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0193 Sleepiness and Slow Rolling Eye Movements are Increased During Autonomous Versus Manual DrivingGet access

Sleep 2019年第SUPPLEMENT_1期42卷 A79–A79页

作者： Wong, Lily R Kuriyagawa, Yukiyo Gowda, Nikhil Cravalho, Patrick Wilaiprasitporn, Theerawit Garcia, Javier Flynn-Evans, Erin E San Jose State University Research Foundation Moffett Field CA USA NASA Ames Research Center Fatigue Countermeasures Laboratory Human Systems Integration Division Moffett Field CA USA Nihon University College of Industrial Technology Chiba Japan Vidyasirimedhi Institute of Science & Technology School of Information Science and Technology Bio-inspired Robotics and Neural Engineering Lab Rayong Thailand U.S. Army Research Laboratory Aberdeen Proving Ground MD USA

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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Automatic real-world assembly of machine-designed structures

Automatic real-world assembly of machine-designed structures

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IEEE International Conference on robotics and Automation (ICRA)

作者： Luzius Brodbeck Fumiya Iida Department of Mechanical and Process Engineering Bio-Inspired Robotics Laboratory Zurich Switzerland

Several approaches have been presented which allow robots to build structures to adapt themselves or their environments. To autonomously build these structures, a design must be made, from which instructions for the fabrication process can be derived. For a constrained fabrication process, e.g. considering the limited range of a robot, this transfer can be cumbersome. We present a local building process based on a sequence of two distinct operations, which implicitly encodes the shape of a structure. Given this encoding, the structure can readily be built with a real-world robotic system. We show automatic design of structures reaching out of the robot's range and fulfilling stability and strength constraints using an evolutionary design algorithm. The final design can then be built with a robotic arm from wooden cubes and hot melt adhesives. We demonstrate the whole process including the construction of a structure from more than thirty cubes with our real-world setup. We expect that automatic design and construction can further improve the physical adaptability of robotic systems.

关键词： Robots Fabrication Algorithm design and analysis Genomics bioinformatics Shape Buildings

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25th Annual Computational Neuroscience Meeting CNS-2016, Seogwipo City, South Korea, July 2-7, 2016 Abstracts

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BMC NEUROSCIENCE 2016年第1期17卷 1-112页

作者： [Anonymous] Computational Neurobiology Laboratory The Salk Institute for Biological Studies San Diego USA UNIC CNRS Gif sur Yvette France The European Institute for Theoretical Neuroscience (EITN) Paris France ATR Computational Neuroscience Laboratories Kyoto Japan Krembil Research Institute University Health Network Toronto Canada Department of Physiology University of Toronto Toronto Canada Department of Medicine (Neurology) University of Toronto Toronto Canada Department of Physics University of New Hampshire Durham USA Department of Neurophysiology Nencki Institute of Experimental Biology Warsaw Poland Department of Theory Wigner Research Centre for Physics of the Hungarian Academy of Sciences Budapest Hungary Department of Mathematical Sciences KAIST Daejoen Republic of Korea Department of Mathematics University of Houston Houston USA Department of Biochemistry & Cell Biology and Institute of Biosciences and Bioengineering Rice University Houston USA Department of Biology and Biochemistry University of Houston Houston USA Grupo de Neurocomputación Biológica Dpto. de Ingeniería Informática Escuela Politécnica Superior Universidad Autónoma de Madrid Madrid Spain Department of Biological Sciences University of Southern California Los Angeles USA Center for Neuroscience Korea Institute of Science and Technology Seoul South Korea Department of Neurology Albert Einstein College of Medicine Bronx USA Center for Neuroscience KIST Seoul South Korea Department of Neuroscience University of Science and Technology Daejon South Korea Systems Neuroscience Group QIMR Berghofer Medical Research Institute Herston Australia Department of Psychology Yonsei University Seoul South Korea Department of Psychiatry Kyung Hee University Hospital at Gangdong Seoul South Korea Department of Psychiatry Veterans Administration Boston Healthcare System and Harvard Medical School Brockton USA Department of Electrical and Electronic Engineering The University of Melbourne Parkvil

A1 Functional advantages of cell-type heterogeneity in neural circuits Tatyana O. Sharpee A2 Mesoscopic modeling of propagating waves in visual cortex Alain Destexhe A3 Dynamics and biomarkers of mental disorders Mitsuo Kawato F1 Precise recruitment of spiking output at theta frequencies requires dendritic h-channels in multi-compartment models of oriens-lacunosum/moleculare hippocampal interneurons Vladislav Sekulić, Frances K. Skinner F2 Kernel methods in reconstruction of current sources from extracellular potentials for single cells and the whole brains Daniel K. Wójcik, Chaitanya Chintaluri, Dorottya Cserpán, Zoltán Somogyvári F3 The synchronized periods depend on intracellular transcriptional repression mechanisms in circadian clocks. Jae Kyoung Kim, Zachary P. Kilpatrick, Matthew R. Bennett, Kresimir Josić O1 Assessing irregularity and coordination of spiking-bursting rhythms in central pattern generators Irene Elices, David Arroyo, Rafael Levi, Francisco B. Rodriguez, Pablo Varona O2 Regulation of top-down processing by cortically-projecting parvalbumin positive neurons in basal forebrain Eunjin Hwang, Bowon Kim, Hio-Been Han, Tae Kim, James T. McKenna, Ritchie E. Brown, Robert W. McCarley, Jee Hyun Choi O3 Modeling auditory stream segregation, build-up and bistability James Rankin, Pamela Osborn Popp, John Rinzel O4 Strong competition between tonotopic neural ensembles explains pitch-related dynamics of auditory cortex evoked fields Alejandro Tabas, André Rupp, Emili Balaguer-Ballester O5 A simple model of retinal response to multi-electrode stimulation Matias I. Maturana, David B. Grayden, Shaun L. Cloherty, Tatiana Kameneva, Michael R. Ibbotson, Hamish Meffin O6 Noise correlations in V4 area correlate with behavioral performance in visual discrimination task Veronika Koren, Timm Lochmann, Valentin Dragoi, Klaus Obermayer O7 Input-location dependent gain modulation in cerebellar nucleus neurons Maria Psarrou, Maria Schilstra, Neil Davey, Benjamin Torben-Ni

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The illusion box of Syndactyly: Setup and ad hoc algorithm to induce virtual fingers webbing

The illusion box of Syndactyly: Setup and ad hoc algorithm t...

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International IEEE/EMBS Conference on neural engineering, CNE

作者： M. Merone P. Soda G. Di Pino D. Formica G. Pellegrino S. Micera V. Di Lazzaro G. Iannello E. Guglielmelli Laboratory of Biomedical Robotics and Biomicrosystem Universitá Campus Bio-Medico di Roma Rome Italy Computer Science and Bioinformatics Laboratory Universitá Campus Bio-Medico di Roma Rome Italy Institute of Neurology Universitá Campus Bio-Medico di Roma Rome Italy Epfi Translational Neural Engineering Laboratory Swiss

Inclusion of the prosthesis in the body schema lets the device felt by the user as an extension of the self and consequently improves its performance and acceptability. Two paradigmatic models that faced the issue of the illusory embodiment, the rubber hand illusion and the mirror box, revealed that such process goes in parallel with changes in the activity of cortical sensorimotor areas devoted to the limb and that a key factor is represented by the visual inflow that overrides the mismatching kinesthesia. In spite of that, vision alone is not able to trigger prosthesis embodiment in amputees everyday-life. In order to disentangle the contributes of visual and proprioceptive feedback in the induction of sensorimotor plasticity we develop the Illusion Box of Syndactyly that, through an ad hoc algorithm, produces an index-middle finger illusory fingers webbing. The algorithm works in realtime and, trough background difference, it segments the hands, recognizes the fingers and produces the virtual syndactyly. We perform preliminary tests on a healthy subject, suggesting that the setup is robust and efficient to induce the illusion.

关键词： Visualization Indexes Robot sensing systems Computational modeling Mirrors Monitoring Prosthetics

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Efferent microneurography recordings: A tool for motor control study and hand-prosthesis decoding

Efferent microneurography recordings: A tool for motor contr...

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International IEEE/EMBS Conference on neural engineering, CNE

作者： Francesco Maria Petrini Stanisa Raspopovic Marco Bonizzato Federica Giambattistelli Loredana Zollo Eugenio Guglielmelli Silvestro Micera CIR-Laboratory of Biomedical Robotics and Biomicrosystems “Campus Bio-Medico di Roma” University Rome Translational Neural Engineering Laboratory Scuola Superiore Sant'Anna Ecole Polytechnique Federale de Lausanne Lausanne VD CH Department of Neurology “Campus Bio-Medico di Roma” University CIR - Laboratory of Biomedical Robotics and Biomicrosystems “Campus Bio-Medico di Roma” University Rome Italy

Many efforts have been directed towards the characterization of nature and meaning of neural motor commands in persons with or without hand amputation. Microneurography is a well-established tool for afferent recordings, which could be potentially employed for a deeper understanding of hand motor control during manipulation tasks. Furthermore, it could hopefully enhance the assessment of users' capability to control prosthetic hands by means of residual electroneurographic signals. In the present study, the feasibility of recording of motor-related microneurographyic signals during different grasps is investigated, along with their successive signal processing and classification. Preliminary results show that microneurography could be a robust technique for in-depth understanding of the neural coding underlying motor control, and for improving peripheral nerve signal recording/decoding, in view of establishing precise peripheral nerve interfaces for hand prosthesis control.

关键词： Electrodes Muscles Motor drives Correlation Robots Needles Firing

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Design considerations for attachment and detachment in robot climbing with hot melt adhesives

Design considerations for attachment and detachment in robot...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Liyu Wang Fabian Neuschaefer Remo Bernet Fumiya Iida Bio-Inspired Robotics Laboratory Department of Mechanical and Process Engineering ETH Zurich Zurich Switzerland

Robust climbing in unstructured environments is a long-standing challenge in robotics research. Recently there has been an increasing interest in using adhesive materials for that purpose. For example, a climbing robot using hot melt adhesives (HMAs) has demonstrated advantages in high attachment strength, reasonable operation costs, and applicability to different surfaces. Despite the advantages, there still remain several problems related to the attachment and detachment operations, which prevent this approach from being used in a broader range of applications. Among others, one of the main problems lies in the fact that the adhesive characteristics of this material were not fully understood fin the context of robotic climbing locomotion. As a result, the previous robot often could not achieve expected locomotion performances and “contaminated” the environment with HMAs left behind. In order to improve the locomotion performances, this paper focuses on attachment and detachment operations in robot climbing with HMAs. By systematically analyzing the adhesive property and bonding strength of HMAs to different materials, we propose a novel detachment mechanism that substantially improves climbing performances without HMA traces.

关键词： Bonding Foot Materials Bonding forces Heating Climbing robots

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Towards “soft” self-reconfigurable robots

Towards “soft” self-reconfigurable robots

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IEEE/RAS-EMBS International Conference on biomedical robotics and biomechatronics (bioRob)

作者： Liyu Wang Fumiya Iida Bio-Inspired Robotics Laboratory Department of Mechanical and Process Engineering ETH Zurich Zurich Switzerland

Modular self-reconfigurable robots have previously demonstrated that automatic control of their own body shapes enriches their behavioural functions. However, having predefined rigid modules technically limits real-world systems from being hyper-redundant and compliant. Encouraged by recent progress using elastically deformable material for robots, we propose the concept of “soft self-reconfigurable robots” which may become hyper-flexible during interaction with the environment. As the first attempt towards this goal, the paper proposes a novel approach using viscoelastic material Hot-Melt Adhesives (HMAs): for physical connection and disconnection control between bodies that are not necessarily predefined rigid modules. We present a model that characterizes the temperature dependency of the strength of HMA bonds, which is then validated and used in a feedback controller for automatic connection and disconnection. Using a minimalistic robot platform that is equipped with two devices handling HMAs, the performance of this method is evaluated in a pick-and-place experiment with aluminium and wooden parts.

关键词： Robots Bonding Materials Connectors Temperature measurement Mathematical model Temperature

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Resonance based multi-gaited robot locomotion

Resonance based multi-gaited robot locomotion

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2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Nandan Maheshwari Xiaoxiang Yu Murat Reis Fumiya Iida Bio-Inspired Robotics Laboratory (BIRL) Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology Zurich Switzerland Artificial Intelligence laboratory Department of Informatics University of Zurich Zurich Switzerland Department of Mechanical Engineering Uludag University Turkey

In order to understand the underlying mechanisms of animals' agility, dexterity and efficiency in motor control, there has been an increasing interest in the study of gait patterns in biological and artificial legged systems. This paper presents a novel approach to the study of gait patterns which makes use of intrinsic mechanical dynamics of robotic systems. Each of these robots consists of a U-shape elastic beam and exploits free vibration to generate different gait patterns. We developed a conceptual model for these robots, and through simulation and real-world experiments, we show three distinct mechanisms for generating four different gait patterns in these robots.

关键词： Robots Mathematical model Foot Equations

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Towards the evolution of an artificial homeostatic system

Towards the evolution of an artificial homeostatic system

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Congress on Evolutionary Computation

作者： Renan C. Moioli Patricia A. Vargas Fernando J. Von Zuben Phil Husbands Laboratory of Bioinformatics and Bio-Inspired Computing LBiC-School of Electrical and Computer Engineering Sao Paulo Brazil Centre for Computational Neuroscience and Robotics (CCNR) Department of Informatics University of Sussex Brighton UK

This paper presents an artificial homeostatic system (AHS) devoted to the autonomous navigation of mobile robots, with emphasis on neuro-endocrine interactions. The AHS is composed of two modules, each one associated with a particular reactive task and both implemented using an extended version of the GasNet neural model, denoted spatially unconstrained GasNet model or simply non-spatial GasNet (NSGasNet). There is a coordination system, which is responsible for the specific role of each NSGasNet at a given operational condition. The switching among the NSGasNets is implemented as an artificial endocrine system (AES), which is based on a system of coupled nonlinear difference equations. The NSGasNets are synthesized by means of an evolutionary algorithm. The obtained neuro-endocrine controller is adopted in simulated and real benchmark applications, and the additional flexibility provided by the use of NSGasNet, together with the existence of an automatic coordination system, guides to convincing levels of performance.

关键词： biochemistry Robots Neurons Sensors Distance measurement Robot sensing systems Robot kinematics

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