相关论文: Hybrid-Neuromorphic Approach for Underwater Roboti…
Neuromorphic computing mimics brain-inspired mechanisms through spiking neurons and energy-efficient processing, offering a pathway to efficient in-memory computing (IMC). However, these advancements raise critical security and privacy…
Underwater robots play an important role in oceanic geological exploration, resource exploitation, ecological research, and other fields. However, the visual perception of underwater robots is affected by various environmental factors. The…
This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards…
The hardware-software co-optimization of neural network architectures is becoming a major stream of research especially due to the emergence of commercial neuromorphic chips such as the IBM Truenorth and Intel Loihi. Development of specific…
Neurorehabilitation conventionally relies on the interaction between a patient and a physical therapist. Robotic systems can improve and enrich the physical feedback provided to patients after neurological injury, but they under-utilize the…
To assist underwater object detection for better performance, image enhancement technology is often used as a pre-processing step. However, most of the existing enhancement methods tend to pursue the visual quality of an image, instead of…
Neuromorphic engineering makes use of mixed-signal analog and digital circuits to directly emulate the computational principles of biological brains. Such electronic systems offer a high degree of adaptability, robustness, and energy…
Reinforcement learning-based quadruped robots excel across various terrains but still lack the ability to swim in water due to the complex underwater environment. This paper presents the development and evaluation of a data-driven…
This paper presents a neuromorphic system for cognitive load classification in a real-world setting, an Air Traffic Control (ATC) task, using a hardware implementation of Spiking Neural Networks (SNNs). Electroencephalogram (EEG) and…
Extremely increased unstructured data brought by the large-scale intelligent sensing devices application have big challenges not only in data storing and processing but also power consumption surging. Therefore, to improve energy efficiency…
In this paper, we review recent work published over the last 3 years under the umbrella of Neuromorphic engineering to analyze what are the common features among such systems. We see that there is no clear consensus but each system has one…
Neuromorphic computing is an emerging computing paradigm that moves away from batched processing towards the online, event-driven, processing of streaming data. Neuromorphic chips, when coupled with spike-based sensors, can inherently adapt…
Neuromorphic engineering is a rapidly developing field that aims to take inspiration from the biological organization of neural systems to develop novel technology for computing, sensing, and actuating. The unique properties of such systems…
Artificial Neural Networks are computational network models inspired by signal processing in the brain. These models have dramatically improved the performance of many learning tasks, including speech and object recognition. However,…
Recent advances in machine learning, particularly deep learning, have enabled autonomous systems to perceive and comprehend objects and their environments in a perceptual subsymbolic manner. These systems can now perform object detection,…
Conventional physics-based modeling is a time-consuming bottleneck in control design for complex nonlinear systems like autonomous underwater vehicles (AUVs). In contrast, purely data-driven models, though convenient and quick to obtain,…
This paper presents a deep-learned facial recognition method for underwater robots to identify scuba divers. Specifically, the proposed method is able to recognize divers underwater with faces heavily obscured by scuba masks and breathing…
Autonomous platforms operating in the oceans require accurate navigation to successfully complete their mission. In this regard, the initial heading estimation accuracy and the time required to achieve it play a critical role. The initial…
Optimizing maritime operations, particularly fuel consumption for vessels, is crucial, considering its significant share in global trade. As fuel consumption is closely related to the shaft power of a vessel, predicting shaft power…
The control of marine robots has long relied on model-based methods grounded in classical and modern control theory. However, the nonlinearity and uncertainties inherent in robot dynamics, coupled with the complexity of marine environments,…