Brain-Switches for Asynchronous Brain−Computer Interfaces: A Systematic Review

A brain–computer interface (BCI) has been extensively studied to develop a novel communication system for disabled people using their brain activities. An asynchronous BCI system is more realistic and practical than a synchronous BCI system, in that, BCI commands can be generated whenever the user wants. However, the relatively low performance of an asynchronous BCI system is problematic because redundant BCI commands are required to correct false-positive operations. To significantly reduce the number of false-positive operations of an asynchronous BCI system, a two-step approach has been proposed using a brain-switch that first determines whether the user wants to use an asynchronous BCI system before the operation of the asynchronous BCI system. This study presents a systematic review of the state-of-the-art brain-switch techniques and future research directions. To this end, we reviewed brain-switch research articles published from 2000 to 2019 in terms of their (a) neuroimaging modality, (b) paradigm, (c) operation algorithm, and (d) performance

Brain-Controlled Multi-Robot at Servo-Control Level Based on Nonlinear Model Predictive Control

Using a brain-computer interface (BCI) rather than limbs to control multiple robots (i.e., brain-controlled multi-robots) can better assist people with disabilities in daily life than a brain-controlled single robot. For example, one person with disabilities can move by a brain-controlled wheelchair (leader robot) and simultaneously transport objects by follower robots. In this paper, we explore how to control the direction, speed, and formation of a brain-controlled multi-robot system (consisting of leader and follower robots) for the first time and propose a novel multi-robot predictive control framework (MRPCF) that can track users' control intents and ensure the safety of multiple robots. The MRPCF consists of the leader controller, follower controller, and formation planner. We build a whole brain-controlled multi-robot physical system for the first time and test the proposed system through human-in-the-loop actual experiments. The experimental results indicate that the proposed system can track users' direction, speed, and formation control intents when guaranteeing multiple robots’ safety. This paper can promote the study of brain-controlled robots and multi-robot systems and provide some novel views into human-machine collaboration and integration

Model predictive path integral control: Theoretical foundations and applications to autonomous driving

This thesis presents a new approach for stochastic model predictive (optimal) control: model predictive path integral control, which is based on massive parallel sampling of control trajectories. We first show the theoretical foundations of model predictive path integral control, which are based on a combination of path integral control theory and an information theoretic interpretation of stochastic optimal control. We then apply the method to high speed autonomous driving on a 1/5 scale vehicle and analyze the performance and robustness of the method. Extensive experimental results are used to identify and solve key problems relating to robustness of the approach, which leads to a robust stochastic model predictive control algorithm capable of consistently pushing the limits of performance on the 1/5 scale vehicle.Ph.D

Neuroprosthetic rehabilitation and translational mechanism after severe spinal cord injury

Traumatic SCIs have long-term health, economic and social consequences, stressing the urgency to develop interventions to improve recovery after such injuries. Today, the only proven effective interventions to enhance recovery after SCI are activity-based rehabilitation therapies, such as locomotor training. However, locomotor training shows no or very limited efficacy to improve function after a severe SCI that induces paralysis of the limbs. To mimic the outcome of severe but incomplete SCI in rodents, we developed a model of double opposite-side lateral hemisections termed staggered hemisection in adult rats. This model induced permanent paralysis below the level of injury but leaves an intervening gap of intact neural tissue that provides a substrate for recovery. We showed that this SCI leads to degradation of motor functions, which correlates with the formation of aberrant neuronal connections below the lesion. Robotic devices with a rehabilitative purpose should act as propulsive or postural neuroprosthesis allowing training under natural conditions. Our versatile robotic interface provides multidirectional bodyweight support during overground locomotion in rats. We next evaluated the effects of robot-assisted gait training enabled by electrochemical stimulation of spinal circuits to restore locomotion after staggered hemisection SCI. We found that after two months of daily training, paralyzed rats recovered the ability to initiate, sustain and adjust bipedal locomotion while supported in the robot under electrochemical stimulation. This recovery correlated with ubiquitous reorganization of corticospinal, brainstem, and intraspinal fibers. We next evaluated whether this treatment was capable of restoring supraspinal control of locomotion after a clinically relevant SCI. Rats received a severe contusion of the spinal cord that spared less than 10% of intact tissue. Robot-assisted rehabilitation restored weight-bearing locomotion in all the trained rats when stimulated electrochemicallay and in a subset of rats in the absence of any enabling factors which paralelled with the reorganization of axonal projections of reticulospinal fibers below the contusion. Virus-mediated silencing of reticulospinal neurons projecting to lumbar segments demonstrated that these inputs were necessary to initiate and sustain walking after training. When delaying the onset of training by two months, in the chronic stage, all the rats regained voluntary locomotor movements but the extent of the recovery was reduced compared to rats trained early after SCI. The results provide a strong rationale to evaluate the impact of neuroprosthetic training to improve motor functions in human patients with incomplete SCI. Translation of treatment paradigms developed in rodent models into effective clinical applications remains a major challenge in biomedical research. Here, we studied recovery of motor functions in more than 400 quadriplegic patients who presented various degree of spinal cord damage laterality. We found that recovery increases with the asymmetry of early motor deficits. We conclude that emergence of spinal cord decussating corticospinal fibers and bilateral motor cortex projections during mammalian evolution supports greater recovery after lateralized SCI primates compared to rodents. Novel experimental models and dedicated therapeutic strategies are necessary to take advantage of this powerful neuronal substrate for recovery after SCI

Technology 2000, volume 1

The purpose of the conference was to increase awareness of existing NASA developed technologies that are available for immediate use in the development of new products and processes, and to lay the groundwork for the effective utilization of emerging technologies. There were sessions on the following: Computer technology and software engineering; Human factors engineering and life sciences; Information and data management; Material sciences; Manufacturing and fabrication technology; Power, energy, and control systems; Robotics; Sensors and measurement technology; Artificial intelligence; Environmental technology; Optics and communications; and Superconductivity

Technology 2001: The Second National Technology Transfer Conference and Exposition, volume 2

Proceedings of the workshop are presented. The mission of the conference was to transfer advanced technologies developed by the Federal government, its contractors, and other high-tech organizations to U.S. industries for their use in developing new or improved products and processes. Volume two presents papers on the following topics: materials science, robotics, test and measurement, advanced manufacturing, artificial intelligence, biotechnology, electronics, and software engineering

Technology 2002: the Third National Technology Transfer Conference and Exposition, Volume 1

The proceedings from the conference are presented. The topics covered include the following: computer technology, advanced manufacturing, materials science, biotechnology, and electronics

The Sixth Annual Workshop on Space Operations Applications and Research (SOAR 1992)

This document contains papers presented at the Space Operations, Applications, and Research Symposium (SOAR) hosted by the U.S. Air Force (USAF) on 4-6 Aug. 1992 and held at the JSC Gilruth Recreation Center. The symposium was cosponsored by the Air Force Material Command and by NASA/JSC. Key technical areas covered during the symposium were robotic and telepresence, automation and intelligent systems, human factors, life sciences, and space maintenance and servicing. The SOAR differed from most other conferences in that it was concerned with Government-sponsored research and development relevant to aerospace operations. The symposium's proceedings include papers covering various disciplines presented by experts from NASA, the USAF, universities, and industry

MS FT-2-2 7 Orthogonal polynomials and quadrature: Theory, computation, and applications

Quadrature rules find many applications in science and engineering. Their analysis is a classical area of applied mathematics and continues to attract considerable attention. This seminar brings together speakers with expertise in a large variety of quadrature rules. It is the aim of the seminar to provide an overview of recent developments in the analysis of quadrature rules. The computation of error estimates and novel applications also are described