Feasibility of Manual Teach-and-Replay and Continuous Impedance Shaping for Robotic Locomotor Training Following Spinal Cord Injury

Robotic gait training is an emerging technique for retraining walking ability following spinal cord injury (SCI). A key challenge in this training is determining an appropriate stepping trajectory and level of assistance for each patient, since patients have a wide range of sizes and impairment levels. Here, we demonstrate how a lightweight yet powerful robot can record subject-specific, trainer-induced leg trajectories during manually assisted stepping, then immediately replay those trajectories. Replay of the subject-specific trajectories reduced the effort required by the trainer during manual assistance, yet still generated similar patterns of muscle activation for six subjects with a chronic SCI. We also demonstrate how the impedance of the robot can be adjusted on a step-by-step basis with an error-based, learning law. This impedance-shaping algorithm adapted the robot's impedance so that the robot assisted only in the regions of the step trajectory where the subject consistently exhibited errors. The result was that the subjects stepped with greater variability, while still maintaining a physiologic gait pattern. These results are further steps toward tailoring robotic gait training to the needs of individual patients

A Supervisor for Control of Mode-switch Process

Many processes operate only around a limited number of operation points. In order to have adequate control around each operation point, and adaptive controller could be used. When the operation point changes often, a large number of parameters would have to be adapted over and over again. This makes application of conventional adaptive control unattractive, which is more suited for processes with slowly changing parameters. Furthermore, continuous adaptation is not always needed or desired. An extension of adaptive control is presented, in which for each operation point the process behaviour can be stored in a memory, retrieved from it and evaluated. These functions are co-ordinated by a ¿supervisor¿. This concept is referred to as a supervisor for control of mode-switch processes. It leads to an adaptive control structure which quickly adjusts the controller parameters based on retrieval of old information, without the need to fully relearn each time. This approach has been tested on experimental set-ups of a flexible beam and of a flexible two-link robot arm, but it is directly applicable to other processes, for instance, in the (petro) chemical industry

Logistic Knowledge Tracing: A Constrained Framework for Learner Modeling

Adaptive learning technology solutions often use a learner model to trace learning and make pedagogical decisions. The present research introduces a formalized methodology for specifying learner models, Logistic Knowledge Tracing (LKT), that consolidates many extant learner modeling methods. The strength of LKT is the specification of a symbolic notation system for alternative logistic regression models that is powerful enough to specify many extant models in the literature and many new models. To demonstrate the generality of LKT, we fit 12 models, some variants of well-known models and some newly devised, to 6 learning technology datasets. The results indicated that no single learner model was best in all cases, further justifying a broad approach that considers multiple learner model features and the learning context. The models presented here avoid student-level fixed parameters to increase generalizability. We also introduce features to stand in for these intercepts. We argue that to be maximally applicable, a learner model needs to adapt to student differences, rather than needing to be pre-parameterized with the level of each student's ability

Hybrid Dy-NFIS & RLS equalization for ZCC code in optical-CDMA over multi-mode optical fiber

For long haul coherent optical fiber communication systems, it is significant to precisely monitor the quality of transmission links and optical signals. The channel capacity beyond Shannon limit of Single-mode optical fiber (SMOF) is achieved with the help of Multi-mode optical fiber (MMOF), where the signal is multiplexed in different spatial modes. To increase single-mode transmission capacity and to avoid a foreseen “capacity crunch”, researchers have been motivated to employ MMOF as an alternative. Furthermore, different multiplexing techniques could be applied in MMOF to improve the communication system. One of these techniques is the Optical Code Division Multiple Access (Optical-CDMA), which simplifies and decentralizes network controls to improve spectral efficiency and information security increasing flexibility in bandwidth granularity. This technique also allows synchronous and simultaneous transmission medium to be shared by many users. However, during the propagation of the data over the MMOF based on Optical-CDMA, an inevitable encountered issue is pulse dispersion, nonlinearity and MAI due to mode coupling. Moreover, pulse dispersion, nonlinearity and MAI are significant aspects for the evaluation of the performance of high-speed MMOF communication systems based on Optical-CDMA. This work suggests a hybrid algorithm based on nonlinear algorithm (Dynamic evolving neural fuzzy inference (Dy-NFIS)) and linear algorithm (Recursive least squares (RLS)) equalization for ZCC code in Optical-CDMA over MMOF. Root mean squared error (RMSE), mean squared error (MSE) and Structural Similarity index (SSIM) are used to measure performance results

Risk, Unexpected Uncertainty, and Estimation Uncertainty: Bayesian Learning in Unstable Settings

Recently, evidence has emerged that humans approach learning using Bayesian updating rather than (model-free) reinforcement algorithms in a six-arm restless bandit problem. Here, we investigate what this implies for human appreciation of uncertainty. In our task, a Bayesian learner distinguishes three equally salient levels of uncertainty. First, the Bayesian perceives irreducible uncertainty or risk: even knowing the payoff probabilities of a given arm, the outcome remains uncertain. Second, there is (parameter) estimation uncertainty or ambiguity: payoff probabilities are unknown and need to be estimated. Third, the outcome probabilities of the arms change: the sudden jumps are referred to as unexpected uncertainty. We document how the three levels of uncertainty evolved during the course of our experiment and how it affected the learning rate. We then zoom in on estimation uncertainty, which has been suggested to be a driving force in exploration, in spite of evidence of widespread aversion to ambiguity. Our data corroborate the latter. We discuss neural evidence that foreshadowed the ability of humans to distinguish between the three levels of uncertainty. Finally, we investigate the boundaries of human capacity to implement Bayesian learning. We repeat the experiment with different instructions, reflecting varying levels of structural uncertainty. Under this fourth notion of uncertainty, choices were no better explained by Bayesian updating than by (model-free) reinforcement learning. Exit questionnaires revealed that participants remained unaware of the presence of unexpected uncertainty and failed to acquire the right model with which to implement Bayesian updating

Novel hybrid extraction systems for fetal heart rate variability monitoring based on non-invasive fetal electrocardiogram

This study focuses on the design, implementation and subsequent verification of a new type of hybrid extraction system for noninvasive fetal electrocardiogram (NI-fECG) processing. The system designed combines the advantages of individual adaptive and non-adaptive algorithms. The pilot study reviews two innovative hybrid systems called ICA-ANFIS-WT and ICA-RLS-WT. This is a combination of independent component analysis (ICA), adaptive neuro-fuzzy inference system (ANFIS) algorithm or recursive least squares (RLS) algorithm and wavelet transform (WT) algorithm. The study was conducted on clinical practice data (extended ADFECGDB database and Physionet Challenge 2013 database) from the perspective of non-invasive fetal heart rate variability monitoring based on the determination of the overall probability of correct detection (ACC), sensitivity (SE), positive predictive value (PPV) and harmonic mean between SE and PPV (F1). System functionality was verified against a relevant reference obtained by an invasive way using a scalp electrode (ADFECGDB database), or relevant reference obtained by annotations (Physionet Challenge 2013 database). The study showed that ICA-RLS-WT hybrid system achieve better results than ICA-ANFIS-WT. During experiment on ADFECGDB database, the ICA-RLS-WT hybrid system reached ACC > 80 % on 9 recordings out of 12 and the ICA-ANFIS-WT hybrid system reached ACC > 80 % only on 6 recordings out of 12. During experiment on Physionet Challenge 2013 database the ICA-RLS-WT hybrid system reached ACC > 80 % on 13 recordings out of 25 and the ICA-ANFIS-WT hybrid system reached ACC > 80 % only on 7 recordings out of 25. Both hybrid systems achieve provably better results than the individual algorithms tested in previous studies.Web of Science713178413175