相关论文: High-bandwidth nonlinear control for soft actuator…

Flexible robots may overcome some of the industry's major challenges, such as enabling intrinsically safe human-robot collaboration and achieving a higher payload-to-mass ratio. However, controlling flexible robots is complicated due to…

We introduce highly efficient online nonlinear regression algorithms that are suitable for real life applications. We process the data in a truly online manner such that no storage is needed, i.e., the data is discarded after being used.…

Aging populations and the rising prevalence of neurological and musculoskeletal disorders increase the demand for wearable mobility assistive devices that are effective, comfortable, and anatomically compatible. Many existing systems use…

Learning-based control techniques use data from past trajectories to control systems with uncertain dynamics. However, learning-based controllers are often computationally inefficient, limiting their practicality. To address this…

Random feature attention (RFA) adopts random fourier feature (RFF) methods to approximate the softmax function, resulting in a linear time and space attention mechanism that enables the construction of an efficient Transformer. Inspired by…

A direct adaptive feedforward control method for tracking repeatable runout (RRO) in bit patterned media recording (BPMR) hard disk drives (HDD) is proposed. The technique estimates the system parameters and the residual RRO simultaneously…

This paper proposes an adaptive tracking control with prescribed performance function for distributive cooperative control of highly nonlinear multi-agent systems. The use of such approach confines the tracking error within a large…

Recent studies of the computational power of recurrent neural networks (RNNs) reveal a hierarchy of RNN architectures, given real-time and finite-precision assumptions. Here we study auto-regressive Transformers with linearised attention,…

Bidirectional recurrent neural networks (bi-RNNs), in particular, bidirectional long short term memory (bi-LSTM), bidirectional gated recurrent unit, and convolutional bi-LSTM models have recently attracted attention for nonlinearity…

Learning predictive models from observations using deep neural networks (DNNs) is a promising new approach to many real-world planning and control problems. However, common DNNs are too unstructured for effective planning, and current…

PURPOSE: Demonstrate a novel fast method for reconstruction of multi-dimensional MR Fingerprinting (MRF) data using Deep Learning methods. METHODS: A neural network (NN) is defined using the TensorFlow framework and trained on simulated MRF…

Accurate prediction of the remaining useful life (RUL) of industrial machinery is essential for reducing downtime and optimizing maintenance schedules. Existing approaches, such as long short-term memory (LSTM) networks and convolutional…

Recurrent Neural Networks (RNNs) and their variants, such as Long-Short Term Memory (LSTM) networks, and Gated Recurrent Unit (GRU) networks, have achieved promising performance in sequential data modeling. The hidden layers in RNNs can be…

Eye tracking for wearable systems demands low latency and milliwatt-level power, but conventional frame-based pipelines struggle with motion blur, high compute cost, and limited temporal resolution. Such capabilities are vital for enabling…

We explore the use of FCNNs (Fully Connected Neural Networks) for designing end-to-end communication systems without taking any inspiration from existing classical communications models or error control coding. This work relies solely on…

Broadband wireless channels usually have the sparse nature. Based on the assumption of Gaussian noise model, adaptive filtering algorithms for reconstruction sparse channels were proposed to take advantage of channel sparsity. However,…

Accurate learning of system dynamics is becoming increasingly crucial for advanced control and decision-making in engineering. However, real-world systems often exhibit multiple channels and highly nonlinear transition dynamics, challenging…

Micro/Nano-positioning stages are of great importance in a wide range of manufacturing machines and instruments. In recent years, the drastically growing demand for higher throughput and reduced power consumption in various IC manufacturing…

Recurrent Neural Networks (RNNs) are a class of machine learning algorithms used for applications with time-series and sequential data. Recently, there has been a strong interest in executing RNNs on embedded devices. However, difficulties…

Energy efficiency and motion smoothness are essential in trajectory planning for high-degree-of-freedom robots to ensure optimal performance and reduce mechanical wear. This paper presents a novel framework integrating sinusoidal trajectory…