COMPLEX ADAPTIVE SYSTEMS AND BIOROBOTICS

12 CFU - 1° semestre

Docenti titolari dell'insegnamento

MATTIA FRASCA - Modulo COMPLEX ADAPTIVE SYSTEMS - ING-INF/04 - 6 CFU
PAOLO PIETRO ARENA - Modulo BIOROBOTICS - ING-INF/04 - 6 CFU


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Testi di riferimento


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Programmazione del corso

COMPLEX ADAPTIVE SYSTEMS
 ArgomentiRiferimenti testi
1Fundamentals of nonlinear dynamical systems: continuous-time systems1-2 
2Theory of elementary bifurcations for continuous-time systems1-2 
3Discrete-time dynamical systems: logistic map and bifurcations1-2 
4Equilibrium points, limit cycles, strange attractors1-2 
5Oscillations in second-order nonlinear circuits
6Chaotic systems1-2 
7Distributed systems, Cellular Neural Networks and reaction-diffusion systems
8Design of nonlinear systems
9Complex networks: analysis and control2-3 
BIOROBOTICS
 ArgomentiRiferimenti testi
1Introduction to Biorobotics and to its interdisciplinary aspects; detailed study on nonlinear dynamics in biological neural systemsdispense 
2biological neuron model and phase space analysis, models of synapses and of their modulation;Dispense del docente 
3computational models for biological neural networks; simulation examples referring to cases of study; Dispense del docente 
4biological neural paradigms for the generation and control of locomotion patterns: the Central Pattern Generator (CPG) and the decentralised controlLIbro 1 
5 implementation of the locomotion control paradigms through nonlinear circuits and systems (analog and digital implementation), libro 2 
6examples of bio inspired robots controlled by models of biological neural networks: implementation of undulatory worm-like locomotion patterns,libro 2; dispense 
7implementation of CPG networks and decentralised controllers on hexapod, quadruped and biped robots.libro 2; dispense 
8The role of complex dynamics in modelling and control of perceptual systems for biorobotic applications. Toward an insect brain computational model.dispense 


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