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Despite being originally inspired by the central nervous system, artificial neural networks have diverged from their biological archetypes as they have been remodeled to fit, particular tasks. In this paper, we review several possibilites to reverse map these architectures to biologically more realistic spiking networks with the aim of emulating them on fast, low-power neuromorphic hardware. Since...
When robots perform manipulation tasks, they need to determine their own movement, as well as how to grasp and release an object. Reasoning about the motion of the robot and the object simultaneously leads to a multi-modal planning problem in a high-dimensional configuration space. In this paper we propose an asymptotically optimal manipulation planner. Our approach extends optimal sampling-based...
An important step in the ATLAS upgrade program is the installation of a tracking processor, the Fast Tracker (FTK), with the goal to identify tracks generated from charged particles originated by the LHC 14 TeV proton-proton collisions. The collisions will generate thousands of hits in each layer of the silicon tracker detector, making the track identification a very challenging computational problem...
Inspection planning organizes quality inspections during the production process from incoming goods to delivery. As inspections assess the conformity of product characteristics with their specifications they have a significant influence on guaranteeing product quality and, thus, customer satisfaction. This paper analyses decision situations in inspection planning. The aim is to develop a model for...
Parallel passive-elastic elements can reduce the energy consumption and torque requirements for motors in powered legged systems. However, the hardware design for such combined actuators is challenged by the need to engage and disengage the parallel elasticity depending on the gait phase. Although clutches in the drive train are often proposed, compact and low cost solutions of clutched parallel elastic...
Recently, the hyperbolic Hill-type force-velocity relation was derived from basic physical components. It was shown that a contractile element CE consisting of a mechanical energy source (active element AE), a parallel damper element (PDE), and a serial element (SE) exhibits operating points with hyperbolic force-velocity dependency. In this paper, the contraction dynamics of this CE concept were...
In recent years there is a growing necessity for indoor location based services. One such indoor location based service is pedestrian navigation. A handful of solutions had been employed to achieve pedestrian navigation. However these solutions that are available in market either remained unreliable or highly expensive. The key criterion to achieve reliable navigation lies in instant and accurate...
The ever-existing problems in indoor localization are attaining efficient scalability, reliability and accuracy besides cost efficiency. Although diverse approaches based on WLAN, Bluetooth, ZigBee, RFID and UWB had been divulged for localization and navigation, these schemes often do lack competent localization. Furthermore these schemes linger either expensive or be deficient in accuracy. Moreover...
Electrical steel inductors are superior in size and cost compared to inductors using alternative core like nanocrystalline or powder materials in applications involving pulse-width modulated currents. However, electrical steel tends to emit more acoustic noise, which can be undesirable. The causes for these acoustic noise emissions, i.e. magnetic forces and magnetostriction, are explained in detail...
Various approaches based on different wireless technologies have been proposed for indoor localization; however RFID technology remained the key focus of research in recent years compared to other technologies available on the market. RFID localization solutions are based either on tag detection count or signal attenuation, yet their reliability are not consistent. In this paper, we propose a novel...
Several approaches have been proposed for localization and navigation based on WLAN, ZigBee, RFID and UWB over a decade. However, these systems are either expensive or lack accuracy and not all technologies are available in smartphones. Here we describe a Scalable Indoor location based service (SBI) a cost-effective solution based on Bluetooth. Using an appropriate filtering algorithm, we explored...
The spatial distribution of the free carriers in the channel of a MOS transistor is changed in the hot-electron regime. There the electron distance from the oxide is enlarged, causing a reduction of gate capacitance and transistor current. This is a physical limit to the performance of MOSFETs with short channels and thin gate oxides.
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