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Bringing together over fifty contributions on all aspects of
nonlinear and complex dynamics, this impressive topical collection
is both a scientific and personal tribute, on the occasion of his
70th birthday, by many outstanding colleagues in the broad fields
of research pursued by Prof. Manuel G Velarde. The topics selected
reflect the research areas covered by the famous Instituto
Pluridisciplinar at the Universidad Complutense of Madrid, which he
co-founded over two decades ago, and include: fluid physics and
related nonlinear phenomena at interfaces and in other geometries,
wetting and spreading dynamics, geophysical and astrophysical
flows, and novel aspects of electronic transport in anharmonic
lattices, as well as topics in neurodynamics and robotics.
This book presents the result of a joint effort from different
European Institutions within the framework of the EU funded project
called SPARK II, devoted to device an insect brain computational
model, useful to be embedded into autonomous robotic agents. Part I
reports the biological background on Drosophila melanogaster with
particular attention to the main centers which are used as building
blocks for the implementation of the insect brain computational
model. Part II reports the mathematical approach to model the
Central Pattern Generator used for the gait generation in a
six-legged robot. Also the Reaction-diffusion principles in
non-linear lattices are exploited to develop a compact internal
representation of a dynamically changing environment for behavioral
planning. In Part III a software/hardware framework, developed to
integrate the insect brain computational model in a simulated/real
robotic platform, is illustrated. The different robots used for the
experiments are also described. Moreover the problems related to
the vision system were addressed proposing robust solutions for
object identification and feature extraction. Part IV includes the
relevant scenarios used in the experiments to test the capabilities
of the insect brain-inspired architecture taking as comparison the
biological case. Experimental results are finally reported, whose
multimedia can be found in the SPARK II web page:
www.spark2.diees.unict.it
"This book presents the result of a joint effort from different
European Institutions within the framework of the EU funded project
called SPARK II, devoted to device an insect brain computational
model, useful to be embedded into autonomous robotic agents.
"Part I reports the biological background on Drosophila
melanogaster with particular attention to the main centers which
are used as building blocks for the implementation of the insect
brain computational model.
Part II reports the mathematical approach to model the Central
Pattern Generator used for the gait generation in a six-legged
robot. Also the Reaction-diffusion principles in non-linear
lattices are exploited to develop a compact internal representation
of a dynamically changing environment for behavioral
planning.
In Part III a software/hardware framework, developed to integrate
the insect brain computational model in a simulated/real robotic
platform, is illustrated. The different robots used for the
experiments are also described. Moreover the problems related to
the vision system were addressed proposing robust solutions for
object identification and feature extraction.
Part IV includes the relevant scenarios used in the experiments to
test the capabilities of the insect brain-inspired architecture
taking as comparison the biological case. Experimental results are
finally reported, whose multimedia can be found in the SPARK II web
page: "www.spark2.diees.unict.it
"
Bringing together over fifty contributions on all aspects of
nonlinear and complex dynamics, this impressive topical collection
is both a scientific and personal tribute, on the occasion of his
70th birthday, by many outstanding colleagues in the broad fields
of research pursued by Prof. Manuel G Velarde. The topics selected
reflect the research areas covered by the famous Instituto
Pluridisciplinar at the Universidad Complutense of Madrid, which he
co-founded over two decades ago, and include: fluid physics and
related nonlinear phenomena at interfaces and in other geometries,
wetting and spreading dynamics, geophysical and astrophysical
flows, and novel aspects of electronic transport in anharmonic
lattices, as well as topics in neurodynamics and robotics.
The field of cellular neural networks (CNNs) is of growing
importance in non linear circuits and systems and it is maturing to
the point of becoming a new area of study in general nonlinear
theory. CNNs emerged through two semi nal papers co-authored by
Professor Leon O. Chua back in 1988. Since then, the attention that
CNNs have attracted in the scientific community has been vast. For
instance, there are international workshops dedicated to CNNs and
their applications, special issues published in both the
International Journal of Circuit Theory and in the IEEE
Transactions on Circuits and Systems, and there are also Associate
Editors appointed in the latter journal especially for the CNN
field. All of this bears witness the importance that CNNs are
gaining within the scientific community. Without doubt this book is
a primer in the field. Its extensive coverage provides the reader
with a very comprehensive view of aspects involved in the theory
and applications of cellular neural networks. The authors have done
an excellent job merging basic CNN theory, synchronization, spatio
temporal phenomena and hardware implementation into eight
exquisitely written chapters. Each chapter is thoroughly
illustrated with examples and case studies. The result is a book
that is not only excellent as a professional reference but also
very appealing as a textbook. My view is that students as well
professional engineers will find this volume extremely useful."
The basic principles guiding sensing, perception and action in bio
systems seem to rely on highly organised spatial-temporal dynamics.
In fact, all biological senses, (visual, hearing, tactile, etc.)
process signals coming from different parts distributed in space
and also show a complex time evolution. As an example, mammalian
retina performs a parallel representation of the visual world
embodied into layers, each of which r- resents a particular detail
of the scene. These results clearly state that visual perception
starts at the level of the retina, and is not related uniquely to
the higher brain centres. Although vision remains the most useful
sense guiding usual actions, the other senses, ?rst of all hearing
but also touch, become essential particularly in cluttered
conditions, where visual percepts are somehow obscured by
environment conditions. Ef?cient use of hearing can be learnt from
acoustic perception in animals/insects, like crickets, that use
this ancient sense more than all the others, to perform a vital
function, like mating.
This volume is a special Issue on "Dynamical Systems, Wave based
computation and neuro inspired robots' DEGREES based on a Course
carried out at the CISM in Udine (Italy), the last week of
September, 2003. From the topics treated within that Course,
several new ideas were f- mulated, which led to a new kind of
approach to locomotion and p- ception, grounded both on
biologically inspired issues and on nonlinear dynamics. The Course
was characterised by a high degree of multi disciplinarity. In
fact, in order to conceive, design and build neuro inspired
machines, it is necessary to deeply scan into different d-
ciplines, including neuroscience. Artificial Intelligence,
Biorobotics, Dynamical Systems theory and Electronics. New types of
moving machines should be more closely related to the biological
rules, not discarding the real implementation issues. The recipe
has to include neurobiological paradigms as well as behavioral
aspects from the one hand, new circuit paradigms, able of real time
control of multi joint robots on the other hand. These new circuit
paradigms are based on the theory of complex nonlinear dynamical
systems, where aggregates of simple non linear units into ensembles
of lattices, have the pr- erty that the solution set is much richer
than that one shown by the single units. As a consequence, new
solutions DEGREES'emerge'\ which are often characterized by order
and harmony.
This volume is a special Issue on "Dynamical Systems, Wave based
computation and neuro inspired robots'^ based on a Course carried
out at the CISM in Udine (Italy), the last week of September, 2003.
From the topics treated within that Course, several new ideas were
f- mulated, which led to a new kind of approach to locomotion and
p- ception, grounded both on biologically inspired issues and on
nonlinear dynamics. The Course was characterised by a high degree
of multi disciplinarity. In fact, in order to conceive, design and
build neuro inspired machines, it is necessary to deeply scan into
different d- ciplines, including neuroscience. Artificial
Intelligence, Biorobotics, Dynamical Systems theory and
Electronics. New types of moving machines should be more closely
related to the biological rules, not discarding the real
implementation issues. The recipe has to include neurobiological
paradigms as well as behavioral aspects from the one hand, new
circuit paradigms, able of real time control of multi joint robots
on the other hand. These new circuit paradigms are based on the
theory of complex nonlinear dynamical systems, where aggregates of
simple non linear units into ensembles of lattices, have the pr-
erty that the solution set is much richer than that one shown by
the single units. As a consequence, new solutions ^'emerge'\ which
are often characterized by order and harmony.
In this monograph, new structures of neural networks in
multidimensional domains are introduced. These architectures are a
generalization of the Multi-layer Perceptron (MLP) in Complex,
Vectorial and Hypercomplex algebra. The approximation capabilities
of these networks and their learning algorithms are discussed in a
multidimensional context. The work includes the theoretical basis
to address the properties of such structures and the advantages
introduced in system modelling, function approximation and control.
Some applications, referring to attractive themes in system
engineering and a MATLAB software tool, are also reported. The
appropriate background for this text is a knowledge of neural
networks fundamentals. The manuscript is intended as a research
report, but a great effort has been performed to make the subject
comprehensible to graduate students in computer engineering,
control engineering, computer sciences and related disciplines.
The basic principles guiding sensing, perception and action in bio
systems seem to rely on highly organised spatial-temporal dynamics.
In fact, all biological senses, (visual, hearing, tactile, etc.)
process signals coming from different parts distributed in space
and also show a complex time evolution. As an example, mammalian
retina performs a parallel representation of the visual world
embodied into layers, each of which r- resents a particular detail
of the scene. These results clearly state that visual perception
starts at the level of the retina, and is not related uniquely to
the higher brain centres. Although vision remains the most useful
sense guiding usual actions, the other senses, ?rst of all hearing
but also touch, become essential particularly in cluttered
conditions, where visual percepts are somehow obscured by
environment conditions. Ef?cient use of hearing can be learnt from
acoustic perception in animals/insects, like crickets, that use
this ancient sense more than all the others, to perform a vital
function, like mating.
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