The separate neural control of hand movements and contact forces

To manipulate an object, we must simultaneously control the contact forces exerted on the object and the movements of our hand. Two alternative views for manipulation have been proposed: one in which motions and contact forces are represented and controlled by separate neural processes, and one in which motions and forces are controlled jointly, by a single process. To evaluate these alternatives, we designed three tasks in which subjects maintained a specified contact force while their hand was moved by a robotic manipulandum. The prescribed contact force and hand motions were selected in each task to induce the subject to attain one of three goals: (1) exerting a regulated contact force, (2) tracking the motion of the manipulandum, and (3) attaining both force and motion goals concurrently. By comparing subjects' performances in these three tasks, we found that behavior was captured by the summed actions of two independent control systems: one applying the desired force, and the other guiding the hand along the predicted path of the manipulandum. Furthermore, the application of transcranial magnetic stimulation impulses to the posterior parietal cortex selectively disrupted the control of motion but did not affect the regulation of static contact force. Together, these findings are consistent with the view that manipulation of objects is performed by independent brain control of hand motions and interaction forces

Robotic Contact Juggling

We define "robotic contact juggling" to be the purposeful control of the motion of a three-dimensional smooth object as it rolls freely on a motion-controlled robot manipulator, or "hand." While specific examples of robotic contact juggling have been studied before, in this paper we provide the first general formulation and solution method for the case of an arbitrary smooth object in single-point rolling contact on an arbitrary smooth hand. Our formulation splits the problem into four subproblems: (1) deriving the second-order rolling kinematics; (2) deriving the three-dimensional rolling dynamics; (3) planning rolling motions that satisfy the rolling dynamics; and (4) feedback stabilization of planned rolling trajectories. The theoretical results are demonstrated in simulation and experiment using feedback from a high-speed vision system.Comment: 16 pages, 14 figures. | Supplemental Video: https://youtu.be/QT55_Q1ePfg | Code: https://github.com/zackwoodruff/rolling_dynamic

Modulation of hexokinase association with mitochondria analyzed with quantitative three-dimensional confocal microscopy

Hexokinase isozyme I is proposed to be associated with mitochondria in vivo. Moreover, it has been suggested that this association is modulated in coordination with changes in cell metabolic state. To test these hypotheses, we analyzed the subcellular distribution of hexokinase relative to mitochondria in paraformaldehyde-fixed astrocytes using immunocytochemistry and quantitative three-dimensional confocal microscopy. Analysis of the extent of colocalization between hexokinase and mitochondria revealed that approximately 70% of cellular hexokinase is associated with mitochondria under basal metabolic conditions. In contrast to the immunocytochemical studies, between 15 to 40% of cellular hexokinase was found to be associated with mitochondria after fractionation of astrocyte cultures depending on the exact fractionation conditions. The discrepancy between fractionation studies and those based on imaging of distributions in fixed cells indicates the usefulness of using techniques that can evaluate the distributions of cytosolic enzymes in cells whose subcellular ultrastructure is not severely disrupted. To determine if hexokinase distribution is modulated in concert with changes in cell metabolism, the localization of hexokinase with mitochondria was evaluated after inhibition of glucose metabolism with 2-deoxyglucose. After incubation with 2-deoxyglucose there was an approximate 35% decrease in the amount of hexokinase associated with mitochondria. These findings support the hypothesis that hexokinase is bound to mitochondria in rat brain astrocytes in vivo, and that this association is sensitive to cell metabolic state

Self-Healing First-Order Distributed Optimization with Packet Loss

We describe SH-SVL, a parameterized family of first-order distributed optimization algorithms that enable a network of agents to collaboratively calculate a decision variable that minimizes the sum of cost functions at each agent. These algorithms are self-healing in that their convergence to the correct optimizer can be guaranteed even if they are initialized randomly, agents join or leave the network, or local cost functions change. We also present simulation evidence that our algorithms are self-healing in the case of dropped communication packets. Our algorithms are the first single-Laplacian methods for distributed convex optimization to exhibit all of these characteristics. We achieve self-healing by sacrificing internal stability, a fundamental trade-off for single-Laplacian methods.Comment: arXiv admin note: substantial text overlap with arXiv:2104.0195