相关论文: Closed-loop control of a modular neuromorphic bioh…
While many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking contact with the environment, state-of-the-art control policies struggle to deal with the hybrid nature of multi-contact motion. Such…
In commercial robotic systems, it is common to encounter a closed inner-loop torque controller that is not user-modifiable. However, the outer-loop controller, which sends kinematic commands such as position or velocity for the inner-loop…
This paper presents for the first time a real-time closed loop neuromorphic decoder chip-driven intra-cortical brain machine interface (iBMI) in a non-human primate (NHP) based experimental setup. Decoded results show trial success rates…
Neural circuits comprise multiple interconnected regions, each with complex dynamics. The interplay between local and global activity is thought to underlie computational flexibility, yet the structure of multiregion neural activity and its…
Animal behavior reflects interactions between the nervous system, body, and environment. Therefore, biomechanics and environmental context must be considered to understand algorithms for behavioral control. Neuromechanical digital twins,…
Learning-based methods could provide solutions to many of the long-standing challenges in control. However, the neural networks (NNs) commonly used in modern learning approaches present substantial challenges for analyzing the resulting…
Neuropeptides, members of a large and evolutionarily ancient family of proteinaceous cell-cell signaling molecules, are widely recognized as extremely potent regulators of brain function and behavior. At the cellular level, neuropeptides…
This paper presents a data-driven nonlinear safe control design approach for discrete-time systems under parametric uncertainties and additive disturbances. We first characterize a new control structure from which a data-based…
Hyper-redundant robots offer high dexterity, making them good at operating in confined and unstructured environments. To extend the reachable workspace, we built a multi-segment flexible rack actuated planar robot. However, the compliance…
We study the dynamics of a low-dimensional system of coupled model neurons as a step towards understanding the vastly complex network of neurons in the brain. We analyze the bifurcation structure of a system of two model neurons with…
Networked systems are systems of interconnected components, in which the dynamics of each component are influenced by the behavior of neighboring components. Examples of networked systems include biological networks, critical…
At rest, human brain functional networks display striking modular architecture in which coherent clusters of brain regions are activated. The modular account of brain function is pervasive, reliable, and reproducible. Yet, a complementary…
In cognitive network neuroscience, the connectivity and community structure of the brain network is related to cognition. Much of this research has focused on two measures of connectivity - modularity and flexibility - which frequently have…
The online implementation of model predictive control for constrained multivariate systems has two main disadvantages: it requires an estimate of the entire model state and an optimisation problem must be solved online. These issues have…
We propose a novel dual-loop system that synergistically combines responsive neurostimulation (RNS) implants with artificial intelligence-driven wearable devices for treating post-traumatic stress disorder (PTSD) and enabling naturalistic…
We discuss the synchronization of coupled neurons which are modelled as FitzHugh-Nagumo systems. As smallest entity in a larger network, we focus on two diffusively coupled subsystems, which can be interpreted as two mutually interacting…
In the present work, we consider nonlinear control systems for which there exist structural obstacles to the design of classical continuous backstepping feedback laws. We conceive feedback laws such that the origin of the closed-loop system…
Humans and animals developed a sophisticated motor control apparatus and there is much evidence that it has a modular structure. The modularity offers a range of benefits, e.g. ability to learn dissociable motion styles without interference…
Despite the significant advances in identifying the driver nodes and energy requiring in network control, a framework that incorporates more complicated dynamics remains challenging. Here, we consider the conformity behavior into network…
Control is essential to the functioning of any neural system. Indeed, under healthy conditions the brain must be able to continuously maintain a tight functional control between the system's inputs and outputs. One may therefore hypothesise…