Local Positioning System Using Flickering Infrared LEDs

International audienceA minimalistic optical sensing device for the indoor localization is proposed to estimate the relative position between the sensor and active markers using amplitude modulated infrared light. The innovative insect-based sensor can measure azimuth and elevation angles with respect to two small and cheap active infrared light emitting diodes (LEDs) flickering at two different frequencies. In comparison to a previous lensless visual sensor that we proposed for proximal localization (less than 30 cm), we implemented: (i) a minimalistic sensor in terms of small size (10 cm 3), light weight (6 g) and low power consumption (0.4 W); (ii) an Arduino-compatible demodulator for fast analog signal processing requiring low computational resources; and (iii) an indoor positioning system for a mobile robotic application. Our results confirmed that the proposed sensor was able to estimate the position at a distance of 2 m with an accuracy as small as 2-cm at a sampling frequency of 100 Hz. Our sensor can be also suitable to be implemented in a position feedback loop for indoor robotic applications in GPS-denied environment

Real-time terrain anomaly perception for safe robot locomotion using a digital double framework

Digital twinning systems are effective tools to test and develop new robotic capabilities before applying them in the real world. This work presents a real-time digital double framework that improves and facilitates robot perception of the environment. Soft or non-rigid terrains can cause locomotion failures, while visual perception alone is often insufficient to assess the physical properties of such surfaces. To tackle this problem we employ the proposed framework to estimate ground collapsibility through physical interactions while the robot is dynamically walking on challenging terrains. We extract discrepancy information between the two systems, a simulated digital double that is synchronized with a real robot, both using exactly the same physical model and locomotion controller. The discrepancy in sensor measurements between the real robot and its digital double serves as a critical indicator of anomalies between expected and actual motion and is utilized as input to a learning-based model for terrain collapsibility analysis. The performance of the collapsibility estimation was evaluated in a variety of real-world scenarios involving flat, inclined, elevated, and outdoor terrains. Our results demonstrate the generality and efficacy of our real-time digital double architecture for estimating terrain collapsibility

Real-time Digital Double Framework to Predict Collapsible Terrains for Legged Robots

Inspired by the digital twinning systems, a novel real-time digital double framework is developed to enhance robot perception of the terrain conditions. Based on the very same physical model and motion control, this work exploits the use of such simulated digital double synchronized with a real robot to capture and extract discrepancy information between the two systems, which provides high dimensional cues in multiple physical quantities to represent differences between the modelled and the real world. Soft, non-rigid terrains cause common failures in legged locomotion, whereby visual perception solely is insufficient in estimating such physical properties of terrains. We used digital double to develop the estimation of the collapsibility, which addressed this issue through physical interactions during dynamic walking. The discrepancy in sensory measurements between the real robot and its digital double are used as input of a learning-based algorithm for terrain collapsibility analysis. Although trained only in simulation, the learned model can perform collapsibility estimation successfully in both simulation and real world. Our evaluation of results showed the generalization to different scenarios and the advantages of the digital double to reliably detect nuances in ground conditions.Comment: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Preprint version. Accepted June 202

The effects of denervation and stimulation upon synaptic ultrastructure

Quantitative studies of synaptic ultrastructure were made in the upper layers of cat cerebral cortex. Tissues were from intact cortex and from long-term (chronic) undercut cortex with or without electrical stimulation. The synaptic effects of chronic electrical stimulation of denervated cortex are most readily understood as growth and remodeling of synaptic elements. Associated with chronic stimulation were increases in: symmetric membrane contacts; areas of round and flat vesicle containing terminals; dendritic shaft contacts; and synaptic contact lengths. Even without stimulation there were indications of synaptic plasticity in denervated cortex; compared with intact cortex, synapses having symmetric membrane contacts showed an increase in bouton area and an increase in synaptic contacts on dendritic shafts. These data are consistent with the observations of others in which axonal terminal growth occurred after deafferentation. But it appears that chronic electrical stimulation in the adult nervous system promotes significantly more plasticity than occurs without stimulation. In a functional sense stimulation in the present experiments produced effective inhibition which did not occur with denervation alone. Thus the plasticity observed with stimulation had both structural and functional components.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/50005/1/901780107_ftp.pd

Modifications of gustatory nerve synapses onto nucleus of the solitary tract neurons induced by dietary sodium-restriction during development

The terminal fields of nerves carrying gustatory information to the rat brainstem show a remarkable amount of expansion in the nucleus of the solitary tract (NTS) as a result of early dietary sodium restriction. However, the extent to which these axonal changes represent corresponding changes in synapses is not known. To identify the synaptic characteristics that accompany the terminal field expansion, the greater superficial petrosal (GSP), chorda tympani (CT), and glossopharyngeal (IX) nerves were labeled in rats fed a sodium-restricted diet during pre- and postnatal development. The morphology of these nerve terminals within the NTS region where the terminal fields of all three nerves overlap was evaluated by transmission electron microscopy. Compared to data from control rats, CT axons were the most profoundly affected. The density of CT arbors and synapses quadrupled as a result of the near life-long dietary manipulation. In contrast, axon and synapse densities of GSP and IX nerves were not modified in sodium-restricted rats. Furthermore, compared to controls, CT terminals displayed more instances of contacts with postsynaptic dendritic protrusions and IX terminals synapsed more frequently with dendritic shafts. Thus, dietary sodium restriction throughout pre- and postnatal development had differential effects on the synaptic organization of the three nerves in the NTS. These anatomical changes may underlie the impact of sensory restriction during development on the functional processing of taste information and taste-related behaviors. J. Comp. Neurol. 508:529–541, 2008. © 2008 Wiley-Liss, Inc.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/58547/1/21708_ftp.pd

Development of synaptic arrays in the inner plexiform layer of neonatal mouse retina

Retinas from mice of the C57BL/6 strain were sampled at frequent intervals from birth to postnatal day 33 to determine the numerical density of conventional and ribbon synapses within the inner plexiform layer (IPL) as a function of time. Synaptic arrays of the IPL were formed in three phases. During Phase I, from day 3 to day 10, conventional synapses were produced at a mean rate of 0.44 synapses/1,000 Μm 3 /hour, but no ribbons were seen. During Phase II, from day 11 to day 15, ribbons formed at a rate of 0.38 ribbons/1,000 Μm 3 /hour and conventional synapses were produced at a rate of 1.15 synapses/1,000 Μm 3 /hour. Phase III began at day 15, the approximate time of eye opening in these animals, and was characterized by a sharp reduction in the rate of production of both ribbons and conventional synapses. During this phase ribbons achieved a final mean density of 113 ribbons/1,000 Μm 3 and conventionals achieved a final mean density of 250 synapses/1,000 Μm 3 . Serial synapses appeared in Phase II but remained at low densities.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/50007/1/901870207_ftp.pd

Ultrastructure of primary afferent terminals and synapses in the rat nucleus of the solitary tract: Comparison among the greater superficial petrosal, chorda tympani, and glossopharyngeal nerves

The greater superficial petrosal (GSP), chorda tympani (CT), and glossopharyngeal (IX) nerves terminate in overlapping patterns in the brainstem in the rat nucleus of the solitary tract (NTS). There is one region, in particular, that receives overlapping inputs from all three nerves and is especially plastic during normal and experimentally altered development. To provide the requisite data necessary ultimately to delineate the circuitry in this region, we characterized the morphology of the synaptic inputs provided by the GSP, CT, and IX nerves through transmission electron microscopy. Although all three nerves had features characteristic of excitatory nerve terminals, ultrastructural analysis revealed dimorphic morphologies differentiating IX terminals from GSP and CT terminals. IX terminals had a larger area than GSP and CT terminals, and more synapses were associated with IX terminals compared with GSP and CT terminals. Additionally, IX terminals formed synapses most often with spines, as opposed to GSP and CT terminals, which formed synapses more often with dendrites. IX terminals also exhibited morphological features often associated with synaptic plasticity more often than was seen for GSP and CT terminals. These normative data form the basis for future studies of developmentally and environmentally induced plasticity in the rodent brainstem. J. Comp. Neurol. 502:1066–1078, 2007. © 2007 Wiley-Liss, Inc.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/55995/1/21371_ftp.pd

Anatomical origins of ocular dominance in mouse primary visual cortex

Ocular dominance (OD) plasticity is a classic paradigm for studying the effect of experience and deprivation on cortical development, and is manifested as shifts in the relative strength of binocular inputs to primary visual cortex (V1). The mouse has become an increasingly popular model for mechanistic studies of OD plasticity and, consequently, it is important that we understand how binocularity is constructed in this species. One puzzling feature of the mouse visual system is the gross disparity between the physiological strength of each eye in V1 and their anatomical representation in the projection from retina to the dorsal lateral geniculate nucleus (dLGN). While the contralateral-to-ipsilateral (C/I) ratio of visually evoked responses in binocular V1 is approximately 2:1, the ipsilateral retinal projection is weakly represented in terms of retinal ganglion cell (RGC) density where the C/I ratio is approximately 9:1. The structural basis for this relative amplification of ipsilateral eye responses between retina and V1 is not known. Here we employed neuroanatomical tracing and morphometric techniques to quantify the relative magnitude of each eye's input to and output from the binocular segment of dLGN. Our data are consistent with the previous suggestion that a point in space viewed by both eyes will activate 9 times as many RGCs in the contralateral retina as in the ipsilateral retina. Nonetheless, the volume of the dLGN binocular segment occupied by contralateral retinogeniculate inputs is only 2.4 times larger than the volume occupied by ipsilateral retinogeniculate inputs and recipient relay cells are evenly distributed among the input layers. The results from our morphometric analyses show that this reduction in input volume can be accounted for by a three-to-one convergence of contralateral eye RGC inputs to dLGN neurons. Together, our findings establish that the relative density of feed-forward dLGN inputs determines the C/I response ratio of mouse binocular V1