In this article, we propose an architecture of a bio-inspired controller that addresses the problem of learning different locomotion gaits for different robot morphologies. The modeling objective is split into two: baseline motion modeling and dynamics adaptation. Baseline motion modeling aims to achieve fundamental functions of a certain type of locomotion and dynamics adaptation provides a "r...

In room impulse response (RIR) equalization and reshaping, one of the difficulties is the spatial robustness, because RIRs are very sensitive to the movements of both the signal source and the receiver. For example, the reshaping filter designed for one pair of loudspeaker/receiver or source/microphone positions will be ineffective for another pair. In this paper, we concentrate on loudspreaker...

We have developed an adaptive on-line recognizer suitable for recognizing isolated alphanumeric characters. It is based on the k nearest neighbor rule. Various dissimilarity measures, all based on dynamic time warping (DTW), have been studied. The main focus of the work is on on-line adaptation. The adaptation is performed by modifying the prototype set of the classifier according to its recogn...

In this paper we consider the problem of graceful performance degradation, for affine non-minimum phase nonlinear systems. The method is an optimization based scheme, that gives a constructive way to re-shape on-line the output reference for the post-fault system, and explicitly take into account the actuators and states saturations. The on-line output reference reshaping is associated with an ...

This paper describes a software extension to the Reactable entitled Gestroviser that was developed to explore musician machine collaboration at the control signal level. The system functions by sampling a performers input, processing or reshaping this sampled input, and then repeatedly replaying it. The degree to which the sampled control signal is processed during replay is adjustable in real-...

We present spatially resolved measurements of the electric field of terahertz pulses undergoing optical tunneling that show strong pulse reshaping in both time and space. This reshaping is shown to be a result of frequency and incidence-angle filtering of the complex amplitude of the plane-wave basis set that makes up the pulse. This filtering leads to spreading of the pulse in the time and spa...

Tensor computations–in particular tensor contraction (TC)–are important kernels in many scientific computing applications (SCAs). Due to the fundamental similarity of TC to matrix multiplication (MM) and to the availability of optimized implementations such as the BLAS, tensor operations have traditionally been implemented in terms of BLAS operations, incurring both a performance and a storage ...

As humans, we regularly associate shape of an object with its built material. In the context of geometric modeling, however, this interrelation between form and material is rarely explored. In this work, we propose a novel data-driven reforming (i.e., reshaping) algorithm that adapts an input multi-component model for a target fabrication material. The algorithm adapts both the part geometry an...

The purpose of room impulse response (RIR) shortening and reshaping is usually to improve the intelligibility of the received signal by prefiltering the source signal before it is played with a loudspeaker in a closed room. In an alternative, but mathematically equivalent setting, one may aim to postfilter a recorded microphone signal to remove audible echoes. While least-squares methods have m...