Forward Modeling Mediates Motor Awareness

This chapter focuses on the issue of motor awareness. It addresses three main questions: What exactly are we aware of when making a movement? What is the contribution of afferent and efferent signals to motor awareness? What are the neural bases of motor awareness? It reviews evidence that the motor system is mainly aware of its intention. As long as the goal is achieved, nothing reaches awareness about the kinematic details of the ongoing movements, even when substantial corrections have to be implemented to attain the intended state. The chapter also shows that motor awareness relies mainly on the central predictive computations carried out within the posterior parietal cortex. The outcome of these computations is contrasted with the peripheral reafferent input to build a veridical motor awareness. Some evidence exists that this process involves the premotor areas

Experimental investigation of the mooring system of a wave energy converter in operating and extreme wave conditions

A proper design of the mooring systems for Wave Energy Converters (WECs) requires an accurate investigation of both operating and extreme wave conditions. A careful analysis of these systems is required to design a mooring configuration that ensures station keeping, reliability, maintainability, and low costs, without affecting the WEC dynamics. In this context, an experimental campaign on a 1:20 scaled prototype of the ISWEC (Inertial Sea Wave Energy Converter), focusing on the influence of the mooring layout on loads in extreme wave conditions, is presented and discussed. Two mooring configurations composed of multiple slack catenaries with sub-surface buoys, with or without clump-weights, have been designed and investigated experimentally. Tests in regular, irregular, and extreme waves for a moored model of the ISWEC device have been performed at the University of Naples Federico II. The aim is to identify a mooring solution that could guarantee both correct operation of the device and load carrying in extreme sea conditions. Pitch motion and loads in the rotational joint have been considered as indicators of the device hydrodynamic behavior and mooring configuration impact on the WEC

Bending It Like Beckham: How to Visually Fool the Goalkeeper

As bending free-kicks becomes the norm in modern day soccer, implications for goalkeepers have largely been ignored. Although it has been reported that poor sensitivity to visual acceleration makes it harder for expert goalkeepers to perceptually judge where the curved free-kicks will cross the goal line, it is unknown how this affects the goalkeeper's actual movements.Here, an in-depth analysis of goalkeepers' hand movements in immersive, interactive virtual reality shows that they do not fully account for spin-induced lateral ball acceleration. Hand movements were found to be biased in the direction of initial ball heading, and for curved free-kicks this resulted in biases in a direction opposite to those necessary to save the free-kick. These movement errors result in less time to cover a now greater distance to stop the ball entering the goal. These and other details of the interceptive behaviour are explained using a simple mathematical model which shows how the goalkeeper controls his movements online with respect to the ball's current heading direction. Furthermore our results and model suggest how visual landmarks, such as the goalposts in this instance, may constrain the extent of the movement biases.While it has previously been shown that humans can internalize the effects of gravitational acceleration, these results show that it is much more difficult for goalkeepers to account for spin-induced visual acceleration, which varies from situation to situation. The limited sensitivity of the human visual system for detecting acceleration, suggests that curved free-kicks are an important goal-scoring opportunity in the game of soccer

Combining pendulum and gyroscopic effects to step-up wave energy extraction in all degrees of freedom

The fight against the global threat of climate change requires, among other actions, to increase the penetration of renewable energy technologies and diversify the energy mix in order to support a resilient energy system that can reach net-zero greenhouse gas emissions. Offshore energy is expected to drive the energy transition, with wave energy having the major role to provide a reliable baseload and reduce the need for storage; however, its techno-economic feasibility requires reduction of costs and increase of energy conversion efficiency. This paper tackles a fundamental innovation of a device’s working principle which, jointly exploiting pendulum and gyroscopic effects, steps-up the overall conversion efficiency in real operational conditions. A recent patent proposes a technological solution that conveniently combines pendulum and gyroscopic effects in order to effectively exploit motion also outside the plane, namely in the three-dimensional space and from all degrees of freedom (DoFs). This paper tackles the endeavour of the analytical formulation of the electro-mechanical conversion system dynamics, considering at first the fully-nonlinear equation of motion, obtained through a Lagrangian approach. Consequently, incremental simplifications are applied to accommodate practical application, based on the study on the relative importance of each term in the equation of motion. Furthermore, preliminary results are produced and discussed, comparing the behaviour in response to 3-DoF to 6-DoF exploitation

Fast nonlinear Froude–Krylov force calculation for prismatic floating platforms: a wave energy conversion application case

Computationally fast and accurate mathematical models are essential for effective design, optimization, and control of wave energy converters. However, the energy-maximising control strategy, essential for reaching economic viability, inevitably leads to the violation of linearising assumptions, so the common linear models become unreliable and potentially unrealistic. Partially nonlinear models based on the computation of Froude–Krylov forces with respect to the instantaneous wetted surface are promising and popular alternatives, but they are still too slow when floaters of arbitrary complexity are considered; in fact, mesh-based spatial discretisation, required by such geometries, becomes the computational bottle-neck, leading to simulations 2 orders of magnitude slower than real-time, unaffordable for extensive iterative optimizations. This paper proposes an alternative analytical approach for the subset of prismatic floating platforms, common in the wave energy field, ensuring computations 2 orders of magnitude faster than real-time, hence 4 orders of magnitude faster than state-of-the-art mesh-based approaches. The nonlinear Froude–Krylov model is used to investigate the nonlinear hydrodynamics of the floater of a pitching wave energy converter, extracting energy either from pitch or from an inertially coupled internal degree of freedom, especially highlighting the impact of state constraints, controlled/uncontrolled conditions, and impact on control parameters’ optimization, sensitivity and effectiveness

Auditory-Motor Learning during Speech Production in 9-11-Year-Old Children

BACKGROUND: Hearing ability is essential for normal speech development, however the precise mechanisms linking auditory input and the improvement of speaking ability remain poorly understood. Auditory feedback during speech production is believed to play a critical role by providing the nervous system with information about speech outcomes that is used to learn and subsequently fine-tune speech motor output. Surprisingly, few studies have directly investigated such auditory-motor learning in the speech production of typically developing children. METHODOLOGY/PRINCIPAL FINDINGS: In the present study, we manipulated auditory feedback during speech production in a group of 9-11-year old children, as well as in adults. Following a period of speech practice under conditions of altered auditory feedback, compensatory changes in speech production and perception were examined. Consistent with prior studies, the adults exhibited compensatory changes in both their speech motor output and their perceptual representations of speech sound categories. The children exhibited compensatory changes in the motor domain, with a change in speech output that was similar in magnitude to that of the adults, however the children showed no reliable compensatory effect on their perceptual representations. CONCLUSIONS: The results indicate that 9-11-year-old children, whose speech motor and perceptual abilities are still not fully developed, are nonetheless capable of auditory-feedback-based sensorimotor adaptation, supporting a role for such learning processes in speech motor development. Auditory feedback may play a more limited role, however, in the fine-tuning of children's perceptual representations of speech sound categories

Excitation forces estimation for non-linear wave energy converters: A neural network approach

Investigating optimal control algorithms is a continuing concern within the Wave Energy field. A considerable amount of literature has been published on optimal control architectures applied to Wave Energy Converter (WEC) devices. However, most of them requires the knowledge of the wave excitation forces acting on the WEC body. In practice such forces are unknown and an estimate must be used. In this work a methodology to estimate the wave excitation forces of a non-linear WEC along with the achievable accuracy, is discussed. A feedforward Neural Network (NN) is applied to address the estimation problem. Such a method aims to map the WEC dynamics to the wave excitation forces by training the network through a supervised learning algorithm. The most challenging aspects of these techniques are the ability of the network to estimate data not considered in the training process and their accuracy in presence of model uncertanities. Numerical simulations under different irregular sea conditions demonstrate accurate estimation results of the NN approach as well as a small sensitivity to changes in the plant parameters relative to the case study presented

Real-time wave excitation forces estimation: An application on the ISWEC device

Optimal control strategies represent a widespread solution to increase the extracted energy of a Wave Energy Converter (WEC). The aim is to bring the WEC into resonance enhancing the produced power without compromising its reliability and durability. Most of the control algorithms proposed in literature require for the knowledge of the Wave Excitation Force (WEF) generated from the incoming wave field. In practice, WEFs are unknown, and an estimate must be used. This paper investigates the WEF estimation of a non-linear WEC. A model-based and a model-free approach are proposed. First, a Kalman Filter (KF) is implemented considering the WEC linear model and the WEF modelled as an unknown state to be estimated. Second, a feedforward Neural Network (NN) is applied to map the WEC dynamics to the WEF by training the network through a supervised learning algorithm. Both methods are tested for a wide range of irregular sea-states showing promising results in terms of estimation accuracy. Sensitivity and robustness analyses are performed to investigate the estimation error in presence of un-modelled phenomena, model errors and measurement noise

Carrier relaxation in GaAs v-groove quantum wires and the effects of localization

Carrier relaxation processes have been investigated in GaAs/AlGaAs v-groove quantum wires (QWRs) with a large subband separation (46 meV). Signatures of inhibited carrier relaxation mechanisms are seen in temperature-dependent photoluminescence (PL) and photoluminescence-excitation (PLE) measurements; we observe strong emission from the first excited state of the QWR below ~50 K. This is attributed to reduced inter-subband relaxation via phonon scattering between localized states. Theoretical calculations and experimental results indicate that the pinch-off regions, which provide additional two-dimensional confinement for the QWR structure, have a blocking effect on relaxation mechanisms for certain structures within the v-groove. Time-resolved PL measurements show that efficient carrier relaxation from excited QWR states into the ground state, occurs only at temperatures > 30 K. Values for the low temperature radiative lifetimes of the ground- and first excited-state excitons have been obtained (340 ps and 160 ps respectively), and their corresponding localization lengths along the wire estimated.Comment: 9 pages, 8 figures, submitted to Phys. Rev. B Attempted to correct corrupt figure