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Neuromorphic engineering aims to incorporate the computational principles found in animal brains, into modern technological systems. Following this approach, in this work we propose a closed-loop neuromorphic control system for an event-based robotic arm. The proposed system consists of a shifted Winner-Take-All spiking network for interpolating a reference trajectory and a spiking comparator network responsible for controlling the flow continuity of the trajectory, which is fed back to the actual position of the robot. The comparator model is based on a differential position comparison neural network, which governs the execution of the next trajectory points to close the control loop between both components of the system. To evaluate the system, we implemented and deployed the model on a mixed-signal analog-digital neuromorphic platform, the DYNAP-SE2, to facilitate integration and communication with the ED-Scorbot robotic arm platform. Experimental results on one joint of the robot validate the use of this architecture and pave the way for future neuro-inspired control of the entire robot., Comment: 5 pages, 7 figures, conference, ISCAS 2025, accepted for publication, Spiking Neural Network

Since the advent of mobile robots, obstacle detection has been a topic of great interest. It has also been a subject of study in neuroscience, where flying insects and bats could be considered two of the most interesting cases in terms of vision-based and sound-based mechanisms for obstacle detection, respectively. Currently, many studies focus on vision-based obstacle detection, but not many can be found regarding sound-based obstacle detection. This work focuses on the latter approach, which also makes use of a Spiking Neural Network to exploit the advantages of these architectures and achieve an approach closer to biology. The complete system was tested through a series of experiments that confirm the validity of the spiking architecture for obstacle detection. It is empirically demonstrated that, when the distance between the robot and the obstacle decreases, the output firing rate of the system increases in response as expected, and vice versa. Therefore, there is a direct relation between the two. Furthermore, there is a distance threshold between detectable and undetectable objects which is also empirically measured in this work. An in-depth study on how this system works at low level based on the Inter-Spike Interval concept was performed, which may be useful in the future development of applications based on spiking filters., Comment: 22 pages, 8 figures

Kidney cancer is a global health concern, and accurate assessment of patient frailty is crucial for optimizing surgical outcomes. This paper introduces AI Age Discrepancy, a novel metric derived from machine learning analysis of preoperative abdominal CT scans, as a potential indicator of frailty and postoperative risk in kidney cancer patients. This retrospective study of 599 patients from the 2023 Kidney Tumor Segmentation (KiTS) challenge dataset found that a higher AI Age Discrepancy is significantly associated with longer hospital stays and lower overall survival rates, independent of established factors. This suggests that AI Age Discrepancy may provide valuable insights into patient frailty and could thus inform clinical decision-making in kidney cancer treatment., Comment: 10 pages, 3 figures, 2 tables

In this work, we use modern electronic structure methods to model the catalytic mechanism of different variants of the molybdenum cofactor (Moco). We investigate the dependence of various Moco model systems on structural relaxation and the importance of environmental effects for five critical points along the reaction coordinate with the DMSO and NO$_3^-$ substrates. Furthermore, we scrutinize the performance of various coupled-cluster approaches for modeling the relative energies along the investigated reaction paths, focusing on several pair coupled cluster doubles (pCCD) flavors and conventional coupled cluster approximations. Moreover, we elucidate the Mo--O bond formation using orbital-based quantum information measures, which highlight the flow of $\sigma_{\rm M-O}$ bond formation and $\sigma_{\rm N/S-O}$ bond breaking. Our study shows that pCCD-based models are a viable alternative to conventional methods and offer us unique insights into the bonding situation along a reaction coordinate. Finally, this work highlights the importance of environmental effects or changes in the core and, consequently, in the model itself to elucidate the change in activity of different Moco variants., Comment: 6 figures, 2 tables

The Detection and Classification of Acoustic Scenes and Events Challenge Task 4 aims to advance sound event detection (SED) systems in domestic environments by leveraging training data with different supervision uncertainty. Participants are challenged in exploring how to best use training data from different domains and with varying annotation granularity (strong/weak temporal resolution, soft/hard labels), to obtain a robust SED system that can generalize across different scenarios. Crucially, annotation across available training datasets can be inconsistent and hence sound labels of one dataset may be present but not annotated in the other one and vice-versa. As such, systems will have to cope with potentially missing target labels during training. Moreover, as an additional novelty, systems will also be evaluated on labels with different granularity in order to assess their robustness for different applications. To lower the entry barrier for participants, we developed an updated baseline system with several caveats to address these aforementioned problems. Results with our baseline system indicate that this research direction is promising and is possible to obtain a stronger SED system by using diverse domain training data with missing labels compared to training a SED system for each domain separately.

Similarity search is a central problem in domains such as information management and retrieval or data analysis. Many similarity search algorithms are designed or specifically adapted to metric distances. Thus, they are unsuitable for alternatives like the cosine distance, which has become quite common, for example, with embeddings and in text mining. This paper presents GDASC (General Distributed Approximate Similarity search with Clustering), a general framework for distributed approximate similarity search that accepts arbitrary distances. This framework can build a multilevel index structure, by selecting a clustering algorithm, the number of prototypes in each cluster and any arbitrary distance function. As a result, this framework effectively overcomes the limitation of using metric distances and can address situations involving cosine similarity or other non-standard similarity measures. Experimental results using k-medoids clustering in GDASC with real datasets confirm the applicability of this approach for approximate similarity search, improving the performance of extant algorithms for this purpose.

This article describes the Data-Efficient Low-Complexity Acoustic Scene Classification Task in the DCASE 2024 Challenge and the corresponding baseline system. The task setup is a continuation of previous editions (2022 and 2023), which focused on recording device mismatches and low-complexity constraints. This year's edition introduces an additional real-world problem: participants must develop data-efficient systems for five scenarios, which progressively limit the available training data. The provided baseline system is based on an efficient, factorized CNN architecture constructed from inverted residual blocks and uses Freq-MixStyle to tackle the device mismatch problem. The task received 37 submissions from 17 teams, with the large majority of systems outperforming the baseline. The top-ranked system's accuracy ranges from 54.3% on the smallest to 61.8% on the largest subset, corresponding to relative improvements of approximately 23% and 9% over the baseline system on the evaluation set., Comment: Task Description Page: https://dcase.community/challenge2024/task-data-efficient-low-complexity-acoustic-scene-classification

We propose an exact algorithm for the Graph Burning Problem ($\texttt{GBP}$), an NP-hard optimization problem that models the spread of influence on social networks. Given a graph $G$ with vertex set $V$, the objective is to find a sequence of $k$ vertices in $V$, namely, $v_1, v_2, \dots, v_k$, such that $k$ is minimum and $\bigcup_{i = 1}^{k} \{u\! \in\! V\! : d(u, v_i) \leq k - i\} = V$, where $d(u,v)$ denotes the distance between $u$ and $v$. We formulate the problem as a set covering integer programming model and design a row generation algorithm for the $\texttt{GBP}$. Our method exploits the fact that a very small number of covering constraints is often sufficient for solving the integer model, allowing the corresponding rows to be generated on demand. To date, the most efficient exact algorithm for the $\texttt{GBP}$, denoted here by $\texttt{GDCA}$, is able to obtain optimal solutions for graphs with up to 14,000 vertices within two hours of execution. In comparison, our algorithm finds provably optimal solutions approximately 236 times faster, on average, than $\texttt{GDCA}$. For larger graphs, memory space becomes a limiting factor for $\texttt{GDCA}$. Our algorithm, however, solves real-world instances with almost 200,000 vertices in less than 35 seconds, increasing the size of graphs for which optimal solutions are known by a factor of 14., Comment: 10 pages, 1 figure and 2 tables

The dipole moment is a crucial molecular property linked to a molecular system's bond polarity and overall electronic structure. To that end, the electronic dipole moment, which results from the electron density of a system, is often used to assess the accuracy and reliability of new electronic structure methods. This work analyses electronic dipole moments computed with the pair coupled cluster doubles (pCCD) ansatz and its linearized coupled cluster (pCCD-LCC) corrections using the canonical Hartree--Fock and pCCD-optimized (localized) orbital bases. The accuracy of pCCD-based dipole moments is assessed against experimental and CCSD(T) reference values using relaxed and unrelaxed density matrices and different basis set sizes. Our test set comprises molecules of various bonding patterns and electronic structures, exposing pCCD-based methods to a wide range of electron correlation effects. Additionally, we investigate the performance of pCCD-in-DFT dipole moments of some model complexes. Finally, our work indicates the importance of orbital relaxation in the pCCD model and shows the limitations of the linearized couple cluster corrections in predicting electronic dipole moments of multiple-bonded systems. Most importantly, pCCD with a linearized CCD correction can reproduce the dipole moment surfaces in singly-bonded molecules, which are comparable to the multi-reference ones.

In this article, we discuss a novel education approach to control theory in undergraduate engineering programs. In particular, we elaborate on the inclusion of an introductory course on process control during the first years of the program, to appear right after the students undergo basic calculus and physics courses. Our novel teaching proposal comprises debating the basic elements of control theory without requiring any background on advanced mathematical frameworks from the part of the students. The methodology addresses, conceptually, the majority of the steps required for the analysis and design of simple control systems. Herein, we thoroughly detail this educational guideline, as well as tools that can be used in the classroom. Furthermore, we propose a cheap test-bench kit and an open-source numerical simulator that can be used to carry out experiments during the proposed course. Most importantly, we also assess on how the Introduction to process control course has affected the undergraduate program on Control and Automation Engineering at Universidade Federal de Santa Catarina (UFSC, Brazil). Specifically, we debate the outcomes of implementing our education approach at UFSC from 2016 to 2023, considering students' rates of success in other control courses and perspectives on how the chair helped them throughout the course of their program. Based on randomised interviews, we indicate that our educational approach has had good teaching-learning results: students tend to be more motivated for other control-related subjects, while exhibiting higher rates of success., Comment: 55 pages, 13 figures, Screening at the Journal of Control, Automation and Electrical Systems

The brain has computational capabilities that surpass those of modern systems, being able to solve complex problems efficiently in a simple way. Neuromorphic engineering aims to mimic biology in order to develop new systems capable of incorporating such capabilities. Bio-inspired learning systems continue to be a challenge that must be solved, and much work needs to be done in this regard. Among all brain regions, the hippocampus stands out as an autoassociative short-term memory with the capacity to learn and recall memories from any fragment of them. These characteristics make the hippocampus an ideal candidate for developing bio-inspired learning systems that, in addition, resemble content-addressable memories. Therefore, in this work we propose a bio-inspired spiking content-addressable memory model based on the CA3 region of the hippocampus with the ability to learn, forget and recall memories, both orthogonal and non-orthogonal, from any fragment of them. The model was implemented on the SpiNNaker hardware platform using Spiking Neural Networks. A set of experiments based on functional, stress and applicability tests were performed to demonstrate its correct functioning. This work presents the first hardware implementation of a fully-functional bio-inspired spiking hippocampal content-addressable memory model, paving the way for the development of future more complex neuromorphic systems., Comment: 15 pages, 5 figures, journal, Spiking Neural Network

We present a novel data-driven Model Predictive Control (MPC) algorithm for nonlinear systems. The method is based on recent extensions of behavioural theory and Willem's Fundamental Lemma for nonlinear systems by the means of adequate Input-Output (IO) quasi-Linear Parameter Varying (qLPV) embeddings. Thus, the MPC is formulated to ensure regulation and IO constraints satisfaction, based only on measured datasets of sufficient length (and under persistent excitation). Instead of requiring the availability of the scheduling trajectories (as in recent papers), we consider an estimate of the function that maps the qLPV realisation. Specifically, we use an extrapolation procedure in order to generate the future scheduling trajectories, at each sample, which is shown to be convergent and generated bounded errors. Accordingly, we discuss the issues of closed-loop IO stability and recursive feasibility certificates of the method. The algorithm is tested and discussed with the aid of a numerical application., Comment: Many changes are being performed on the manuscript. A revised version will be available soon

Recent literature has shown how linear time-invariant (LTI) systems can be represented by trajectories features, that is relying on a single input-output (IO) data dictionary to span all possible system trajectories, as long as the input is persistently exciting. The so-called behavioural framework is a promising alternative for controller synthesis without the necessity of system identification. In this paper, we benefit from differential inclusion in order to adapt previous results to the case quasi-Linear Parameter Varying (qLPV) embeddings, which are use to represent nonlinear dynamical systems along suitable IO coordinates. Accordingly, we propose a set of data-driven analysis tools for a wide class of nonlinear systems, which enable nonlinear data-driven simulation and predictions. Furthermore, a parameter-dependent dissipativity analysis verification setup is also presented, which serves to assess stability of the system within a bounded operation region. The major requirement is that there should exist a scheduling function which maps the nonlinear outputs into a finite number of scheduling variables, and this function should be analytically known. The effectiveness of the proposed tools is tested in practice and shown to provide accurate descriptions of the nonlinear dynamics by the means of a linear representation structure. For such, we consider a high-fidelity nonlinear simulator of a rotational pendulum benchmark simulator and an electro-mechanical positioning experimental validation test-bench. We also show that, even if the scheduling function is erroneously selected, the proposed framework is still able to offer a trustworthy representation of the output dynamics., Comment: Many changes are being performed on the manuscript. A revised version will be available soon

We introduce IMP-MARL, an open-source suite of multi-agent reinforcement learning (MARL) environments for large-scale Infrastructure Management Planning (IMP), offering a platform for benchmarking the scalability of cooperative MARL methods in real-world engineering applications. In IMP, a multi-component engineering system is subject to a risk of failure due to its components' damage condition. Specifically, each agent plans inspections and repairs for a specific system component, aiming to minimise maintenance costs while cooperating to minimise system failure risk. With IMP-MARL, we release several environments including one related to offshore wind structural systems, in an effort to meet today's needs to improve management strategies to support sustainable and reliable energy systems. Supported by IMP practical engineering environments featuring up to 100 agents, we conduct a benchmark campaign, where the scalability and performance of state-of-the-art cooperative MARL methods are compared against expert-based heuristic policies. The results reveal that centralised training with decentralised execution methods scale better with the number of agents than fully centralised or decentralised RL approaches, while also outperforming expert-based heuristic policies in most IMP environments. Based on our findings, we additionally outline remaining cooperation and scalability challenges that future MARL methods should still address. Through IMP-MARL, we encourage the implementation of new environments and the further development of MARL methods.

The brain has a great capacity for computation and efficient resolution of complex problems, far surpassing modern computers. Neuromorphic engineering seeks to mimic the basic principles of the brain to develop systems capable of achieving such capabilities. In the neuromorphic field, navigation systems are of great interest due to their potential applicability to robotics, although these systems are still a challenge to be solved. This work proposes a spike-based robotic navigation and environment pseudomapping system formed by a bio-inspired hippocampal memory model connected to a Posterior Parietal Cortex model. The hippocampus is in charge of maintaining a representation of an environment state map, and the PPC is in charge of local decision-making. This system was implemented on the SpiNNaker hardware platform using Spiking Neural Networks. A set of real-time experiments was applied to demonstrate the correct functioning of the system in virtual and physical environments on a robotic platform. The system is able to navigate through the environment to reach a goal position starting from an initial position, avoiding obstacles and mapping the environment. To the best of the authors knowledge, this is the first implementation of an environment pseudo-mapping system with dynamic learning based on a bio-inspired hippocampal memory., Comment: 24 pages, 10 figures, journal, Neural Networks

Recent works have demonstrated how Linear Parameter Varying Model Predictive Control (LPV MPC) algorithms are able to control nonlinear systems with precision and reduced computational load. Specifically, these schemes achieve comparable performances to state-of-the-art nonlinear MPCs, while requiring the solution of only one quadratic programming problem (thus being real-time capable). In this tutorial paper, we provide a step-by-step overview of how to implement such LPV MPC algorithms, covering from modelling to stability aspects. For illustration purposes, we consider a realistic implementation for a gas-lift petroleoum extraction process, comparing the LPV approach with the becnhmark nonlinear MPC software CasADi., Comment: Main text in portuguese, submitted to the 2023 Simp\'osio Brasileiro de Automa\c{c}\~ao Inteligente (SBAI 2023)