arXiv subjects

Vittorio Lippi

Publications and source records attributed to Vittorio Lippi.

23 records · Page 2Linked to original sources

arXiv2020

Deep Learning for Posture Control Nonlinear Model System and Noise Identification

In this work we present a system identification procedure based on Convolutional Neural Networks (CNN) for human posture control models. A usual approach to the study of human posture control consists in the identification of parameters for a control system. In this context, linear models are particularly popular due to the relative simplicity in identifying the required parameters and to analyze the results. Nonlinear models, conversely, are required to predict the real behavior exhibited by human subjects and hence it is desirable to use them in posture control analysis. The use of CNN aims to overcome the heavy computational requirement for the identification of nonlinear models, in order to make the analysis of experimental data less time consuming and, in perspective, to make such analysis feasible in the context of clinical tests. Some potential implications of the method for humanoid robotics are also discussed.

cs.RO↗

arXiv2020

Lyapunov Stability of a Nonlinear Bio-inspired System for the Control of Humanoid Balance

Human posture control models are used to analyse neurological experiments and control of humanoid robots. This work focuses on a well-known nonlinear posture control model, the DEC (Disturbance estimate and Compensation). In order to compensate disturbances, unlike other models, DEC feedbacks signals coming from sensor fusion rather than raw sensory signals. In previous works, the DEC model is shown to predict human behavior and to provide a control system for humanoids. In this work, the stability of the system in the sense of Lyapunov is formally analysed. The theoretical findings are combined with simulation results, in which an external perturbation of the support surface reproduces a typical scenario in posture control experiments.

eess.SY↗

arXiv2019

Incremental Principal Component Analysis Exact implementation and continuity corrections

This paper describes some applications of an incremental implementation of the principal component analysis (PCA). The algorithm updates the transformation coefficients matrix on-line for each new sample, without the need to keep all the samples in memory. The algorithm is formally equivalent to the usual batch version, in the sense that given a sample set the transformation coefficients at the end of the process are the same. The implications of applying the PCA in real time are discussed with the help of data analysis examples. In particular we focus on the problem of the continuity of the PCs during an on-line analysis.

stat.ML↗

arXiv2019

Distributed Bio-inspired Humanoid Posture Control

This paper presents an innovative distributed bio-inspired posture control strategy for a humanoid, employing a balance control system DEC (Disturbance Estimation and Compensation). Its inherently modular structure could potentially lead to conflicts among modules, as already shown in literature. A distributed control strategy is presented here, whose underlying idea is to let only one module at a time perform balancing, whilst the other joints are controlled to be at a fixed position. Modules agree, in a distributed fashion, on which module to enable, by iterating a max-consensus protocol. Simulations performed with a triple inverted pendulum model show that this approach limits the conflicts among modules while achieving the desired posture and allows for saving energy while performing the task. This comes at the cost of a higher rise time.

eess.SY↗

arXiv2014

Support Vector Machine Classification on a Biased Training Set: Multi-Jet Background Rejection at Hadron Colliders

This paper describes an innovative way to optimize a multivariate classifier, in particular a Support Vector Machine algorithm, on a problem characterized by a biased training sample. This is possible thanks to the feedback of a signal-background template fit performed on a validation sample and included both in the optimization process and in the input variable selection. The procedure is applied to a real case of interest at hadron collider experiments: the reduction and the estimate of the multi-jet background in the $W\to e ν$ plus jets data sample collected by the CDF experiment. The training samples, partially derived from data and partially from simulation, are described in detail together with the input variables exploited for the classification. At present, the reached performance is superior to any other prescription applied to the same final state at hadron collider experiments.

hep-ex↗