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

Processing visual data on mobile devices has many applications, e.g., emergency response and tracking. State-of-the-art computer vision techniques rely on large Deep Neural Networks (DNNs) that are usually too power-hungry to be deployed on…

Network performance modeling presents important challenges in modern computer networks due to increasing complexity, scale, and diverse traffic patterns. While traditional approaches like queuing theory and packet-level simulation have…

Computed-torque control requires a very precise dynamical model of the robot for compensating the manipulator dynamics. This allows reduction of the controller's feedback gains resulting in disturbance attenuation and other advantages.…

The regression of a functional response on a set of scalar predictors can be a challenging task, especially if there is a large number of predictors, or the relationship between those predictors and the response is nonlinear. In this work,…

Fast dynamics and transient events are becoming more and more frequent in power systems, due to the high penetration of renewable energy sources and the consequent lack of inertia. In this scenario, Phasor Measurement Units (PMUs) are…

Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…

Recurrent neural networks (RNNs) are becoming the de facto solution for speech recognition. RNNs exploit long-term temporal relationships in data by applying repeated, learned transformations. Unlike fully-connected (FC) layers with single…

Tensor processing units (TPUs) are one of the most well-known machine learning (ML) accelerators utilized at large scale in data centers as well as in tiny ML applications. TPUs offer several improvements and advantages over conventional ML…

Soft robotics have gained increased attention from the robotic community due to their unique features such as compliance and human safety. Impressive amount of soft robotic prototypes have shown their superior performance over their rigid…

A resistive memory device-based computing architecture is one of the promising platforms for energy-efficient Deep Neural Network (DNN) training accelerators. The key technical challenge in realizing such accelerators is to accumulate the…

Endowing continuum robots with compliance while it is interacting with the internal environment of the human body is essential to prevent damage to the robot and the surrounding tissues. Compared with passive compliance, active compliance…

Machine learning, as a tool to learn and model complicated (non)linear relationships between input and output data sets, has shown preliminary success in some HPC problems. Using machine learning, scientists are able to augment existing…

Flexible continuum manipulators are valued for minimally invasive surgery, offering access to confined spaces through nonlinear paths. However, cable-driven manipulators face control difficulties due to hysteresis from cabling effects such…

Millimeter-wave radars are being increasingly integrated into commercial vehicles to support new advanced driver-assistance systems by enabling robust and high-performance object detection, localization, as well as recognition - a key…

The computation and memory-intensive nature of DNNs limits their use in many mobile and embedded contexts. Application-specific integrated circuit (ASIC) hardware accelerators employ matrix multiplication units (such as the systolic arrays)…

With the rise of artificial intelligence, neural network simulations of biological neuron models are being explored to reduce the footprint of learning and inference in resource-constrained task scenarios. A mainstream type of such networks…

While machine learning is widely used to optimize wireless networks, training a separate model for each task in communication and localization is becoming increasingly unsustainable due to the significant costs associated with training and…

In this paper we describe the design and implementation of a current controller for a reluctance synchronous machine based on continuous set nonlinear model predictive control. A computationally efficient grey box model of the flux linkage…

This paper investigates autonomous vehicle (AV) platoon control under uncertain dynamics and intermittent communication, which remains a critical challenge in intelligent transportation systems. To address these issues, this paper proposes…

We study the problem of compressing recurrent neural networks (RNNs). In particular, we focus on the compression of RNN acoustic models, which are motivated by the goal of building compact and accurate speech recognition systems which can…