The design and application of Soft Sensors (SSs) in the process industry is a growing research field, which needs to mediate problems of model accuracy with data availability and computational complexity. Black-box machine learning (ML) methods are often used as an efficient tool to implement SSs. Many efforts are, however, required to properly select input variables, model class, model order and the needed hyperparameters. The aim of this work was to investigate the possibility to transfer the knowledge acquired in the design of a SS for a given process to a similar one. This has been approached as a transfer learning problem from a source to a target domain. The implementation of a transfer learning procedure allows to considerably reduce the computational time dedicated to the SS design procedure, leaving out many of the required phases. Two transfer learning methods have been proposed, evaluating their suitability to design SSs based on nonlinear dynamical models. Recurrent neural structures have been used to implement the SSs. In detail, recurrent neural networks and long short-term memory architectures have been compared in regard to their transferability. An industrial case of study has been considered, to evaluate the performance of the proposed procedures and the best compromise between SS performance and computational effort in transferring the model. The problem of labeled data scarcity in the target domain has been also discussed. The obtained results demonstrate the suitability of the proposed transfer learning methods in the design of nonlinear dynamical models for industrial systems.

This review article aims to address common research questions in hexapod robotics. How can we build intelligent autonomous hexapod robots that can exploit their biomechanics, morphology, and computational systems, to achieve autonomy, adaptability, and energy efficiency comparable to small living creatures, such as insects? Are insects good models for building such intelligent hexapod robots because they are the only animals with six legs? This review article is divided into three main sections to address these questions, as well as to assist roboticists in identifying relevant and future directions in the field of hexapod robotics over the next decade. After an introduction in section (1), the sections will respectively cover the following three key areas: (2) biomechanics focused on the design of smart legs; (3) locomotion control; and (4) high-level cognition control. These interconnected and interdependent areas are all crucial to improving the level of performance of hexapod robotics in terms of energy efficiency, terrain adaptability, autonomy, and operational range. We will also discuss how the next generation of bioroboticists will be able to transfer knowledge from biology to robotics and vice versa.

In this paper, we introduce a network of spiking neurons devoted to navigation control. Three different examples, dealing with stimuli of increasing complexity, are investigated. In the first one, obstacle avoidance in a simulated robot is achieved through a network of spiking neurons. In the second example, a second layer is designed aiming to provide the robot with a target approaching system, making it able to move towards visual targets. Finally, a network of spiking neurons for navigation based on visual cues is introduced. In all cases, the robot was assumed to rely on some a priori known responses to low-level sensors (i.e., to contact sensors in the case of obstacles, to proximity target sensors in the case of visual targets, or to the visual target for navigation with visual cues). Based on their knowledge, the robot has to learn the response to high-level stimuli (i.e., range finder sensors or visual input). The biologically plausible paradigm of spike-timing-dependent plasticity (STDP) is included in the network to make the system able to learn high-level responses that guide navigation through a simple unstructured environment. The learning procedure is based on classical conditioning.

Soft Sensors (SSs) are inferential dynamical models employed in industries to perform prediction of process hard-to-measure variables based on their relation with easily accessible ones. They allow implementation of real-time control and monitoring of the plants and present other advantages in terms of costs and efforts. Given the complexity of industrial processes, these models are generally designed with data-driven black-box machine learning (ML) techniques. ML methods work well only if the data on which the prediction is performed share the same distribution with the one on which the model was trained. This is not always possible, since plants can often show new working conditions. Even similar plants show different data distributions, making SSs not scalable between them. Models should then be created from scratch with highly time-consuming procedures. Transfer Learning (TL) is a field of ML that re-uses the knowledge from one task to learn a new different, but related, one. TL techniques are mainly used for classification tasks. Only recently TL techniques have been adopted in the SS field. The proposed survey reports the state of the art of TL techniques for nonlinear dynamical SSs design. Methods and applications are discussed and the new directions of this research field are depicted.

In this paper, the paradigm of emergent computation is applied to locomotion control in legged robots: the locomotion gait is the result of self-organization of a network of locally coupled nonlinear oscillators. This means to adopt the biological paradigm of central pattern generator (CPG), implemented by using cellular neural networks (CNNs). The whole control strategy is hybrid in the sense that the gait generation is accomplished by a fully analog CNN, while a simple logic unit modulates the behavior of the CNN-based CPG, so that the strategy is suitable to eventually include sensory feedback. The design of a VLSI chip implementing the CNN-based CPG and some experimental results on the chip are presented. The chip is designed using a switched-capacitor technique, fundamental to obtain in a simple and direct way some key features of the hybrid control discussed. The experimental results confirm the suitability of the approach.