DOCSLIB.ORG

Prince Singh M.S., Aerospace Engineering, University of Illinois-UC M.Sc., Applied Mathematics, Imperial College London B.S., Aerospace Engineering, Embry-Riddle Aero

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
Prince Singh M.S., Aerospace Engineering, University of Illinois-UC M.Sc., Applied Mathematics, Imperial College London B.S., Aerospace Engineering, Embry-Riddle Aero Neuromorphic Control of Dynamic Systems by Prince Singh M.S., Aerospace Engineering, University of Illinois-UC M.Sc., Applied Mathematics, Imperial College London B.S., Aerospace Engineering, Embry-Riddle Aero. Univ. Submitted to the Department of Aeronautics and Astronautics in partial fulfillment of the requirements for the degree of Doctor of Philosophy at the MASSACHUSETTS INSTITUTE OF TECHNOLOGY June 2018 @ Massachusetts Institute of Technology 2018. All rights reserved. Signature redacted A uthor ...................... Department of Aeronautics and Astronautics 0--lay 2 48-204- Certified by.......... Signature redacted ... Professor Emilio Frazzoli Professor of Aeronautics and Astronautics - Thesis Supervisor Certified by.......... Signature redacted.... Professor Hamsa Balakrishnan Associate Professor of Aeronautics and Astronautics / A -n Thesis Advisor Certified by......... Signature redacted ...... Dr. Karl Iagnemma Principal Research Scientist redacted Thesis Advisor Accepted by .. Signature Professor fiamsa Balakrishnan Associate Professor of Aeronautics and Astronautics Chair, Graduate Program Committee MASSACHUSETTS INSTITUTE OF TECHNOLOGY 0 JUN 2 8 2018 LIBRARIES 2 Neuromorphic Control of Dynamic Systems by Prince Singh Submitted to the Department of Aeronautics and Astronautics on May 29, 2018, in partial fulfillment of the requirements for the degree of Doctor of Philosophy Abstract Arguably, the agility of a robotic system is dictated by the speed of its processing pipeline, i.e., the speed of data acquisition plus data processing from a robot's on-board vision sensors. Specifically, one ideally hopes that this pipeline offer fresh measurements at a high temporal resolution with low-latency in a computationally-cheap manner for efficient control. This desirable situation may be hard to come by for majority of the current vision-based robotic applications that rely on the traditional CCD-/CMOS- pipeline, as one would be in search for traditional cameras that offer a high sampling rate (thus, high temporal resolution) whose potentially redundant (thus, not fresh) and synchronous output must be processed with low- latency in a computationally-cheap manner. For instance, processing the synchronous series of conventional camera images, which embed possibly redundant levels of intensities may greatly hinder the fast reaction times required by robots while expending power. This issue warrants the need for faster sensors in order to truly address the underlying perception problem for high-performance systems that need to operate under power constraints. To this end, we capitalize upon the merits of a recently introduced biologically inspired and computationally-cheap alternative to traditional cameras-called Neuromorphic Vision Sensors whose pixels independently and asynchronously (thus, high temporal resolution) fire, in the order of micro-seconds (thus, low-latency and high temporal resolution), a stream of non-redundant (thus, fresh) brightness changes represented as binary numbers ( 1), termed retinal events, based on a trigger condition that is defined on a logarithmic scale. These properties offer a faster process- ing pipeline and hint that the Neuromorphic sensor would be a promising candidate to facilitate high-speed robotic applications. However, existing computer-vision based algorithms designed for processing periodic mea- 3 surements cannot be directly adapted to process retinal events, as these are fired aperiodically, and are ambiguous since they are binary. As an additional challenge, in practice, many retinal events are misfired due to the presence of underlying sensor circuitry noise (not associated to physi- cal brightness changes in the environment) and we term these as spurious events. The merits and operational constraints of this vision sensor man- dates the development of a corresponding control-theoretic setup. Thus, the contributions of this dissertation are twofold: 1) to design a control algorithm that processes de-noised retinal events to facilitate a prescribed control task, and 2) to propose a de-noising procedure that mitigates the effect of spuriosity in retinal events. The first part of this dissertation, investigates the problem of control- ling (i.e., stabilization and regulation) a Continuous-Time Linear Time Invariant (CT-LTI) system using retinal events generated from an ideal- istic model of a Neuromorphic Vision Sensor, which is an instance of a broad family of signal change detection sensors frequently encountered in practice. The contribution is to present a novel control design procedure that stabilizes and regulates a hybrid system, consisting of the CT-LTI system and the discrete-event signal change observation model, to a de- sired set-point. Moreover, the set of thresholds (sufficient conditions) for the given system to fulfill the prescribed control task is provided. The proposed controller is then extended to handle the case of noise in both the system dynamics as well as the observation model; thus, accounts for spurious events in this setting. The second part of this dissertation proposes a de-noising algorithm- Spuriosity Filter (SF)-and is motivated by the practical need to reduce spurious events whilst working with general observation models. The con- struction of SF is based on the fundamental lack of spatial correlation between spurious events and the algorithm trades off pixel resolution to produce a cleaner event stream on larger spatial scales by seeking a form of 'consensus' between neighboring pixels. At the core of our analysis lies a formal equivalence relation, defined as a means to track brightness, between our filter and a lower-resolution neuromorphic sensor with reduced noise levels. As a consequence of the principled analysis, we highlight impor- tant properties that any filter, which processes asynchronous noisy retinal events must respect and have not been accounted for by existing works. The effectiveness of the proposed control-theoretic setup for the illus- trative task of heading regulation is illustrated over a range of systems: from numerical experiments to a laboratory testbed. Thesis Supervisor: Professor Emilio Frazzoli Title: Professor of Aeronautics and Astronautics 4 Acknowledgments Several people have made my time at MIT fruitful and my life manageable. First and foremost, I have been extremely fortunate to have Prof. Emilio Frazzoli as my supervisor. Emilio's insightful vision, his limitless creativity, his everlasting enthusiasm, and importantly his humility has always left me in awe and propelled me to push myself daily to become a better student of life. I am truly grateful for the autonomy Emilio gave and trusted me with from day one of my time here while gently providing me with course corrections. Finally, I am indebted to Emilio's patience with me on many occasions and am extremely thankful for his style of training that ensures the best interests of his students so that they can succeed in their future endeavors. I am honored to have Prof. Hamsa Balakrishnan and Dr. Karl Iag- nemma serve on my thesis committee. Their invaluable feedback has im- mensely improved the quality of this work. I have been delighted to receive their mentorship and constant support during my thesis work. Further, I thank my thesis readers, Drs. Ali Agha (JPL) and Harshad Khadilkar (TCS), for agreeing to serve in this capacity, for sparing their time to provide excellent feedback on my work, and for always being available on short notice to provide me with good advice in order to make my life here manageable. Several researchers have played critical roles in shaping my research direction. My deepest thanks go to Profs. Sze Zheng Yong (ASU), Luca Carlone (MIT), and Andrea Censi (ETH-Z). They have endowed upon me a wealth of information and have facilitated many stimulating discussions leading to the fruition of these works. I am thankful to count Valerio Varricchio as a dear friend whose perpetual creativity has truly inspired 5 me as a researcher. I thank Valerio for always being supportive during my lowest points. It has been my privilege to have been a member of LIDS, a conducive place for learning comprised of amazing faculty and supportive administrative staff, and to have collaborated with its numerous bright students-many to individually name here and much of whom have become life-long friends! Lastly, I would not be where I am today without the blessings of my late mother, the support of my father and my wife. A substantial portion of the material in this dissertation is written with and without editing or rearrangement from the following four papers. @ 2016 IEEE. Reprinted, with permission, from Prince Singh, Sze Zheng Yong, Jean Gregoire, Andrea Censi, and Emilio Frazzoli. Stabiliza- tion of linear continuous-time systems using neuromorphic vision sensors. In Decision and Control (CDC), 2016 IEEE 55th Conference on, Las Ve- gas, NV. @ 2017 IEEE. Reprinted, with permission, from Prince Singh, Sze Zheng Yong, and Emilio Frazzoli. Stabilization of stochastic linear continuous- time systems using noisy neuromorphic vision sensors. In American Con- trol Conference (ACC), 2017, Seattle, WA. @ 2018 IEEE. Reprinted, with permission, from Prince Singh, Sze Zheng Yong, and Emilio Frazzoli. Regulation of Linear Systems using Event-Based Detection Sensors. In Transactions on Automatic Control (TAC), 2018. (To appear) 6 @ 2018. ELSEVIER. Reprinted, with permission, from Prince Singh, Valerio Varricchio, Sze Zheng Yong, Ali-Akbar Agha-Mohammadi,
Load more

Recommended publications
  • The University of Newcastle Bulletin, No. 1, February 28, 1992
    TheU of Newcastle II 1/92 Reg. NBH3127 ISSN10033-3894 Februaty 28, 1992 ENGINEERS HONOURED Newcastle's two most promi­ came to the University as a Director of TIJNRA, the was an Associate Professor of nent mechanical engineers of senior lecturer in 1957. He Newcastle Permanent Building Mechanical Engineering when the past quarter-century, was Head of the Department Society and the Hunter' he left to replace Professor Emeritus Professor Alex of Mechanical Engineering Development Board. Carmichael as Head of Carmichael and Professor from 1967 to 1974, and Dean Professor Roberts, Director Mech-anical Engineering at Alan Roberts were made of the Engineering Faculty for of the School of Engineering, this University. Members of the Order of Aus­ two periods. studied engineering at Sydney Professor Roberts has tralia (AM) in the Australia Apart from his academic Technical College while always maintained an interest Day Honours. and research achievements, apprenticed at Cockatoo Dock, in the handling of bulk solids, Both were honoured for Professor Carmichael has then became a professional and is Director of the Institute their contributions to educa­ served the community as officer at the University of for Bulk Materials Handling, tion. President of the Hunter New South Wales. Director of TUNRA and Professor Carmichael, District Water Board from In 1958, he became a Director of the Hunter Tech­ previously awarded the CBE, 1974 to 1982, and as a lecturer at Wollongong and noogy Development Centre. Prqfessor Carmichael leading students in noise measurement 1972 Prqfessor Roberts Car Parking - Callaghan Campus The University Council is re­ Theatre. Enquiries in regard Rules, and abide by them.
    [Show full text]
  • WE SEND OUR CONGRATULATIONS TO… …Professor Uri Shaked on His Declaration As the Winner of the 2017 Israel Prize in Engineering
    WE SEND OUR CONGRATULATIONS TO… …Professor Uri Shaked on his declaration as the winner of the 2017 Israel Prize in Engineering The President of the Israeli Association for Automatic Control (IAAC* a Full Member of IAIN) has sent the following for which we are most grateful: Professor Uri Shaked from the Department of Electrical Engineering-Systems, The Iby and Aladar Fleischman Faculty of Engineering, Tel Aviv University, is the recipient of the 2017 Israel Prize in Engineering. Professor Shaked is a world-renowned leading scientist in control theory. His groundbreaking contributions to modern optimal control in the presence of uncertainties are pivotal in many engineering disciplines, ranging from automatic flight control to stability of distributed systems for energy management. Control design and analysis methods derived by Professor Shaked are adopted in a wide range of industrial applications, including the defence industry in Israel. Professor Shaked is also acknowledged for his significant contributions to the broadening of science and technology education in Israel. He played a leading role in establishing academic engineering colleges in Israel that contributed to the accessibility of academic education to diverse communities. It is understood that the prize will be awarded at the Israel Prize Ceremony on 2 May 2017, in Jerusalem. * The Israeli Association for Automatic Control. IAAC’s main goal and focus is the promotion of Automatic Control theory, practice, and education in Israel. See: www.iaac.technion.ac.il This web site presents an overview of IAAC, describes its organized meetings and workshops—past and present—and provides general information about control-related events and activities in Israel.
    [Show full text]
  • Appendix C. Milestones
    Appendix C. Milestones Appendix C. Milestones C.1 New Faculty and Staff related to the group's work on the development of aids for the hearing impaired and the deaf. Dr. Narayana R. Aluru was appointed as a research scientist in RLE's Circuits and Systems Dr. Steven H. Isabelle (PhD'95) was appointed as Group, effective August 1, 1996. Dr. Aluru had a research associate in RLE's Digital Signal Pro- joined RLE as a postdoctoral associate in 1995. He cessing Group, effective July 1, 1996. Dr. Isabelle, is a graduate of the Birla Institute of Technology a graduate of the Georgia Institute of Technology and Science (BE'89), the Rennsalaer Polytechnic (BS'85, MS'86), has been affiliated with RLE as a Institute (MS'91), and Stanford University (PhD'95). graduate student and postdoctoral associate since Working with Professor Jacob K. White's group, Dr. 1987. His continued research will involve the devel- Aluru will design and implement new serial and par- opment of advanced signal processing algorithms allel simulation algorithms to aid in the design of for wireless and wireline communications. systems. micro-electro-mechanical Dr. F. Thomas Korsmeyer (PhD'88) was Dr. Jay N. Damask (SB'90, SM'93, PhD'96) was appointed as a research engineer in RLE's Circuits appointed as a research engineer in RLE's and Systems Group, effective July 1, 1996. Previ- Quantum-Effect Devices Group, effective May 10, ously, Dr. Korsmeyer had been affiliated with MIT's 1996. Since 1991, Dr. Damask had previously Department of Ocean Engineering since 1988, and been a graduate student and research assistant in had collaborated on research with Professor Jacob RLE's Optics and Devices Group.
    [Show full text]
  • AMERICAN-MATH '11) 5Th WSEAS International Conference on COMPUTER ENGINEERING and APPLICATIONS (CEA '11
    APPLICATIONS of MATHEMATICS and COMPUTER ENGINEERING American Conference on APPLIED MATHEMATICS (AMERICAN-MATH '11) 5th WSEAS International Conference on COMPUTER ENGINEERING and APPLICATIONS (CEA '11) Puerto Morelos, Mexico January 29-31, 2011 ISSN: 1792-7250 Published by WSEAS Press ISSN: 1792-7714 www.wseas.org ISBN: 978-960-474-270-7 APPLICATIONS of MATHEMATICS and COMPUTER ENGINEERING American Conference on APPLIED MATHEMATICS (AMERICAN-MATH '11) 5th WSEAS International Conference on COMPUTER ENGINEERING and APPLICATIONS (CEA '11) Puerto Morelos, Mexico January 29-31, 2011 Published by WSEAS Press www.wseas.org Copyright © 2011, by WSEAS Press All the copyright of the present book belongs to the World Scientific and Engineering Academy and Society Press. All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise, without the prior written permission of the Editor of World Scientific and Engineering Academy and Society Press. All papers of the present volume were peer reviewed by two independent reviewers. Acceptance was granted when both reviewers' recommendations were positive. See also: http://www.worldses.org/review/index.html ISSN: 1792-7250 ISSN: 1792-7714 ISBN: 978-960-474-270-7 World Scientific and Engineering Academy and Society APPLICATIONS of MATHEMATICS and COMPUTER ENGINEERING American Conference on APPLIED MATHEMATICS (AMERICAN-MATH '11) 5th WSEAS International Conference on COMPUTER ENGINEERING and APPLICATIONS (CEA '11) Puerto Morelos, Mexico January 29-31, 2011 Editors: Prof. Alexander Zemliak, Autonomous University of Puebla, MEXICO Prof. Nikos Mastorakis, Technical University of Sofia, BULGARIA International Program Committee Members: George E Andrews, USA Pavel Makagonov, MEXICO Stuart S.
    [Show full text]
  • Induced ℓ∞- Optimal Gain-Scheduled
    INDUCED ℓ∞ OPTIMAL GAIN-SCHEDULED FILTERING OF T−AKAGI-SUGENO FUZZY SYSTEMS Isaac Yaesh Control Department, IMI Advanced Systems Div., P.O.B. 1044/77, Ramat–Hasharon, 47100, Israel Uri Shaked School of Electrical Engineering, Tel Aviv University, Tel Aviv, 69978, Israel Keywords: Takagi-Sugeno fuzzy systems, Polytopic uncertainties, H∞-optimization, ℓ∞-optimization, S -procedure, Lin- ear matrix inequalities. Abstract: The problem of designing gain-scheduled filters with guaranteed induced ℓ∞ norm for the estimation of the state-vector of finite dimensional discrete-time parameter-dependent Takagi-Sugeno Fuzzy Systems systems is considered. The design process applies a lemma which was recently derived by the authors of this paper, characterizing the induced ℓ∞ norm by Linear Matrix Inequalities. The suggested filter has been successfully applied to a guidance motivated estimation problem, where it has been compared to an Extended Kalman Filter. 1 INTRODUCTION response and an upper-bound on the ℓ1-norm of its transfer function (see (Dahleh and Pearson, 1987)). The theory of optimal design of estimators for linear In the present paper, the problem of discrete- discrete-time systems in a state-space formulation has time optimal state-estimation in the minimum in- duced ℓ∞ norm sense is considered for a class of been first established in (Kalman, 1960). The original − problem formulation assumed Gaussian white noise Takagi-Sugeno fuzzy systems. The plant model for models for both the measurement noise and the ex- the systems considered, is described by a collection ogenous driving process. For this case, the results of ’sample’ finite-dimensional linear-time-invariant of (Kalman, 1960) provided the Minimum-Mean- plants which possess the same structure but differ Square Estimator (MMSE).
    [Show full text]
  • List of Professors and Doctors Signed Letter of KAMEA Support from Staff of Tel-Aviv University
    List of professors and doctors signed letter of KAMEA support from staff of Tel-Aviv University 1. Avigdor Abelson Department of Zoology 2. Dr. Rahel Gali Cinamon School of Education 3. Prof. M June Flanders The Eitan Berglas School of Economics 4. Prof. Moshe Gammer Dept. of Middle Eastern and African History 5. Carmen Fedor , Adv., Senior teacher Division of Foreign Languages 6. Dr. Talila Michaeli FACULTY OF THE ARTS 7. Prof. Erez Etzion School of Physics 8. Prof. Tamar Sovran Head of Hebrew Language, Head of Interdisciplinary Hebrew and Jewish Studies, Department of Hebrew Culture 9. Prof. Yoav Waisel Department of Botanics 10. Prof. Yekutiel Gershoni, Faculty of the Humanities 11. Prof. Gregory Livshits Head, Yoran Institute for Human Genome Research 12. Prof. Mia Horowitz Cell Research and Immunology Dept 13. Prof. Adina Breiman Dept of Plant Sciences Director of the Institute of Crop Improvement, Advisor to TAU President for Women Status 14. Prof. Judith Leibovich Cathedra of Pathology, Sackler School of Medizine 15. Prof. Haim Werner Sackler School of Medicine 16. Prof. Naphtali Savion Goldschleger Eye Research Institute Sackler Faculty of Medicine 17. Prof. Shai Izraeli Sackler School of Medicine 18. Prof. Miriam Eliav-Feldon Faculty of the Humanities 19. Prof. Zeev Elazar Sackler School of Medizine 20. Prof. Colin Price Planetary Physics 21. Prof. Paul Biran Department of Mathematics 22. Dr. Tamar Jacobi The Literature Department 23. Prof. Meir Sternberg The Literature Department 24. Dr. Milette Shamir Faculty of Humanities 25. Prof. Elhanan Reiner Department of Jewish History 26. Prof. Gregory Sivashinsky Bauer Neumann Chair of Applied Mathematics and Theoretical Mechanics School of Mathematical Sciences 27.
    [Show full text]
  • Call for Papers
    Call for Papers General Chair The IEEE Israel Section invites paper submission to the international Uri Shaked conference on the science of electrical engineering (ICSEEI) to be held in Dec. 12–14, 2018, in the city of Eilat, at the beautiful northern coast of Technical Program Chair Anelia Somekh Baruch the Red Sea. The conference will cover a multiplicity of topics in a number of parallel sessions, in combination with joint sessions and Steering Committee activities designed to foster scientific interaction and synergy between Avi Levi, Ben Gurion University various disciplines. Practitioners and scientists are invited to use this Nahum Shimkin, Technion opportunity for exchanging information on the latest developments. Yossi Rosenwaks, Tel Aviv University Mark Shtaif, Tel Aviv University Conference highlights Joseph Tabrikian, Ben Gurion University An invited full day symposium on Deep Learning Yair Weiss, The Hebrew University An invited full day symposium on Optoelectronics Ephraim Zehavi, Bar Ilan University An invited full day symposium on Circuits Organizing Committee Special sessions on Bioelectronics and Speech Processing Shmuel Auster, Elta Systems Best student paper competition Anelia Somekh Baruch, Bar Ilan University Yuval Beck, Tel Aviv University A short course on Deep Learning Gadi Eisenstein, Technion In 2018 the IEEE Israel Section anticipates a wide participation of Michael Elad- Technion professionals from Israel and abroad. Alex Fish, Bar Ilan University Conference Topics Sharon Gannot, Bar Ilan University
    [Show full text]
  • Data-Efficient Analytics for Optimal Human-Cyber-Physical Systems
    Data-efficient Analytics for Optimal Human-Cyber-Physical Systems Ming Jin Electrical Engineering and Computer Sciences University of California at Berkeley Technical Report No. UCB/EECS-2017-228 http://www2.eecs.berkeley.edu/Pubs/TechRpts/2017/EECS-2017-228.html December 15, 2017 Copyright © 2017, by the author(s). All rights reserved. Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. To copy otherwise, to republish, to post on servers or to redistribute to lists, requires prior specific permission. Data-efficient Analytics for Optimal Human-Cyber-Physical Systems by Ming Jin Adissertationsubmittedinpartialsatisfactionofthe requirements for the degree of Doctor of Philosophy in Engineering – Electrical Engineering and Computer Sciences and the Designated Emphasis in Communication, Computation and Statistics in the Graduate Division of the University of California, Berkeley Committee in charge: Professor Costas J. Spanos, Chair Professor Pieter Abbeel Professor Stefano Schiavon Professor Alexandra von Meier Fall 2017 Data-efficient Analytics for Optimal Human-Cyber-Physical Systems Copyright 2017 by Ming Jin 1 Abstract Data-efficient Analytics for Optimal Human-Cyber-Physical Systems by Ming Jin Doctor of Philosophy in Engineering – Electrical Engineering and Computer Sciences and the Designated Emphasis in Communication, Computation and Statistics University of California, Berkeley Professor Costas J. Spanos, Chair The goal of this research is to enable optimal human-cyber-physical systems (h-CPS) by data- efficient analytics.
    [Show full text]
  • Stability Analysis on Delayed Neural Networks Based on an Improved Delay-Partitioning Approach
    View metadata, citation and similar papers at core.ac.uk brought to you by CORE provided by Elsevier - Publisher Connector Journal of Computational and Applied Mathematics 235 (2011) 3086–3095 Contents lists available at ScienceDirect Journal of Computational and Applied Mathematics journal homepage: www.elsevier.com/locate/cam Letter to the editor Stability analysis on delayed neural networks based on an improved delay-partitioning approach Tao Li a,∗, Aiguo Song a, Mingxiang Xue b, Haitao Zhang b a School of Instrument Science and Engineering, Southeast University, Nanjing 210096, PR China b Key Laboratory of Measurement and Control of CSE (School of Automation, Southeast University), Ministry of Education, Nanjing 210096, PR China article info a b s t r a c t Article history: In this paper, the asymptotical stability is investigated for a class of delayed neural Received 29 July 2009 networks (DNNs), in which one improved delay-partitioning idea is employed. By choosing Received in revised form 5 April 2010 an augmented Lyapunov–Krasovskii functional and utilizing general convex combination method, two novel conditions are obtained in terms of linear matrix inequalities (LMIs) Keywords: and the conservatism can be greatly reduced by thinning the partitioning of delay intervals. Delayed neural networks (DNNs) Moreover, the LMI-based criteria heavily depend on both the upper and lower bounds on Asymptotical stability time-delay and its derivative, which is different from the existent ones. Though the results Delay-partitioning idea LMI approach are not presented via standard LMIs, they still can be easily checked by resorting to Matlab LMI Toolbox. Finally, three numerical examples are given to demonstrate that our results can be less conservative than the present ones.
    [Show full text]
  • GSC'08, Monday, April 7, 2008 Tel Aviv University, School of Electrical Engineering, "Binyan Kitot", Room 101
    WORKSHOP PROGRAM Graduate Students in Systems and Control – GSC'08, Monday, April 7, 2008 Tel Aviv University, School of Electrical Engineering, "Binyan Kitot", Room 101 GATHERING AND MORNING COFFEE (8:30-8:50) 08:50 Welcome and announcements 09:00 Adaptive aggregation for reinforcement learning with efficient exploration in deterministic domains Andrey Bernstein ,3 Elec. Eng., Technion, supervisor: Nahum Shimkin 09:30 Integral sliding mode approach to adjustment of high-order sliding-modes 3 Lela Dorel, Applied Math., TAU, supervisor: Arie Levant 10:00 H∞ sampled data control of systems with time-delays Vladimir Suplin ,3 Elec. Eng., TAU, supervisors: Uri Shaked and Emilia Fridman 10:30 Robust stabilization of an unmanned motorcycle Uri Nenner ,2 Civil Eng., Technion, supervisors: Raphael Linker and Per-Olof Gutman COFFEE BREAK (11:00-11:20) 11:20 Visual tracking: a particle filter/template matching approach Arie Nakhmani ,3 Elec. Eng., Technion, supervisors: Allen Tannenbaum and Ezra Zeheb 11:50 Efficient reinforcement learning in parameterized models Kirill Dyagilev ,2 Elec. Eng., Technion, supervisor: Nahum Shimkin 12:20 Sensor fusion of GPS with omni-directional image registration for off-road autonomous vehicle path tracking Yaron Greenhut ,2 Civil Eng., Technion, supervisor: Per-Olof Gutman 12:50 Probability-guaranteed full-order and reduced-order robust H ∞ filtering Shmuel Boyarski ,3 Elec. Eng., TAU, supervisor: Uri Shaked LUNCH BREAK (13:20-14:30) 14:30 On the parameterization of stabilizing solutions to general four-block model matching problems Maxim Kristalny ,3 Mech. Eng., Technion, supervisor: Leonid Mirkin 15:00 Mathematical modeling of the λ switch: a fuzzy logic approach Dmitriy Laschov,2 Elec.
    [Show full text]
  • Short Course on Deep Learning
    Table of Contents Welcome Message ................................................................................................................................................ 4 Committees ...............................................................................................................................................................5 Abbreviations ..........................................................................................................................................................6 Program at a glance ............................................................................................................................................7-9 Program: Wednesday,12.12.18 .................................................................................................................12-17 Poster session: Wednesday,12.12.18 ........................................................................................................18-21 Program: Thursday, 13.12.18 ......................................................................................................................22-38 Program: Friday, 13.12.18 ............................................................................................................................39-47 Short Course on Deep Learning ....................................................................................................................... 48 ICSEE 2018 Symposia ....................................................................................................................................50-54
    [Show full text]
  • Business Unusual in the Ivory Tower - Haaretz - Israel News Page 1 of 5
    Business unusual in the ivory tower - Haaretz - Israel News Page 1 of 5 Subscribe to Print Edition | Thu., July 23, 2009 Av 2, 5769 | | Israel Time: 22:06 (EST+7) Search Back to Homepage web haaretz.com Haaretz Toolbar Diplomacy Defense Jewish World Opinion National Print Edition Car Rental Books Haaretz Magazine Business Real Estate Maccabiah Travel Week's End Anglo File Share | Business unusual in the ivory tower By Or Kashti Tags: Israel News Ads by Google Reuters Salary Reuters Jobs News on Israel Israel Rabbi Special Offers June 19 was the last day of classes at Tel Aviv University, but unlike in previous Advertisement years, it was far from heralding the beginning of a relaxing summer vacation. hotel Jerusalem David Citadel Hotel, come Eleven days later, university president Zvi Galil unexpectedly announced his stay at the finest of resignation, and tension erupted between two of the highest-ranking forums at Jerusalem hotels. this important institution: the executive council, some of whose members are ISRAEL ARMY businessmen, and the senate, the supreme academic body, which consists of SURPLUS STORE IDF insignia,Uniforms, deans and senior professors. The resignation was at first presented as a personal Paladium Boots Watches, decision by Galil, but it soon emerged that his departure was the outcome of a Israel Army T-shirts & passionate struggle revolving around a single question: Who controls the largest Collectibles Dead Sea Skin Care university in Israel? Quality cosmetics from the Dead Sea. Coupon code "That was the first public battle between the businessmen and us, the HAARETZ for 12% off! academics," declared one TAU professor this week.
    [Show full text]