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In this paper, we propose an asymptotically stable joint-space dynamical system that captures desired behaviors in joint-space while stably converging towards a task-space attractor. To encode joint-space behaviors while meeting the stability criteria, the ...
During the past decade, model order reduction (MOR) has been successfully applied to reduce the computational complexity of elliptic and parabolic systems of partial differential equations (PDEs). However, MOR of hyperbolic equations remains a challenge. S ...
Bio-inspired designs are motivated by efficiency, adaptability and robustness of biological systems dynamic behaviors in complex environment. Despite progress in design, the lack of sensory-motor and learning capabilities is the main drawback of human-like ...
Bayesian optimization (BO) is a popular technique for sequential black-box function optimization, with applications including parameter tuning, robotics, environmental monitoring, and more. One of the most important challenges in BO is the development of a ...
The SCRBE (Static-Condensation Reduced-Basis-Element) method is a component-to-system model order reduction approach for efficient many-query and real-time treatment of linear partial differential equations characterized by many spatially distributed const ...
Astronomy is one of the oldest sciences known to humanity. We have been studying celestial objects for millennia, and continue to peer deeper into space in our thirst for knowledge about our origins and the universe that surrounds us. Radio astronomy -- ob ...
Nearest neighbor searching of large databases in high-dimensional spaces is inherently difficult due to the curse of dimensionality. A flavor of approximation is, therefore, necessary to practically solve the problem of nearest neighbor search. In this pap ...
Background: For the functional control of prosthetic hand, it is insufficient to obtain only the motion pattern information. As far as practicality is concerned, the control of the prosthetic hand force is indispensable. The application value of prosthetic ...
Independent Component Analysis (ICA) has proven to be an effective data driven method for analyzing EEG data, separating signals from temporally and functionally independent brain and non-brain source processes and thereby increasing their definition. Dime ...
Learning to embed data into a space where similar points are together and dissimilar points are far apart is a challenging machine learning problem. In this dissertation we study two learning scenarios that arise in the context of learning embeddings and o ...