相关论文: Rhythmic neuromorphic control of a pendulum: A hyb…
We illustrate the potential of neuromorphic control on the simple mechanical model of a pendulum, with both event-based actuation and sensing. The controller and the pendulum are regarded as event-based systems that occasionally interact to…
Neuromorphic control is receiving growing attention due to the multifaceted advantages it brings over more classical control approaches, including: sparse and on-demand sensing, information transmission, and actuation; energy-efficient…
In this paper we analyze a neuromorphic controller, inspired by the leaky integrate-and-fire neuronal model, in closed-loop with a single-input single-output linear time-invariant system. The controller consists of two neuron-like variables…
Neuromorphic computing is a new paradigm for design of both the computing hardware and algorithms inspired by biological neural networks. The event-based nature and the inherent parallelism make neuromorphic computing a promising paradigm…
Despite neuromorphic engineering promises the deployment of low latency, adaptive and low power systems that can lead to the design of truly autonomous artificial agents, the development of a fully neuromorphic artificial agent is still…
In reactor-grade tokamaks, pellet injection is the best candidate for core plasma fuelling. However, density control schemes that can handle the hybrid nature of this type of fuelling, i.e., the discrete impact of the pellets on the…
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…
Neuromorphic engineering aims to incorporate the computational principles found in animal brains, into modern technological systems. Following this approach, in this work we propose a closed-loop neuromorphic control system for an…
Inspired by spiking neural feedback, we propose a spiking controller for efficient locomotion in a soft robotic crawler. Its bistability, akin to neural fast positive feedback, combined with a sensorimotor slow negative feedback loop,…
Neuromorphic Computing is a nascent research field in which models and devices are designed to process information by emulating biological neural systems. Thanks to their superior energy efficiency, analog neuromorphic systems are highly…
Neuromorphic computing holds the promise to achieve the energy efficiency and robust learning performance of biological neural systems. To realize the promised brain-like intelligence, it needs to solve the challenges of the neuromorphic…
Mental disorders may exhibit pathological brain rhythms and neurostimulation promises to alleviate of patients' symptoms by modifying these rhythms. Today, most neurostimulation schemes are open-loop, i.e. administer experimental…
A new hybrid tracking controller for neuromuscular electrical stimulation is proposed. The control scheme uses sampled measurements and is designed by utilizing a numerical prediction of the state variables. The tracking error of the…
In this paper, we synthesize two aperiodic-sampled deep neural network (DNN) control schemes, based on the closed-loop tracking stability guarantees. By means of the integral quadratic constraint coping with the input-output behaviour of…
We introduce a methodology to implement the physiological transition {between distinct neuronal spiking modes} in electronic circuits composed of resistors, capacitors and transistors. The result is a simple neuromorphic device organized by…
The paper presents a hybrid system controller, incorporating a neural and an LQG controller. The neural controller has been optimized by genetic algorithms directly on the inverted pendulum system. The failure free optimization process…
Limit cycles are self-sustained, closed trajectories in phase space representing (un)-stable, periodic behavior in nonlinear dynamical systems. They underpin diverse natural phenomena, from neuronal firing patterns to engineering…
In this paper we study the problem of designing periodic orbits for a special class of hybrid systems, namely mechanical systems with underactuated continuous dynamics and impulse events. We approach the problem by means of optimal control.…
Complexity and nonlinear behaviours of inverted pendulum system make its control design a very challenging task. In this paper, a hybrid fuzzy adaptive control system using model reference approach is designed for inverted-pendulum system…
Neural networks modularity is a major challenge for the development of control circuits of neural activity. Under physiological limitations, the accessible regions for external stimulation are possibly different from the functionally…