints and the end-effector. Even-though the conventional inverse kinematics algorithms have been proven to be efficient in many applications, defining an admissible trajectory for the end-effector is still a burdensome task for the user, and the problem can easily become unsolvable. The main idea behind the proposed algorithms is to consider the sampling time as a free variable, hence adding more flexibility to the optimization problem associated with the inverse kinematics. We prove that the reformulated problem has always a solution if the end-effector path is in the reachable space of the robot, thus solving the problem of infeasibility of conventional inverse kinematics methods. To validate the proposed approach, we have conducted three simulations scenarios. The simulation results point that while the conventional inverse kinematics methods fail to track precisely a desired end-effector trajectory, the proposed algorithms always succeed.

关键词： Kinematics Optimization Robots Trajectory Algorithm design and analysis Jacobian matrices Angular velocity

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Editorial tnnls special issues and editorial board changes

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IEEE Transactions on Neural Networks and Learning systems 2014年第1期25卷 1-8页

作者： Liu, Derong State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Department of Electrical and Computer Engineering University of Illinois at Chicago Chicago IL 60607 United States

An introduction is presented in which the editor discusses the theme of the periodical based on learning in nonstationary and evolving environments along with changes in the editorial board and also offers brief profi... 详细信息

关键词： LEARNING EDITORIAL boards (Publishing)

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Unmanned vehicles network: Platforms and software toolchain 3

Unmanned vehicles network: Platforms and software toolchain

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3rd International Conference on Applied robotics for the Power Industry, CARPI 2014

作者： De Sousa, Joao Tasso F. B. Pinheiro, Breno C. Moreno, Ubirajara F. Underwater Systems and Technology Laboratory Department of Electrical and Computer Engineering Porto University Porto Portugal Department of Automation and Systems Federal University of Santa Catarina Florianópolis Brazil

ISBN: (纸本)9781479964222

This article discusses about the application of unmanned vehicles networks in several areas related to power systems. The main topics are related to the planning and mission control tools as well as coordination, communication and data sharing between the associated nodes. Throughout the work, some vehicles developed in the Underwater systems and Technology laboratory.(LSTS) will also be presented, including examples of applications, and some work done in partnership with the department of automation and systems (DAS). © 2014 IEEE.

关键词： Unmanned vehicles

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Derong Liu [People in Control]

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IEEE Control systems 2014年第2期34卷 26-27页

作者： Liu, Derong State Key Laboratory of Management and Control for Complex Systems Department of Electrical and Computer Engineering University of Illinois at Chicago United States Institute of Automation Chinese Academy of Sciences 95 Zhongguancun East Road Beijing100190 China

关键词： Laboratories

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Control of a Quadruped Robot with Bionic Springy Legs in Trotting Gait

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Journal of Bionic engineering 2014年第2期11卷 188-198页

作者： Mantian Li Zhenyu Jiang Pengfei Wang Lining Sun Shuzhi Sam Ge State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China Institute of Intelligent Systems and Information Technology University of Electronic Seience and Technology of China Chengdu 610000 P.R. China Department of Electrical and Computer Engineering the National University of Singapore Singapore 117576 Singapore

Legged robots have better performance on discontinuous terrain than that of wheeled robots. However, the dynamic trotting and balance control of a quadruped robot is still a challenging problem, especially when the robot has multi-joint legs. This paper presents a three-dimensional model of a quadruped robot which has 6 Degrees of Freedom （DOF） on torso and 5 DOF on each leg. On the basis of the Spring-Loaded Inverted Pendulum （SLIP） model, body control algorithm is discussed in the first place to figure out how legs work in 3D trotting. Then, motivated by the principle of joint function separation and introducing certain biological characteristics, two joint coordination approaches are developed to produce the trot and provide balance. The robot reaches the highest speed of 2.0 m.s-1, and keeps balance under 250 Kg.m.s-1 lateral disturbance in the simulations. The effectiveness of these approaches is also verified on a prototype robot which runs to 0.83 m.s-1 on the treadmill, The simulations and experiments show that legged robots have good biological properties, such as the ground reaction force, and spring-like leg behavior.

关键词： legged robots locomotion control quadruped robot trotting gait

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Control Strategies for a Humanoid Robot to Drive and then Egress a Utility Vehicle for Remote Approach

Control Strategies for a Humanoid Robot to Drive and then Eg...

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IEEE-RAS International Conference on Humanoid Robots

作者： Hyobin Jeong Jaesung Oh Mingeuk Kim Kyungdon Joo In So Kweon Jun-Ho Oh Humanoid Research Center School of Mechanical Aerospace & Systems Engineering Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Robotics and Computer Vision Laboratory School of Mechanical Aerospace & Systems Engineering Department of Electrical Engineering Korea Advanced Institute of Science and Technology Department of Electrical Engineering KAIST

ISBN: (纸本)9781479968862

This paper proposes strategies for the driving and egress of a vehicle with a humanoid robot. To drive the vehicle, the RANSAC method was used to detect obstacles, and the Wagon model was used to control the steering and velocity of the vehicle with only a limited number of sensors which were installed on the humanoid robot. Additionally, a manual teleoperating method was used with the lane projection technique. For the egress motion, gain override and the Cartesian position/force control technique were used to interact with the vehicle structure. To overcome the disadvantages of a highly geared manipulator, a special technique was used that included modelled friction compensation and a non-complementary switching mode. DRC-HUBO+ used the proposed method to perform a vehicle driving and egress task in the DRC finals 2015.

关键词： Humanoid robots EGRESS vehicle Vehicle driving Automobile driving UTILITY VEHICLES control strategy friction compensation DRIVES Steering

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A p300 model for cerebot - A mind-controlled humanoid robot 2

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2nd International Conference on Robot Intelligence Technology and Applications, RiTA 2013

作者： Li, Mengfan Li, Wei Zhao, Jing Meng, Qinghao Zeng, Ming Chen, Genshe Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin300072 China Department of Computer & Electrical Engineering and Computer Science California State University BakersfieldCA93311 United States Intelligent Fusion Technology Inc. GermantownMD20876 United States

ISBN: (纸本)9783319055817

In this paper, we present a P300 model for control of Cerebot - a mind-controlled humanoid robot, including a procedure of acquiring P300 signals, topographical distribution analysis of P300 signals, and a classification approach to identifying subjects’ mental activities regarding robot-walking behavior. We design two groups of image contexts to visually stimulate subjects when acquiring neural signals that are used to control a simulated or real NAO robot. Our study shows that the group of contexts using images of robot behavior delivers better performance. © Springer International Publishing Switzerland 2014.

关键词： Anthropomorphic robots

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Zinc oxide/copper oxide heterogeneous nanowire preparation and application in UV sensor 14

Zinc oxide/copper oxide heterogeneous nanowire preparation a...

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2014 14th IEEE International Conference on Nanotechnology, IEEE-NANO 2014

作者： Wei, Fanan Liu, Lianqing Li, Guangyong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh15261 United States

ISBN: (纸本)9781479956227

In this paper, we investigate the hydrothermal synthesis of zinc oxide (ZnO)/copper oxide (CuO) heterojunction nanostructures. Uniform ZnO nanowires are grown on ITO slides with the sophisticated hydrothermal approach. By changing the anions in the copper ion source solution, different CuO structures are grown on ZnO nanowires. With copper chloride as reactant, spike-like structure is obtained. While leaf like structure is grown when copper nitrate is used. Copper sulfate leads to CuO nanobelt. And copper acetate results into similar structure with copper chloride. Then, the application of the heterogeneous nanostructure in UV light sensing is tested. Furthermore, single ZnO/CuO heterojunction nanowire is assembled between the electrodes to fabricate single nanowire based P-N junction. © 2014 IEEE.

关键词： Heterojunctions

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Program-based and model-based PLC design environment for multicore FPGA architectures 11

Program-based and model-based PLC design environment for mul...

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11th International Conference on Informatics in Control, automation and robotics, ICINCO 2014

作者： Economakos, Christoforos Skarpetis, Michael Economakos, George Technological Educational Institution of Sterea Ellada Department of Automation Engineering Psahna EviaGR34400 Greece National Technical University of Athens School of Electrical and Computer Engineering Microprocessors and Digital Systems Laboratory Heroon Polytechniou 9 Zografou AthensGR15780 Greece

ISBN: (纸本)9789897580390

Digital design has been growing rapidly during the last years, offering advanced implementation solutions for a diversity of appliances and instruments, integrating different sensors and actuators. This has a great impact on embedded automation, where traditional Programmable Logic Controllers (PLCs) have been gradually replaced by high performance Embedded Controllers, Digital Signal Processor (DSP) chips and, more recently, power efficient Field Programmable Gate Arrays (FPGAs). Such new implementation platforms bring together efficient design methodologies, like model-based design and high-level or C level program-based design. In their turn, new design methodologies are accompanied by new design technologies like Intellectual Property (IP) based design and High-Level Synthesis (HLS). This paper presents a design environment that utilizes program-based and model-based design, for the development of PLC applications. Specifically, a tool flow is constructed that supports either the design of new control algorithms or the translation of existing algorithms into C. Then, HLS and FPGA implementation tools are adopted, to implement the selected algorithms as mul-ticore, embedded designs, offering performance improvements and hardware utilization efficiency. Overall, the proposed methodology and underlying tool flow support a novel high productivity prototyping platform for digital control applications, with very promising future extension capabilities.

关键词： Programmable logic controllers

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