相关论文: Neuromorphic Control using Input-Weighted Threshol…

A Fractional adaptive PID (FPID) controller for a robot manipulator will be proposed. The PID parameters have been optimized by Genetic algorithm. The proposed controller is found robust by means of simulation in a tracking job. The…

Multimarginal optimal transport (MOT) is a powerful framework for modeling interactions between multiple distributions, yet its applicability is bottlenecked by a high computational overhead. Entropic regularization provides computational…

Classical computing is beginning to encounter fundamental limits of energy efficiency. This presents a challenge that can no longer be solved by strategies such as increasing circuit density or refining standard semiconductor processes. The…

Much research in the last two decades has focused on Virtual Topology Reconfiguration (VTR) problem. However, most of the proposed methods either has low controllability, or the analysis of a control parameter is limited to empirical…

Recently, needs for unmanned aerial vehicles (UAVs) that are attachable to the wall have been highlighted. As one of the ways to address the need, researches on various tilting multirotors that can increase maneuverability has been…

Embedded, continual learning for autonomous and adaptive behavior is a key application of neuromorphic hardware. However, neuromorphic implementations of embedded learning at large scales that are both flexible and efficient have been…

Transfer learning has become a popular task adaptation method in the era of foundation models. However, many foundation models require large storage and computing resources, which makes off-the-shelf deployment impractical. Post-training…

While deep reinforcement learning (RL) methods have achieved unprecedented successes in a range of challenging problems, their applicability has been mainly limited to simulation or game domains due to the high sample complexity of the…

As Multimodal Large Language Models (MLLMs) grow in size, adapting them to specialized tasks becomes increasingly challenging due to high computational and memory demands. Indeed, traditional fine-tuning methods are costly, due to the need…

Large pre-trained models are commonly adapted to downstream tasks using parameter-efficient fine-tuning methods such as Low-Rank Adaptation (LoRA), which injects small trainable low-rank matrices instead of updating all weights. While LoRA…

This paper presents the design a Proportional-Integral-Derivative (PID) controller with optimized parameters for a two-degree-of-freedom robotic arm. A genetic algorithm (GA) is proposed to optimize the controller parameters, addressing the…

This paper proposes an adaptive near-hover position controller for quadcopters, which can be deployed to quadcopters of very different mass, size and motor constants, and also shows rapid adaptation to unknown disturbances during runtime.…

The inclusion of a macroscopic adaptive threshold is studied for the retrieval dynamics of both layered feedforward and fully connected neural network models with synaptic noise. These two types of architectures require a different method…

In this paper, a biologically-inspired adaptive intelligent secondary controller is developed for microgrids to tackle system dynamics uncertainties, faults, and/or disturbances. The developed adaptive biologically-inspired controller…

Learning-based path planning is becoming a promising robot navigation methodology due to its adaptability to various environments. However, the expensive computing and storage associated with networks impose significant challenges for their…

Continual learning aims to empower artificial intelligence (AI) with strong adaptability to the real world. For this purpose, a desirable solution should properly balance memory stability with learning plasticity, and acquire sufficient…

This paper introduces a framework for quantitative characterization of the controllability of time-varying linear systems (or networks) in terms of input novelty. The motivation for such an approach comes from the study of biophysical…

Deep Neural Networks (DNN) achieve human level performance in many image analytics tasks but DNNs are mostly deployed to GPU platforms that consume a considerable amount of power. New hardware platforms using lower precision arithmetic…

The increasing complexity of multirotor applications demands flight controllers that can accurately account for all forces acting on the vehicle. Conventional controllers model most aerodynamic and dynamic effects but often neglect…

Neuromorphic computing leverages the sparsity of temporal data to reduce processing energy by activating a small subset of neurons and synapses at each time step. When deployed for split computing in edge-based systems, remote neuromorphic…