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departmentresearch group programmeprojectcoordinates)uuid:678fa285e3cf4308a2105af4dabbfae3Dhttp://resolver.tudelft.nl/uuid:678fa285e3cf4308a2105af4dabbfae3MActive Electrodes for Wearable EEG Acquisition: Review and Design MethodologyXu, J. (TNO, Eindhoven); Mitra, Srinjoy (University of Glasgow); Van Hoof, Chris (IMEC); Yazicioglu, Refet Firat (GlaxoSmithKline); Makinwa, K.A.A. (TU Delft Microelectronics)oActive electrodes (AEs), i.e., electrodes with builtin readout circuitry, are increasingly being implemented in wearable healthcare and lifestyle applications due to AEs' robustness to environmental interference. An AE locally amplifies and buffers Vlevel EEG signals before driving any cabling. The low output impedance of an AE mitigates cable motion artifacts, thus enabling the use of highimpedance dry electrodes for greater user comfort. However, developing a wearable EEG system, with medical grade signal quality on noise, electrode offset tolerance, commonmode rejection ratio, input impedance, and power dissipation, remains a challenging task. This paper reviews stateoftheart bioamplifier architectures and lowpower analog circuits design techniques intended for wearable EEG acquisition, with a special focus on an AE system interfaced with dry electrodes.Active electrode (AE); brain computer interface; commonmode rejection ratio (CMRR); dry electrodes; electroencephalography (EEG); instrumentation amplifier (IA)enjournal articleAccepted Author ManuscriptMicroelectronics)uuid:7ae3360523354e53b69169cccd44e4d7Dhttp://resolver.tudelft.nl/uuid:7ae3360523354e53b69169cccd44e4d7^Nearoptimal control with adaptive receding horizon for discretetime piecewise affine systemsXu, J. (TU Delft Hybrid, Adaptive and Nonlinear); Bu_oniu, Lucian (Technical University of ClujNapoca); De Schutter, B.H.K. (TU Delft Hybrid, Adaptive and Nonlinear)?Dochain, D (editor); Henrion, D (editor); Peaucelle, D (editor)We consider the infinitehorizon optimal control of discretetime, Lipschitz continuous piecewise affine systems with a single input. Stage costs are discounted, bounded, and use a 1 or "norm. Rather than using the usual fixedhorizon approach from modelpredictive control, we tailor an adaptivehorizon method called optimistic planning for continuous actions (OPC) to solve the piecewise affine control problem in receding horizon. The main advantage is the ability to solve problems requiring arbitrarily long horizons. Furthermore, we introduce a novel extension that provides guarantees on the closedloop performance, by reusing data ( learning ) across different steps. This extension is general and works for a large class of nonlinear dynamics. In experiments with piecewise affine systems, OPC improves performance compared to a fixedhorizon approach, while the datareuse approach yields further improvements.enearoptimality analysis; nonlinear predictive control; optimistic planning; piecewise affine systemsconference paperIFAC  Elsevier)uuid:0f80a5f1d81f4f1db6ae01289f8dfef0Dhttp://resolver.tudelft.nl/uuid:0f80a5f1d81f4f1db6ae01289f8dfef08LowPower Active Electrodes for Wearable EEG Acquisition,Xu, J. (TU Delft Electronic Instrumentation)6Makinwa, K.A.A. (promotor); Van Hoof, Chris (promotor)doctoral thesis)uuid:dde2e340135946fdb490e3ad29df49caDhttp://resolver.tudelft.nl/uuid:dde2e340135946fdb490e3ad29df49cadRecedinghorizon control for maxplus linear systems with discrete actions using optimistic planningXu, J. (TU Delft Hybrid, Adaptive and Nonlinear); Busoniu, L (Technical University of ClujNapoca); van den Boom, A.J.J. (TU Delft Hybrid, Adaptive and Nonlinear); De Schutter, B.H.K. (TU Delft Hybrid, Adaptive and Nonlinear)OCassandras, Christos G. (editor); Giua, Alessandro (editor); Li, Zhiwu (editor)This paper addresses the infinitehorizon o< ptimal control problem for maxplus linear systems where the considered objective function is a sum of discounted stage costs over an infinite horizon. The minimization problem of the cost function is equivalently transformed into a maximization problem of a reward function. The resulting optimal control problem is solved based on an optimistic planning algorithm. The control variables are the increments of system inputs and the action space is discretized as a finite set. Given a finite computational budget, a control sequence is returned by the optimistic planning algorithm. The first control action or a subsequence of the returned control sequence is applied to the system and then a recedinghorizon scheme is adopted. The proposed optimistic planning approach allows us to limit the computational budget and also yields a characterization of the level of nearoptimality of the resulting solution. The effectiveness of the approach is illustrated with a numerical example. The results show that the optimistic planning approach results in a lower tracking error compared with a finitehorizon approach when a subsequence of the returned control sequence is applied.sPlanning; Optimal control; Linear systems; Linear programming; Aerospace electronics; Algorithm design and analysisIEEE9781509041900Hybrid, Adaptive and Nonlinear)uuid:be785ee1eef044b0aa722f5c658b13c9Dhttp://resolver.tudelft.nl/uuid:be785ee1eef044b0aa722f5c658b13c9^Model Predictive Control for continuous piecewise affine systems using optimistic optimizationXu, J. (TU Delft Hybrid, Adaptive and Nonlinear); van den Boom, A.J.J. (TU Delft Hybrid, Adaptive and Nonlinear); Busoniu, L (Technical University of ClujNapoca); De Schutter, B.H.K. (TU Delft Hybrid, Adaptive and Nonlinear)KChiu, George (editor); Johnson, Katie (editor); Abramovitch, Danny (editor)This paper considers model predictive control for continuous piecewise affine (PWA) systems. In general, this leads to a nonlinear, nonconvex optimization problem. We introduce an approach based on optimistic optimization to solve the resulting optimization problem. Optimistic optimization is based on recursive partitioning of the feasible set and is characterized by an efficient exploration strategy seeking for the optimal solution. The advantage of optimistic optimization is that one can guarantee bounds on the suboptimality with respect to the global optimum for a given computational budget. The 1norm and "norm objective functions often considered in model predictive control for continuous PWA systems are continuous PWA functions. We derive expressions for the core parameters required by optimistic optimization for the resulting optimization problem. By applying optimistic optimization, a sequence of control inputs is designed satisfying linear constraints. A bound on the suboptimality of the returned solution is also discussed. The performance of the proposed approach is illustrated with a case study on adaptive cruise control.Optimization; Partitioning algorithms; Linear programming; Predictive control; Complexity theory; Prediction algorithms; Cruise control9781467386821)uuid:c5802c94a984474c8703698e056086adDhttp://resolver.tudelft.nl/uuid:c5802c94a984474c8703698e056086ad]Affective Body Language of Humanoid Robots: Perception and Effects in Human Robot InteractionXu, J.Neerincx, M.A. (promotor)human robot interaction; social robots; bodily expression; nonverbal cues; affective expression; mood expression; behavior model; body language; artificial intelligence; humanoid robots8Electrical Engineering, Mathematics and Computer ScienceIntelligent Systems)uuid:061e15635a8945938142d798212b7423Dhttp://resolver.tudelft.nl/uuid:061e15635a8945938142d798212b7423@Mood contagion of robot body language in human robot interaction6Xu, J.; Broekens, D.J.; Hindriks, K.V.; Neerincx, M.A.The aim of our work is to design bodily mood expressions of humanoid robots for interactive settings that can be recognized by users and have (positive) effects on people who interact with the robots. To < this end, we develop a parameterized behavior model for humanoid robots to express mood through body language. Different settings of the parameters, which control the spatial extent and motion dynamics of a behavior, result in different behavior appearances expressing different moods. In this study, we applied the behavior model to the gestures of the imitation game performed by the NAO robot to display either a positive or a negative mood. We address the question whether robot mood displayed simultaneously with the execution of functional behaviors in a task can (a) be recognized by participants and (b) produce contagion effects. Mood contagion is an automatic mechanism that induces a congruent mood state by means of the observation of another person s emotional expression. In addition, we varied task difficulty to investigate how the task load mediates the effects. Our results show that participants are able to differentiate between positive and negative robot mood and they are able to recognize the behavioral cues (the parameters) we manipulated. Moreover, selfreported mood matches the mood expressed by the robot in the easy task condition. Additional evidence for mood contagion is provided by the fact that we were able to replicate an expected effect of negative mood on task performance: in the negative mood condition participants performed better on difficult tasks than in the positive mood condition, even though participants selfreported mood did not match that of the robot.mhuman robot interaction (HRI); mood expression; nonverbal cues; behavioral cues; body language; social robotsSpringer)uuid:e18df77627fb425aace36f702c6975afDhttp://resolver.tudelft.nl/uuid:e18df77627fb425aace36f702c6975afYA 15Channel digital active electrode system for multiparameter biopotential measurementXu, J. (Holst Centre); Bsze, Benjamin (Holst Centre); Van Hoof, Chris (IMEC); Makinwa, K.A.A. (TU Delft Electronic Instrumentation); Yazicioglu, Refet Firat (IMEC)MThis paper presents a digital active electrode (DAE) system for multiparameter biopotential signal acquisition in portable and wearable devices. It is built around an IC that performs analog signal processing and digitization with the help<br/>of onchip instrumentation amplifiers, a 12 bit ADC and a digital interface. Via a standard bus, up to 16 digital active electrodes (15channels) can be connected to a commercially available microcontroller, thus significantly reducing system<br/>complexity and cost. In addition, the DAE utilizes an innovative functionally DCcoupled amplifier to preserve input DC signal, while still achieving stateoftheart performance: 60 nV/sqrt(Hz) inputreferred noise and 350 mV electrodeoffset tolerance. A commonmode feedforward scheme improves the CMRR of an<br/>AE pair from 40 dB to maximum 102 dB.sActive electrode; biopotential measurement; digital interface; DCcoupled amplifier; commonmode feedforward (CMFF)Electronic Instrumentation)uuid:6acba0568bfb44ce9af860e991ae52b1Dhttp://resolver.tudelft.nl/uuid:6acba0568bfb44ce9af860e991ae52b1NRobot Mood is Contagious: Effects of Robot Body Language in the Imitation GameMood contagion is an automatic mechanism that induces a congruent mood state by means of the observation of another person's emotional expression. In this paper, we address the question whether robot mood displayed during an imitation game can (a) be recognized by participants and (b) produce contagion effects. Robot mood was displayed by applying a generic framework for mood expression using body language. By modulating the set of available behavior parameters in this framework for controlling pose and motion dynamics, the gestures performed by the humanoid robot NAO were adjusted to display either a positive or negative mood. In the study performed, we varied both mood as well as task difficulty. Our results show that participants are able to differentiate between positive and negative robot mood. Moreover, selfreported mood matches the mood of the robot in the easy task condition. Additional evidence for mood conta< gion is provided by the fact that we were able to replicate an expected effect of negative mood on task performance: in the negative mood condition participants performed better on difficult tasks than in the positive mood condition, even though participants selfreported mood did not match that of the robot.mmood expression; nonverbal cues; behavioral cues; body language; social robots; Human Robot Interaction (HRI)ACM)uuid:82d083dcb287437f8066b2ce9b7da015Dhttp://resolver.tudelft.nl/uuid:82d083dcb287437f8066b2ce9b7da015WA Wearable 8Channel ActiveElectrode EEG/ETI Acquisition System for Body Area NetworksXu, J (Extern); Mitra, Srinjoy (Extern); Matsumoto, A (Extern); Patki, S (Extern); Van Hoof, Chris (Extern); Makinwa, K.A.A. (TU Delft Electronic Instrumentation)br^Active electrode; chopper amplifier; dry electrode; EEG monitoring; electrodetissue impedance)uuid:474d89917e5749e980aaa71066cb884aDhttp://resolver.tudelft.nl/uuid:474d89917e5749e980aaa71066cb884akA mesoscale modelling perspective of cracking process and fracture energy under high strain rate in tensionWeerheijm, J.; Lu, Y.; Xu, J.cThis paper presents a numerical modelling study on the simulation of the cracking process and fracture energy in concrete under high strain rate. To capture the stress wave effect and the damage evolution at the mesolength scale, both a homogeneous model with a millimetreresolution mesh and an explicit heterogeneous mesoscale model with random polygon aggregates are employed. The tendency of development of a) discrete multiple cracks, and b) spread tensile damage across adjacent element layers, in the high strain rate tension regime is scrutinised. This phenomenon generally gives rise to an increase in the dynamic fracture energy, which is consistent with experimental observations. Relative comparison between the homogeneous and heterogeneous mesoscale simulations suggests a sensible effect of the mesoscopic heterogeneity in the dynamic fracture process.Mconcrete; dynamic tension; high strain rate; fracture energy; mesoscale modelCimne!Civil Engineering and GeosciencesStructural Engineering)uuid:9f4c083d5b67488cada60c5876afcf60Dhttp://resolver.tudelft.nl/uuid:9f4c083d5b67488cada60c5876afcf60<A 160W 8Channel Active Electrode System for EEG MonitoringXu, J. (TU Delft Electronic Instrumentation); Yazicioglu, Refet Firat (IMEC); Grundlehner, Bernard (IMEC); Harpe, Pieter (Eindhoven University of Technology); Makinwa, K.A.A. (TU Delft Electronic Instrumentation); Van Hoof, Chris (IMEC)RThis paper presents an active electrode system for gelfree biopotential EEG signal acquisition. The system consists of frontend chopper amplifiers and a backend commonmode feedback (CMFB) circuit. The frontend ACcoupled chopper amplifier employs input impedance boosting and digitallyassisted<br/>offset trimming. The former increases the input impedance of the active electrode to 2 G at 1 Hz and the latter limits the chopping induced output ripple and residual offset to 2 mV and 20 mV respectively. Thanks to chopper stabilization, the active electrode achieves 0.8 Vrms (0.5100 Hz) input referred noise. The use of a backend CMFB circuit further improves the CMRR of the active electrode readout to 82 dB at 50 Hz. Both frontend and backend<br/>circuits are implemented in a 0.18 m CMOS process and the total current consumption of an 8channel readout system is 88 A from 1.8 V supply. EEG measurements using the proposed active electrode system demonstrate its benefits compared to passive electrode systems, namely reduced sensitivity to cable motion artifacts and mains interference.Elektrotechniek; Techniek)uuid:14df7e55a0dc412abac14af3736f372cDhttp://resolver.tudelft.nl/uuid:14df7e55a0dc412abac14af3736f372chBedform evolution around a submarine pipeline and its effects on waveinduced forces under regular waves
hydrodynamics.Mechanical, Maritime and Materials EngineeringMarine and Transport Technology"Ship Hydromechanics and Structures)uuid:426494edd77048f481813c6f0b57a3a1Dhttp://resolver.tudelft<.nl/uuid:426494edd77048f481813c6f0b57a3a1CVortex modes and vortexinduced vibration of a long, flexible riserconstruction
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