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Full-Text Articles in Computer Engineering
Robust Control Of Contact-Rich Robots Via Neural Bayesian Inference, Nardos Ayele Ashenafi
Robust Control Of Contact-Rich Robots Via Neural Bayesian Inference, Nardos Ayele Ashenafi
Boise State University Theses and Dissertations
We provide several data-driven control design frameworks for contact-rich robotic systems. These systems exhibit continuous state flows and discrete state transitions, which are governed by distinct equations of motion. Hence, it is difficult to design a single policy that can control the system in all modes. Typically, hybrid systems are controlled by multi-modal policies, each manually triggered based on observed states. However, as the number of potential contacts increase, the number of policies can grow exponentially and the control-switching scheme becomes too complicated to parameterize. To address this issue, we design contact-aware data-driven controllers given by deep-net mixture of experts. …
Analog Spiking Neuromorphic Circuits And Systems For Brain- And Nanotechnology-Inspired Cognitive Computing, Xinyu Wu
Boise State University Theses and Dissertations
Human society is now facing grand challenges to satisfy the growing demand for computing power, at the same time, sustain energy consumption. By the end of CMOS technology scaling, innovations are required to tackle the challenges in a radically different way. Inspired by the emerging understanding of the computing occurring in a brain and nanotechnology-enabled biological plausible synaptic plasticity, neuromorphic computing architectures are being investigated. Such a neuromorphic chip that combines CMOS analog spiking neurons and nanoscale resistive random-access memory (RRAM) using as electronics synapses can provide massive neural network parallelism, high density and online learning capability, and hence, paves …