Publications associées à Energy Management for Indoor Hovering Robots

An improved statistical wake meandering model

Fernando Porté Agel, Corey Dean Markfort, Peter Andreas Brugger

A new statistical wake meandering (SWM) model is proposed that improves on existing models in the literature. Compared to the existing SWM models, the proposed model has a closed description that does not require simulations to create look-up tables while ...

IOP Publishing2024

Land Cover Mapping From Multiple Complementary Experts Under Heavy Class Imbalance

Devis Tuia, Valérie Zermatten, Javiera Francisca Castillo Navarro, Xiaolong Lu

Deep learning has emerged as a promising avenue for automatic mapping, demonstrating high efficacy in land cover categorization through various semantic segmentation models. Nonetheless, the practical deployment of these models encounters important challen ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Beyond undulation! Body morphology and sensing components of elongated animals and robots reveal skills to maintain competent locomotion

Laura Isabel Paez Coy

Locomotion is an essential evolutive innovation of living beings that allows them to colonize and dominate the planet. As diverse as animal morphologies are (living) and were (extinct), their locomotion modalities are also diverse. In particular, animal mo ...

EPFL2023

Investigating the roles of reflexes and central pattern generators in the control and modulation of human locomotion using a physiologically plausible neuromechanical model

Auke Ijspeert, Andrea Di Russo, Stéphane Armand, Dimitar Yuriev Stanev, Anushree Bapusaheb Sabnis

Objective. Studying the neural components regulating movement in human locomotion is obstructed by the inability to perform invasive experimental recording in the human neural circuits. Neuromechanical simulations can provide insights by modeling the locom ...

Iop Publishing Ltd2023

Community-based reconstruction and simulation of a full-scale model of region CA1 of rat hippocampus

Henry Markram, Felix Schürmann, James Gonzalo King, Srikanth Ramaswamy, Juan Bautista Hernando Vieites, Alexis Arnaudon, Eilif Benjamin Muller, Michael Reimann, Huanxiang Lu, Ying Shi, Marwan Muhammad Ahmed Abdellah, Vishal Sood, Jean-Denis Georges Emile Courcol, Werner Alfons Hilda Van Geit, Lida Kanari, Juan Luis Riquelme Roman, Michael Emiel Gevaert, Pramod Shivaji Kumbhar, Liesbeth Maria L Vanherpe, Armando Romani, Cyrille Pierre Henri Favreau, Michele Migliore, Mohameth François Sy, Szabolcs Kali, Judit Planas Carbonell, Genrich Ivaska, Sàra Sàray, Carmen Alina Lupascu, Rosanna Migliore, Audrey Mercer, András Ecker, Alberto Antonietti, Cristina Colangelo, Anna-Kristin Kaufmann, Julian Martin Budd, Elisabetta Giacalone, Thomas Brice Delemontex, Davide Bella, Fabien Petitjean, , , , ,

How Words Move Hearts: Interpretable Machine Learning Models of Bias, Engagement, and Influence in Socio-Political Systems

Aswin Suresh

We study socio-political systems in representative democracies. Motivated by problems that affect the proper functioning of the system, we build computational methods to answer research questions regarding the phenomena occurring in them. For each phenomen ...

EPFL2023

A computational modeling approach to study the neuromechanics of terrestrial locomotion

Shravan Tata Ramalingasetty

The main theme of my thesis will be to use neuro-muscular modeling techniques to study locomotion of terrestrial mammals. Locomotion is the ability of animals to interact with the environment to propel themselves in space. It involves co-ordination and pre ...

EPFL2022

Wind-Topo_Model

Michael Lehning, Jérôme François Sylvain Dujardin

Model and Data: Dujardin, J.; Lehning, M. Wind-Topo_model. EnviDat 2022 ...

Zenodo2022

Modeling the origins of adhesive wear across scales

Son-Jonathan Pham-Ba

Friction and wear occur at every interface between solid materials. In the design of mechanical devices, it is desirable to be able to quantify and control the amount of friction and wear, as well as predict their evolution with time. ``Tribology'' is the ...

EPFL2022

An Equivalence Between Data Poisoning and Byzantine Gradient Attacks

Rachid Guerraoui, Le Nguyen Hoang, Sadegh Farhadkhani, Oscar Jean Olivier Villemaud

To study the resilience of distributed learning, the “Byzantine" literature considers a strong threat model where workers can report arbitrary gradients to the parameter server. Whereas this model helped obtain several fundamental results, it has sometimes ...

PMLR2022

Combining hypothesis- and data-driven neuroscience modeling in FAIR workflows

Daniel Keller

Modeling in neuroscience occurs at the intersection of different points of view and approaches. Typically, hypothesis-driven modeling brings a question into focus so that a model is constructed to investigate a specific hypothesis about how the system work ...

2022

Robotic Elytra: Insect-Inspired Protective Wings for Resilient and Multi-Modal Drones

Dario Floreano, Charalampos Vourtsis, William John Stewart

Winged drones that fly in close proximity to obstacles or that are capable of aerial and terrestrial locomotion can benefit from protective systems that prevent damage to delicate aerial structures. Existing protective solutions focus on multi-copter drone ...

2021

Sensory modulation of gait characteristics in human locomotion: A neuromusculoskeletal modeling study

Auke Ijspeert, Andrea Di Russo, Stéphane Armand, Dimitar Yuriev Stanev

The central nervous system of humans and other animals modulates spinal cord activity to achieve several locomotion behaviors. Previous neuromechanical models investigated the modulation of human gait changing selected parameters belonging to CPGs (Central ...

2021

A Modular Workflow for Model Building, Analysis, and Parameter Estimation in Systems Biology and Neuroscience

Daniel Keller, Andrii Stepaniuk

Neuroscience incorporates knowledge from a range of scales, from single molecules to brain wide neural networks. Modeling is a valuable tool in understanding processes at a single scale or the interactions between two adjacent scales and researchers use a ...

HUMANA PRESS INC2022

A Muscle-Reflex Model of Forelimb and Hindlimb of Felidae Family of Animal with Dynamic Pattern Formation Stimuli

Auke Ijspeert, Azhar Aulia Saputra

Human and animal locomotion are controlled by complex neural circuits, which can also serve as inspiration for designing locomotion controllers for dynamic locomotion in legged robots. We develop a locomotion controller model including a central pattern ge ...

IEEE2020

Amphibious and Sprawling Locomotion: From Biology to Robotics and Back

Auke Ijspeert

A milestone in vertebrate evolution, the transition from water to land, owes its success to the development of a sprawling body plan that enabled an amphibious lifestyle. The body, originally adapted for swimming, evolved to benefit from limbs that enhance ...

2020

A Neural Primitive model with Sensorimotor Coordination for Dynamic Quadruped Locomotion with Malfunction Compensation

Auke Ijspeert, Azhar Aulia Saputra

In the field of quadruped locomotion, dynamic locomotion behavior, and rich integration with sensory feedback represents a significant development. In this paper, we present an efficient neural model, which includes CPG and its sensorimotor coordination, a ...

IEEE2020

Towards rich motion skills with the lightweight quadruped robot Serval

Auke Ijspeert, Peter Eckert, Tomislav Horvat, Anja Eva Maria Schmerbauch

Bio-inspired robotic designs introducing and benefiting from morphological aspects present in animals allowed the generation of fast, robust, and energy-efficient locomotion. We used engineering tools and interdisciplinary knowledge transferred from biolog ...

SAGE PUBLICATIONS LTD2020

Walking with Salamanders: From Molecules to Biorobotics

Auke Ijspeert

How do four-legged animals adapt their locomotion to the environment? How do central and peripheral mechanisms interact within the spinal cord to produce adaptive locomotion and how is locomotion recovered when spinal circuits are perturbed? Salamanders ar ...

ELSEVIER SCIENCE LONDON2020

Operational route choice methodologies for practical applications

Michel Bierlaire, Evanthia Kazagli, Matthieu Marie Cochon de Lapparent

This paper focuses on the application of tractable route choice models and presents a set of methods for deriving relevant disaggregate and aggregate route choice indicators, namely link and route flows. Tractability is achieved at the disaggregate level b ...

2020