Modeling kinematic variability reveals displacement and velocity based dual control of saccadic eye movements.

Noise is a ubiquitous component of motor systems that leads to behavioral variability of all types of movements. Nonetheless, systems-based models investigating human movements are generally deterministic and explain only the central tendencies like mean trajectories. In this paper, a novel approach to modeling kinematic variability of movements is presented and tested on the oculomotor system. This approach reconciles the two prominent philosophies of saccade control: displacement-based control versus velocity-based control. This was achieved by quantifying the variability in saccadic eye movements and developing a stochastic model of its control. The proposed stochastic dual model generated significantly better fits of inter-trial variances of the saccade trajectories compared to existing models. These results suggest that the saccadic system can flexibly use the information of both desired displacement and velocity for its control. This study presents a potential framework for investigating computational principles of motor control in the presence of noise utilizing stochastic modeling of kinematic variability.

Path Following for Autonomous Mobile Robots with Deep Reinforcement Learning.

Autonomous mobile robots have become integral to daily life, providing crucial services across diverse domains. This paper focuses on path following, a fundamental technology and critical element in achieving autonomous mobility. Existing methods predominantly address tracking through steering control, neglecting velocity control or relying on path-specific reference velocities, thereby constraining their generality. In this paper, we propose a novel approach that integrates the conventional pure pursuit algorithm with deep reinforcement learning for a nonholonomic mobile robot. Our methodology employs pure pursuit for steering control and utilizes the soft actor-critic algorithm to train a velocity control strategy within randomly generated path environments. Through simulation and experimental validation, our approach exhibits notable advancements in path convergence and adaptive velocity adjustments to accommodate paths with varying curvatures. Furthermore, this method holds the potential for broader applicability to vehicles adhering to nonholonomic constraints beyond the specific model examined in this paper. In summary, our study contributes to the progression of autonomous mobility by harmonizing conventional algorithms with cutting-edge deep reinforcement learning techniques, enhancing the robustness of path following.

Experimental Validation of High Precision Web Handling for a Two-Actuator-Based Roll-to-Roll System.

In this paper, experimental validation of high precision web handling for a two-actuator-based roll-to-roll (R2R) system is presented. To achieve this, the tension control loop is utilized to regulate the tension in the unwinder module, and the velocity loop is utilized to regulate the web speed in the rewinder module owing to the limitation of the number of actuators. Moreover, the radius estimation algorithm is applied to achieve an accurate web speed and the control sequence of the web handling in the longitudinal axis is developed to manipulate the web handling for convenience. Having these, the tension control performances are validated within ±0.79, ±1.32 and ±1.58 percent tension tracking error and 1.6, 1.53 and 1.33 percent web speed error at the speeds of 0.1 m/s, 0.2 m/s, and 0.3 m/s, respectively. The tension control performance is verified within ±0.3 N tracking error in the changes of the reference tension profile at 0.1 m/s web speed. Lastly, the air floating roller is used to minimize the friction terms and the inertia of the idle roller in the tension zone so that tension control performance can be better achieved during web transportation.

Novel velocity estimation for symmetric and asymmetric self-paced treadmill training.

BACKGROUND: Self-paced treadmills (SPT) can provide an engaging setting for gait rehabilitation by responding directly to the user's intent to modulate the external environment and internal effort. They also can improve gait analyses by allowing scientists and clinicians to directly measure the effect of an intervention on walking velocity. Unfortunately, many common SPT algorithms are not suitable for individuals with gait impairment because they are designed for symmetric gait patterns. When the user's gait is asymmetric due to paresis or if it contains large accelerations, the performance is diminished. Creating and validating an SPT that is suitable for asymmetric gait will improve our ability to study rehabilitation interventions in populations with gait impairment. The objective of this study was to test and validate a novel self-paced treadmill on both symmetric and asymmetric gait patterns and evaluate differences in gait kinematics, kinetics, and muscle activity between fixed-speed and self-paced treadmill walking. METHODS: We collected motion capture, ground reaction force data, and muscle activity from 6 muscles in the dominant leg during walking from 8 unimpaired subjects. In the baseline condition, the subjects walked at 3 fixed-speeds normalized to their leg length as Froude numbers. We developed a novel kinematic method for increasing the accuracy of the user's estimated walking velocity and compared our method against other published algorithms at each speed. Afterward, subjects walked on the SPT while matching their walking speed to a given target velocity using visual feedback of the treadmill speed. We evaluated the SPT by measuring steady-state error and the number of steps to reach the desired speed. We split the gait cycle into 7 phases and compared the kinematic, kinetic, and muscle activity between the fixed speed and self-paced mode in each phase. Then, we validated the performance of the SPT for asymmetric gait by having subjects walk on the SPT while wearing a locked-knee brace set to 0° on the non-dominant leg. RESULTS: Our SPT enabled controlled walking for both symmetric and asymmetric gait patterns. Starting from rest, subjects were able to control the SPT to reach the targeted speeds using visual feedback in 13-21 steps. With the locked knee brace, subjects controlled the treadmill with substantial step length and step velocity asymmetry. One subject was able to execute a step-to gait and halt the treadmill on heel-strikes with the braced leg. Our kinematic correction for step-length outperformed the competing algorithms by significantly reducing the velocity estimation error at the tested velocities. The joint kinematics, joint torques, and muscle activity were generally similar between fixed-speed and self-paced walking. Statistically significant differences were found in 5 of 63 tests for joint kinematics, 2 of 63 tests for joint torques, and 9 of 126 tests for muscle activity. The differences that were statistically significant were not found across all speeds and were generally small enough to be of limited clinical relevance. CONCLUSIONS: We present a validated method for implementing a self-paced treadmill for asymmetric and symmetric gaits. As a result of the increased accuracy of our estimation algorithm, our SPT produced controlled walking without including a position feedback controller, thereby reducing the influence of the controller on measurements of the user's true walking speed. Our method relies only on a kinematic correction to step length and step time which can support transfer to systems outside of the laboratory for symmetric and asymmetric gaits in clinical populations.

Path Planning and Collision Risk Management Strategy for Multi-UAV Systems in 3D Environments.

Multi-UAV systems are attracting, especially in the last decade, the attention of researchers and companies of very different fields due to the great interest in developing systems capable of operating in a coordinated manner in complex scenarios and to cover and speed up applications that can be dangerous or tedious for people: search and rescue tasks, inspection of facilities, delivery of goods, surveillance, etc. Inspired by these needs, this work aims to design, implement and analyze a trajectory planning and collision avoidance strategy for multi-UAV systems in 3D environments. For this purpose, a study of the existing techniques for both problems is carried out and an innovative strategy based on Fast Marching Square-for the planning phase-and a simple priority-based speed control-as the method for conflict resolution-is proposed, together with prevention measures designed to try to limit and reduce the greatest number of conflicting situations that may occur between vehicles while they carry out their missions in a simulated 3D urban environment. The performance of the algorithm is evaluated successfully on the basis of certain conveniently chosen statistical measures that are collected throughout the simulation runs.

Velocity Control of Traveling-Wave Ultrasonic Motors Based on Stator Vibration Amplitude.

Nonlinearity and resonance frequency shift make it difficult to control the operation of the traveling-wave ultrasonic motors (TWUSMs) in a wide velocity and load range. In this paper, a velocity control scheme based on the stator vibration amplitude and the parallel resonance frequency (VCBVF) of TWUSMs is proposed. Then, the stator vibration amplitude (SVA) and parallel resonance frequency ( f p ) are detected by a transformer ratio-arm bridge. Based on the linear relationship between the velocity and the SVA of TWUSMs, the proposed scheme achieves the control of the mechanical loop and the electrical loop. The linear relationship between the velocity and the SVA makes the mechanical loop achieve the target velocity efficiently, according to the SVA, and the electrical loop could provide the target SVA quickly. Experimental results show that the response time of velocity is 3-4 ms under different load torques and the overshoot is less than 22%. In addition, the proposed scheme improves the efficiency of TWUSMs due to f p tracking. Due to directing the SVA control, the proposed scheme can heighten the velocity response and the load adaptability of TWUSMs, and promote the application of TWUSMs under various conditions.

Design and Verification of Heading and Velocity Coupled Nonlinear Controller for Unmanned Surface Vehicle.

Unmanned Surface Vehicle (USV) is a novel multifunctional platform for ocean observation, and its heading and velocity control are essential and important for autonomous operation. A coupled heading and velocity controller is designed using backstepping technology for an USV called 'USBV' (Unmanned Surface Bathymetry Vehicle). The USBV is an underactuated catamaran, where the heading and velocity are controlled together by two thrusters at the stern. The three degrees-of-freedom equations are used for USBV's modeling, which is identified using experiment data. The identified model, with two inputs, induces heading and velocity tracking, which are coupled. Based on the model, a nonlinear controller for heading and velocity are acquired using backstepping technology. The stability of the controller is proved by Lyapunov theory under some assumptions. The verification is presented by lake and sea experiments.

Switching of actin-myosin motors by voltage-induced pH bias in vitro.

ATP-driven motor proteins, which function in cell motility and organelle transport, have potential applications as bio-inspired micro-devices; however, their control remains unsatisfactory. Here, we show rapid-velocity control of actin filaments interacting with myosin motors using voltage applied to Pt electrodes in an in vitro motility system, by which immediate increases and decreases in velocity were induced beside the cathode and anode, respectively. Indicator dye revealed pH changes after voltage application, and alternate voltage switching allowed actin filaments to cyclically alter their velocity in response to these changes. This principle provides a basis for on-demand control of not only motor proteins but also pH-sensitive events at a microscopic level.

Controlling wind turbine tower vibration under external force by applying control systems combination.

The global focus has recently shifted away from fuel-based power sources, and one of the most important projects for energy production is wind energy. To maintain low costs, the current research examines the problem of vibrations affecting wind turbine towers' performance (WTTs). In particular, the tower, resulting from excessive vibrations, can negatively affect a structure's power output and service life, as it can cause fatigue. Therefore, we conducted numerical tests on various types of controlled systems. Our tests revealed that combining a new technique cubic negative velocity control (CNVC) and linear negative acceleration control (LNAC) was the most effective and cost-efficient option for vibration damping. This solution was derived by using an approximation method for the averaging technique. The external force is an important component of a nonlinear dynamic system and can be characterized by two-degree-of-freedom (2-DOF) differential coupled equations. After implementing the control measures, we conducted a numerical analysis of the vibration values before and after the operation. Stability is studied numerically. The numerical and approximate solutions were confirmed through the frequency response equation and time history with fourth-order Runge-Kutta (RK-4). Finally, we investigated the effect of parameters and compared our results with those of previously published studies.

Force/position-based velocity control strategy for the lower limb rehabilitation robot during active training: design and validation.

Aiming at the shortcomings of most existing control strategies for lower limb rehabilitation robots that are difficult to guarantee trajectory tracking effect and active participation of the patient, this paper proposes a force/position-based velocity control (FPVC) strategy for the hybrid end-effector lower limb rehabilitation robot (HE-LRR) during active training. The configuration of HE-LRR is described and the inverse Jacobian analysis is carried out. Then, the FPVC strategy design is introduced in detail, including normal velocity planning and tangential velocity planning. The experimental platform for the HE-LRR system is presented. A series of experiments are conducted to validate the FPVC strategy's performance, including trajectory measurement experiments, force and velocity measurement experiments, and active participation experiments. Experimental studies show that the end effector possesses good following performance with the reference trajectory and the desired velocity, and the active participation of subjects can be adjusted by the control strategy parameters. The experiments have verified the rationality of the FPVC strategy, which can meet the requirements of trajectory tracking effect and active participation, indicating its good application prospects in the patient's robot-assisted active training.

Analysis and Optimal Velocity Control of a Stochastic Convective Cahn-Hilliard Equation.

A Cahn-Hilliard equation with stochastic multiplicative noise and a random convection term is considered. The model describes isothermal phase-separation occurring in a moving fluid, and accounts for the randomness appearing at the microscopic level both in the phase-separation itself and in the flow-inducing process. The call for a random component in the convection term stems naturally from applications, as the fluid's stirring procedure is usually caused by mechanical or magnetic devices. Well-posedness of the state system is addressed, and optimisation of a standard tracking type cost with respect to the velocity control is then studied. Existence of optimal controls is proved, and the Gâteaux-Fréchet differentiability of the control-to-state map is shown. Lastly, the corresponding adjoint backward problem is analysed, and the first-order necessary conditions for optimality are derived in terms of a variational inequality involving the intrinsic adjoint variables.

Closed-loop control of a prosthetic finger via evoked proprioceptive information.

Objective.Proprioceptive information plays an important role for recognizing and coordinating our limb's static and dynamic states relative to our body or the environment. In this study, we determined how artificially evoked proprioceptive feedback affected the continuous control of a prosthetic finger.Approach.We elicited proprioceptive information regarding the joint static position and dynamic movement of a prosthetic finger via a vibrotactor array placed around the subject's upper arm. Myoelectric signals of the finger flexor and extensor muscles were used to control the prosthesis, with or without the evoked proprioceptive feedback. Two control modes were evaluated: the myoelectric signal amplitudes were continuously mapped to either the position or the velocity of the prosthetic joint.Main results.Our results showed that the evoked proprioceptive information improved the control accuracy of the joint angle, with comparable performance in the position- and velocity-control conditions. However, greater angle variability was prominent during position-control than velocity-control. Without the proprioceptive feedback, the position-control tended to show a smaller angle error than the velocity-control condition.Significance.Our findings suggest that closed-loop control of a prosthetic device can potentially be achieved using non-invasive evoked proprioceptive feedback delivered to intact participants. Moreover, the evoked sensory information was integrated during myoelectric control effectively for both control strategies. The outcomes can facilitate our understanding of the sensorimotor integration process during human-machine interactions, which can potentially promote fine control of prosthetic hands.

A Robotic Test Rig for Performance Assessment of Prosthetic Joints.

Movement within the human body is made possible by joints connecting two or more elements of the musculoskeletal system. Losing one or more of these connections can seriously limit mobility, which in turn can lead to depression and other mental issues. This is particularly pertinent due to a dramatic increase in the number of lower limb amputations resulting from trauma and diseases such as diabetes. The ideal prostheses should re-establish the functions and movement of the missing body part of the patient. As a result, the prosthetic solution has to be tested stringently to ensure effective and reliable usage. This paper elaborates on the development, features, and suitability of a testing rig that can evaluate the performance of prosthetic and robotic joints via cyclic dynamic loading on their complex movements. To establish the rig's validity, the knee joint was chosen as it provides both compound support and movement, making it one of the major joints within the human body, and an excellent subject to ensure the quality of the prosthesis. Within the rig system, a motorised lead-screw simulates the actuation provided by the hamstring-quadricep antagonist muscle pair and the flexion experienced by the joint. Loads and position are monitored by a load cell and proximity sensors respectively, ensuring the dynamics conform with the geometric model and gait analysis. Background: Robotics, Prosthetics, Mechatronics, Assisted Living. Methods: Gait Analysis, Computer Aided Design, Geometry Models. Conclusion: Modular Device, Streamlining Rehabilitation.

Human-inspired stable bilateral teleoperation of mobile manipulators.

This paper presents a novel strategy for delayed bilateral teleoperation of mobile manipulator robots. The strategy is based on the hypothesis that if the slave robot behaves similarly as the operator would do to the same task, the operator's perception of the system states improves, and therefore the performance of the task is better. The proposed scheme allows controlling in simultaneously the mobile platform and the manipulator robot employing a single master device and maintaining the stability of the system against variable and asymmetric communication time delays. Stability guidelines based on Lyapunov-Krasovskii method are provided for the adjustment of the delayed system. Besides, a new control allocation strategy is proposed founded on the study of human movement in a task of navigation-pick and place. Finally, the performance of the proposal is compared with the standard switched control using a real robotic platform. As a result in practice, the proposed scheme is easier and more intuitive for the operator, besides it allows to reduce significantly the time necessary to complete the task.

Swing Velocity Profiles of Small Limbs Can Arise from Transient Passive Torques of the Antagonist Muscle Alone.

In large limbs, changing motor neuron activity typically controls within-movement velocity. For example, sequential agonist-antagonist-agonist motor neuron firing typically underlies the slowing often present at the end of human reaches. In physiological movements of large limbs, antagonistic muscle passive torque is generally negligible. In small limbs, alternatively, passive torques can determine limb rest position, generate restoring movements to it, and decrease agonist-generated movement amplitude and velocity maxima. These observations suggest that, in small limbs, passive forces might also control velocity changes within movements. We investigated this issue in stick insect middle leg femur-tibia (FT) joint. During swing, the FT joint extensor muscle actively shortens and the flexor muscle passively lengthens. As in human reaching, after its initial acceleration, FT joint velocity continuously decreases. We measured flexor passive forces during imposed stretches spanning the ranges of FT joint angles, angular velocities, and movement amplitudes present in leg swings. The viscoelastic "transient" passive force that occurs during and soon after stretch depended on all three variables and could be tens of times larger than the "steady-state" passive force commonly measured long after stretch end. We combined these data, the flexor and extensor moment arms, and an existing extensor model to simulate FT joint swing. To measure only passive (flexor) muscle-dependent effects, we used constant extensor activations in these simulations. In simulations using data from ten flexor muscles, flexor passive torque could always produce swings with, after swing initiation, continuously decreasing velocities. Antagonist muscle passive torques alone can thus control within-movement velocity.

Extended optimum frequency tracking scheme for ultrasonic motor.

This work presents a general optimum frequency tracking scheme for an ultrasonic motor, which no longer requires the amplitudes of the applied voltages to keep identical. The proposed scheme here greatly extends the application of the optimum frequency in comparison to the existing studies. The mechanical quality factor of an ultrasonic motor is initially derived to describe the loss, which further is also in proportion to the temperature rise. The optimum frequency from the loss reduction viewpoint is then obtained, at which frequency the ultrasonic motor maintains the minimum loss and subsequently the minimum temperature rise. The optimum-frequency tracking scheme is subsequently constructed. Experiments are carried out to verify the existence of the optimum frequency and the reduction of the temperature-rise under the applied voltages in the general form, whose amplitudes and phase difference are all adjustable. The results have inferred that the optimum frequency still exists even though the applied voltages are in the general form, at which frequency the temperature-rise is obviously reduced in the absence of any external cooling equipment. The optimum frequency of the ultrasonic motor now gets closer to the industrial applications, especially when the applications require the velocity adjustment in a wide range.

Compliance control for a hydraulic bouncing system.

This paper is to reduce the contact impact, control the leg stiffness and bouncing height. Firstly, the combining position/force active compliance control was involved in the deceleration phase to decrease the impact force and improve the leg compliance capacity. Then a reasonable velocity control of cylinder was addressed to control the bouncing height to the given value in the acceleration phase. Due to the model uncertainties and disturbances in the deceleration and acceleration phase, a near inverse like controller with a proportional and differential control (PD) was added into the velocity control of acceleration phase to compensate the bouncing height control error. Finally, the effectiveness of proposed controller was validated by experiments. Experimental results showed the impact force could be reduced effectively and a significant bouncing height control performance could be achieved. The influences of initial energy, preload of spring and velocity of cylinder on the bouncing height were addressed as well.

Regulating the Emission Spectrum of CsPbBr3 from Green to Blue via Controlling the Temperature and Velocity of Microchannel Reactor.

The ability to precisely obtain tunable spectrum of lead halide perovskite quantum dots (QDs) is very important for applications, such as in lighting and display. Herein, we report a microchannel reactor method for synthesis of CsPbBr3 QDs with tunable spectrum. By adjusting the temperature and velocity of the microchannel reactor, the emission peaks of CsPbBr3 QDs ranging from 520 nm to 430 nm were obtained, which is wider than that of QDs obtained in a traditional flask without changing halide component. The mechanism of photoluminescence (PL) spectral shift of CsPbBr3 QDs was investigated, the result shows that the supersaturation control enabled by the superior mass and heat transfer performance in the microchannel is the key to achieve the wide range of PL spectrum, with only a change in the setting of the temperature controller required. The wide spectrum of CsPbBr3 QDs can be applied to light-emitting diodes (LEDs), photoelectric sensors, lasers, etc.

Effect of electric charging on the velocity of water flow in CNT.

The role of electrical charge in controlling the velocity of water molecules in a finite single-walled carbon nanotube (CNT) was studied in detail using molecular dynamics simulation. Different test cases were examined to determine the parameters affecting the control of water-flow velocity in CNT upon electrically charging the surface of a CNT. The results showed that charge magnitude and volume, as well as the charging scenario, are the parameters having greatest effect. The implementation of electric charge on the surface of a CNT was demonstrated to decrease the resistance of CNT to incoming water flow at the entrance, but to increase friction-type resistance to flow along the CNT. Therefore, through controlling the magnitude of electric charge, water flow through the CNT may be accelerated, or decelerated. The results show that the velocity of molecular flow in the CNT increases to a maximum value, and then decreases with electric charge regardless of its sign. In the case studied here, this maximum velocity occurs at electric charging of ±0.25e/atom. It was also shown that, to reach similar flow velocities in a CNT, it is not sufficient to merely implement equal volumes of electric charge, where the volume of electric charging is defined as charge magnitude × charging time. In fact , both magnitude of charging and volume of electric charging must be equal to each other. These findings, together with options to implement scenarios with alternative charging, provide the means to effectively adjust desired velocities in a CNT.

Balance characteristics in patients with major depression after a two-month walking exercise program: A pilot study.

UNLABELLED: Recent studies have demonstrated impaired balance performance in patients with major depressive disorder (MDD) in comparison to healthy controls (HC), which is likely to be related to deficits in integration of visual and proprioceptive inputs necessary for efficient postural control. In parallel, considerable literature supports the positive effects of a walking program on depressive symptoms. Thus this study aimed to determine the effects of a two-month walking program on implicit postural control strategies in MDD. Compared with twelve age- and body mass index-matched non-psychiatric HC (mean age 50.41 ± 6.93 years; five women), nine MDD (mean age 51.88 ± 10.01 years; five women) performed two sessions of standing postural control assessment, separated by eight weeks of the walking program, while the HC were only assessed at t0. The walking program included one-hour supervised walking sessions, three times a week over a two-month period. Postural performance was assessed by various center of pressure (COP) parameters, in particular those that bound the COP velocity of postural sway. The primary findings were that MDD patients exhibited positive physical activity-related changes in postural performance, with a decrease in body sway in the most difficult condition (with a foam surface). The real impact of the walking program on COP velocity-based variables suggests that MDD patients improved their ability to make more efficient postural corrections, which is useful for daily activities and autonomy. A balance assessment in the clinical screening routine might be used as a new index of the effectiveness of walking programs recommended for people with depression. TRIAL REGISTRATION: This study is registered at http://clinicaltrials.gov/: NCT01995422.