The power dissipation method and kinematic reducibility of multiple-model robotic systems

This paper develops a formal connection between the power dissipation method (PDM) and Lagrangian mechanics, with specific application to robotic systems. Such a connection is necessary for understanding how some of the successes in motion planning and stabilization for smooth kinematic robotic systems can be extended to systems with frictional interactions and overconstrained systems. We establish this connection using the idea of a multiple-model system, and then show that multiple-model systems arise naturally in a number of instances, including those arising in cases traditionally addressed using the PDM. We then give necessary and sufficient conditions for a dynamic multiple-model system to be reducible to a kinematic multiple-model system. We use this result to show that solutions to the PDM are actually kinematic reductions of solutions to the Euler-Lagrange equations. We are particularly motivated by mechanical systems undergoing multiple intermittent frictional contacts, such as distributed manipulators, overconstrained wheeled vehicles, and objects that are manipulated by grasping or pushing. Examples illustrate how these results can provide insight into the analysis and control of physical systems

Toward a Vocabulary of Legged Leaping

As dynamic robot behaviors become more capable and well understood, the need arises for a wide variety of equally capable and systematically applicable transitions between them. We use a hybrid systems framework to characterize the dynamic transitions of a planar “legged” rigid body from rest on level ground to a fully aerial state. The various contact conditions fit together to form a topologically regular structure, the “ground reaction complex”. The body’s actuated dynamics excite multifarious transitions between the cells of this complex, whose regular adjacency relations index naturally the resulting “leaps” (path sequences through the cells from rest to free flight). We exhibit on a RHex robot some of the most interesting “words” formed by these achievable path sequences, documenting unprecedented levels of performance and new application possibilities that illustrate the value of understanding and expressing this vocabulary systematically. For more information: Kod*La

Control of multiple model systems

This thesis considers the control of multiple model systems. These are systems for which only one model out of some finite set of models gives the system dynamics at any given time. In particular, the model that gives the system dynamics can change over time. This thesis covers some of the theoretical aspects of these systems, including controllability and stabilizability. As an application, ``overconstrained' mechanical systems are modeled as multiple model systems. Examples of such systems include distributed manipulation problems such as microelectromechanical systems and many wheeled vehicles such as the Sojourner vehicle of the Mars Pathfinder mission. Such systems are typified by having more Pfaffian constraints than degrees of freedom. Conventional classical motion planning and control theories do not directly apply to overconstrained systems. Control issues for two examples are specifically addressed. The first example is distributed manipulation. Distributed manipulation systems control an object's motion through contact with a high number of actuators. Stability results are shown for such systems and control schemes based on these results are implemented on a distributed manipulation test-bed. The second example is that of overconstrained vehicles, of which the Mars rover is an example. The nonlinear controllability test for multiple model systems is used to answer whether a kinematic model of the rover is or is not controllable

Biomechanical Texture Coding and Transmission of Texture Information in Rat Whiskers

Classically, texture discrimination has been thought to be based on ‘global’ codes, i.e. frequency (signal analysis based on Fourier analysis) or intensity (signal analysis based on averaging), which both rely on integration of the vibrotactile signal across time and/or space. Recently, a novel ‘local’ coding scheme based on the waveform of frictional movements, discrete short- lasting kinematic events (i.e. stick-slip movements called slips) has been formulated. In the first part of my study I performed biomechanical measurements of relative movements of a rat vibrissa across sandpapers of different roughness. My major finding is that the classic global codes convey some information about texture identity but are consistently outperformed by the slip-based local code. Moreover, the slip code also surpasses the global ones in coding for active scanning parameters. This is remarkable as it suggests that the slip code would explicitly allow the whisking rat to optimize perception by selecting goal-specific scanning strategies. I therefore provide evidence that short stick-slip events may contribute to the perceptual mechanism by which rodent vibrissa code surface roughness. In the second part, I studied the biomechanics of how such events are transmitted from tip to follicle where mechano-transduction occurs. For this purpose, ultra-fast videography recording of the entire beam of a plucked rat whisker rubbing across sandpaper was employed. I found that slip events are conveyed almost instantly from tip to follicle while amplifying moments by a factor of about 1000. From these results, I argue that the mechanics of the whisker serve as a passive amplification device that faithfully represents stick-slip events to the neuronal receptors. Using measures of correlation, I moreover found that amongst the kinematic 8 variables, acceleration portrays dynamic variables (forces) best. The time series of acceleration at the base of the whisker provided a fair proxy to the time series of forces (dynamical variables) acting on the whisker base. Acceleration measurements (easily done via videography) may therefore provide an access to at least the relative amplitude of forces. This may be important for future work in behaving animals, where dynamical variables are notoriously difficult to measure

Eye Movements and Attention Are Related to Impaired Hand Motor Control in Older Adults

Visual information is critical for many goal-directed movements and changes in visual information influence hand motor performance in older adults. Knowledge of eye movements during hand motor tasks would provide greater insight into impaired hand function in older adults. This dissertation examined age-related changes in eye movements and the association with hand motor impairments in older adults. Given that attention plays a role in motor performance and declines with age, the relationship between attentional processes and hand motor control was also assessed. A total of 23 young (age 20 – 38) and 28 older (age 65 – 90) adults were recruited. Eye movements were recorded during common hand tasks including pegboard tests of manual dexterity, Archimedes spiral tracing, and a pinch force-matching task. Measures of the subsystems of attention and a dual task were performed. Results provide evidence for decreased ability to control gaze location and altered visual strategies during hand tasks in older adults, and hand motor performance decrements may be associated with these age-related changes in eye movements. Findings also illustrate a relationship between attentional processes and pegboard performance impairments in older adults. This dissertation contributes novel findings regarding age-associated impairments in hand motor control as they relate to eye movements, offering more insight into decreased function and loss of independence in older adults

Investigating reach and grasp in Parkinson's disease cognitive impairment

Reach and grasp are evolutionary conserved motor actions controlled by highly specialised neural pathways that have major nodes in the posterior parietal and premotor frontal cortices. Mild cognitive impairment is an important non-motor symptom of Parkinson’s disease (PD) and there is evidence that the risk of transition between PD mild cognitive impairment (PD-MCI) and Parkinson’s disease dementia (PDD) is dependent on which neurotransmitter systems within the brain are most dysfunctional. Studies of reach and grasp in PD subjects with normal cognition (PD-NC) suggest a greater dependence on visual feedback to guide reach and grasp compared with controls.The primary aim of this thesis is to explore how cognitive impairment influences reach and grasp in PD. Twenty two PD-NC, 23 PD-MCI, ten PDD and 19 controls reached and grasped for a target whilst wearing movement sensing equipment in four conditions: full vision, a darkened room with an illuminated target, with eyes closed at a natural speed and as quickly as possible in full vision. All PD subjects were tested whilst on. Kinematic parameters of reach and grasp were extracted from the movement data and analysed using standard statistical methods.Our results show a spectrum of change to kinematic reach parameters when reaching and grasping with eyes closed: PD-NC are disproportionately affected compared to controls and PDD are disproportionately affected compared to PD-NC. Parameters of reach and grasp were similar between PD-NC and PD-MCI in all conditions. These results have been discussed in the context of abnormal integration of sensorimotor functions and impaired spatial working memory in PD. Reaction time when reaching and grasping as quickly as possible is significantly associated with global cognition in the PD subjects after controlling for age, motor signs and disease duration. This supports a role for reaction time as a potential biomarker for cognitive impairment in PD

Using movement kinematics to understand the motor side of Autism Spectrum Disorder

openComprensione del sintomo motorio dell'autismo attraverso la cinematica del movimentoBeside core deficits in social interaction and communication, atypical motor patterns have been often reported in people with Autism Spectrum Disorder (ASD). It has been recently speculated that a part of these sensorimotor abnormalities could be better explained considering prospective motor control (i.e., the ability to plan actions toward future events or consider future task demands), which has been hypothesized to be crucial for higher mind functions (e.g., understand intentions of other people) (Trevarthen and Delafield-Butt 2013). The aim of the current dissertation was to tackle the motor ‘side’ in ASD exploring whether and how prospective motor control might be atypical in children with a diagnosis of autism, given that actions are directed into the future and their control is based on knowledge of what is going to happen next (von Hofsten and Rosander 2012). To do this, an integrative approach based on neuropsychological assessment, behavioural paradigms and machine learning modelling of the kinematics recorded with motion capture techniques was applied in typically developing children and children with ASD without accompanying intellectual impairment.openXXXI CICLO - ARCHITETTURA E DESIGN - Design navale e nauticoBECCHIO, CRISTINA (IIT)Podda, Jessic