报告内容摘要：

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An ageing population requires assistive technology to maintain an independent life style. Which is also underscored by the recent proliferation of robotic assisted physiotherapy and personal robotic assist devices. In this context, robots assist therapists to deliver rehabilitation outcomes, and/or assist individuals to (re)-learn essential motor skills or assist people in the execution of certain motions.

Crucial in this context is that robots learn how to interact with an individual so as to achieve a common objective. This coordination is not trivial.

It is easily appreciated that learning control plays a fundamental role. In particular, we show that it may provide a model for human motor skill learning. This in turn will assist the development of better robot assist devices that achieve better and more cost effective recovery of human motor skills. Applications range from the training of elite athletes to the rehabilitation of human motor skills after trauma.

The key idea in iterative learning control is captured by the intuition of ``practice makes perfect'' and the underlying learning principle is one of gradient descent on a measurable criterion. Both ideas are well developed in the control literature, and have found widespread application in industrial processes. This success is partly explained by the fact that the methods are nearly model free, i.e. enjoy great robustness. From a qualitative point of view, these observations align well with our own experience of learning motor tasks, such as walking or writing. Indeed we practice until we reach a state of fluency with the task, underscored by a satisfactory visual evaluation of the execution of the motion under consideration.

 

报告人简介：

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Since July 2007, Iven Mareels is Dean of the School of Engineering, the University of Melbourne. He obtained the (ir) Masters of Electromechanical Engineering from Gent University Belgium in 1982 and the PhD in Systems Engineering from the Australian National University in 1987.  He became Professor of Electrical Engineering at the University of Melbourne in 1996, and held appointments at the Australian National University (1990-1996), the University of Newcastle (1988-1990) and the University of Gent (1986-1988). He is an honorary Professor at the National University of Defence Technology, China; and Shanghai Jiao Tong University, China.

In 2014 he received the IEEE CSS Control Technology Award. In 2013 he was the recipient of the The Asian Control Association Wook Hyun Kwon Education Award. He received the 2008 Clunies Ross Medal, Academy of Technological Sciences and Engineering for his work on Smart Irrigation Systems and in 2007 the inaugural Vice-Chancellor’s Knowledge Transfer Excellence Award, from the University of Melbourne, for this same work with Rubicon Systems Australia. In 2005, he was named IEEE CSS Distinguished Lecturer, and in 1994 he obtained the Vice-Chancellor's Award for Excellence in Teaching from the Australian National University.

He is Fellow of the Academy of Technological Sciences and Engineering, Australia, a Fellow of the Institute of Electrical and Electronics Engineers (USA), a Fellow of the Institute of Engineers Australia and a Foreign Member of the Royal Flemish Academy of Belgium for Science and the Arts (KVAB).

He received two civil honours for his work in engineering education and research, in 2013 he became a Commander in the Order of the Crown (Belgium), and in 2003 he received the Centenary Medal (Australia).

He is registered as a Corporate Professional Engineer and he is a member of the Engineering Executives chapter of Engineers Australia. He is a founding member of the Asian Control Association.

He is a Member of the Board of the Bionics Institute (since 1998), a Member of the Steering Committee for the Centre for Neural Engineering (since 2009) as well as a Member of the Steering Committee for the Melbourne based IBM Research Laboratory. He is a Life Advisor to the International Federation of Automatic Control.

He has extensive experience in consulting for both industry and government. He has strong interests in education and has taught a broad range of subjects in both mechanical and electrical engineering curricula.

His research is about the modelling and control of large scale systems, both engineered as well as natural systems, such as large scale water networks, smart grids and the brain (healthy and epileptic). He focuses on aspects of resilience, adaptation and learning. He has published 5 books, in excess of 120 journal publications and 230 conference publications. He is a co-inventor on a suite of international patents, in particular dealing with open water channel management and battery management systems.

 

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