Controlling selective stimulations below a spinal cord hemisection using brain recordings with a neural interface system approach.

In this work we address the use of realtime cortical recordings for the generation of coherent, reliable and robust motor activity in spinal-lesioned animals through selective intraspinal microstimulation (ISMS). The spinal cord of adult rats was hemisectioned and groups of multielectrodes were implanted in both the central nervous system (CNS) and the spinal cord below the lesion level to establish a neural system interface (NSI). To test the reliability of this new NSI connection, highly repeatable neural responses recorded from the CNS were used as a pattern generator of an open-loop control strategy for selective ISMS of the spinal motoneurons. Our experimental procedure avoided the spontaneous non-controlled and non-repeatable neural activity that could have generated spurious ISMS and the consequent undesired muscle contractions. Combinations of complex CNS patterns generated precisely coordinated, reliable and robust motor actions

International Consensus Based Review and Recommendations for Minimum Reporting Standards in Research on Transcutaneous Vagus Nerve Stimulation (Version 2020).

Given its non-invasive nature, there is increasing interest in the use of transcutaneous vagus nerve stimulation (tVNS) across basic, translational and clinical research. Contemporaneously, tVNS can be achieved by stimulating either the auricular branch or the cervical bundle of the vagus nerve, referred to as transcutaneous auricular vagus nerve stimulation(VNS) and transcutaneous cervical VNS, respectively. In order to advance the field in a systematic manner, studies using these technologies need to adequately report sufficient methodological detail to enable comparison of results between studies, replication of studies, as well as enhancing study participant safety. We systematically reviewed the existing tVNS literature to evaluate current reporting practices. Based on this review, and consensus among participating authors, we propose a set of minimal reporting items to guide future tVNS studies. The suggested items address specific technical aspects of the device and stimulation parameters. We also cover general recommendations including inclusion and exclusion criteria for participants, outcome parameters and the detailed reporting of side effects. Furthermore, we review strategies used to identify the optimal stimulation parameters for a given research setting and summarize ongoing developments in animal research with potential implications for the application of tVNS in humans. Finally, we discuss the potential of tVNS in future research as well as the associated challenges across several disciplines in research and clinical practice

A Deep Reinforcement Learning Motion Control Strategy of a Multi-rotor UAV for Payload Transportation with Minimum Swing

This paper addresses the problem of controlling a multirotor UAV with a cable-suspended load. In order to ensure the safe transportation of the load, the swinging motion, induced by the strongly coupled dynamics, has to be minimized. Specifically, using the Twin Delayed Deep Deterministic Policy Gradient (TD3) Reinforcement Learning algorithm, a policy Neural Network is trained in a model-free manner which navigates the vehicle to the desired waypoints while, simultaneously, compensating for the load oscillations. The learned policy network is incorporated into the cascaded control architecture of the autopilot by replacing the common PID position controller and, thus, communicating directly with the inner attitude one. The performance of the proposed policy is demonstrated through a comparative simulation and experimental study while using an octorotor UAV. © 2022 IEEE

A Vision-Based Motion Control Framework for Water Quality Monitoring Using an Unmanned Aerial Vehicle

In this paper, we present a vision-aided motion planning and control framework for the efficient monitoring and surveillance of water surfaces using an Unmanned Aerial Vehicle (UAV). The ultimate goal of the proposed strategy is to equip the UAV with the necessary autonomy and decision-making capabilities to support First Responders during emergency water contamination incidents. Toward this direction, we propose an end-to-end solution, based on which the First Responder indicates visiting and landing waypoints, while the envisioned strategy is responsible for the safe and autonomous navigation of the UAV, the refinement of the way-point locations that maximize the visible water surface area from the onboard camera, as well as the on-site refinement of the appropriate landing region in harsh environments. More specifically, we develop an efficient waypoint-tracking motion-planning scheme with guaranteed collision avoidance, a local autonomous exploration algorithm for refining the way-point location with respect to the areas visible to the drone’s camera, water, a vision-based algorithm for the on-site area selection for feasible landing and finally, a model predictive motion controller for the landing procedure. The efficacy of the proposed framework is demonstrated via a set of simulated and experimental scenarios using an octorotor UAV. © 2022 by the authors. Licensee MDPI, Basel, Switzerland

An Event-triggered Visual Servoing Predictive Control Strategy for the Surveillance of Contour-based Areas using Multirotor Aerial Vehicles

In this paper, an Event-triggered Image-based Visual Servoing Nonlinear Model Predictive Controller (ET-IBVS-NMPC) for multirotor aerial vehicles is presented. The proposed scheme is developed for the autonomous surveillance of contour-based areas with different characteristics (e.g. forest paths, coastlines, road pavements). For this purpose, an appropriately trained Deep Neural Network (DNN) is employed for the accurate detection of the contours. In an effort to reduce the remarkably large computational cost required by an IBVS-NMPC algorithm, a triggering condition is designed to define when the Optimal Control Problem (OCP) should be resolved and new control inputs will be calculated. Between two successive triggering instants, the control input trajectory is applied to the robot in an open-loop fashion, which means that no control input computations are required. As a result, the system's computing effort and energy consumption are lowered, while its autonomy and flight duration are increased. The visibility and input constraints, as well as the external disturbances, are all taken into account throughout the control design. The efficacy of the proposed strategy is demonstrated through a series of real-time experiments using a quadrotor and an octorotor both equipped with a monocular downward looking camera. © 2022 IEEE