Generating Humanoid Multi-Contact through Feasibility Visualization

We present a feasibility-driven teleoperation framework designed to generate humanoid multi-contact maneuvers for use in unstructured environments. Our framework is designed for motions with arbitrary contact modes and postures. The operator configures a pre-execution preview robot through contact points and kinematic tasks. A fast estimation of the preview robot's quasi-static feasibility is performed by checking contact stability and collisions along an interpolated trajectory. A visualization of Center of Mass (CoM) stability margin, based on friction and actuation constraints, is displayed and can be previewed if the operator chooses to add or remove contacts. Contact points can be placed anywhere on a mesh approximation of the robot surface, enabling motions with knee or forearm contacts. We demonstrate our approach in simulation and hardware on a NASA Valkyrie humanoid, focusing on multi-contact trajectories which are challenging to generate autonomously or through alternative teleoperation approaches

Authoring and Operating Humanoid Behaviors On the Fly using Coactive Design Principles

Humanoid robots have the potential to perform useful tasks in a world built for humans. However, communicating intention and teaming with a humanoid robot is a multi-faceted and complex problem. In this paper, we tackle the problems associated with quickly and interactively authoring new robot behavior that works on real hardware. We bring the powerful concepts of Affordance Templates and Coactive Design methodology to this problem to attempt to solve and explain it. In our approach we use interactive stance and hand pose goals along with other types of actions to author humanoid robot behavior on the fly. We then describe how our operator interface works to author behaviors on the fly and provide interdependence analysis charts for task approach and door opening. We present timings from real robot performances for traversing a push door and doing a pick and place task on our Nadia humanoid robot.Comment: 8 pages, 12 figures, for Humanoids 202

Cortical Plasticity of Audio–Visual Object Representations

Several regions in human temporal and frontal cortex are known to integrate visual and auditory object features. The processing of audio–visual (AV) associations in these regions has been found to be modulated by object familiarity. The aim of the present study was to explore training-induced plasticity in human cortical AV integration. We used functional magnetic resonance imaging to analyze the neural correlates of AV integration for unfamiliar artificial object sounds and images in naïve subjects (PRE training) and after a behavioral training session in which subjects acquired associations between some of these sounds and images (POST-training). In the PRE-training session, unfamiliar artificial object sounds and images were mainly integrated in right inferior frontal cortex (IFC). The POST-training results showed extended integration-related IFC activations bilaterally, and a recruitment of additional regions in bilateral superior temporal gyrus/sulcus and intraparietal sulcus. Furthermore, training-induced differential response patterns to mismatching compared with matching (i.e., associated) artificial AV stimuli were most pronounced in left IFC. These effects were accompanied by complementary training-induced congruency effects in right posterior middle temporal gyrus and fusiform gyrus. Together, these findings demonstrate that short-term cross-modal association learning was sufficient to induce plastic changes of both AV integration of object stimuli and mechanisms of AV congruency processing

Upward delamination of Cascadia Basin sediment infill with landward frontal accretion thrusting caused by rapid glacial age material flux

The Cascadia convergent margin is a first-order research target to study the impact of rapid sedimentation processes on the mechanics of frontal subduction zone accretion. The near-trench part of the accretionary prism offshore Washington is affected by strongly increased glacial age sedimentation and fan formation that led to an outstanding Quaternary growth rate with landward vergent thrust faulting that is rarely observed elsewhere in accretionary wedges. Multichannel seismic reflection data acquired on the ORWELL project allows us to study the structure and dynamics of the atypical frontal accretion processes. We performed a kinematical and mechanical analysis of the frontal accretion structures, and developed a dynamic Coulomb-wedge model for the landward-verging backthrust formation. Backthrusting results from heterogeneous diffuse strain accumulation in the mechanically heterogeneous Cascadia basin sediment succession entering the subduction zone, and strain partitioning along a midlevel detachment that is activated by gravitational loading caused by rapid glacial age sedimentation. These complex deformation processes cause the passive “upward” delamination of the upper turbidite beds from the basal pelagic carbonate section similar to triangle-zone formation and passive backthrust wedging in foreland thrust belts caused by rapid burial beneath syntectonic sediment deposits. The deformation mechanism at the tectonic front of the Cascadia margin is an immediate response to the strongly increased late Pleistocene sediment flux rather than to atypical physical boundary conditions as generally thought

Competing Neural Responses for Auditory and Visual Decisions

Why is it hard to divide attention between dissimilar activities, such as reading and listening to a conversation? We used functional magnetic resonance imaging (fMRI) to study interference between simple auditory and visual decisions, independently of motor competition. Overlapping activity for auditory and visual tasks performed in isolation was found in lateral prefrontal regions, middle temporal cortex and parietal cortex. When the visual stimulus occurred during the processing of the tone, its activation in prefrontal and middle temporal cortex was suppressed. Additionally, reduced activity was seen in modality-specific visual cortex. These results paralleled impaired awareness of the visual event. Even without competing motor responses, a simple auditory decision interferes with visual processing on different neural levels, including prefrontal cortex, middle temporal cortex and visual regions

Perception of Loudness Is Influenced by Emotion

Loudness perception is thought to be a modular system that is unaffected by other brain systems. We tested the hypothesis that loudness perception can be influenced by negative affect using a conditioning paradigm, where some auditory stimuli were paired with aversive experiences while others were not. We found that the same auditory stimulus was reported as being louder, more negative and fear-inducing when it was conditioned with an aversive experience, compared to when it was used as a control stimulus. This result provides support for an important role of emotion in auditory perception

Neuropsychiatric outcomes of stroke

The most common neuropsychiatric outcomes of stroke are depression, anxiety, fatigue, and apathy, which each occur in at least 30% of patients and have substantial overlap of prevalence and symptoms. Emotional lability, personality changes, psychosis, and mania are less common but equally distressing symptoms that are also challenging to manage. The cause of these syndromes is not known, and there is no clear relation to location of brain lesion. There are important gaps in knowledge about how to manage these disorders, even for depression, which is the most studied syndrome. Further research is needed to identify causes and interventions to prevent and treat these disorders

Oscillatory activity in prefrontal and posterior regions during implicit letter-location binding.

Many cognitive abilities involve the integration of information from different modalities, a process referred to as “binding.” It remains less clear, however, whether the creation of bound representations occurs in an involuntary manner, and whether the links between the constituent features of an object are symmetrical. We used magnetoencephalography to investigate whether oscillatory brain activity related to binding processes would be observed in conditions in which participants maintain one feature only (involuntary binding); and whether this activity varies as a function of the feature attended to by participants (binding asymmetry). Participants performed two probe recognition tasks that were identical in terms of their perceptual characteristics and only differed with respect to the instructions given (to memorize either consonants or locations). MEG data were reconstructed using a current source distribution estimation in the classical frequency bands. We observed implicit verbal–spatial binding only when participants successfully maintained the identity of consonants, which was associated with a selective increase in oscillatory activity over prefrontal regions in all frequency bands during the first half of the retention period and accompanied by increased activity in posterior brain regions. The increase in oscillatory activity in prefrontal areas was only observed during the verbal task, which suggests that this activity might be signaling neural processes specifically involved in cross-code binding. Current results are in agreement with proposals suggesting that the prefrontal cortex function as a “pointer” which indexes the features that belong together within an object