Incorporating Feedback from Multiple Sensory Modalities Enhances Brain–Machine Interface Control

The brain typically uses a rich supply of feedback from multiple sensory modalities to control movement in healthy individuals. In many individuals, these afferent pathways, as well as their efferent counterparts, are compromised by disease or injury resulting in significant impairments and reduced quality of life. Brain–machine interfaces (BMIs) offer the promise of recovered functionality to these individuals by allowing them to control a device using their thoughts. Most current BMI implementations use visual feedback for closed-loop control; however, it has been suggested that the inclusion of additional feedback modalities may lead to improvements in control. We demonstrate for the first time that kinesthetic feedback can be used together with vision to significantly improve control of a cursor driven by neural activity of the primary motor cortex (MI). Using an exoskeletal robot, the monkey\u27s arm was moved to passively follow a cortically controlled visual cursor, thereby providing the monkey with kinesthetic information about the motion of the cursor. When visual and proprioceptive feedback were congruent, both the time to successfully reach a target decreased and the cursor paths became straighter, compared with incongruent feedback conditions. This enhanced performance was accompanied by a significant increase in the amount of movement-related information contained in the spiking activity of neurons in MI. These findings suggest that BMI control can be significantly improved in paralyzed patients with residual kinesthetic sense and provide the groundwork for augmenting cortically controlled BMIs with multiple forms of natural or surrogate sensory feedback

Improving Brain–Machine Interface Performance by Decoding Intended Future Movements

Objective. A brain–machine interface (BMI) records neural signals in real time from a subject\u27s brain, interprets them as motor commands, and reroutes them to a device such as a robotic arm, so as to restore lost motor function. Our objective here is to improve BMI performance by minimizing the deleterious effects of delay in the BMI control loop. We mitigate the effects of delay by decoding the subject\u27s intended movements a short time lead in the future. Approach. We use the decoded, intended future movements of the subject as the control signal that drives the movement of our BMI. This should allow the user\u27s intended trajectory to be implemented more quickly by the BMI, reducing the amount of delay in the system. In our experiment, a monkey (Macaca mulatta) uses a future prediction BMI to control a simulated arm to hit targets on a screen. Main Results. Results from experiments with BMIs possessing different system delays (100, 200 and 300 ms) show that the monkey can make significantly straighter, faster and smoother movements when the decoder predicts the user\u27s future intent. We also characterize how BMI performance changes as a function of delay, and explore offline how the accuracy of future prediction decoders varies at different time leads. Significance. This study is the first to characterize the effects of control delays in a BMI and to show that decoding the user\u27s future intent can compensate for the negative effect of control delay on BMI performance

Improving Grasp Skills Using Schema Structured Learning

Abstract In the control-based approach to robotics, complex behavior is created by sequencing and combining control primitives. While it is desirable for the robot to autonomously learn the correct control sequence, searching through the large number of potential solutions can be time consuming. This paper constrains this search to variations of a generalized solution encoded in a framework known as an action schema. A new algorithm, SCHEMA STRUCTURED LEARNING, is proposed that repeatedly executes variations of the generalized solution in search of instantiations that satisfy action schema objectives. This approach is tested in a grasping task where Dexter, the UMass humanoid robot, learns which reaching and grasping controllers maximize the probability of grasp success

What works in practice: User and provider perspectives on the acceptability, affordability, implementation, and impact of a family-based intervention for child overweight and obesity delivered at scale

Background: As part of a study considering the impact of a child weight management programme when rolled out at scale following an RCT, this qualitative study focused on acceptability and implementation for providers and for families taking part. Methods: Participants were selected on the basis of a maximum variation sample providing a range of experiences and social contexts. Qualitative interviews were conducted with 29 professionals who commissioned or delivered the programme, and 64 individuals from 23 families in 3 English regions. Topic guides were used as a tool rather than a rule, enabling participants to construct a narrative about their experiences. Transcripts were analysed using framework analysis. Results: Practical problems such as transport, work schedules and competing demands on family time were common barriers to participation. Delivery partners often put considerable efforts into recruiting, retaining and motivating families, which increased uptake but also increased cost. Parents and providers valued skilled delivery staff. Some providers made adaptations to meet local social and cultural needs. Both providers and parents expressed concerns about long term outcomes, and how this was compromised by an obesogenic environment. Concerns about funding together with barriers to uptake and engagement could translate into barriers to commissioning. Where these barriers were not experienced, commissioners were enthusiastic about continuing the programme. Conclusions: Most families felt that they had gained something from the programme, but few felt that it had ‘worked’ for them. The demands on families including time and emotional work were experienced as difficult. For commissioners, an RCT with positive results was an important driver, but family barriers, alongside concerns about recruitment and retention, a desire for local adaptability with qualified motivated staff, and funding changes discouraged some from planning to use the intervention in future

Energy consumption and capacity utilization of galvanizing furnaces

An explicit equation leading to a method for improving furnace efficiency is presented. This equation is dimensionless and can be applied to furnaces of any size and fuel type for the purposes of comparison. The implications for current furnace design are discussed. Currently the technique most commonly used to reduce energy consumption in galvanizing furnaces is to increase burner turndown. This is shown by the analysis presented here actually to worsen the thermal efficiency of the furnace, particularly at low levels of capacity utilization. Galvanizing furnaces are different to many furnaces used within industry, as a quantity of material (in this case zinc) is kept molten within the furnace at all times, even outside production periods. The dimensionless analysis can, however, be applied to furnaces with the same operational function as a galvanizing furnace, such as some furnaces utilized within the glass industry. © IMechE 2004

2s1/2 occupancies in 30Si, 31P, and 32S

Elastic electron scattering off Si-30 and P-31 was studied in an effective momentum-transfer range of 1.8-3.0 fm(-1). The form-factor data were analyzed together with existing data sets for these nuclei and for S-32 in a model-independent Fourier-Bessel expansion. For P-31 the M1 contribution was subtracted following an established parametrization. Results of Hartree-Fock (HF) calculations, performed for these three nuclei in a spherical basis and in an axially deformed basis, are compared to experiment. Occupancies have been determined which, when used in the spherical-basis HF calculations, lead to a good description of the elastic form-factor data. The deformed-basis calculations have been used to study the influence of the deformation on the calculated binding energies and ground-state charge densities. In all calculations the influence of using different effective nucleon-nucleon interactions was investigated. The resulting differences in 2s(1/2) in occupancy are combined with results from previous existing (e,e'p) experiments to yield ''absolute occupancies'' for the 2s(1/2) orbital. The deduced 2s(1/2) occupancies for Si-30 and S-32 are 0.24(4) and 1.35(19), respectively.Peer reviewe