Related papers: Rapid rhythmic entrainment in bio-inspired central…
Developing sophisticated control architectures has endowed robots, particularly humanoid robots, with numerous capabilities. However, tuning these architectures remains a challenging and time-consuming task that requires expert…
Personalized ubiquitous healthcare solutions require energy-efficient wearable platforms that provide an accurate classification of bio-signals while consuming low average power for long-term battery-operated use. Single lead…
In the present work, electroencephalographic recordings of healthy human participants were performed to study the entrainment of brainwaves using a variety of stimulus. First, periodic entrainment of the brainwaves was studied using two…
Early identification of abnormal physiological patterns is essential for the timely detection of cardiac disease. This work introduces a hybrid quantum-classical convolutional neural network (QCNN) designed to classify S3 and murmur…
In this paper, a self-triggered adaptive model predictive control (MPC) algorithm is proposed for constrained discrete-time nonlinear systems subject to parametric uncertainties and additive disturbances. To bound the parametric…
This paper presents an automated method for optimizing parameters in analog/high-frequency circuits, aiming to maximize performance parameters of a radio-frequency (RF) receiver. The design target includes a reduction of power consumption…
Mounting evidence suggests that adaptation is a crucial mechanism for rehabilitation robots in promoting motor learning. Yet, it is commonly based on robot-derived movement kinematics, which is a rather subjective measurement of…
The ability to learn new tasks and quickly adapt to different variations or dimensions is an important attribute in agile robotics. In our previous work, we have explored Behavior Trees and Motion Generators (BTMGs) as a robot arm policy…
Objective: A novel structure based on channel-wise attention mechanism is presented in this paper. Embedding with the proposed structure, an efficient classification model that accepts multi-lead electrocardiogram (ECG) as input is…
Graph embedding methods represent nodes in a continuous vector space, preserving information from the graph (e.g. by sampling random walks). There are many hyper-parameters to these methods (such as random walk length) which have to be…
A robotic system can be viewed as a collection of lower-dimensional systems that are coupled via reaction forces (Lagrange multipliers) enforcing holonomic constraints. Inspired by this viewpoint, this paper presents a novel formulation for…
Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of being versatile helpers in our everyday environments. Bipedal walking is, however, a complex motion that requires the coordination of many degrees…
Human Activity Recognition using wearable inertial sensors is foundational to healthcare monitoring, fitness analytics, and context-aware computing, yet its deployment is hindered by cross-user variability arising from heterogeneous…
We analyze the dynamics of the neural circuit of the lamprey central pattern generator (CPG). This analysis provides insights into how neural interactions form oscillators and enable spontaneous oscillations in a network of damped…
Reinforcement learning method is extremely competitive in gait generation techniques for quadrupedal robot, which is mainly due to the fact that stochastic exploration in reinforcement training is beneficial to achieve an autonomous gait.…
The paper addresses the problem of parameter estimation (or identification) in dynamical networks composed of an arbitrary number of FitzHugh-Nagumo neuron models with diffusive couplings between each other. It is assumed that only the…
Neuronal systems need to process temporal signals. We here show how higher-order temporal (co-)fluctuations can be employed to represent and process information. Concretely, we demonstrate that a simple biologically inspired feedforward…
In dynamic operational environments, particularly in collaborative robotics, the inevitability of failures necessitates robust and adaptable recovery strategies. Traditional automated recovery strategies, while effective for predefined…
In many neural networks, patterns controlling rhythmic behaviors are maintained across a wide range of periods. In the crustacean pyloric central pattern generator (CPG), a constant bursting pattern is preserved over a three-to-fivefold…
Legged locomotion involves various gaits. It has been observed that fast running insects (cockroaches) employ a tripod gait with three legs lifted off the ground simultaneously in swing, while slow walking insects (stick insects) use a…