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Inverse optimal control is the problem of computing a cost function that would have resulted in an observed sequence of decisions. The standard formulation of this problem assumes that decisions are optimal and tries to minimize the difference between what was observed and what would have been observed given a candidate cost function. We assume instead that(More)
This article presents a new approach to designing brain–computer interfaces (BCIs) that explicitly accounts for both the uncertainty of neural signals and the important role of sensory feedback. This approach views a BCI as the means by which users communicate intent to an external device and models intent as a string in an ordered symbolic language. This(More)
This paper presents an interface that allows a human pilot to remotely teleoperate an unmanned aircraft flying at a fixed altitude with input only from an electroen-cephalograph (EEG), which is used in this case to distinguish between left- and right-hand motor imagery in the brain. The approach is to construct an ordered symbolic language for smooth planar(More)
We propose a complementary approach to the design of neural prosthetic interfaces that goes beyond the standard approach of estimating desired control signals from neural activity. We exploit the fact that the for a user's intended application, the dynamics of the prosthetic in fact impact subsequent desired control inputs. We illustrate that changing the(More)
— Neural interfaces use estimates of brain or muscle activity to generate control inputs for a prosthetic device. Most previous work focuses on estimating neural activity more accurately. This paper focuses on generating better control inputs. It shows that changing the dynamic response of a prosthetic device can make specific tasks easier to accomplish. It(More)
Localization of acoustic sources has been an area of research starting primarily with underwater acoustics. Recently, localization of sources in air has become a topic of interest for automatic detection, surveillance and tracking for military applications. Other application include novel teleconference devices, specifically automatic focusing on the person(More)
There are applications where microphone arrays must be integrated into/onto a structure. As an example there are efforts to instrument soldiers' helmets and vehicles with sensors in order to detect and localize noise events. In these cases the sound will be diffracted around the support platform. In this paper a spherical diffracting platform is used and is(More)
Inverse optimal control is the problem of computing a cost function with respect to which observed state input trajectories are optimal. We present a new method of inverse optimal control based on minimizing the extent to which observed trajectories violate first-order necessary conditions for opti-mality. We consider continuous-time deterministic optimal(More)
Photoinduced, copper-catalyzed cross-coupling can offer a complementary approach to thermal (non-photoinduced) methods for generating C-X (X = C, N, O, S, etc.) bonds. In this report, we describe the first detailed mechanistic investigation of one of the processes that we have developed, specifically, the (stoichiometric) coupling of a copper-thiolate with(More)
In the presence of TMSOTf and a trialkylamine base, acetic acid undergoes aldol addition to non-enolizable aldehydes under exceptionally mild conditions. Acidic workup yields the beta-hydroxy carboxylic acid. The reaction appears to proceed via a three-step, one-pot process, including in situ trimethylsilyl ester formation, bis-silyl ketene acetal(More)