Biomimetic Manipulator Control Design for Bimanual Tasks in the Natural Environment

As robots become more prolific in the human environment, it is important that safe operational procedures are introduced at the same time; typical robot control methods are often very stiff to maintain good positional tracking, but this makes contact (purposeful or accidental) with the robot dangerous. In addition, if robots are to work cooperatively with humans, natural interaction between agents will make tasks easier to perform with less effort and learning time. Stability of the robot is particularly important in this situation, especially as outside forces are likely to affect the manipulator when in a close working environment; for example, a user leaning on the arm, or task-related disturbance at the end-effector. Recent research has discovered the mechanisms of how humans adapt the applied force and impedance during tasks. Studies have been performed to apply this adaptation to robots, with promising results showing an improvement in tracking and effort reduction over other adaptive methods. The basic algorithm is straightforward to implement, and allows the robot to be compliant most of the time and only stiff when required by the task. This allows the robot to work in an environment close to humans, but also suggests that it could create a natural work interaction with a human. In addition, no force sensor is needed, which means the algorithm can be implemented on almost any robot. This work develops a stable control method for bimanual robot tasks, which could also be applied to robot-human interactive tasks. A dynamic model of the Baxter robot is created and verified, which is then used for controller simulations. The biomimetic control algorithm forms the basis of the controller, which is developed into a hybrid control system to improve both task-space and joint-space control when the manipulator is disturbed in the natural environment. Fuzzy systems are implemented to remove the need for repetitive and time consuming parameter tuning, and also allows the controller to actively improve performance during the task. Experimental simulations are performed, and demonstrate how the hybrid task/joint-space controller performs better than either of the component parts under the same conditions. The fuzzy tuning method is then applied to the hybrid controller, which is shown to slightly improve performance as well as automating the gain tuning process. In summary, a novel biomimetic hybrid controller is presented, with a fuzzy mechanism to avoid the gain tuning process, finalised with a demonstration of task-suitability in a bimanual-type situation.EPSR

Aerospace Medicine and Biology: a Continuing Bibliography with Indexes (Supplement 328)

This bibliography lists 104 reports, articles and other documents introduced into the NASA Scientific and Technical Information System during September, 1989. Subject coverage includes: aerospace medicine and psychology, life support systems and controlled environments, safety equipment, exobiology and extraterrestrial life, and flight crew behavior and performance

Simple model of complex dynamics of activity patterns in developing networks of neuronal cultures

Living neuronal networks in dissociated neuronal cultures are widely known for their ability to generate highly robust spatiotemporal activity patterns in various experimental conditions. These include neuronal avalanches satisfying the power scaling law and thereby exemplifying self-organized criticality in living systems. A crucial question is how these patterns can be explained and modeled in a way that is biologically meaningful, mathematically tractable and yet broad enough to account for neuronal heterogeneity and complexity. Here we propose a simple model which may offer an answer to this question. Our derivations are based on just few phenomenological observations concerning input-output behavior of an isolated neuron. A distinctive feature of the model is that at the simplest level of description it comprises of only two variables, a network activity variable and an exogenous variable corresponding to energy needed to sustain the activity and modulate the efficacy of signal transmission. Strikingly, this simple model is already capable of explaining emergence of network spikes and bursts in developing neuronal cultures. The model behavior and predictions are supported by empirical observations and published experimental evidence on cultured neurons behavior exposed to oxygen and energy deprivation. At the larger, network scale, introduction of the energy-dependent regulatory mechanism enables the network to balance on the edge of the network percolation transition. Network activity in this state shows population bursts satisfying the scaling avalanche conditions. This network state is self-sustainable and represents a balance between global network-wide processes and spontaneous activity of individual elements

A brain-machine interface for assistive robotic control

Brain-machine interfaces (BMIs) are the only currently viable means of communication for many individuals suffering from locked-in syndrome (LIS) – profound paralysis that results in severely limited or total loss of voluntary motor control. By inferring user intent from task-modulated neurological signals and then translating those intentions into actions, BMIs can enable LIS patients increased autonomy. Significant effort has been devoted to developing BMIs over the last three decades, but only recently have the combined advances in hardware, software, and methodology provided a setting to realize the translation of this research from the lab into practical, real-world applications. Non-invasive methods, such as those based on the electroencephalogram (EEG), offer the only feasible solution for practical use at the moment, but suffer from limited communication rates and susceptibility to environmental noise. Maximization of the efficacy of each decoded intention, therefore, is critical. This thesis addresses the challenge of implementing a BMI intended for practical use with a focus on an autonomous assistive robot application. First an adaptive EEG- based BMI strategy is developed that relies upon code-modulated visual evoked potentials (c-VEPs) to infer user intent. As voluntary gaze control is typically not available to LIS patients, c-VEP decoding methods under both gaze-dependent and gaze- independent scenarios are explored. Adaptive decoding strategies in both offline and online task conditions are evaluated, and a novel approach to assess ongoing online BMI performance is introduced. Next, an adaptive neural network-based system for assistive robot control is presented that employs exploratory learning to achieve the coordinated motor planning needed to navigate toward, reach for, and grasp distant objects. Exploratory learning, or “learning by doing,” is an unsupervised method in which the robot is able to build an internal model for motor planning and coordination based on real-time sensory inputs received during exploration. Finally, a software platform intended for practical BMI application use is developed and evaluated. Using online c-VEP methods, users control a simple 2D cursor control game, a basic augmentative and alternative communication tool, and an assistive robot, both manually and via high-level goal-oriented commands

Natural disasters and household welfare : evidence from Vietnam

As natural disasters hit with increasing frequency, especially in coastal areas, it is imperative to better understand how much natural disasters affect economies and their people. This requires disaggregated measures of natural disasters that can be reliably linked to households, the first challenge this paper tackles. In particular, a methodology is illustrated to create natural disaster and hazard maps from first hand, geo-referenced meteorological data. In a second step, the repeated cross-sectional national living standard measurement surveys (2002, 2004, and 2006) from Vietnam are augmented with the natural disaster measures derived in the first phase, to estimate the welfare effects associated with natural disasters. The results indicate that short-run losses from natural disasters can be substantial, with riverine floods causing welfare losses of up to 23 percent and hurricanes reducing welfare by up to 52 percent inside cities with a population over 500,000. Households are better able to cope with the short-run effects of droughts, largely due to irrigation. There are also important long-run negative effects, in Vietnam mostly so for droughts, flash floods, and hurricanes. Geographical differentiation in the welfare effects across space and disaster appears partly linked to the functioning of the disaster relief system, which has so far largely eluded households in areas regularly affected by hurricane force winds.Natural Disasters,Hazard Risk Management,Disaster Management,Climate Change Mitigation and Green House Gases,Adaptation to Climate Change

Dynamical Systems Analysis in Adaptive and Metapopulation Ecology with Applications to Conservation Management

The ability for a species to persist largely relies on how well they adapt to the environment and their interactions with local and global communities. Specifically, if adaptation occurs quickly enough or nearby communities sufficiently promote growth rates, populations at risk of extinction may persist. In this dissertation, we first develop a method that estimates and compares rates of change in time series data of population densities and measurable traits (phenotypes). Additionally, we compare between genetic (evolutionary) and non-genetic (plastic) trait change to determine whether phenotypes change faster when driven by evolutionary or plastic change. We then focus on metapopulation models to understand system dynamics and viability metrics in amphibian populations. We start by investigating a two patch model with 1, 2, and 3 life history stages to understand how dispersal affects population dynamics and synchrony. We categorize dispersal based on the magnitude of dispersal probabilities and degree of symmetry to understand how different dispersal types affect population fluctuations and synchrony. Finally, we use habitat contribution metrics to investigate viability in a seven pond Columbia spotted frog population located in western Montana. We classify each pond based on their relative importance to the global community and use sensitivity analysis to measure how habitat management affects pond size, total population size, and the degree of habitat importance. These results provide a means to understand how species respond to environmental and anthropogenic disturbances for habitat management efforts

Diversity, variability and persistence elements for a non-equilibrium theory of eco-evolutionary dynamics

Natural ecosystems persist in variable environments by virtue of a suite of traits that span from the individual to the community, and from the ecological to the evolutionary scenarios. How these internal characteristics operate to allow living beings to cope with the uncertainty present in their environments is the subject matter of quantitative theoretical ecology. Under the framework of structural realism, the present dissertation project has advocated for the strategy of mathematical modeling as a strategy of abstraction. The goal is to explore if a range of natural ecosystems display the features of complex systems, and evaluate whether these features provide insights into how they persist in their current environments, and how might they cope with changing environments in the future. A suite of inverse, linear and non-linear dynamical mathematical models, including non-equilibrium catastrophe models, and structured demographic approaches is applied to five case studies of natural systems fluctuating in the long-term in diverse scenarios: phytoplankton in the global ocean, a mixotrophic plankton food web in a marine coastal environment, a wintering waterfowl community in a major Mediterranean biodiversity hot-spot, a breeding colony of a keystone avian scavenger in a mountainous environment and the shorebird community inhabiting the coast of UK. In all case studies, there is strong evidence that ecosystems are able to closely track their common environment through several strategies. For example, in global phytoplankton communities, a latitudinal gradient in the positive impact of functional diversity on community stability counteracts the increasing environmental variability with latitude. Mixotrophy, by linking several feeding strategies in a food web, internally drives community dynamics to the edge of instability while maximizing network complexity. In contrast, an externally generated major perturbation, operating through planetary climatic disruptions, induce an abrupt regime shift between alternative stable states in the wintering waterfowl community. Overall, the natural systems studied are shown to posses features of complex systems: connectivity, autonomy, emergence, non-equilibrium, non-linearity, self-organization and coevolution. In rapidly changing environments, these features are hypothesized to allow natural system to robustly respond to stress and disturbances to a large extent. At the same time, future scenarios will be probably characterized by conditions never experienced before by the studied systems. How will they respond to them, is an open question. Based on the results of this dissertation, future research directions in theoretical quantitative ecology will likely benefit from non-autonomous dynamical system approaches, where model parameters are a function of time, and from the deeper exploration of global attractors and the non-equilibriumness of dynamical systems

Network analysis of complex biological systems : boundedness of weakly reversible chemical reaction networks and conditions for synchronisation of coupled oscillators

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