Introduction to logic, methods of proof, proof by induction and the pigeonhole principle with applications to logic design. Analytic functions of a complex variable, Cauchy-Riemann equations, Taylor series. Integration in the complex plane, Cauchy Integral formula, Liouville's theorem, maximum modulus theorem. Laurent series, residues, the residue theorem. Applications to system theory, Laplace transforms, and transmission lines.
Development of deterministic and non-deterministic models for physical systems, engineering applications and simulation tools for deterministic and non-deterministic systems. Case studies and projects.
This course will offer the students an overview of the technology of autonomous mobile robotic systems the mechanisms that allow a mobile robot to move through a real-world environment to perform its tasks. Since the design of any successful mobile robot involves the integration of many different disciplines -- among them kinematics, signal analysis, information theory, artificial intelligence, and probability theory -- the course will discuss all facets of mobile robotic system, including hardware design, wheel design, kinematics analysis, sensors and perception, localization, mapping, motionplanning, navigation, and robot control architectures. Multi-robot systems will also be introduced due to their broader applications, such as search and rescue tasks, and exploring tasks.
The miniaturization of electronics and increasingly sophisticated software environments has enabled the realization of systems that embed intelligence within a wide variety of systems interacting in real time with the environment. Such systems are characterized by hardware/software integration along with integration of both analog and digital electronics. Representative topics include specification of the overall system, real-time operating system, embedded network protocols, tradeoffs between hardware and software, etc. The lectures will be complemented by projects related to design of such systems.
Ideal circuit elements; Kirchoff laws and nodal analysis; source transformations; Thevenin/Norton theorems; operational amplifiers; response of RC, RL, and RLC circuits; sinusoidal sources and steady state analysis; analysis in the frequency domain; average and RMS power; linear and ideal transformers; linear models for transistors and diodes; analysis in the s-domain; Laplace transforms; and transfer functions.
Schaefer School of Engineering & Science
Department:
Electrical and Computer Engineering
Program:
Computer Engineering
Research Center:
Center for Intelligent Networked Systems
Research & Education
Research
Bio-inspired Self-organizing Complex Adaptive Systems
Self-organizing swarm sensor/robot network systems
Self-reconfigurable modular robots
Brain-body co-evolution of developmental robotics
Computational Intelligence, Artificial Life and Machine Learning
Robust intelligence and cognitive reasoning in embodied multi-agent intelligent systems
Neurocognitive approaches for pattern/behavior recognition and learning
Real-Time Embedded Systems
Agent-based architecture for reconfigurable embedded system
Education
Selected Publications
Books
Y. Meng and Y. Jin. (2011). Bio-Inspired Self-Organizing Robotic Systems, Y. Meng and Y. Jin, Studies on Complexity Intelligence Book Series, Springer. ISBN 978-3-642-20759-4.
Journals
Y. Jin, H. Guo, and Y. Meng. (2012). "Distributed Self-organizing Multi-Robot Systems using a Bio-inspired Hierarchical Gene Regulatory Networks Model", IEEE Transactions on Systems, Man, and Cybernetics, Part B. (in press).
J. Yin, Y. Meng, and Y. Jin. (2012). "A Cellular Mechanism for the Self-Organization of Adaptive Reservoir Computing", IEEE Transactions on Autonomous Mental Development. (in press).
H. Guo, Y. Jin, and Y. Meng. (2012). "A Uniform Framework for Self-organized Multi-Robot Pattern Formation and Boundary Coverage Inspired from Morphogenesis", ACM Trans. on Autonomous and Adaptive Systems. (In Press).
Y. Meng, Y. Jin, and J. Yin. (2011). "Modeling Activity-Dependent Plasticity in BCM Spiking Neural Networks with Application to Human Behavior Recognition", , IEEE Transactions on Neural Network. 22 (12), 1952-1966.
Y. Jin, Y. Meng, J. Weng and N. Kasabov. (2011). "Computational Modeling of Neural and Brain Development", IEEE Transactions on Autonomous Mental Development. 3 (4), 273-275.
Y. Zheng, Y. Meng, and Y. Jin. (2011). "Object Recognition by Fusing Bottom-up and Top-down Pathways in Neural Network", Neurocomputing. 74 (17), 3158-3169.
Y. Jin and Y. Meng. (2011). "Evolutionary Developmental Robotics – The Next Step to Go", IEEE CIS Autonomous Mental Development (AMD) Technical Committee Newsletter. 8 (2).
Y. Jin and Y. Meng. (2011). "Emergence of Robust Regulatory Motifs from in silico Evolution of Sustained Oscillation", BioSystems. 103 (11), 38-44.
Y. Jin and Y. Meng. (2011). "Morphogenetic Robotics: An Emerging New Field in Developmental Robotics", IEEE Transaction on Systems, Man, and Cybernetics, Part C. , 41 (2), 145-160.
Y. Meng, Y. Zhang, and Y. Jin. (2011). "Autonomous Self-Reconfiguration of Modular Robots using a Hierarchical Mechanochemical Model", IEEE Computational Intelligence Magazine, 6 (1), 43-54.
Y. Jin and Y. Meng. (2010). "Evolutionary and Developmental Robotics", IEEE Computational Intelligence Magazine. 5 (3), 9.
H. Guo and Y. Meng. (2010). "Distributed Reinforcement Learning for Coordinate Multi-Robot Foraging", Journal of Intelligent and Robotic Systems, vol. 60, no. 3, pp.531-551. 2010. 60 (3), 531-551.
Y. Meng and Y. Jin. (2010). "Distributed Multi-Agent Systems for a Collective Construction Task based on Virtual Swarm Intelligence", International Journal of Swarm Intelligence Research, 2 (1), 58-79.
M. Conforth and Y. Meng. (2010). "A hybrid training approach for artificial neural network based reinforcement learning", Journal of Experimental and Theoretical Artificial Intelligence, 22 (3), 197-218.
H. Guo, Y. Meng, and Y. Jin. (2009). "A cellular mechanism for multi-robot construction via evolutionary multi-objective optimization of a gene regulatory network", BioSystems, 98 (3), 193-203.
Y. Zheng and Y. Meng. (2009). "A Swarm-Intelligence based Algorithm for Face Tracking", International Journal of Intelligent Systems Technologies and Applications, 7 (3), 266-281.
Y. Meng. (2009). "Agent-based reconfigurable architecture for real-time object tracking", Journal of Real-Time Image Processing, 4 (4), 339-351.
Y. Meng. (2008). "A game-theory based multi-robot search approach for multiple targets", International Journal of Advanced Robotic Systems, 5 (4), 339-351.
Y. Meng. (2008). "Dynamic Equation Based Algorithm for Multi-Robot Multi-Target Searching", International Journal of Factory Automation, Robotics and Soft Computing, 1 (2), 7-14.
Y. Meng, K. Johnson, B. Simms, and M. Conforth. (2008). "A Modular-Based Miniature Mobile Robot for Pervasive Computing", Internationa Journal of Hybrid Information Technology, 1 (1), 45-55.
Y. Meng and H. Zhuang. (2006). "Autonomous robot calibration using vision technology", International Journal of Robotics and Computer-Integrated Manufacturing, 23 (4), 436-446.
Y. Meng and H. Zhuang. (2004). "What you see is what you get: implementation of an algorithm for self-calibration camera lens distortion", IEEE Robotics and Automation Magazine, 11 (4), 123-127.
Y. Meng and H. Zhuang. (2001). "Self-Calibration of camera-equipped robot manipulators", International Journal of Robotics Research, 20 (11), 909-921.
Book Chapters
Y. Jin and Y. Meng. (2012). "Morphogenetic Robotics: A New Paradigm for Designing Self-Organizing Self-Reconfigurable and Self-Adaptive Robots", Morphogenetic Engineering: Toward Programmable Complex Systems, R. Doursat, H. Sayama, and O. Michel, Studies in Computational Intelligence, Springer.
Y. Meng, H. Guo, and Y. Jin. (2010). "A Multi-Cellular based Self-Organizing Approach for Multi-Robot Systems", Exploring New Horizons for Evolutionary Design of Robots, Studies in Computational Intelligence, Springer.
M. Conforth and Y. Meng. (2008). "Artificial Neural Network based Learning for Mobile Robot Localization", Robotics, Automation, and Control, I-Tech Education and Publishing, Vienna, Austrai.
Y. Meng. (2008). "Dynamic Equation based Algorithm for Multi-Robot Multi-Target Searching", Emerging Technologies, Robotics and Control Systems, Salvatore Pennacchio, International Scientific Book.
Y. Meng. (2008). "Q-Learning Adjusted Bio-inspired Multi-Robot Coordination", Recent Advances in Multi-Robot Systems, Aleksandar Lazinica, I-Tech Education and Publishing, Vienna, Austrai.
Y. Meng. (2006). "An Agent-based Architecture on Reconfigurable System-on-Chip for Real-Time Systems", Handbook on Mobile and Ubiquitous Computing: Innovations and Perspectives, American Scientific Publishers.
Conference Proceedings
M. Conforth and Y. Meng. (2011). "Self-reorganizing knowledge representation for autonomous learning in social agents", 2011 IEEE International Joint Conference on Neural Networks (IJCNN 2011).
Y. Zheng and Y. Meng. (2011). "A Hybrid System with What-Where-Memory for Multi-Object Recognition", 2011 IEEE International Joint Conference on Neural Networks (IJCNN 2011).
M. Conforth and Y. Meng. (2011). "CHARISMA: A context hierarchy-based cognitive architecture for self-motivated social agents", 2011 IEEE International Joint Conference on Neural Networks (IJCNN 2011).
Y. Meng, Y. Zhang, A. Sampath, Y. Jin, and B. Sendhoff. (2011). "Cross-ball: a new morphogenetic self-reconfigurable modular robot", IEEE International Conference on Robotics and Automation (ICRA2011).
H. Guo, Y. Meng, and Y. Jin. (2011). "Swarm robot pattern formation using a morphogenetic multi-celluar based self-organization algorithm", IEEE International Conference on Robotics and Automation (ICRA2011). .
Y. Zheng and Y. Meng. (2011). "Modular Neural Networks for Multi-Class Objective Recognition", IEEE International Conference on Robotics and Automation (ICRA2011).
Y. Zhang and Y. Meng. (2010). "A Decentralized Multi-Robot System for Intruder Detection in Security Defense", 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010).
Y. Meng, Y. Zhang, and Y. Jin. (2010). "A Morphogenetic Approach to Self-Reconfigurable Modular Robots", 12th International Conference on the Synthesis and Simulation of Living Systems (ALIFE XII).
Y. Meng, Y. Jin, J. Yin, and M. Conforth. (2010). "Human Activity Detection using Spiking Neural Networks Regulated by a Gene Regulatory Network", 2010 IEEE International Joint Conference on Neural Networks (IJCNN 2010).
Y. Zheng, Y. Meng, and Y. Jin. (2010). "Fusing Bottom-up and Top-down Pathways in Neural Networks for Visual Object Recognition", 2010 IEEE International Joint Conference on Neural Networks (IJCNN 2010).
H. Guo, Y. Meng, and Y. Jin. (2010). "Analysis of Local Communication Load in Shape Formation of a Distributed Morphogenetic Swarm Robotic System", 2010 IEEE World Congress on Computational Intelligence, 2010 IEEE Congress on Evolutionary Computation.
J. Yin and Y. Meng. (2010). "Human Activity Recognition in Video using a Hierarchical Probabilistic Latent Model", Third IEEE Workshop on Computer Vision and Pattern Recognition for Human Communicative Behavior Analysis.
J. Yin and Y. Meng. (2009). "Abnormal Behavior Recognition using Self-Adaptive Hidden Markov Models", 2009 International Conference on Image Analysis and Recognition.
M. Conforth, Y. Meng, C. Valmikinathan, and X. Yu. (2009). "Nerve Graft Selection for Peripheral Nerve Regeneration using Neural Networks", 2009 IEEE Symposium on Computational Intelligence in Bioinformatics and Computational Biology.
Y. Jin, H. Guo and Y. Meng. (2009). "Robustness analysis and failure recovery for a bio-inspired self-organizing multi-robot systems", Third International Conference on Self-Adaptive and Self-Organizing Systems.
M. Conforth and Y. Meng. (2009). "On the Value of SImple Stoichiometry to Alife Simulations using EcoSim", 2009 IEEE Symposium on Artificial Life (ALIFE 2009).
Y. Jin, Y. Meng, and B. Sendhoff. (2009). "Evolvability and Robustness of In Silico Evolution of Gene Regulatory Dynamics", 2009 Foundations of Systems Biology in Engineering.
H. Guo, Y. Meng, and Y. Jin. (2009). "Self-Adaptive multi-robot construction using gene regulatory network", 2009 IEEE Symposium on Artificial Life.
Y. Meng and J. Gan. (2008). "A Distributed Swarm Intelligence based Algorithm for a Cooperative Multi-Robot Construction Task", IEEE Swarm Intelligence Symposium 2008 (SIS 2008) .
M. Conforth and Y. Meng. (2008). "Reinforcement learning for neural networks using swarm intelligence", IEEE swarm intelligence Symposium 2008.
Y. Zheng and Y. Meng. (2008). "Swarm Intelligence based Dynamic Object Tracking", 2008 IEEE Congress on Evolutionary Computation (CEC 2008).
Y. Meng and J. Gan. (2008). "Self-Adaptive Distributed Multi-Task Allocation in a Multi-Robot System", 2008 IEEE Congress on Evolutionary Computation (2008 CEC).
H. Guo and Y. Meng. (2008). "Dynamic Correlation Matrix Based Multi-Q Learning for a Multi-Robot System", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2008).
Y. Zheng and Y. Meng. (2008). "Particle Swarm Optimization based Particle Filter for Free-Selected Object Tracking", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2008) .
Y. Meng, K. Johnson, B. Simms, and M. Conforth. (2008). "A Generic Architecture of Modular Embedded System for Miniature Mobile Robots", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2008).
Y. Meng, O. Kazeem, and J. Muller. (2007). "A Hybrid ACO/PSO Control Algorithm for Distributed Multi-Agent Systems", 2007 IEEE Swarm Intelligence Symposium (SIS 2007).
Y. Meng and J. Gan. (2007). "LIVS: Local Interaction via Virtual Stigmergy Coordination in Distributed Search and Collective Cleanup", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2007).
Y. Meng, O. Kazeem and J. Muller. (2007). "A Swarm Intelligence based Coordination Algorithm for Distributed Multi-Agent Systems", 2007 IEEE International Conference on Integration of Knowledge Intensive Multi-Agent Systems (KIMAS 2007).
Y. Meng. (2006). "A Mobile Vision System with Reconfigurable Intelligent Agents", 2006 IEEE World Congress on Computational Intelligence (WCCI 2006).
Y. Meng. (2006). "An Agent-Based Mobile Robot System using SOC Technique", Proceedings of IEEE International Conference on Robotics & Automation (ICRA 2006).
Y. Meng. (2005). "An Agent-based Reconfigurable System-on-chip Architecture for Real-Time Systems", The 2nd International Conference on Embedded Software and Systems (ICESS 2005).
Y. Meng. (2005). "A Dynamic Self-Reconfigurable Mobile Robot Navigation System", IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2005).
H. Zhuang and Y. Meng. (2001). "Using a Scale: Self-calibration of a Robot System with Factor Method", Proceedings of IEEE International Conference on Robotics & Automation (ICRA 2001).
