相关论文: Physics-guided gated recurrent units for inversion…

Traffic flow prediction is an essential task in constructing smart cities and is a typical Multivariate Time Series (MTS) Problem. Recent research has abandoned Gated Recurrent Units (GRU) and utilized dilated convolutions or temporal…

Recurrent neural network architectures can have useful computational properties, with complex temporal dynamics and input-sensitive attractor states. However, evaluation of recurrent dynamic architectures requires solution of systems of…

Data centers account for significant global energy consumption and a carbon footprint. The recent increasing demand for edge computing and AI advancements drives the growth of data center storage capacity. Energy efficiency is a…

Soft robots pose difficulties in terms of control, requiring novel strategies to effectively manipulate their compliant structures. Model-based approaches face challenges due to the high dimensionality and nonlinearities such as hysteresis…

Gated Recurrent Unit (GRU) is a recently-developed variation of the long short-term memory (LSTM) unit, both of which are types of recurrent neural network (RNN). Through empirical evidence, both models have been proven to be effective in a…

Fast and precise motion control is important for industrial robots in manufacturing applications. However, some collaborative robots sacrifice precision for safety, particular for high motion speed. The performance degradation is caused by…

This paper proposes a physics-guided recurrent neural network model (PGRNN) that combines RNNs and physics-based models to leverage their complementary strengths and improve the modeling of physical processes. Specifically, we show that a…

A major contributing factor to the recent advances in deep neural networks is structural units that let sensory information and gradients to propagate easily. Gating is one such structure that acts as a flow control. Gates are employed in…

Tendon-Driven Continuum Robots (TDCRs) pose significant modeling and control challenges due to complex nonlinearities, such as frictional hysteresis and transmission compliance. This paper proposes a differentiable learning framework that…

Accurate understanding of muscle activation and muscle forces plays an essential role in neuro-rehabilitation and musculoskeletal disorder treatments. Computational musculoskeletal modeling has been widely used as a powerful non-invasive…

This work presents a novel resolution-invariant model order reduction strategy for multifidelity applications. We base our architecture on a novel neural network layer developed in this work, the graph feedforward network, which extends the…

In the past three decades, a wide array of computational methodologies and simulation frameworks has emerged to address the complexities of modeling multi-phase flow and transport processes in fractured porous media. The conformal mesh…

We study the classification of animal behavior using accelerometry data through various recurrent neural network (RNN) models. We evaluate the classification performance and complexity of the considered models, which feature long short-time…

Accurate state estimation is critical for optimal policy design in dynamic systems. However, obtaining true system states is often impractical or infeasible, complicating the policy learning process. This paper introduces a novel neural…

The application of neural networks to non-linear dynamic system identification tasks has a long history, which consists mostly of autoregressive approaches. Autoregression, the usage of the model outputs of previous time steps, is a method…

We present a novel recurrent neural network (RNN) based model that combines the remembering ability of unitary RNNs with the ability of gated RNNs to effectively forget redundant/irrelevant information in its memory. We achieve this by…

The goal of this paper is to provide sufficient conditions for guaranteeing the Input-to-State Stability (ISS) and the Incremental Input-to-State Stability ({\delta}ISS) of Gated Recurrent Units (GRUs) neural networks. These conditions,…

While trade-offs between modeling effort and model accuracy remain a major concern with system identification, resorting to data-driven methods often leads to a complete disregard for physical plausibility. To address this issue, we propose…

This paper explores the performance of fitted neural Q iteration for reinforcement learning in several partially observable environments, using three recurrent neural network architectures: Long Short-Term Memory, Gated Recurrent Unit and…

This brief addresses the design of a Nonlinear Model Predictive Control (NMPC) strategy for exponentially incremental Input-to-State Stable (ISS) systems. In particular, a novel formulation is devised, which does not necessitate the onerous…