相关论文: Control of cardiac alternans in a mapping model wi…
This work proposes a switched model reference adaptive control (S-MRAC) architecture for a multi-input multi-output (MIMO) switched linear system with memory for enhanced learning. A salient feature of the proposed method that separates it…
How much does a trained RL policy actually use its past observations? We propose \emph{Temporal Range}, a model-agnostic metric that treats first-order sensitivities of multiple vector outputs across a temporal window to the input sequence…
Biomolecular feedback systems are now a central application area of interest within control theory. While classical control techniques provide invaluable insight into the function and design of both natural and synthetic biomolecular…
We discuss the synchronization of coupled neurons which are modelled as FitzHugh-Nagumo systems. As smallest entity in a larger network, we focus on two diffusively coupled subsystems, which can be interpreted as two mutually interacting…
We study the periodic forced response of a system of two limit cycle oscillators that interact with each other via a time delayed coupling. Detailed bifurcation diagrams in the parameter space of the forcing amplitude and forcing frequency…
Motor control requires sensory feedback, and the nature of this feedback has implications for the tasks of the central nervous system (CNS): for an approximately linear mechanical system (e.g., a freely standing person, a rider on a…
Stimulated by recent experimental results, we simulate ``temperature''-cycling experiments in a model for the compaction of granular media. We report on the existence of two types of memory effects: short-term dependence on the history of…
Immunological systems have been an abundant inspiration to contemporary computer scientists. Problem solving strategies, stemming from known immune system phenomena, have been successfully applied to challenging problems of modern computing…
In this paper we introduce a new mathematical model for the active contraction of cardiac muscle, featuring different thermo-electric and nonlinear conductivity properties. The passive hyperelastic response of the tissue is described by an…
This paper presents a vehicle lateral controller based on spiking neural networks capable of replicating the behavior of a model-based controller but with the additional ability to perform online adaptation. By making use of neural…
Accelerators with power-law memory are proposed in the framework of the discrete time approach. To describe discrete accelerators we use the capital stock adjustment principle, which has been suggested by Matthews.The suggested discrete…
With the goal of increasing the speed and efficiency in robotic dual arm manipulation, a novel control approach is presented that utilizes intentional simultaneous impacts to rapidly grasp objects. This approach uses the time-invariant…
With the advancement of robotics, machine learning, and machine perception, increasingly more robots will enter human environments to assist with daily tasks. However, dynamically-changing human environments requires reactive motion plans.…
Motor control is a fundamental process that underlies all voluntary behavioral responses. Several different theories based on different principles (task dynamics, equilibrium-point theory, passive-motion paradigm, active inference, optimal…
The continuous-time analysis of existing iterative algorithms for optimization has a long history. This work proposes a novel continuous-time control-theoretic framework for equality-constrained optimization. The key idea is to design a…
A bouncing drop and its associated accompanying wave forms a walker. Based on previous works, we show in this article that it is possible to formulate a simple theoretical framework for the walker dynamics. It relies on a time scale…
Recent research is revealing how cognitive processes are supported by a complex interplay between the brain and the rest of the body, which can be investigated by the analysis of physiological features such as breathing rhythms, heart rate,…
Impact-aware robotic manipulation benefits from an accurate map from ante-impact to post-impact velocity signals to support, e.g., motion planning and control. This work proposes an approach to generate and experimentally validate such…
Paced finger tapping is one of the simplest tasks to study sensorimotor synchronization. The subject is instructed to tap in synchrony with a periodic sequence of brief tones, and the time difference (called asynchrony) between each…
We present a novel methodology for control of neural circuits based on deep reinforcement learning. Our approach achieves aimed behavior by generating external continuous stimulation of existing neural circuits (neuromodulation control) or…