A Population-Level Analysis of Neural Dynamics in Robust Legged Robots

Recurrent neural network-based reinforcement learning systems are capable of complex motor control tasks such as locomotion and manipulation, however, much of their underlying mechanisms still remain difficult to interpret. Our aim is to leverage computational neuroscience methodologies to understanding the population-level activity of robust robot locomotion controllers. Our investigation begins by analyzing topological structure, discovering that fragile controllers have a higher number of fixed points with unstable directions, resulting in poorer balance when instructed to stand in place. Next, we analyze the forced response of the system by applying targeted neural perturbations along directions of dominant population-level activity. We find evidence that recurrent state dynamics are structured and low-dimensional during walking, which aligns with primate studies. Additionally, when recurrent states are perturbed to zero, fragile agents continue to walk, which is indicative of a stronger reliance on sensory input and weaker recurrence

A Control-Oriented Analysis of Bio-inspired Visuomotor Convergence

Insects exhibit incredibly robust closed loop fight dynamics in the face of uncertainties. A fundamental principle contributing to this unparalleled behavior is rapid processing and convergence of visual sensory information to fight motor commands via spatial wide-field integration, accomplished by retinal motion pattern sensitive interneurons (LPTCs) in the lobula plate portion of the visual ganglia. With in a control- theoretic frame work, models for spatially continuous retinal image flow and wide-field integration processing are developed, establishing the connection between image flow kernels (retinal motion pattern sensitivities) and the feedback terms they represent. It is shown that these out puts are sufficient to stabilize speed regulation and terrain following tasks. Hence, extraction of global retinal motion cues through computationally efficient wide-field integration processing provides a novel and promising methodology for utilizing visual sensory information in autonomous robotic navigation and fight control applications

Vision as a compensatory mechanism for disturbance rejection in upwind flight

Recent experimental results demonstrate that flies possess a robust tendency to orient towards the frontally-centered focus of the visual motion field that typically occurs during upwind flight. We present a closed loop flight model, with a control algorithm based on feedback of the location of the visual focus of contraction, which is affected by changes in wind direction. The feasibility of visually guided upwind orientation is demonstrated with a model derived from current understanding of the biomechanics and sensorimotor computation of insects. The matched filter approach used to model the visual system computations compares extremely well with open-loop experimental data

Detecting intermittent switching leadership in coupled dynamical systems

Leader-follower relationships are commonly hypothesized as a fundamental mechanism underlying collective behaviour in many biological and physical systems. Understanding the emergence of such behaviour is relevant in science and engineering to control the dynamics of complex systems toward a desired state. In prior works, due in part to the limitations of existing methods for dissecting intermittent causal relationships, leadership is assumed to be consistent in time and space. This assumption has been contradicted by recent progress in the study of animal behaviour. In this work, we leverage information theory and time series analysis to propose a novel and simple method for dissecting changes in causal influence. Our approach computes the cumulative influence function of a given individual on the rest of the group in consecutive time intervals and identify change in the monotonicity of the function as a change in its leadership status. We demonstrate the effectiveness of our approach to dissect potential changes in leadership on self-propelled particles where the emergence of leader-follower relationship can be controlled and on tandem flights of birds recorded in their natural environment. Our method is expected to provide a novel methodological tool to further our understanding of collective behaviour

The role of growth and maturation during adolescence on team-selection and short-term sports participation

Background: During adolescence, deselection from sport occurs during team try-outs when month of birth, stage of growth and maturation may influence selection.Aim: The purpose of this study was to identify differences in growth and maturity related factors between those selected and deselected in youth sports teams and identify short-term associations with continued participation.Subjects and methods: Eight hundred and seventy participants, aged 11–17 years, were recruited from six sports try-outs in Saskatchewan, Canada: baseball, basketball, football, hockey, soccer and volleyball. Two hundred and forty-four of the initial 870 (28%) returned for follow-up at 36 months. Chronological (years from birth), biological (years from age at peak height velocity (APHV)) and relative (month of birth as it relates to the selection band) ages were calculated from measures of date of birth, date of test, height, sitting height and weight. Parental heights were measured or recalled and participant’s adult height predicted. Reference standards were used to calculate z-scores. Sports participation was self-reported at try-outs and at 36-month follow-up.Results: There was an over-representation of players across all sports born in the first and second quartiles of the selection bands (p < 0.05), whether they were selected or deselected. z-scores for predicted adult height ranged from 0.1 (1.1) to 1.8 (1.2) and were significantly different between sports (p < 0.05). Height and APHV differences (p < 0.05) were found between selected and deselected male participants. In females only weight differed between selected and deselected female hockey players (p < 0.05); no further differences were found between selected and deselected female participants. Four per cent of deselected athletes exited sports participation and 68% of deselected athletes remained in the same sport at 36 months, compared with 84% of selected athletes who remained in the same sport.Conclusions: It was found that youth who attended sports team’s try-outs were more likely to be born early in the selection year, be tall for their age, and in some sports early maturers. The majority of both the selected and deselected participants continued to participate in sport 36 months after try-outs, with the majority continuing to participate in their try-out sport

The Role of Growth and Maturation during Adolescence on Team-Selection and Short-Term Sports Participation

Background: During adolescence, deselection from sport occurs during team try-outs when month of birth, stage of growth and maturation may influence selection. Aim: The purpose of this study was to identify differences in growth and maturity related factors between those selected and deselected in youth sports teams and identify short-term associations with continued participation. Subjects and methods: Eight hundred and seventy participants, aged 11–17 years, were recruited from six sports try-outs in Saskatchewan, Canada: baseball, basketball, football, hockey, soccer and volleyball. Two hundred and forty-four of the initial 870 (28%) returned for follow-up at 36 months. Chronological (years from birth), biological (years from age at peak height velocity (APHV)) and relative (month of birth as it relates to the selection band) ages were calculated from measures of date of birth, date of test, height, sitting height and weight. Parental heights were measured or recalled and participant’s adult height predicted. Reference standards were used to calculate z-scores. Sports participation was self-reported at try-outs and at 36-month follow-up. Results: There was an over-representation of players across all sports born in the first and second quartiles of the selection bands (p &lt; 0.05), whether they were selected or deselected. z-scores for predicted adult height ranged from 0.1 (1.1) to 1.8 (1.2) and were significantly different between sports (p &lt; 0.05). Height and APHV differences (p &lt; 0.05) were found between selected and deselected male participants. In females only weight differed between selected and deselected female hockey players (p &lt; 0.05); no further differences were found between selected and deselected female participants. Four per cent of deselected athletes exited sports participation and 68% of deselected athletes remained in the same sport at 36 months, compared with 84% of selected athletes who remained in the same sport. Conclusions: It was found that youth who attended sports team’s try-outs were more likely to be born early in the selection year, be tall for their age, and in some sports early maturers. The majority of both the selected and deselected participants continued to participate in sport 36 months after try-outs, with the majority continuing to participate in their try-out sport.</p

Flexible Supervised Autonomy for Exploration in Subterranean Environments

While the capabilities of autonomous systems have been steadily improving in recent years, these systems still struggle to rapidly explore previously unknown environments without the aid of GPS-assisted navigation. The DARPA Subterranean (SubT) Challenge aimed to fast track the development of autonomous exploration systems by evaluating their performance in real-world underground search-and-rescue scenarios. Subterranean environments present a plethora of challenges for robotic systems, such as limited communications, complex topology, visually-degraded sensing, and harsh terrain. The presented solution enables long-term autonomy with minimal human supervision by combining a powerful and independent single-agent autonomy stack, with higher level mission management operating over a flexible mesh network. The autonomy suite deployed on quadruped and wheeled robots was fully independent, freeing the human supervision to loosely supervise the mission and make high-impact strategic decisions. We also discuss lessons learned from fielding our system at the SubT Final Event, relating to vehicle versatility, system adaptability, and re-configurable communications.Comment: Field Robotics special issue: DARPA Subterranean Challenge, Advancement and Lessons Learned from the Final

Vision as a compensatory mechanism for disturbance rejection in upwind flight

Recent experimental results demonstrate that flies possess a robust tendency to orient towards the frontally-centered focus of the visual motion field that typically occurs during upwind flight. We present a closed loop flight model, with a control algorithm based on feedback of the location of the visual focus of contraction, which is affected by changes in wind direction. The feasibility of visually guided upwind orientation is demonstrated with a model derived from current understanding of the biomechanics and sensorimotor computation of insects. The matched filter approach used to model the visual system computations compares extremely well with open-loop experimental data