The emergence of the theory of dynamic neural computing has made it possible to develop neural learning and adaptive schemes that can be used to obtain feasible solutions to complex control problems, such as inverse kinematic control for robotic systems. In this paper, such a neural learning scheme using a multilayered dynamic neural network (MDNN) is proposed. The basic dynamic computing eleme...

Learning complex skills by repeating and generalizing expert behavior is a fundamental problem in robotics. A common approach is learning from demonstration: given examples of correct motions, learn a policy mapping state to action consistent with the training data. However, the usual approaches do not answer the question of what are appropriate representations to generate motions for specific ...

Necessary and sufficient conditions are derived such that a multi-input, time-varying, linear state-feedback system minimizes a quadratic performance index (the inverse linear optimal control problem). A procedure for determining all such equivalent performance indices that yield the same feedback matrix is indicated.

Understanding how goals control behavior is a question ripe for interrogation by new methods from machine learning. These require large and labeled datasets to train models. To annotate large-scale image dataset with observed search fixations, we collected 16,184 fixations people searching either microwaves or clocks in of 4,366 images (MS-COCO). We then used this behaviorally-annotated the lea...

It is now commonly accepted that the motor system makes use of so-called forward and inverse models in order to control the musculoskeletal system during rapid, skilled, motor behaviour. Inverse models are held to allow the system to determine the motor commands necessary to achieve a desired state, while forward models are held to allow the system to predict the expected sensory feedback of a ...

The synthesis and characterization of uranium(VI) mono(imido) complexes, by the oxidation of corresponding uranium(V) species, are presented. These experimental results, paired with DFT analyses, allow for the comparison of the electronic structure of uranium(VI) mono(oxo) and mono(imido) ligands within a conserved ligand framework and demonstrate that the magnitude of the ground state stabiliz...