Monkeys can learn to directly control the movements of an artificial actuator by using a brain-machine interface (BMI) driven activity sample cortical neurons. Eventually, they do so without moving their limbs. Neuronal adaptations underlying transition from limb are poorly understood. Here, we show that rapid modifications in neuronal representation velocity hand and occur multiple areas during operation BMI. Initially, monkeys controlled hand-held pole. During this period, BMI was trained...

The temporally encoded information obtained by vibrissal touch could be decoded "passively," involving only input-driven elements, or "actively," utilizing intrinsically driven oscillators. A previous study suggested that the trigeminal somatosensory system of rats does not obey bottom-up order activation predicted passive decoding. Thus, we have tested whether this obeys predictions active We studied cortical single units in cortices anesthetized and guinea pigs found about a quarter them...

Robotic manipulators are playing an increasing role in a wide range of industries. However, their application to assembly tasks is hampered by the need for precise control over environment and task-specific coding. Cartesian impedance well-established method interacting with handling uncertainties. With advance Reinforcement Learning (RL) it has been suggested learn matrices. most current work limited learning diagonal matrices addition trajectory itself. We argue that asymmetric enhance...

ABSTRACT NL's Wire Telemetry System was used in the field to provide high-data-rate measurements of downhole forces, accelerations, pressures and formation properties. This paper describes, briefly discusses, longitudinal lateral vibrations their correlation with characteristics. Whi1e drilling through hard formations a tricone bit, smooth achieved after increasing rotary speed above resonant condition. The system frequency significantly lower than natural drillstring. Downhole bending...

BackgroundDuring planning and execution of reaching movements, the activity cortical motor neurons is modulated by a diversity motor, sensory, cognitive signals. Brain-machine interfaces (BMIs) extract part these modulations to directly control artificial actuators. However, that emerge in novel context operating BMI are poorly understood.Methodology/Principal FindingsHere we analyzed changes neuronal occurred different areas as monkeys learned use movements. Using spike-train analysis...

Impedance control facilitates the execution of tasks that involve contact with environment. However, task performance depends on accuracy at which desired impedance is attained. This paper focuses feedback methods for implementing and reveals underlying conflict between robustness to uncertainties. Furthermore, we propose a novel yet practical method while maintaining accurate tracking. Eigenvalue analysis simulation results are presented demonstrate accuracy/robustness dilemma relative...

A primary indicator of weld quality is the size bead produced, and for full penetration welds this parameter can be reduced to width backbead. method determining in real-time proposed that measures natural frequency pool motion when driven by a time varying arc plasma force. This developed analytically verified experimentally stationary pools. control system based on measurement scheme also simulation results are presented.

Objective.Electroencephalogram (EEG) based brain-computer interfaces (BCIs) have shown tremendous promise in facilitating direct non-invasive brain-control over external devices. However, their practical application is hampered due to errors command interpretation. A promising strategy for improving BCI accuracy on detecting error-related potentials (ErrPs), which are EEG evoked response errors. Thus, performance can be improved by undoing actions that evoke the detects as ErrPs. To achieve...

Different networks of coupled oscillators were developed for open-loop control periodic motion. However, some tasks, like yo-yo playing, are unstable and require proper phase locking to stabilize. Given the phase-locking property oscillators, we investigate their application closed-loop systems, concentrating on challenging task control. In particular, focus pulse-coupling, where sends a feedback upon reaching bottom string onset oscillatory cycle is used trigger movement. Four involving...

Recent experiments with brain-machine-interfaces (BMIs) indicate that the extent of neural modulations increased abruptly upon starting to operate interface, and especially after monkey stopped moving its hand. In contrast, are correlated kinematics movement remained relatively unchanged. Here we demonstrate similar changes produced by simulated neurons encode relevant signals generated an optimal feedback controller during BMI experiments. The relies on state estimation integrates both...

In recent years, industrial robots have been installed in various industries to handle advanced manufacturing and high precision tasks. However, further integration of is hampered by their limited flexibility, adaptability decision making skills compared human operators. Assembly tasks are especially challenging for since they contact-rich sensitive even small uncertainties. While reinforcement learning (RL) offers a promising framework learn control policies from scratch, its applicability...

Rhythmic active touch, such as whisking, evokes a periodic reference spike train along which the timing of novel stimulus, induced, for example, when whiskers hit an external object, can be interpreted. Previous work supports hypothesis that whisking-induced entrains neural implementation phase-locked loop (NPLL) in vibrissal system. Here we extend this and explore how entrained NPLL decodes delay novel, contact-induced stimulus facilitates object localization. We consider two...

Contact-rich assembly tasks may result in large and unpredictable forces torques when the locations of contacting parts are uncertain. The ability to correct trajectory response haptic feedback accomplish task despite location uncertainties is an important skill. We hypothesize that this skill would facilitate generalization support direct transfer from simulations real world. To reduce sample complexity, we propose learn a residual admittance policy (RAP). RAP learned movements generated by...

Zacksenhouse, Miriam, Don H. Johnson, Jerome Williams, and Chiyeko Tsuchitani. Single-neuron modeling of LSO unit responses. J. Neurophysiol. 79: 3098–3110, 1998. We investigated, using a computational model, the biophysical correlates measured discharge patterns lateral superior olive (LSO) neuron responses to monaural binaural stimuli. The model's geometry was based on morphological data, static electric properties model agree with available intracellular hyperpolarizing current pulses....

Background Multi-gene prognostic signatures derived from primary tumor biopsies can guide clinicians in designing an appropriate course of treatment. Identifying genes and pathways most essential to a signature performance may facilitate clinical application, provide insights into cancer progression, uncover potentially new therapeutic targets. We previously developed 17-gene (HTICS) for HER2+:ERα- breast patients, using that are differentially expressed initiating cells (TICs) versus...

Robotic yoyo playing is a challenging, open-loop unstable game, which requires dynamic dexterity to stabilize. The switching control strategy proposed here stabilizes the by determining when start its activation. A straightforward implementation presented and demonstrated, using continuous state estimation provided visual feedback previously developed model. discrete return map associated with original system analyzed shown possess single physically relevant fixed point. Stability guaranteed...

Manipulative hand movements involve coordinated of the fingers to manipulate an object within hand, and are classified as either simultaneous or sequential. Simultaneous characterized by single patterns digit movements, while sequential sequences such patterns. Here, we investigate extent coordination among 15 hand-joints during demonstrate that it leads a concise representation facilitates movement recognition. Principal component analysis (PCA), performed in 15-dimensional (15-D)...