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Sample records for control multipotent neural

  1. CHD7 cooperates with PBAF to control multipotent neural crest formation.

    PubMed

    Bajpai, Ruchi; Chen, Denise A; Rada-Iglesias, Alvaro; Zhang, Junmei; Xiong, Yiqin; Helms, Jill; Chang, Ching-Pin; Zhao, Yingming; Swigut, Tomek; Wysocka, Joanna

    2010-02-18

    Heterozygous mutations in the gene encoding the CHD (chromodomain helicase DNA-binding domain) member CHD7, an ATP-dependent chromatin remodeller homologous to the Drosophila trithorax-group protein Kismet, result in a complex constellation of congenital anomalies called CHARGE syndrome, which is a sporadic, autosomal dominant disorder characterized by malformations of the craniofacial structures, peripheral nervous system, ears, eyes and heart. Although it was postulated 25 years ago that CHARGE syndrome results from the abnormal development of the neural crest, this hypothesis remained untested. Here we show that, in both humans and Xenopus, CHD7 is essential for the formation of multipotent migratory neural crest (NC), a transient cell population that is ectodermal in origin but undergoes a major transcriptional reprogramming event to acquire a remarkably broad differentiation potential and ability to migrate throughout the body, giving rise to craniofacial bones and cartilages, the peripheral nervous system, pigmentation and cardiac structures. We demonstrate that CHD7 is essential for activation of the NC transcriptional circuitry, including Sox9, Twist and Slug. In Xenopus embryos, knockdown of Chd7 or overexpression of its catalytically inactive form recapitulates all major features of CHARGE syndrome. In human NC cells CHD7 associates with PBAF (polybromo- and BRG1-associated factor-containing complex) and both remodellers occupy a NC-specific distal SOX9 enhancer and a conserved genomic element located upstream of the TWIST1 gene. Consistently, during embryogenesis CHD7 and PBAF cooperate to promote NC gene expression and cell migration. Our work identifies an evolutionarily conserved role for CHD7 in orchestrating NC gene expression programs, provides insights into the synergistic control of distal elements by chromatin remodellers, illuminates the patho-embryology of CHARGE syndrome, and suggests a broader function for CHD7 in the regulation of cell

  2. Confetti clarifies controversy: neural crest stem cells are multipotent.

    PubMed

    Bronner, Marianne

    2015-03-05

    Neural crest precursors generate diverse cell lineages during development, which have been proposed to arise either from multipotent precursor cells or pools of heterogeneous, restricted progenitors. Now in Cell Stem Cell, Baggiolini et al. (2015) perform rigorous in vivo lineage tracing to show that individual neural crest precursors are multipotent.

  3. Neural crest stem cell multipotency requires Foxd3 to maintain neural potential and repress mesenchymal fates

    PubMed Central

    Mundell, Nathan A.; Labosky, Patricia A.

    2011-01-01

    Neural crest (NC) progenitors generate a wide array of cell types, yet molecules controlling NC multipotency and self-renewal and factors mediating cell-intrinsic distinctions between multipotent versus fate-restricted progenitors are poorly understood. Our earlier work demonstrated that Foxd3 is required for maintenance of NC progenitors in the embryo. Here, we show that Foxd3 mediates a fate restriction choice for multipotent NC progenitors with loss of Foxd3 biasing NC toward a mesenchymal fate. Neural derivatives of NC were lost in Foxd3 mutant mouse embryos, whereas abnormally fated NC-derived vascular smooth muscle cells were ectopically located in the aorta. Cranial NC defects were associated with precocious differentiation towards osteoblast and chondrocyte cell fates, and individual mutant NC from different anteroposterior regions underwent fate changes, losing neural and increasing myofibroblast potential. Our results demonstrate that neural potential can be separated from NC multipotency by the action of a single gene, and establish novel parallels between NC and other progenitor populations that depend on this functionally conserved stem cell protein to regulate self-renewal and multipotency. PMID:21228004

  4. Real-time imaging of bHLH transcription factors reveals their dynamic control in the multipotency and fate choice of neural stem cells.

    PubMed

    Imayoshi, Itaru; Ishidate, Fumiyoshi; Kageyama, Ryoichiro

    2015-01-01

    The basic-helix-loop-helix (bHLH) transcription factors Ascl1/Mash1, Hes1, and Olig2 regulate the fate choice of neurons, astrocytes, and oligodendrocytes, respectively; however, these factors are coexpressed in self-renewing multipotent neural stem cells (NSCs) even before cell fate determination. This fact raises the possibility that these fate determination factors are differentially expressed between self-renewing and differentiating NSCs with unique expression dynamics. Real-time imaging analysis utilizing fluorescent proteins is a powerful strategy for monitoring expression dynamics. Fusion with fluorescent reporters makes it possible to analyze the dynamic behavior of specific proteins in living cells. However, it is technically challenging to conduct long-term imaging of proteins, particularly those with low expression levels, because a high-sensitivity and low-noise imaging system is required, and very often bleaching of fluorescent proteins and cell toxicity by prolonged laser exposure are problematic. Furthermore, to analyze the functional roles of the dynamic expression of cellular proteins, it is essential to image reporter fusion proteins that are expressed at comparable levels to their endogenous expression. In this review, we introduce our recent reports about the dynamic control of bHLH transcription factors in multipotency and fate choice of NSCs, focusing on real-time imaging of fluorescent reporters fused with bHLH transcription factors. Our imaging results indicate that bHLH transcription factors are expressed in an oscillatory manner by NSCs, and that one of them becomes dominant during fate choice. We propose that the multipotent state of NSCs correlates with the oscillatory expression of several bHLH transcription factors, whereas the differentiated state correlates with the sustained expression of a single bHLH transcription factor.

  5. Pax3 and Zic1 drive induction and differentiation of multipotent, migratory, and functional neural crest in Xenopus embryos.

    PubMed

    Milet, Cécile; Maczkowiak, Frédérique; Roche, Daniel D; Monsoro-Burq, Anne Hélène

    2013-04-02

    Defining which key factors control commitment of an embryonic lineage among a myriad of candidates is a longstanding challenge in developmental biology and an essential prerequisite for developing stem cell-based therapies. Commitment implies that the induced cells not only express early lineage markers but further undergo an autonomous differentiation into the lineage. The embryonic neural crest generates a highly diverse array of derivatives, including melanocytes, neurons, glia, cartilage, mesenchyme, and bone. A complex gene regulatory network has recently classified genes involved in the many steps of neural crest induction, specification, migration, and differentiation. However, which factor or combination of factors is sufficient to trigger full commitment of this multipotent lineage remains unknown. Here, we show that, in contrast to other potential combinations of candidate factors, coactivating transcription factors Pax3 and Zic1 not only initiate neural crest specification from various early embryonic lineages in Xenopus and chicken embryos but also trigger full neural crest determination. These two factors are sufficient to drive migration and differentiation of several neural crest derivatives in minimal culture conditions in vitro or ectopic locations in vivo. After transplantation, the induced cells migrate to and integrate into normal neural crest craniofacial target territories, indicating an efficient spatial recognition in vivo. Thus, Pax3 and Zic1 cooperate and execute a transcriptional switch sufficient to activate full multipotent neural crest development and differentiation.

  6. Adult vascular smooth muscle cells in culture express neural stem cell markers typical of resident multipotent vascular stem cells.

    PubMed

    Kennedy, Eimear; Mooney, Ciaran J; Hakimjavadi, Roya; Fitzpatrick, Emma; Guha, Shaunta; Collins, Laura E; Loscher, Christine E; Morrow, David; Redmond, Eileen M; Cahill, Paul A

    2014-10-01

    Differentiation of resident multipotent vascular stem cells (MVSCs) or de-differentiation of vascular smooth muscle cells (vSMCs) might be responsible for the SMC phenotype that plays a major role in vascular diseases such as arteriosclerosis and restenosis. We examined vSMCs from three different species (rat, murine and bovine) to establish whether they exhibit neural stem cell characteristics typical of MVSCs. We determined their SMC differentiation, neural stem cell marker expression and multipotency following induction in vitro by using immunocytochemistry, confocal microscopy, fluorescence-activated cell sorting analysis and quantitative real-time polymerase chain reaction. MVSCs isolated from rat aortic explants, enzymatically dispersed rat SMCs and rat bone-marrow-derived mesenchymal stem cells served as controls. Murine carotid artery lysates and primary rat aortic vSMCs were both myosin-heavy-chain-positive but weakly expressed the neural crest stem cell marker, Sox10. Each vSMC line examined expressed SMC differentiation markers (smooth muscle α-actin, myosin heavy chain and calponin), neural crest stem cell markers (Sox10(+), Sox17(+)) and a glia marker (S100β(+)). Serum deprivation significantly increased calponin and myosin heavy chain expression and decreased stem cell marker expression, when compared with serum-rich conditions. vSMCs did not differentiate to adipocytes or osteoblasts following adipogenic or osteogenic inductive stimulation, respectively, or respond to transforming growth factor-β1 or Notch following γ-secretase inhibition. Thus, vascular SMCs in culture express neural stem cell markers typical of MVSCs, concomitant with SMC differentiation markers, but do not retain their multipotency. The ultimate origin of these cells might have important implications for their use in investigations of vascular proliferative disease in vitro.

  7. Methods for derivation of multipotent neural crest cells derived from human pluripotent stem cells

    PubMed Central

    Avery, John; Dalton, Stephen

    2016-01-01

    Summary Multipotent, neural crest cells (NCCs) produce a wide-range of cell types during embryonic development. This includes melanocytes, peripheral neurons, smooth muscle cells, osteocytes, chondrocytes and adipocytes. The protocol described here allows for highly-efficient differentiation of human pluripotent stem cells to a neural crest fate within 15 days. This is accomplished under feeder-free conditions, using chemically defined medium supplemented with two small molecule inhibitors that block glycogen synthase kinase 3 (GSK3) and bone morphogenic protein (BMP) signaling. This technology is well-suited as a platform to understand in greater detail the pathogenesis of human disease associated with impaired neural crest development/migration. PMID:25986498

  8. The early postnatal nonhuman primate neocortex contains self-renewing multipotent neural progenitor cells.

    PubMed

    Homman-Ludiye, Jihane; Merson, Tobias D; Bourne, James A

    2012-01-01

    The postnatal neocortex has traditionally been considered a non-neurogenic region, under non-pathological conditions. A few studies suggest, however, that a small subpopulation of neural cells born during postnatal life can differentiate into neurons that take up residence within the neocortex, implying that postnatal neurogenesis could occur in this region, albeit at a low level. Evidence to support this hypothesis remains controversial while the source of putative neural progenitors responsible for generating new neurons in the postnatal neocortex is unknown. Here we report the identification of self-renewing multipotent neural progenitor cells (NPCs) derived from the postnatal day 14 (PD14) marmoset monkey primary visual cortex (V1, striate cortex). While neuronal maturation within V1 is well advanced by PD14, we observed cells throughout this region that co-expressed Sox2 and Ki67, defining a population of resident proliferating progenitor cells. When cultured at low density in the presence of epidermal growth factor (EGF) and/or fibroblast growth factor 2 (FGF-2), dissociated V1 tissue gave rise to multipotent neurospheres that exhibited the ability to differentiate into neurons, oligodendrocytes and astrocytes. While the capacity to generate neurones and oligodendrocytes was not observed beyond the third passage, astrocyte-restricted neurospheres could be maintained for up to 6 passages. This study provides the first direct evidence for the existence of multipotent NPCs within the postnatal neocortex of the nonhuman primate. The potential contribution of neocortical NPCs to neural repair following injury raises exciting new possibilities for the field of regenerative medicine.

  9. Exclusive multipotency and preferential asymmetric divisions in post-embryonic neural stem cells of the fish retina.

    PubMed

    Centanin, Lázaro; Ander, Janina-J; Hoeckendorf, Burkhard; Lust, Katharina; Kellner, Tanja; Kraemer, Isabel; Urbany, Cedric; Hasel, Eva; Harris, William A; Simons, Benjamin D; Wittbrodt, Joachim

    2014-09-01

    The potency of post-embryonic stem cells can only be addressed in the living organism, by labeling single cells after embryonic development and following their descendants. Recently, transplantation experiments involving permanently labeled cells revealed multipotent neural stem cells (NSCs) of embryonic origin in the medaka retina. To analyze whether NSC potency is affected by developmental progression, as reported for the mammalian brain, we developed an inducible toolkit for clonal labeling and non-invasive fate tracking. We used this toolkit to address post-embryonic stem cells in different tissues and to functionally differentiate transient progenitor cells from permanent, bona fide stem cells in the retina. Using temporally controlled clonal induction, we showed that post-embryonic retinal NSCs are exclusively multipotent and give rise to the complete spectrum of cell types in the neural retina. Intriguingly, and in contrast to any other vertebrate stem cell system described so far, long-term analysis of clones indicates a preferential mode of asymmetric cell division. Moreover, following the behavior of clones before and after external stimuli, such as injuries, shows that NSCs in the retina maintained the preference for asymmetric cell division during regenerative responses. We present a comprehensive analysis of individual post-embryonic NSCs in their physiological environment and establish the teleost retina as an ideal model for studying adult stem cell biology at single cell resolution.

  10. Roles of chromatin remodelers in maintenance mechanisms of multipotency of mouse trunk neural crest cells in the formation of neural crest-derived stem cells.

    PubMed

    Fujita, Kyohei; Ogawa, Ryuhei; Kawawaki, Syunsaku; Ito, Kazuo

    2014-08-01

    We analyzed roles of two chromatin remodelers, Chromodomain Helicase DNA-binding protein 7 (CHD7) and SWItch/Sucrose NonFermentable-B (SWI/SNF-B), and Bone Morphogenetic Protein (BMP)/Wnt signaling in the maintenance of the multipotency of mouse trunk neural crest cells, leading to the formation of mouse neural crest-derived stem cells (mouse NCSCs). CHD7 was expressed in the undifferentiated neural crest cells and in the dorsal root ganglia (DRG) and sciatic nerve, typical tissues containing NCSCs. BMP/Wnt signaling stimulated the expression of CHD7 and participated in maintaining the multipotency of neural crest cells. Furthermore, the promotion of CHD7 expression maintained the multipotency of these cells. The inhibition of CHD7 and SWI/SNF-B expression significantly suppressed the maintenance of the multipotency of these cells. In addition, BMP/Wnt treatment promoted CHD7 expression and caused the increase of the percentage of multipotent cells in DRG. Thus, the present data suggest that the chromatin remodelers as well as BMP/Wnt signaling play essential roles in the maintenance of the multipotency of mouse trunk neural crest cells and in the formation of mouse NCSCs. Copyright © 2014 Elsevier Ireland Ltd. All rights reserved.

  11. Lgr5 Marks Neural Crest Derived Multipotent Oral Stromal Stem Cells.

    PubMed

    Boddupally, Keerthi; Wang, Guangfang; Chen, Yibu; Kobielak, Agnieszka

    2016-03-01

    It has been suggested that multipotent stem cells with neural crest (NC) origin persist into adulthood in oral mucosa. However their exact localization and role in normal homeostasis is unknown. In this study, we discovered that Lgr5 is expressed in NC cells during embryonic development, which give rise to the dormant stem cells in the adult tongue and oral mucosa. Those Lgr5 positive oral stromal stem cells display properties of NC stem cells including clonal growth and multipotent differentiation. RNA sequencing revealed that adult Lgr5+ oral stromal stem cells express high number of neural crest related markers like Sox9, Twist1, Snai1, Myc, Ets1, Crabp1, Epha2, and Itgb1. Using lineage-tracing experiments, we show that these cells persist more than a year in the ventral tongue and some areas of the oral mucosa and give rise to stromal progeny. In vivo transplantation demonstrated that these cells reconstitute the stroma. Our studies show for the first time that Lgr5 is expressed in the NC cells at embryonic day 9.5 (E9.5) and is maintained during embryonic development and postnataly in the stroma of the ventral tongue, and some areas of the oral mucosa and that Lgr5+ cells participate in the maintenance of the stroma. © 2015 AlphaMed Press.

  12. Maternal embryonic leucine zipper kinase (MELK) regulates multipotent neural progenitor proliferation.

    PubMed

    Nakano, Ichiro; Paucar, Andres A; Bajpai, Ruchi; Dougherty, Joseph D; Zewail, Amani; Kelly, Theresa K; Kim, Kevin J; Ou, Jing; Groszer, Matthias; Imura, Tetsuya; Freije, William A; Nelson, Stanley F; Sofroniew, Michael V; Wu, Hong; Liu, Xin; Terskikh, Alexey V; Geschwind, Daniel H; Kornblum, Harley I

    2005-08-01

    Maternal embryonic leucine zipper kinase (MELK) was previously identified in a screen for genes enriched in neural progenitors. Here, we demonstrate expression of MELK by progenitors in developing and adult brain and that MELK serves as a marker for self-renewing multipotent neural progenitors (MNPs) in cultures derived from the developing forebrain and in transgenic mice. Overexpression of MELK enhances (whereas knockdown diminishes) the ability to generate neurospheres from MNPs, indicating a function in self-renewal. MELK down-regulation disrupts the production of neurogenic MNP from glial fibrillary acidic protein (GFAP)-positive progenitors in vitro. MELK expression in MNP is cell cycle regulated and inhibition of MELK expression down-regulates the expression of B-myb, which is shown to also mediate MNP proliferation. These findings indicate that MELK is necessary for proliferation of embryonic and postnatal MNP and suggest that it regulates the transition from GFAP-expressing progenitors to rapid amplifying progenitors in the postnatal brain.

  13. Environmental factors unveil dormant developmental capacities in multipotent progenitors of the trunk neural crest.

    PubMed

    Coelho-Aguiar, Juliana M; Le Douarin, Nicole M; Dupin, Elisabeth

    2013-12-01

    The neural crest (NC), an ectoderm-derived structure of the vertebrate embryo, gives rise to the melanocytes, most of the peripheral nervous system and the craniofacial mesenchymal tissues (i.e., connective, bone, cartilage and fat cells). In the trunk of Amniotes, no mesenchymal tissues are derived from the NC. In certain in vitro conditions however, avian and murine trunk NC cells (TNCCs) displayed a limited mesenchymal differentiation capacity. Whether this capacity originates from committed precursors or from multipotent TNCCs was unknown. Here, we further investigated the potential of TNCCs to develop into mesenchymal cell types in vitro. We found that, in fact, quail TNCCs exhibit a high ability to differentiate into myofibroblasts, chondrocytes, lipid-laden adipocytes and mineralizing osteoblasts. In single cell cultures, both mesenchymal and neural cell types coexisted in TNCC clonal progeny: 78% of single cells yielded osteoblasts together with glial cells and neurons; moreover, TNCCs generated heterogenous clones with adipocytes, myofibroblasts, melanocytes and/or glial cells. Therefore, alike cephalic NCCs, early migratory TNCCs comprised multipotent progenitors able to generate both mesenchymal and melanocytic/neural derivatives, suggesting a continuum in NC developmental potentials along the neural axis. The skeletogenic capacity of the TNC, which was present in the exoskeletal armor of the extinct basal forms of Vertebrates and which persisted in the distal fin rays of extant teleost fish, thus did not totally disappear during vertebrate evolution. Mesenchymal potentials of the TNC, although not fulfilled during development, are still present in a dormant state in Amniotes and can be disclosed in in vitro culture. Whether these potentials are not expressed in vivo due to the presence of inhibitory cues or to the lack of permissive factors in the trunk environment remains to be understood. © 2013 Published by Elsevier Inc.

  14. FGF8 signaling sustains progenitor status and multipotency of cranial neural crest-derived mesenchymal cells in vivo and in vitro

    PubMed Central

    Shao, Meiying; Liu, Chao; Song, Yingnan; Ye, Wenduo; He, Wei; Yuan, Guohua; Gu, Shuping; Lin, Congxin; Ma, Liang; Zhang, Yanding; Tian, Weidong; Hu, Tao; Chen, YiPing

    2015-01-01

    The cranial neural crest (CNC) cells play a vital role in craniofacial development and regeneration. They are multi-potent progenitors, being able to differentiate into various types of tissues. Both pre-migratory and post-migratory CNC cells are plastic, taking on diverse fates by responding to different inductive signals. However, what sustains the multipotency of CNC cells and derivatives remains largely unknown. In this study, we present evidence that FGF8 signaling is able to sustain progenitor status and multipotency of CNC-derived mesenchymal cells both in vivo and in vitro. We show that augmented FGF8 signaling in pre-migratory CNC cells prevents cell differentiation and organogenesis in the craniofacial region by maintaining their progenitor status. CNC-derived mesenchymal cells with Fgf8 overexpression or control cells in the presence of exogenous FGF8 exhibit prolonged survival, proliferation, and multi-potent differentiation capability in cell cultures. Remarkably, exogenous FGF8 also sustains the capability of CNC-derived mesenchymal cells to participate in organogenesis such as odontogenesis. Furthermore, FGF8-mediated signaling strongly promotes adipogenesis but inhibits osteogenesis of CNC-derived mesenchymal cells in vitro. Our results reveal a specific role for FGF8 in the maintenance of progenitor status and in fate determination of CNC cells, implicating a potential application in expansion and fate manipulation of CNC-derived cells in stem cell-based craniofacial regeneration. PMID:26243590

  15. Direct Reprogramming of Mouse and Human Fibroblasts into Multipotent Neural Stem Cells with a Single Factor

    PubMed Central

    Ring, Karen L.; Tong, Leslie M.; Balestra, Maureen E.; Javier, Robyn; Andrews-Zwilling, Yaisa; Li, Gang; Walker, David; Zhang, William R.; Kreitzer, Anatol C.; Huang, Yadong

    2012-01-01

    SUMMARY The generation of induced pluripotent stem (iPS) cells and induced neuronal (iN) cells from somatic cells provides new avenues for basic research and potential transplantation therapies for neurological diseases. However, clinical applications must consider the risk of tumor formation by iPS cells and the inability of iN cells to self-renew in culture. Here we report the generation of induced neural stem cells (iNSCs) from mouse and human fibroblasts by direct reprogramming with a single factor, Sox2. iNSCs express NSC markers and resemble wild-type NSCs in their morphology, self-renewal, ability to form neurospheres, and gene expression profiles. Cloned iNSCs differentiate into several types of mature neurons, as well as astrocytes and oligodendrocytes, indicating multipotency. Implanted iNSCs can survive and integrate in mouse brains and, unlike iPS cell-derived NSCs, do not generate tumors. Thus, self-renewable and multipotent iNSCs without tumorigenic potential can be generated directly from fibroblasts by reprogramming. PMID:22683203

  16. NG2-glia as multipotent neural stem cells – fact or fantasy?

    PubMed Central

    Richardson, William D; Young, Kaylene M; Tripathi, Richa B; McKenzie, Ian

    2011-01-01

    Summary Cycling glial precursors - “NG2-glia” - are abundant in the developing and mature central nervous system (CNS). During development they generate oligodendrocytes. In culture, they can revert to a multipotent state, suggesting that they might have latent stem cell potential that could be harnessed to treat neurodegenerative disease. This hope has been subdued recently by a series of fate mapping studies that cast NG2-glia as dedicated oligodendrocyte precursors in the healthy adult CNS - though rare neuron production in the piriform cortex remains a possibility. Following CNS damage, the repertoire of NG2-glia expands to include Schwann cells and possibly astrocytes – but so far not neurons. This confirms the central role of NG2-glia in myelin repair. The realization that oligodendrocyte generation continues throughout normal adulthood has seeded the idea that myelin genesis might also be involved in neural plasticity. We review these developments, highlighting areas of current interest, contention and speculation. PMID:21609823

  17. Neural differentiation of novel multipotent progenitor cells from cryopreserved human umbilical cord blood

    SciTech Connect

    Lee, Myoung Woo; Moon, Young Joon; Yang, Mal Sook; Kim, Sun Kyung; Jang, In Keun; Eom, Young-woo; Park, Joon Seong; Kim, Hugh C.; Song, Kye Yong; Park, Soon Cheol; Lim, Hwan Sub; Kim, Young Jin . E-mail: jin@lifecord.co.kr

    2007-06-29

    Umbilical cord blood (UCB) is a rich source of hematopoietic stem cells, with practical and ethical advantages. To date, the presence of other stem cells in UCB remains to be established. We investigated whether other stem cells are present in cryopreserved UCB. Seeded mononuclear cells formed adherent colonized cells in optimized culture conditions. Over a 4- to 6-week culture period, colonized cells gradually developed into adherent mono-layer cells, which exhibited homogeneous fibroblast-like morphology and immunophenotypes, and were highly proliferative. Isolated cells were designated 'multipotent progenitor cells (MPCs)'. Under appropriate conditions for 2 weeks, MPCs differentiated into neural tissue-specific cell types, including neuron, astrocyte, and oligodendrocyte. Differentiated cells presented their respective markers, specifically, NF-L and NSE for neurons, GFAP for astrocytes, and myelin/oligodendrocyte for oligodendrocytes. In this study, we successfully isolated MPCs from cryopreserved UCB, which differentiated into the neural tissue-specific cell types. These findings suggest that cryopreserved human UCB is a useful alternative source of neural progenitor cells, such as MPCs, for experimental and therapeutic applications.

  18. Isolation of novel multipotent neural crest-derived stem cells from adult human inferior turbinate.

    PubMed

    Hauser, Stefan; Widera, Darius; Qunneis, Firas; Müller, Janine; Zander, Christin; Greiner, Johannes; Strauss, Christina; Lüningschrör, Patrick; Heimann, Peter; Schwarze, Hartmut; Ebmeyer, Jörg; Sudhoff, Holger; Araúzo-Bravo, Marcos J; Greber, Boris; Zaehres, Holm; Schöler, Hans; Kaltschmidt, Christian; Kaltschmidt, Barbara

    2012-03-20

    Adult human neural crest-derived stem cells (NCSCs) are of extraordinary high plasticity and promising candidates for the use in regenerative medicine. Here we describe for the first time a novel neural crest-derived stem cell population within the respiratory epithelium of human adult inferior turbinate. In contrast to superior and middle turbinates, high amounts of source material could be isolated from human inferior turbinates. Using minimally-invasive surgery methods isolation is efficient even in older patients. Within their endogenous niche, inferior turbinate stem cells (ITSCs) expressed high levels of nestin, p75(NTR), and S100. Immunoelectron microscopy using anti-p75 antibodies displayed that ITSCs are of glial origin and closely related to nonmyelinating Schwann cells. Cultivated ITSCs were positive for nestin and S100 and the neural crest markers Slug and SOX10. Whole genome microarray analysis showed pronounced differences to human ES cells in respect to pluripotency markers OCT4, SOX2, LIN28, and NANOG, whereas expression of WDR5, KLF4, and c-MYC was nearly similar. ITSCs were able to differentiate into cells with neuro-ectodermal and mesodermal phenotype. Additionally ITSCs are able to survive and perform neural crest typical chain migration in vivo when transplanted into chicken embryos. However ITSCs do not form teratomas in severe combined immunodeficient mice. Finally, we developed a separation strategy based on magnetic cell sorting of p75(NTR) positive ITSCs that formed larger neurospheres and proliferated faster than p75(NTR) negative ITSCs. Taken together our study describes a novel, readily accessible source of multipotent human NCSCs for potential cell-replacement therapy.

  19. FGF8 signaling sustains progenitor status and multipotency of cranial neural crest-derived mesenchymal cells in vivo and in vitro.

    PubMed

    Shao, Meiying; Liu, Chao; Song, Yingnan; Ye, Wenduo; He, Wei; Yuan, Guohua; Gu, Shuping; Lin, Congxin; Ma, Liang; Zhang, Yanding; Tian, Weidong; Hu, Tao; Chen, YiPing

    2015-10-01

    The cranial neural crest (CNC) cells play a vital role in craniofacial development and regeneration. They are multi-potent progenitors, being able to differentiate into various types of tissues. Both pre-migratory and post-migratory CNC cells are plastic, taking on diverse fates by responding to different inductive signals. However, what sustains the multipotency of CNC cells and derivatives remains largely unknown. In this study, we present evidence that FGF8 signaling is able to sustain progenitor status and multipotency of CNC-derived mesenchymal cells both in vivo and in vitro. We show that augmented FGF8 signaling in pre-migratory CNC cells prevents cell differentiation and organogenesis in the craniofacial region by maintaining their progenitor status. CNC-derived mesenchymal cells with Fgf8 overexpression or control cells in the presence of exogenous FGF8 exhibit prolonged survival, proliferation, and multi-potent differentiation capability in cell cultures. Remarkably, exogenous FGF8 also sustains the capability of CNC-derived mesenchymal cells to participate in organogenesis such as odontogenesis. Furthermore, FGF8-mediated signaling strongly promotes adipogenesis but inhibits osteogenesis of CNC-derived mesenchymal cells in vitro. Our results reveal a specific role for FGF8 in the maintenance of progenitor status and in fate determination of CNC cells, implicating a potential application in expansion and fate manipulation of CNC-derived cells in stem cell-based craniofacial regeneration. © The Author (2015). Published by Oxford University Press on behalf of Journal of Molecular Cell Biology, IBCB, SIBS, CAS. All rights reserved.

  20. Sphere-Derived Multipotent Progenitor Cells Obtained From Human Oral Mucosa Are Enriched in Neural Crest Cells.

    PubMed

    Abe, Shigehiro; Yamaguchi, Satoshi; Sato, Yutaka; Harada, Kiyoshi

    2016-01-01

    isolation of neural crest progenitor cells from oral mucosa using this system. Human OMSCs form spheres that exhibit self-renewal capabilities and multipotency, and are enriched with neural crest-derived cells. These oral mucosa sphere-forming cells can generate ectopic bone tissue in vivo. Therefore, the results of the present study show that the sphere culture system can be applied, without the need for complex isolation techniques, to produce multipotent spheres with the properties of neural crest stem cells. Furthermore, a convenient strategy is demonstrated for the isolation and culture of human OMSCs that could have clinical applications. ©AlphaMed Press.

  1. Multipotent neural stem cells generate glial cells of the central complex through transit amplifying intermediate progenitors in Drosophila brain development.

    PubMed

    Viktorin, Gudrun; Riebli, Nadia; Popkova, Anna; Giangrande, Angela; Reichert, Heinrich

    2011-08-15

    The neural stem cells that give rise to the neural lineages of the brain can generate their progeny directly or through transit amplifying intermediate neural progenitor cells (INPs). The INP-producing neural stem cells in Drosophila are called type II neuroblasts, and their neural progeny innervate the central complex, a prominent integrative brain center. Here we use genetic lineage tracing and clonal analysis to show that the INPs of these type II neuroblast lineages give rise to glial cells as well as neurons during postembryonic brain development. Our data indicate that two main types of INP lineages are generated, namely mixed neuronal/glial lineages and neuronal lineages. Genetic loss-of-function and gain-of-function experiments show that the gcm gene is necessary and sufficient for gliogenesis in these lineages. The INP-derived glial cells, like the INP-derived neuronal cells, make major contributions to the central complex. In postembryonic development, these INP-derived glial cells surround the entire developing central complex neuropile, and once the major compartments of the central complex are formed, they also delimit each of these compartments. During this process, the number of these glial cells in the central complex is increased markedly through local proliferation based on glial cell mitosis. Taken together, these findings uncover a novel and complex form of neurogliogenesis in Drosophila involving transit amplifying intermediate progenitors. Moreover, they indicate that type II neuroblasts are remarkably multipotent neural stem cells that can generate both the neuronal and the glial progeny that make major contributions to one and the same complex brain structure.

  2. PAD4 regulates proliferation of multipotent haematopoietic cells by controlling c-myc expression

    PubMed Central

    Nakashima, Katsuhiko; Arai, Satoko; Suzuki, Akari; Nariai, Yuko; Urano, Takeshi; Nakayama, Manabu; Ohara, Osamu; Yamamura, Ken-ichi; Yamamoto, Kazuhiko; Miyazaki, Toru

    2013-01-01

    Peptidylarginine deiminase 4 (PAD4) functions as a transcriptional coregulator by catalyzing the conversion of histone H3 arginine residues to citrulline residues. Although the high level of PAD4 expression in bone marrow cells suggests its involvement in haematopoiesis, its precise contribution remains unclear. Here we show that PAD4, which is highly expressed in lineage− Sca-1+ c-Kit+ (LSK) cells of mouse bone marrow compared with other progenitor cells, controls c-myc expression by catalyzing the citrullination of histone H3 on its promoter. Furthermore, PAD4 is associated with lymphoid enhancer-binding factor 1 and histone deacetylase 1 at the upstream region of the c-myc gene. Supporting these findings, LSK cells, especially multipotent progenitors, in PAD4-deficient mice show increased proliferation in a cell-autonomous fashion compared with those in wild-type mice. Together, our results strongly suggest that PAD4 regulates the proliferation of multipotent progenitors in the bone marrow by controlling c-myc expression. PMID:23673621

  3. The discovery of the matrix cell, the identification of the multipotent neural stem cell and the development of the central nervous system.

    PubMed

    Fujita, Setsuya

    2003-08-01

    In the early 1960s I applied 3H-thymidine autoradiography to the study of the cells constituting the neural tube, and found that its wall was composed solely of one kind of single-layered epithelial cell, which perform an elevator movement between the mitotic and DNA-synthetic zones in the wall in accord with the cell cycle. They were identified as multipotent stem cells of the central nervous sytem (CNS) to which I gave the name of matrix cells. (3)H-thymidine autoradiography also revealed the chronology of development of these matrix cells: At first they proliferate only to expand the population (stage I), then switch to differentiate specific neuroblasts in given sequences (stage II), and finally change themselves into ependymoglioblasts, common progenitors of ependymal cells and neuroglia (stage III). Based on these findings, I proposed a monophyletic view of cytogenesis of the central nervous sytem. This matrix cell theory claiming the existence of multipotent stem cells has long been the target of severe criticism and not been accepted among neuro-embryologists for a long time. Recent findings by experimental and clinical neuroscientists on the importance of stem cells have renewed interest in the nature and biology of the multipotent neural stem cells. The present paper describes how the concept of the matrix cell (multipotent neural stem cells in vivo) emerged and what has come out from this view over the last 45 years, and how the basic concept of the matrix cell theory has recently been reconfirmed after a long period of controversy and neglect.

  4. Fuzzy and neural control

    NASA Technical Reports Server (NTRS)

    Berenji, Hamid R.

    1992-01-01

    Fuzzy logic and neural networks provide new methods for designing control systems. Fuzzy logic controllers do not require a complete analytical model of a dynamic system and can provide knowledge-based heuristic controllers for ill-defined and complex systems. Neural networks can be used for learning control. In this chapter, we discuss hybrid methods using fuzzy logic and neural networks which can start with an approximate control knowledge base and refine it through reinforcement learning.

  5. Multipotent Caudal Neural Progenitors Derived from Human Pluripotent Stem Cells That Give Rise to Lineages of the Central and Peripheral Nervous System

    PubMed Central

    Hasegawa, Kouichi; Menheniott, Trevelyan; Rollo, Ben; Zhang, Dongcheng; Hough, Shelley; Alshawaf, Abdullah; Febbraro, Fabia; Ighaniyan, Samiramis; Leung, Jessie; Elliott, David A.; Newgreen, Donald F.; Pera, Martin F.

    2015-01-01

    Abstract The caudal neural plate is a distinct region of the embryo that gives rise to major progenitor lineages of the developing central and peripheral nervous system, including neural crest and floor plate cells. We show that dual inhibition of the glycogen synthase kinase 3β and activin/nodal pathways by small molecules differentiate human pluripotent stem cells (hPSCs) directly into a preneuroepithelial progenitor population we named “caudal neural progenitors” (CNPs). CNPs coexpress caudal neural plate and mesoderm markers, and, share high similarities to embryonic caudal neural plate cells in their lineage differentiation potential. Exposure of CNPs to BMP2/4, sonic hedgehog, or FGF2 signaling efficiently directs their fate to neural crest/roof plate cells, floor plate cells, and caudally specified neuroepithelial cells, respectively. Neural crest derived from CNPs differentiated to neural crest derivatives and demonstrated extensive migratory properties in vivo. Importantly, we also determined the key extrinsic factors specifying CNPs from human embryonic stem cell include FGF8, canonical WNT, and IGF1. Our studies are the first to identify a multipotent neural progenitor derived from hPSCs, that is the precursor for major neural lineages of the embryonic caudal neural tube. Stem Cells 2015;33:1759–1770 PMID:25753817

  6. Multipotent caudal neural progenitors derived from human pluripotent stem cells that give rise to lineages of the central and peripheral nervous system.

    PubMed

    Denham, Mark; Hasegawa, Kouichi; Menheniott, Trevelyan; Rollo, Ben; Zhang, Dongcheng; Hough, Shelley; Alshawaf, Abdullah; Febbraro, Fabia; Ighaniyan, Samiramis; Leung, Jessie; Elliott, David A; Newgreen, Donald F; Pera, Martin F; Dottori, Mirella

    2015-06-01

    The caudal neural plate is a distinct region of the embryo that gives rise to major progenitor lineages of the developing central and peripheral nervous system, including neural crest and floor plate cells. We show that dual inhibition of the glycogen synthase kinase 3β and activin/nodal pathways by small molecules differentiate human pluripotent stem cells (hPSCs) directly into a preneuroepithelial progenitor population we named "caudal neural progenitors" (CNPs). CNPs coexpress caudal neural plate and mesoderm markers, and, share high similarities to embryonic caudal neural plate cells in their lineage differentiation potential. Exposure of CNPs to BMP2/4, sonic hedgehog, or FGF2 signaling efficiently directs their fate to neural crest/roof plate cells, floor plate cells, and caudally specified neuroepithelial cells, respectively. Neural crest derived from CNPs differentiated to neural crest derivatives and demonstrated extensive migratory properties in vivo. Importantly, we also determined the key extrinsic factors specifying CNPs from human embryonic stem cell include FGF8, canonical WNT, and IGF1. Our studies are the first to identify a multipotent neural progenitor derived from hPSCs, that is the precursor for major neural lineages of the embryonic caudal neural tube.

  7. Isolation of multipotent neural stem/progenitor cells from both the dentate gyrus and subventricular zone of a single adult mouse

    PubMed Central

    Guo, Weixiang; Patzlaff, Natalie E.; Jobe, Emily M.; Zhao, Xinyu

    2013-01-01

    In adult mammals, the subventricular zone of the lateral ventricles (SVZ) and the subgranular zone of the dentate gyrus (DG) demonstrate ongoing neurogenesis, and multipotent neural stem/progenitor cells (NSCs) in these two regions exhibit different intrinsic properties. However, investigation of the mechanisms underlying such differences has been limited by a lack of efficient methods for isolating NSCs, particularly from the adult DG. Here we describe a protocol that enables us to isolate self-renewing and multipotent NSCs from the SVZ and the DG of the same adult mouse. The protocol involves the microdissection of the SVZ and DG from one adult mouse brain, isolation of NSCs from specific regions, and cultivation of NSCs in vitro. The entire procedure takes 2 to 3 hours. Since only one mouse is needed for each cell isolation procedure, this protocol will be particularly useful for studies with limited availability of mice, such as mice that contain multiple genetic modifications. PMID:23080272

  8. Sensitive Tumorigenic Potential Evaluation of Adult Human Multipotent Neural Cells Immortalized by hTERT Gene Transduction

    PubMed Central

    Jeong, Da Eun; Kim, Sung Soo; Song, Hye Jin; Pyeon, Hee Jang; Kang, Kyeongjin; Hong, Seung-Cheol; Nam, Do-Hyun; Joo, Kyeung Min

    2016-01-01

    Stem cells and therapeutic genes are emerging as a new therapeutic approach to treat various neurodegenerative diseases with few effective treatment options. However, potential formation of tumors by stem cells has hampered their clinical application. Moreover, adequate preclinical platforms to precisely test tumorigenic potential of stem cells are controversial. In this study, we compared the sensitivity of various animal models for in vivo stem cell tumorigenicity testing to identify the most sensitive platform. Then, tumorigenic potential of adult human multipotent neural cells (ahMNCs) immortalized by the human telomerase reverse transcriptase (hTERT) gene was examined as a stem cell model with therapeutic genes. When human glioblastoma (GBM) cells were injected into adult (4–6-week-old) Balb/c-nu, adult NOD/SCID, adult NOG, or neonate (1–2-week-old) NOG mice, the neonate NOG mice showed significantly faster tumorigenesis than that of the other groups regardless of intracranial or subcutaneous injection route. Two kinds of ahMNCs (682TL and 779TL) were primary cultured from surgical samples of patients with temporal lobe epilepsy. Although the ahMNCs were immortalized by lentiviral hTERT gene delivery (hTERT-682TL and hTERT-779TL), they did not form any detectable masses, even in the most sensitive neonate NOG mouse platform. Moreover, the hTERT-ahMNCs had no gross chromosomal abnormalities on a karyotype analysis. Taken together, our data suggest that neonate NOG mice could be a sensitive animal platform to test tumorigenic potential of stem cell therapeutics and that ahMNCs could be a genetically stable stem cell source with little tumorigenic activity to develop regenerative treatments for neurodegenerative diseases. PMID:27391353

  9. Active control of the nucleation temperature enhances freezing survival of multipotent mesenchymal stromal cells.

    PubMed

    Lauterboeck, L; Hofmann, N; Mueller, T; Glasmacher, B

    2015-12-01

    Cryopreservation is a technique that has been extensively used for storage of multipotent mesenchymal stromal cells (MSCs) in regenerative medicine. Therefore, improving current cryopreservation procedures in terms of increasing cell viability and functionality is important. In this study, we optimized the cryopreservation protocol of MSCs derived from the common marmoset Callithrix jacchus (cj), which can be used as a non-human primate model in various pathological and transplantation studies and have a great potential for regenerative medicine. We have investigated the effect of the active control of the nucleation temperature using induced nucleation at a broad range of temperatures and two different dimethylsulfoxide concentrations (Me2SO, 5% (v/v) and 10%, (v/v)) to evaluate the overall effect on the viability, metabolic activity and recovery of cells after thawing. Survival rate and metabolic activity displayed an optimum when ice formation was induced at -10 °C. Cryomicroscopy studies indicated differences in ice crystal morphologies as well as differences in intracellular ice formation with different nucleation temperatures. High subzero nucleation temperatures resulted in larger extracellular ice crystals and cellular dehydration, whereas low subzero nucleation temperatures resulted in smaller ice crystals and intracellular ice formation. Copyright © 2015 Elsevier Inc. All rights reserved.

  10. The role of RhoA kinase inhibition in human placenta-derived multipotent cells on neural phenotype and cell survival.

    PubMed

    Wang, Chih-Hsiang; Wu, Chia-Ching; Hsu, Shan-Hui; Liou, Jun-Yang; Li, Yu-Wei; Wu, Kenneth K; Lai, Yiu-Kay; Yen, B Linju

    2013-04-01

    Current advances in stem cell biology have brought much hope for therapy of neuro-degenerative diseases. However, neural stem cells (NSCs) are rare adult stem cells, and the use of non-NSCs requires efficient and high-yielding lineage-specific differentiation prior to transplantation for efficacy. We report on the efficient differentiation of placental-derived multipotent cells (PDMCs) into a neural phenotype with use of Y-27632, a clinically compliant small molecular inhibitor of Rho kinase (ROCK) which is a major mediator of cytoskeleton dynamics. Y-27632 does not induce differentiation of PDMC toward the mesodermal lineages of adipogenesis and osteogenesis, but rather a neural-like morphology, with rapid development of cell extensions and processes within 24 h. Compared with conventional neurogenic differentiation agents, Y-27632 induces a higher percentage of neural-like cells in PDMCs without arresting proliferation or cell cycle dynamics. Y-27632-treated PDMCs express several neural lineage genes at the RNA and protein level, including nestin, MAP2, and GFAP. The effect of the ROCK inhibitor is cell-specific to PDMCs, and is mainly mediated through the ROCK2 isoform and its downstream target, myosin II. Our data suggest that ROCK inhibition and cytoskeletal rearrangement may allow for induction of a neural phenotype in PDMCs without compromising cell survival.

  11. Neural control of muscle

    NASA Technical Reports Server (NTRS)

    Max, S. R.; Markelonis, G. J.

    1983-01-01

    Cholinergic innervation regulates the physiological and biochemical properties of skeletal muscle. The mechanisms that appear to be involved in this regulation include soluble, neurally-derived polypeptides, transmitter-evoked muscle activity and the neurotransmitter, acetylcholine, itself. Despite extensive research, the interacting neural mechanisms that control such macromolecules as acetylcholinesterase, the acetylcholine receptor and glucose 6-phosphate dehydrogenase remain unclear. It may be that more simplified in vitro model systems coupled with recent dramatic advances in the molecular biology of neurally-regulated proteins will begin to allow researchers to unravel the mechanisms controlling the expression and maintenance of these macromolecules.

  12. Neural Architectures for Control

    NASA Technical Reports Server (NTRS)

    Peterson, James K.

    1991-01-01

    The cerebellar model articulated controller (CMAC) neural architectures are shown to be viable for the purposes of real-time learning and control. Software tools for the exploration of CMAC performance are developed for three hardware platforms, the MacIntosh, the IBM PC, and the SUN workstation. All algorithm development was done using the C programming language. These software tools were then used to implement an adaptive critic neuro-control design that learns in real-time how to back up a trailer truck. The truck backer-upper experiment is a standard performance measure in the neural network literature, but previously the training of the controllers was done off-line. With the CMAC neural architectures, it was possible to train the neuro-controllers on-line in real-time on a MS-DOS PC 386. CMAC neural architectures are also used in conjunction with a hierarchical planning approach to find collision-free paths over 2-D analog valued obstacle fields. The method constructs a coarse resolution version of the original problem and then finds the corresponding coarse optimal path using multipass dynamic programming. CMAC artificial neural architectures are used to estimate the analog transition costs that dynamic programming requires. The CMAC architectures are trained in real-time for each obstacle field presented. The coarse optimal path is then used as a baseline for the construction of a fine scale optimal path through the original obstacle array. These results are a very good indication of the potential power of the neural architectures in control design. In order to reach as wide an audience as possible, we have run a seminar on neuro-control that has met once per week since 20 May 1991. This seminar has thoroughly discussed the CMAC architecture, relevant portions of classical control, back propagation through time, and adaptive critic designs.

  13. Neural networks for aircraft control

    NASA Technical Reports Server (NTRS)

    Linse, Dennis

    1990-01-01

    Current research in Artificial Neural Networks indicates that networks offer some potential advantages in adaptation and fault tolerance. This research is directed at determining the possible applicability of neural networks to aircraft control. The first application will be to aircraft trim. Neural network node characteristics, network topology and operation, neural network learning and example histories using neighboring optimal control with a neural net are discussed.

  14. Neural Flight Control System

    NASA Technical Reports Server (NTRS)

    Gundy-Burlet, Karen

    2003-01-01

    The Neural Flight Control System (NFCS) was developed to address the need for control systems that can be produced and tested at lower cost, easily adapted to prototype vehicles and for flight systems that can accommodate damaged control surfaces or changes to aircraft stability and control characteristics resulting from failures or accidents. NFCS utilizes on a neural network-based flight control algorithm which automatically compensates for a broad spectrum of unanticipated damage or failures of an aircraft in flight. Pilot stick and rudder pedal inputs are fed into a reference model which produces pitch, roll and yaw rate commands. The reference model frequencies and gains can be set to provide handling quality characteristics suitable for the aircraft of interest. The rate commands are used in conjunction with estimates of the aircraft s stability and control (S&C) derivatives by a simplified Dynamic Inverse controller to produce virtual elevator, aileron and rudder commands. These virtual surface deflection commands are optimally distributed across the aircraft s available control surfaces using linear programming theory. Sensor data is compared with the reference model rate commands to produce an error signal. A Proportional/Integral (PI) error controller "winds up" on the error signal and adds an augmented command to the reference model output with the effect of zeroing the error signal. In order to provide more consistent handling qualities for the pilot, neural networks learn the behavior of the error controller and add in the augmented command before the integrator winds up. In the case of damage sufficient to affect the handling qualities of the aircraft, an Adaptive Critic is utilized to reduce the reference model frequencies and gains to stay within a flyable envelope of the aircraft.

  15. Neural Flight Control System

    NASA Technical Reports Server (NTRS)

    Gundy-Burlet, Karen

    2003-01-01

    The Neural Flight Control System (NFCS) was developed to address the need for control systems that can be produced and tested at lower cost, easily adapted to prototype vehicles and for flight systems that can accommodate damaged control surfaces or changes to aircraft stability and control characteristics resulting from failures or accidents. NFCS utilizes on a neural network-based flight control algorithm which automatically compensates for a broad spectrum of unanticipated damage or failures of an aircraft in flight. Pilot stick and rudder pedal inputs are fed into a reference model which produces pitch, roll and yaw rate commands. The reference model frequencies and gains can be set to provide handling quality characteristics suitable for the aircraft of interest. The rate commands are used in conjunction with estimates of the aircraft s stability and control (S&C) derivatives by a simplified Dynamic Inverse controller to produce virtual elevator, aileron and rudder commands. These virtual surface deflection commands are optimally distributed across the aircraft s available control surfaces using linear programming theory. Sensor data is compared with the reference model rate commands to produce an error signal. A Proportional/Integral (PI) error controller "winds up" on the error signal and adds an augmented command to the reference model output with the effect of zeroing the error signal. In order to provide more consistent handling qualities for the pilot, neural networks learn the behavior of the error controller and add in the augmented command before the integrator winds up. In the case of damage sufficient to affect the handling qualities of the aircraft, an Adaptive Critic is utilized to reduce the reference model frequencies and gains to stay within a flyable envelope of the aircraft.

  16. Neural Networks For Robot Control

    DTIC Science & Technology

    2001-04-17

    following: (a) Application of artificial neural networks (multi-layer perceptrons, MLPs) for 2D planar robot arm by using the dynamic backpropagation...methods for the adjustment of parameters; and optimization of the architecture; (b) Application of artificial neural networks in controlling closed...studies in controlling dynamic robot arms by using neural networks in real-time process; (2) Research of optimal architectures used in closed-loop systems in order to compare with adaptive and robust control.

  17. Safety and efficacy of multipotent adult progenitor cells in acute ischaemic stroke (MASTERS): a randomised, double-blind, placebo-controlled, phase 2 trial.

    PubMed

    Hess, David C; Wechsler, Lawrence R; Clark, Wayne M; Savitz, Sean I; Ford, Gary A; Chiu, David; Yavagal, Dileep R; Uchino, Ken; Liebeskind, David S; Auchus, Alexander P; Sen, Souvik; Sila, Cathy A; Vest, Jeffrey D; Mays, Robert W

    2017-05-01

    Multipotent adult progenitor cells are a bone marrow-derived, allogeneic, cell therapy product that modulates the immune system, and represents a promising therapy for acute stroke. We aimed to identify the highest, well-tolerated, and safest single dose of multipotent adult progenitor cells, and if they were efficacious as a treatment for stroke recovery. We did a phase 2, randomised, double-blind, placebo-controlled, dose-escalation trial of intravenous multipotent adult progenitor cells in 33 centres in the UK and the USA. We used a computer-generated randomisation sequence and interactive voice and web response system to assign patients aged 18-83 years with moderately severe acute ischaemic stroke and a National Institutes of Health Stroke Scale (NIHSS) score of 8-20 to treatment with intravenous multipotent adult progenitor cells (400 million or 1200 million cells) or placebo between 24 h and 48 h after symptom onset. Patients were ineligible if there was a change in NIHSS of four or more points during at least a 6 h period between screening and randomisation, had brainstem or lacunar infarct, a substantial comorbid disease, an inability to undergo an MRI scan, or had a history of splenectomy. In group 1, patients were enrolled and randomly assigned in a 3:1 ratio to receive 400 million cells or placebo and assessed for safety through 7 days. In group 2, patients were randomly assigned in a 3:1 ratio to receive 1200 million cells or placebo and assessed for safety through the first 7 days. In group 3, patients were enrolled, randomly assigned, and stratified by baseline NIHSS score to receive 1200 million cells or placebo in a 1:1 ratio within 24-48 h. Patients, investigators, and clinicians were masked to treatment assignment. The primary safety outcome was dose-limiting toxicity effects. The primary efficacy endpoint was global stroke recovery, which combines dichotomised results from the modified Rankin scale, change in NIHSS score from baseline, and

  18. Neural metabolite changes in corpus striatum after rat multipotent mesenchymal stem cells transplanted in hemiparkinsonian rats by magnetic resonance spectroscopy.

    PubMed

    Fu, Wenyu; Zheng, Zhijuan; Zhuang, Wenxin; Chen, Dandan; Wang, Xiaocui; Sun, Xihe; Wang, Xin

    2013-12-01

    To investigate the biochemical changes in striatum after rat bone marrow mesenchymal stem cells (MSCs) were transplanted into hemiparkinsonian rats and to further confirm the therapeutic effects of rat MSCs for Parkinson's disease (PD). 5-bromo-2-deoxyuridine (BrdU)-labeled MSCs were transplanted into the corpus striatum of the 6-hydroxydopamine (6-OHDA)-injected side of six PD model rats. Before and 8 weeks after MSC transplantation, ethological changes in PD rats were assessed. The expression of tyrosine hydroxylase (TH) in substantia nigra (SN) and striatum were measured using immunohistochemical methods. The differentiation of MSCs was detected by double immunofluorescence techniques. The concentrations of neural metabolites of N-acetylaspartate (NAA), choline (Cho) and creatine (Cr) were measured by ¹H-magnetic resonance spectroscopy (MRS). Relative concentrations of NAA/Cr and Cho/Cr were calculated. The behavior of PD rats in rotarod tests improved, and there were statistical differences in TH-positive cells in SN and TH-positive terminals in striatum after the transplantation of BrdU-labeled MSCs. Transplanted MSCs differentiated into MAP-2-positive neurons. Especially compared with pre-MSC transplantation, the neural metabolite NAA/Cr ratio of the 6-OHDA-injected side of the striatum increased (P < 0.05) and the Cho/Cr ratio decreased (P < 0.05). MSCs transplantation apparently improves neuronal function in the striatum of PD rats.

  19. Neural Networks for Flight Control

    NASA Technical Reports Server (NTRS)

    Jorgensen, Charles C.

    1996-01-01

    Neural networks are being developed at NASA Ames Research Center to permit real-time adaptive control of time varying nonlinear systems, enhance the fault-tolerance of mission hardware, and permit online system reconfiguration. In general, the problem of controlling time varying nonlinear systems with unknown structures has not been solved. Adaptive neural control techniques show considerable promise and are being applied to technical challenges including automated docking of spacecraft, dynamic balancing of the space station centrifuge, online reconfiguration of damaged aircraft, and reducing cost of new air and spacecraft designs. Our experiences have shown that neural network algorithms solved certain problems that conventional control methods have been unable to effectively address. These include damage mitigation in nonlinear reconfiguration flight control, early performance estimation of new aircraft designs, compensation for damaged planetary mission hardware by using redundant manipulator capability, and space sensor platform stabilization. This presentation explored these developments in the context of neural network control theory. The discussion began with an overview of why neural control has proven attractive for NASA application domains. The more important issues in control system development were then discussed with references to significant technical advances in the literature. Examples of how these methods have been applied were given, followed by projections of emerging application needs and directions.

  20. Neural Control of the Circulation

    ERIC Educational Resources Information Center

    Thomas, Gail D.

    2011-01-01

    The purpose of this brief review is to highlight key concepts about the neural control of the circulation that graduate and medical students should be expected to incorporate into their general knowledge of human physiology. The focus is largely on the sympathetic nerves, which have a dominant role in cardiovascular control due to their effects to…

  1. Neural Control of the Circulation

    ERIC Educational Resources Information Center

    Thomas, Gail D.

    2011-01-01

    The purpose of this brief review is to highlight key concepts about the neural control of the circulation that graduate and medical students should be expected to incorporate into their general knowledge of human physiology. The focus is largely on the sympathetic nerves, which have a dominant role in cardiovascular control due to their effects to…

  2. The neural control of micturition

    PubMed Central

    Fowler, Clare J.; Griffiths, Derek; de Groat, William C.

    2010-01-01

    Micturition, or urination, occurs involuntarily in infants and young children until the age of 3 to 5 years, after which it is regulated voluntarily. The neural circuitry that controls this process is complex and highly distributed: it involves pathways at many levels of the brain, the spinal cord and the peripheral nervous system and is mediated by multiple neurotransmitters. Diseases or injuries of the nervous system in adults can cause the re-emergence of involuntary or reflex micturition, leading to urinary incontinence. This is a major health problem, especially in those with neurological impairment. Here we review the neural control of micturition and how disruption of this control leads to abnormal storage and release of urine. PMID:18490916

  3. Adaptive optimization and control using neural networks

    SciTech Connect

    Mead, W.C.; Brown, S.K.; Jones, R.D.; Bowling, P.S.; Barnes, C.W.

    1993-10-22

    Recent work has demonstrated the ability of neural-network-based controllers to optimize and control machines with complex, non-linear, relatively unknown control spaces. We present a brief overview of neural networks via a taxonomy illustrating some capabilities of different kinds of neural networks. We present some successful control examples, particularly the optimization and control of a small-angle negative ion source.

  4. Flow Control Using Neural Networks

    DTIC Science & Technology

    2007-11-02

    FEB 93 - 31 DEC 96 4. TITLE AND SUBTITLE 5 . FUNDING NUMBERS FLOW CONTROL USING NEURAL NETWORKS F49620-93-1-0135 61102F 6. AUTHOR(S) 2307/BS THORWALD...OFFICE OF SCIENTIFIC RESEARCH (AFOSRO AGENCY REPORT NUMBER 110 DUNCAN AVENUE, ROOM B115 BOLLING AFB DC 20332- 8050 11. SUPPLEMENTARY NOTES 12a...signals. Figure 5 shows a time series for an actuator that performs a ramp motion in the streamwise direction over about 1 % of the TS period and remains

  5. A conserved germline multipotency program

    PubMed Central

    Juliano, Celina E.; Swartz, S. Zachary; Wessel, Gary M.

    2010-01-01

    The germline of multicellular animals is segregated from somatic tissues, which is an essential developmental process for the next generation. Although certain ecdysozoans and chordates segregate their germline during embryogenesis, animals from other taxa segregate their germline after embryogenesis from multipotent progenitor cells. An overlapping set of genes, including vasa, nanos and piwi, operate in both multipotent precursors and in the germline. As we propose here, this conservation implies the existence of an underlying germline multipotency program in these cell types that has a previously underappreciated and conserved function in maintaining multipotency. PMID:21098563

  6. Flexible body control using neural networks

    NASA Technical Reports Server (NTRS)

    Mccullough, Claire L.

    1992-01-01

    Progress is reported on the control of Control Structures Interaction suitcase demonstrator (a flexible structure) using neural networks and fuzzy logic. It is concluded that while control by neural nets alone (i.e., allowing the net to design a controller with no human intervention) has yielded less than optimal results, the neural net trained to emulate the existing fuzzy logic controller does produce acceptible system responses for the initial conditions examined. Also, a neural net was found to be very successful in performing the emulation step necessary for the anticipatory fuzzy controller for the CSI suitcase demonstrator. The fuzzy neural hybrid, which exhibits good robustness and noise rejection properties, shows promise as a controller for practical flexible systems, and should be further evaluated.

  7. Neural network architecture for crossbar switch control

    NASA Technical Reports Server (NTRS)

    Troudet, Terry P.; Walters, Stephen M.

    1991-01-01

    A Hopfield neural network architecture for the real-time control of a crossbar switch for switching packets at maximum throughput is proposed. The network performance and processing time are derived from a numerical simulation of the transitions of the neural network. A method is proposed to optimize electronic component parameters and synaptic connections, and it is fully illustrated by the computer simulation of a VLSI implementation of 4 x 4 neural net controller. The extension to larger size crossbars is demonstrated through the simulation of an 8 x 8 crossbar switch controller, where the performance of the neural computation is discussed in relation to electronic noise and inhomogeneities of network components.

  8. Neural network architecture for crossbar switch control

    NASA Technical Reports Server (NTRS)

    Troudet, Terry P.; Walters, Stephen M.

    1991-01-01

    A Hopfield neural network architecture for the real-time control of a crossbar switch for switching packets at maximum throughput is proposed. The network performance and processing time are derived from a numerical simulation of the transitions of the neural network. A method is proposed to optimize electronic component parameters and synaptic connections, and it is fully illustrated by the computer simulation of a VLSI implementation of 4 x 4 neural net controller. The extension to larger size crossbars is demonstrated through the simulation of an 8 x 8 crossbar switch controller, where the performance of the neural computation is discussed in relation to electronic noise and inhomogeneities of network components.

  9. Neural Network Controlled Visual Saccades

    NASA Astrophysics Data System (ADS)

    Johnson, Jeffrey D.; Grogan, Timothy A.

    1989-03-01

    The paper to be presented will discuss research on a computer vision system controlled by a neural network capable of learning through classical (Pavlovian) conditioning. Through the use of unconditional stimuli (reward and punishment) the system will develop scan patterns of eye saccades necessary to differentiate and recognize members of an input set. By foveating only those portions of the input image that the system has found to be necessary for recognition the drawback of computational explosion as the size of the input image grows is avoided. The model incorporates many features found in animal vision systems, and is governed by understandable and modifiable behavior patterns similar to those reported by Pavlov in his classic study. These behavioral patterns are a result of a neuronal model, used in the network, explicitly designed to reproduce this behavior.

  10. Evolving Neural Networks for Nonlinear Control.

    DTIC Science & Technology

    1996-09-30

    An approach to creating Amorphous Recurrent Neural Networks (ARNN) using Genetic Algorithms (GA) called 2pGA has been developed and shown to be...effective in evolving neural networks for the control and stabilization of both linear and nonlinear plants, the optimal control for a nonlinear regulator

  11. Neural Networks in Nonlinear Aircraft Control

    NASA Technical Reports Server (NTRS)

    Linse, Dennis J.

    1990-01-01

    Recent research indicates that artificial neural networks offer interesting learning or adaptive capabilities. The current research focuses on the potential for application of neural networks in a nonlinear aircraft control law. The current work has been to determine which networks are suitable for such an application and how they will fit into a nonlinear control law.

  12. Neural control of lengthening contractions.

    PubMed

    Duchateau, Jacques; Enoka, Roger M

    2016-01-01

    A number of studies over the last few decades have established that the control strategy employed by the nervous system during lengthening (eccentric) differs from those used during shortening (concentric) and isometric contractions. The purpose of this review is to summarize current knowledge on the neural control of lengthening contractions. After a brief discussion of methodological issues that can confound the comparison between lengthening and shortening actions, the review provides evidence that untrained individuals are usually unable to fully activate their muscles during a maximal lengthening contraction and that motor unit activity during submaximal lengthening actions differs from that during shortening actions. Contrary to common knowledge, however, more recent studies have found that the recruitment order of motor units is similar during submaximal shortening and lengthening contractions, but that discharge rate is systematically lower during lengthening actions. Subsequently, the review examines the mechanisms responsible for the specific control of maximal and submaximal lengthening contractions as reported by recent studies on the modulation of cortical and spinal excitability. As similar modulation has been observed regardless of contraction intensity, it appears that spinal and corticospinal excitability are reduced during lengthening compared with shortening and isometric contractions. Nonetheless, the modulation observed during lengthening contractions is mainly attributable to inhibition at the spinal level.

  13. Attitude control of spacecraft using neural networks

    NASA Technical Reports Server (NTRS)

    Vadali, Srinivas R.; Krishnan, S.; Singh, T.

    1993-01-01

    This paper investigates the use of radial basis function neural networks for adaptive attitude control and momentum management of spacecraft. In the first part of the paper, neural networks are trained to learn from a family of open-loop optimal controls parameterized by the initial states and times-to-go. The trained is then used for closed-loop control. In the second part of the paper, neural networks are used for direct adaptive control in the presence of unmodeled effects and parameter uncertainty. The control and learning laws are derived using the method of Lyapunov.

  14. Induction of the neural crest state: Control of stem cell attributes by gene regulatory, post-transcriptional and epigenetic interactions

    PubMed Central

    Prasad, Maneeshi S.; Sauka-Spengler, Tatjana; LaBonne, Carole

    2012-01-01

    Neural crest cells are a population of multipotent stem cell-like progenitors that arise at the neural plate border in vertebrates, migrate extensively, and give rise to diverse derivatives such as melanocytes, craniofacial cartilage and bone, smooth muscle, peripheral and enteric neurons and glia. The neural crest gene regulatory network (NC-GRN) includes a number of key factors that are used reiteratively to control multiple steps in the development of neural crest cells, including the acquisition of stem cell attributes. It is therefore essential to understand the mechanisms that control the distinct functions of such reiteratively used factors in different cellular contexts. The context-dependent control of neural crest specification is achieved through combinatorial interaction with other factors, post-transcriptional and post-translational modifications, and the epigenetic status and chromatin state of target genes. Here we review the current understanding of the NC-GRN, including the role of the neural crest specifiers, their links to the control of “stemness,” and their dynamic context-dependent regulation during the formation of neural crest progenitors. PMID:22583479

  15. Advanced telerobotic control using neural networks

    NASA Technical Reports Server (NTRS)

    Pap, Robert M.; Atkins, Mark; Cox, Chadwick; Glover, Charles; Kissel, Ralph; Saeks, Richard

    1993-01-01

    Accurate Automation is designing and developing adaptive decentralized joint controllers using neural networks. We are then implementing these in hardware for the Marshall Space Flight Center PFMA as well as to be usable for the Remote Manipulator System (RMS) robot arm. Our design is being realized in hardware after completion of the software simulation. This is implemented using a Functional-Link neural network.

  16. Advanced telerobotic control using neural networks

    NASA Technical Reports Server (NTRS)

    Pap, Robert M.; Atkins, Mark; Cox, Chadwick; Glover, Charles; Kissel, Ralph; Saeks, Richard

    1993-01-01

    Accurate Automation is designing and developing adaptive decentralized joint controllers using neural networks. We are then implementing these in hardware for the Marshall Space Flight Center PFMA as well as to be usable for the Remote Manipulator System (RMS) robot arm. Our design is being realized in hardware after completion of the software simulation. This is implemented using a Functional-Link neural network.

  17. Neural networks applications to control and computations

    NASA Technical Reports Server (NTRS)

    Luxemburg, Leon A.

    1994-01-01

    Several interrelated problems in the area of neural network computations are described. First an interpolation problem is considered, then a control problem is reduced to a problem of interpolation by a neural network via Lyapunov function approach, and finally a new, faster method of learning as compared with the gradient descent method, was introduced.

  18. Control of autonomous robot using neural networks

    NASA Astrophysics Data System (ADS)

    Barton, Adam; Volna, Eva

    2017-07-01

    The aim of the article is to design a method of control of an autonomous robot using artificial neural networks. The introductory part describes control issues from the perspective of autonomous robot navigation and the current mobile robots controlled by neural networks. The core of the article is the design of the controlling neural network, and generation and filtration of the training set using ART1 (Adaptive Resonance Theory). The outcome of the practical part is an assembled Lego Mindstorms EV3 robot solving the problem of avoiding obstacles in space. To verify models of an autonomous robot behavior, a set of experiments was created as well as evaluation criteria. The speed of each motor was adjusted by the controlling neural network with respect to the situation in which the robot was found.

  19. Neural control of magnetic suspension systems

    NASA Technical Reports Server (NTRS)

    Gray, W. Steven

    1993-01-01

    The purpose of this research program is to design, build and test (in cooperation with NASA personnel from the NASA Langley Research Center) neural controllers for two different small air-gap magnetic suspension systems. The general objective of the program is to study neural network architectures for the purpose of control in an experimental setting and to demonstrate the feasibility of the concept. The specific objectives of the research program are: (1) to demonstrate through simulation and experimentation the feasibility of using neural controllers to stabilize a nonlinear magnetic suspension system; (2) to investigate through simulation and experimentation the performance of neural controllers designs under various types of parametric and nonparametric uncertainty; (3) to investigate through simulation and experimentation various types of neural architectures for real-time control with respect to performance and complexity; and (4) to benchmark in an experimental setting the performance of neural controllers against other types of existing linear and nonlinear compensator designs. To date, the first one-dimensional, small air-gap magnetic suspension system has been built, tested and delivered to the NASA Langley Research Center. The device is currently being stabilized with a digital linear phase-lead controller. The neural controller hardware is under construction. Two different neural network paradigms are under consideration, one based on hidden layer feedforward networks trained via back propagation and one based on using Gaussian radial basis functions trained by analytical methods related to stability conditions. Some advanced nonlinear control algorithms using feedback linearization and sliding mode control are in simulation studies.

  20. Multipotent Stem Cell and Reproduction.

    PubMed

    Khanlarkhani, Neda; Baazm, Maryam; Mohammadzadeh, Farzaneh; Najafi, Atefeh; Mehdinejadiani, Shayesteh; Sobhani, Aligholi

    2016-01-01

    Stem cells are self-renewing and undifferentiated cell types that can be differentiate into functional cells. Stem cells can be classified into two main types based on their source of origin: Embryonic and Adult stem cells. Stem cells also classified based on the range of differentiation potentials into Totipotent, Pluripotent, Multipotent, and Unipotent. Multipotent stem cells have the ability to differentiate into all cell types within one particular lineage. There are plentiful advantages and usages for multipotent stem cells. Multipotent Stem cells act as a significant key in procedure of development, tissue repair, and protection. The accessibility and adaptability of these amazing cells create them a great therapeutic choice for different part of medical approaches, and it becomes interesting topic in the scientific researches to found obvious method for the most advantageous use of MSC-based therapies. Recent studies in the field of stem cell biology have provided new perspectives and opportunities for the treatment of infertility disorders.

  1. Evolution of neural controllers for salamanderlike locomotion

    NASA Astrophysics Data System (ADS)

    Ijspeert, Auke J.

    1999-08-01

    This paper presents an experiment in which evolutionary algorithms are used for the development of neural controllers for salamander locomotion. The aim of the experiment is to investigate which kind of neural circuitry can produce the typical swimming and trotting gaits of the salamander, and to develop a synthetic approach to neurobiology by using genetic algorithms as design tool. A 2D bio-mechanical simulation of the salamander's body is developed whose muscle contraction is determined by the locomotion controller simulated as continuous-time neural networks. While the connectivity of the neural circuitry underlying locomotion in the salamander has not been decoded for the moment, the general organization of the designed neural circuits corresponds to that hypothesized by neurobiologist for the real animal. In particular, the locomotion controllers are based on a body central pattern generator (CPG) corresponding to a lamprey-like swimming controller as developed by Ekeberg, and are extended with a limb CPG for controlling the salamander's body. A genetic algorithm is used to instantiate synaptic weights of the connections within the limb CPG and from the limb CPG to the body CPG given a high level description of the desired gaits. A set of biologically plausible controllers are thus developed which can produce a neural activity and locomotion gaits very similar to those observed in the real salamander. By simply varying the external excitation applied to the network, the speed, direction and type of gait can be varied.

  2. The nuclear hormone receptor family member NR5A2 controls aspects of multipotent progenitor cell formation and acinar differentiation during pancreatic organogenesis

    PubMed Central

    Hale, Michael A.; Swift, Galvin H.; Hoang, Chinh Q.; Deering, Tye G.; Masui, Toshi; Lee, Youn-Kyoung; Xue, Jumin; MacDonald, Raymond J.

    2014-01-01

    The orphan nuclear receptor NR5A2 is necessary for the stem-like properties of the epiblast of the pre-gastrulation embryo and for cellular and physiological homeostasis of endoderm-derived organs postnatally. Using conditional gene inactivation, we show that Nr5a2 also plays crucial regulatory roles during organogenesis. During the formation of the pancreas, Nr5a2 is necessary for the expansion of the nascent pancreatic epithelium, for the subsequent formation of the multipotent progenitor cell (MPC) population that gives rise to pre-acinar cells and bipotent cells with ductal and islet endocrine potential, and for the formation and differentiation of acinar cells. At birth, the NR5A2-deficient pancreas has defects in all three epithelial tissues: a partial loss of endocrine cells, a disrupted ductal tree and a >90% deficit of acini. The acinar defects are due to a combination of fewer MPCs, deficient allocation of those MPCs to pre-acinar fate, disruption of acinar morphogenesis and incomplete acinar cell differentiation. NR5A2 controls these developmental processes directly as well as through regulatory interactions with other pancreatic transcriptional regulators, including PTF1A, MYC, GATA4, FOXA2, RBPJL and MIST1 (BHLHA15). In particular, Nr5a2 and Ptf1a establish mutually reinforcing regulatory interactions and collaborate to control developmentally regulated pancreatic genes by binding to shared transcriptional regulatory regions. At the final stage of acinar cell development, the absence of NR5A2 affects the expression of Ptf1a and its acinar specific partner Rbpjl, so that the few acinar cells that form do not complete differentiation. Nr5a2 controls several temporally distinct stages of pancreatic development that involve regulatory mechanisms relevant to pancreatic oncogenesis and the maintenance of the exocrine phenotype. PMID:25063451

  3. Pigment Cell Progenitors in Zebrafish Remain Multipotent through Metamorphosis.

    PubMed

    Singh, Ajeet Pratap; Dinwiddie, April; Mahalwar, Prateek; Schach, Ursula; Linker, Claudia; Irion, Uwe; Nüsslein-Volhard, Christiane

    2016-08-08

    The neural crest is a transient, multipotent embryonic cell population in vertebrates giving rise to diverse cell types in adults via intermediate progenitors. The in vivo cell-fate potential and lineage segregation of these postembryonic progenitors is poorly understood, and it is unknown if and when the progenitors become fate restricted. We investigate the fate restriction in the neural crest-derived stem cells and intermediate progenitors in zebrafish, which give rise to three distinct adult pigment cell types: melanophores, iridophores, and xanthophores. By inducing clones in sox10-expressing cells, we trace and quantitatively compare the pigment cell progenitors at four stages, from embryogenesis to metamorphosis. At all stages, a large fraction of the progenitors are multipotent. These multipotent progenitors have a high proliferation ability, which diminishes with fate restriction. We suggest that multipotency of the nerve-associated progenitors lasting into metamorphosis may have facilitated the evolution of adult-specific traits in vertebrates. Copyright © 2016 Elsevier Inc. All rights reserved.

  4. Dynamic neural controllers for induction motor.

    PubMed

    Brdyś, M A; Kulawski, G J

    1999-01-01

    The paper reports application of recently developed adaptive control techniques based on neural networks to the induction motor control. This case study represents one of the more difficult control problems due to the complex, nonlinear, and time-varying dynamics of the motor and unavailability of full-state measurements. A partial solution is first presented based on a single input-single output (SISO) algorithm employing static multilayer perceptron (MLP) networks. A novel technique is subsequently described which is based on a recurrent neural network employed as a dynamical model of the plant. Recent stability results for this algorithm are reported. The technique is applied to multiinput-multioutput (MIMO) control of the motor. A simulation study of both methods is presented. It is argued that appropriately structured recurrent neural networks can provide conveniently parameterized dynamic models for many nonlinear systems for use in adaptive control.

  5. Threshold control of chaotic neural network.

    PubMed

    He, Guoguang; Shrimali, Manish Dev; Aihara, Kazuyuki

    2008-01-01

    The chaotic neural network constructed with chaotic neurons exhibits rich dynamic behaviour with a nonperiodic associative memory. In the chaotic neural network, however, it is difficult to distinguish the stored patterns in the output patterns because of the chaotic state of the network. In order to apply the nonperiodic associative memory into information search, pattern recognition etc. it is necessary to control chaos in the chaotic neural network. We have studied the chaotic neural network with threshold activated coupling, which provides a controlled network with associative memory dynamics. The network converges to one of its stored patterns or/and reverse patterns which has the smallest Hamming distance from the initial state of the network. The range of the threshold applied to control the neurons in the network depends on the noise level in the initial pattern and decreases with the increase of noise. The chaos control in the chaotic neural network by threshold activated coupling at varying time interval provides controlled output patterns with different temporal periods which depend upon the control parameters.

  6. Neural networks as a control methodology

    NASA Technical Reports Server (NTRS)

    Mccullough, Claire L.

    1990-01-01

    While conventional computers must be programmed in a logical fashion by a person who thoroughly understands the task to be performed, the motivation behind neural networks is to develop machines which can train themselves to perform tasks, using available information about desired system behavior and learning from experience. There are three goals of this fellowship program: (1) to evaluate various neural net methods and generate computer software to implement those deemed most promising on a personal computer equipped with Matlab; (2) to evaluate methods currently in the professional literature for system control using neural nets to choose those most applicable to control of flexible structures; and (3) to apply the control strategies chosen in (2) to a computer simulation of a test article, the Control Structures Interaction Suitcase Demonstrator, which is a portable system consisting of a small flexible beam driven by a torque motor and mounted on springs tuned to the first flexible mode of the beam. Results of each are discussed.

  7. Integrated Neural Flight and Propulsion Control System

    NASA Technical Reports Server (NTRS)

    Kaneshige, John; Gundy-Burlet, Karen; Norvig, Peter (Technical Monitor)

    2001-01-01

    This paper describes an integrated neural flight and propulsion control system. which uses a neural network based approach for applying alternate sources of control power in the presence of damage or failures. Under normal operating conditions, the system utilizes conventional flight control surfaces. Neural networks are used to provide consistent handling qualities across flight conditions and for different aircraft configurations. Under damage or failure conditions, the system may utilize unconventional flight control surface allocations, along with integrated propulsion control, when additional control power is necessary for achieving desired flight control performance. In this case, neural networks are used to adapt to changes in aircraft dynamics and control allocation schemes. Of significant importance here is the fact that this system can operate without emergency or backup flight control mode operations. An additional advantage is that this system can utilize, but does not require, fault detection and isolation information or explicit parameter identification. Piloted simulation studies were performed on a commercial transport aircraft simulator. Subjects included both NASA test pilots and commercial airline crews. Results demonstrate the potential for improving handing qualities and significantly increasing survivability rates under various simulated failure conditions.

  8. Adaptive neural control of aeroelastic response

    NASA Astrophysics Data System (ADS)

    Lichtenwalner, Peter F.; Little, Gerald R.; Scott, Robert C.

    1996-05-01

    The Adaptive Neural Control of Aeroelastic Response (ANCAR) program is a joint research and development effort conducted by McDonnell Douglas Aerospace (MDA) and the National Aeronautics and Space Administration, Langley Research Center (NASA LaRC) under a Memorandum of Agreement (MOA). The purpose of the MOA is to cooperatively develop the smart structure technologies necessary for alleviating undesirable vibration and aeroelastic response associated with highly flexible structures. Adaptive control can reduce aeroelastic response associated with buffet and atmospheric turbulence, it can increase flutter margins, and it may be able to reduce response associated with nonlinear phenomenon like limit cycle oscillations. By reducing vibration levels and loads, aircraft structures can have lower acquisition cost, reduced maintenance, and extended lifetimes. Phase I of the ANCAR program involved development and demonstration of a neural network-based semi-adaptive flutter suppression system which used a neural network for scheduling control laws as a function of Mach number and dynamic pressure. This controller was tested along with a robust fixed-gain control law in NASA's Transonic Dynamics Tunnel (TDT) utilizing the Benchmark Active Controls Testing (BACT) wing. During Phase II, a fully adaptive on-line learning neural network control system has been developed for flutter suppression which will be tested in 1996. This paper presents the results of Phase I testing as well as the development progress of Phase II.

  9. Multipotent glia-like stem cells mediate stress adaptation.

    PubMed

    Rubin de Celis, Maria F; Garcia-Martin, Ruben; Wittig, Dierk; Valencia, Gabriela D; Enikolopov, Grigori; Funk, Richard H; Chavakis, Triantafyllos; Bornstein, Stefan R; Androutsellis-Theotokis, Andreas; Ehrhart-Bornstein, Monika

    2015-06-01

    The neural crest-derived adrenal medulla is closely related to the sympathetic nervous system; however, unlike neural tissue, it is characterized by high plasticity which suggests the involvement of stem cells. Here, we show that a defined pool of glia-like nestin-expressing progenitor cells in the adult adrenal medulla contributes to this plasticity. These glia-like cells have features of adrenomedullary sustentacular cells, are multipotent, and are able to differentiate into chromaffin cells and neurons. The adrenal is central to the body's response to stress making its proper adaptation critical to maintaining homeostasis. Our results from stress experiments in vivo show the activation and differentiation of these progenitors into new chromaffin cells. In summary, we demonstrate the involvement of a new glia-like multipotent stem cell population in adrenal tissue adaptation. Our data also suggest the contribution of stem and progenitor cells in the adaptation of neuroendocrine tissue function in general.

  10. Secondary release of exosomes from astrocytes contributes to the increase in neural plasticity and improvement of functional recovery after stroke in rats treated with exosomes harvested from microRNA 133b-overexpressed multipotent mesenchymal stromal cells

    PubMed Central

    Xin, Hongqi; Wang, Fengjie; Li, Yanfeng; Lu, Qing-e; Cheung, Wing Lee; Zhang, Yi; Zhang, Zheng Gang; Chopp, Michael

    2016-01-01

    We previously demonstrated that multipotent mesenchymal stromal cells (MSCs) with overexpressed microRNA 133b (miR-133b) significantly improve functional recovery in rats subjected to middle cerebral artery occlusion (MCAO) compared with naive MSCs, and that exosomes generated from naive MSCs mediate the therapeutic benefits of MSC therapy for stroke. Here, we investigated whether exosomes isolated from miR-133b-overexpressed MSCs (Ex-miR-133b+) exert amplified therapeutic effects. Rats subjected to 2 hours (h) of MCAO were intra-arterially injected with Ex-miR-133b+, exosomes from MSCs infected by blank vector (Ex-Con), or phosphate-buffered solution (PBS), and were sacrificed 28 days post MCAO. Compared with the PBS treatment, both exosome treatment groups exhibited significant improvement of functional recovery. Ex-miR-133b+ treatment significantly increased functional improvement, and neurite remodeling/brain plasticity in the ischemic boundary area compared with the Ex-Con treatment. Treatment with Ex-miR-133b+ also significantly increased brain exosome content compared with Ex-Con treatment. To elucidate mechanisms underlying the enhanced therapeutic effects of Ex-miR-133b+, astrocytes cultured under oxygen and glucose deprived (OGD) conditions were incubated with exosomes harvested from naïve MSCs (Ex-Naive), miR-133b down-regulated MSCs (Ex-miR-133b−) and Ex-miR-133b+. Compared with the Ex-Naive treatment, Ex-miR-133b+ significantly increased exosomes released by OGD astrocytes, whereas Ex-miR-133b− significantly decreased the release. Also, exosomes harvested from OGD astrocytes treated with Ex-miR-133b+ significantly increased neurite branching and elongation of cultured cortical embryonic rat neurons compared with the exosomes from OGD astrocytes subjected to Ex-Con. Our data suggest that exosomes harvested from miR-133b-overexpressed MSCs improve neural plasticity and functional recovery after stroke with a contribution from a stimulated secondary

  11. Neural Control of the Lower Urinary Tract

    PubMed Central

    de Groat, William C.; Griffiths, Derek; Yoshimura, Naoki

    2015-01-01

    This article summarizes anatomical, neurophysiological, pharmacological, and brain imaging studies in humans and animals that have provided insights into the neural circuitry and neurotransmitter mechanisms controlling the lower urinary tract. The functions of the lower urinary tract to store and periodically eliminate urine are regulated by a complex neural control system in the brain, spinal cord, and peripheral autonomic ganglia that coordinates the activity of smooth and striated muscles of the bladder and urethral outlet. The neural control of micturition is organized as a hierarchical system in which spinal storage mechanisms are in turn regulated by circuitry in the rostral brain stem that initiates reflex voiding. Input from the forebrain triggers voluntary voiding by modulating the brain stem circuitry. Many neural circuits controlling the lower urinary tract exhibit switch-like patterns of activity that turn on and off in an all-or-none manner. The major component of the micturition switching circuit is a spinobulbospinal parasympathetic reflex pathway that has essential connections in the periaqueductal gray and pontine micturition center. A computer model of this circuit that mimics the switching functions of the bladder and urethra at the onset of micturition is described. Micturition occurs involuntarily in infants and young children until the age of 3 to 5 years, after which it is regulated voluntarily. Diseases or injuries of the nervous system in adults can cause the re-emergence of involuntary micturition, leading to urinary incontinence. Neuroplasticity underlying these developmental and pathological changes in voiding function is discussed. PMID:25589273

  12. Toward Real Time Neural Net Flight Controllers

    NASA Technical Reports Server (NTRS)

    Jorgensen, C. C.; Mah, R. W.; Ross, J.; Lu, Henry, Jr. (Technical Monitor)

    1994-01-01

    NASA Ames Research Center has an ongoing program in neural network control technology targeted toward real time flight demonstrations using a modified F-15 which permits direct inner loop control of actuators, rapid switching between alternative control designs, and substitutable processors. An important part of this program is the ACTIVE flight project which is examining the feasibility of using neural networks in the design, control, and system identification of new aircraft prototypes. This paper discusses two research applications initiated with this objective in mind: utilization of neural networks for wind tunnel aircraft model identification and rapid learning algorithms for on line reconfiguration and control. The first application involves the identification of aerodynamic flight characteristics from analysis of wind tunnel test data. This identification is important in the early stages of aircraft design because complete specification of control architecture's may not be possible even though concept models at varying scales are available for aerodynamic wind tunnel testing. Testing of this type is often a long and expensive process involving measurement of aircraft lift, drag, and moment of inertia at varying angles of attack and control surface configurations. This information in turn can be used in the design of the flight control systems by applying the derived lookup tables to generate piece wise linearized controllers. Thus, reduced costs in tunnel test times and the rapid transfer of wind tunnel insights into prototype controllers becomes an important factor in more efficient generation and testing of new flight systems. NASA Ames Research Center is successfully applying modular neural networks as one way of anticipating small scale aircraft model performances prior to testing, thus reducing the number of in tunnel test hours and potentially, the number of intermediate scaled models required for estimation of surface flow effects.

  13. Controlling neural network responsiveness: tradeoffs and constraints

    PubMed Central

    Keren, Hanna; Marom, Shimon

    2014-01-01

    In recent years much effort is invested in means to control neural population responses at the whole brain level, within the context of developing advanced medical applications. The tradeoffs and constraints involved, however, remain elusive due to obvious complications entailed by studying whole brain dynamics. Here, we present effective control of response features (probability and latency) of cortical networks in vitro over many hours, and offer this approach as an experimental toy for studying controllability of neural networks in the wider context. Exercising this approach we show that enforcement of stable high activity rates by means of closed loop control may enhance alteration of underlying global input–output relations and activity dependent dispersion of neuronal pair-wise correlations across the network. PMID:24808860

  14. Neural Control of Energy Expenditure.

    PubMed

    Münzberg, Heike; Qualls-Creekmore, Emily; Berthoud, Hans-Rudolf; Morrison, Christopher D; Yu, Sangho

    2016-01-01

    The continuous rise in obesity is a major concern for future healthcare management. Many strategies to control body weight focus on a permanent modification of food intake with limited success in the long term. Metabolism or energy expenditure is the other side of the coin for the regulation of body weight, and strategies to enhance energy expenditure are a current focus for obesity treatment, especially since the (re)-discovery of the energy depleting brown adipose tissue in adult humans. Conversely, several human illnesses like neurodegenerative diseases, cancer, or autoimmune deficiency syndrome suffer from increased energy expenditure and severe weight loss. Thus, strategies to modulate energy expenditure to target weight gain or loss would improve life expectancies and quality of life in many human patients. The aim of this book chapter is to give an overview of our current understanding and recent progress in energy expenditure control with specific emphasis on central control mechanisms.

  15. Payload Invariant Control via Neural Networks: Development and Experimental Evaluation

    DTIC Science & Technology

    1989-12-01

    control is proposed and experimentally evaluated. An Adaptive Model-Based Neural Network Controller (AMBNNC) uses multilayer perceptron artificial neural ... networks to estimate the payload during high speed manipulator motion. The payload estimate adapts the feedforward compensator to unmodeled system

  16. The neural control of singing

    PubMed Central

    Zarate, Jean Mary

    2013-01-01

    Singing provides a unique opportunity to examine music performance—the musical instrument is contained wholly within the body, thus eliminating the need for creating artificial instruments or tasks in neuroimaging experiments. Here, more than two decades of voice and singing research will be reviewed to give an overview of the sensory-motor control of the singing voice, starting from the vocal tract and leading up to the brain regions involved in singing. Additionally, to demonstrate how sensory feedback is integrated with vocal motor control, recent functional magnetic resonance imaging (fMRI) research on somatosensory and auditory feedback processing during singing will be presented. The relationship between the brain and singing behavior will be explored also by examining: (1) neuroplasticity as a function of various lengths and types of training, (2) vocal amusia due to a compromised singing network, and (3) singing performance in individuals with congenital amusia. Finally, the auditory-motor control network for singing will be considered alongside dual-stream models of auditory processing in music and speech to refine both these theoretical models and the singing network itself. PMID:23761746

  17. Multipotent adult progenitor cells on an allograft scaffold facilitate the bone repair process

    PubMed Central

    LoGuidice, Amanda; Houlihan, Alison; Deans, Robert

    2016-01-01

    Multipotent adult progenitor cells are a recently described population of stem cells derived from the bone marrow stroma. Research has demonstrated the potential of multipotent adult progenitor cells for treating ischemic injury and cardiovascular repair; however, understanding of multipotent adult progenitor cells in orthopedic applications remains limited. In this study, we evaluate the osteogenic and angiogenic capacity of multipotent adult progenitor cells, both in vitro and loaded onto demineralized bone matrix in vivo, with comparison to mesenchymal stem cells, as the current standard. When compared to mesenchymal stem cells, multipotent adult progenitor cells exhibited a more robust angiogenic protein release profile in vitro and developed more extensive vasculature within 2 weeks in vivo. The establishment of this vascular network is critical to the ossification process, as it allows nutrient exchange and provides an influx of osteoprogenitor cells to the wound site. In vitro assays confirmed the multipotency of multipotent adult progenitor cells along mesodermal lineages and demonstrated the enhanced expression of alkaline phosphatase and production of calcium-containing mineral deposits by multipotent adult progenitor cells, necessary precursors for osteogenesis. In combination with a demineralized bone matrix scaffold, multipotent adult progenitor cells demonstrated enhanced revascularization and new bone formation in vivo in an orthotopic defect model when compared to mesenchymal stem cells on demineralized bone matrix or demineralized bone matrix–only control groups. The potent combination of angiogenic and osteogenic properties provided by multipotent adult progenitor cells appears to create a synergistic amplification of the bone healing process. Our results indicate that multipotent adult progenitor cells have the potential to better promote tissue regeneration and healing and to be a functional cell source for use in orthopedic applications

  18. Neural crest induction at the neural plate border in vertebrates.

    PubMed

    Milet, Cécile; Monsoro-Burq, Anne H

    2012-06-01

    The neural crest is a transient and multipotent cell population arising at the edge of the neural plate in vertebrates. Recent findings highlight that neural crest patterning is initiated during gastrulation, i.e. earlier than classically described, in a progenitor domain named the neural border. This chapter reviews the dynamic and complex molecular interactions underlying neural border formation and neural crest emergence.

  19. Neural control: Chaos control sets the pace

    NASA Astrophysics Data System (ADS)

    Schöll, Eckehard

    2010-03-01

    Even simple creatures, such as cockroaches, are capable of complex responses to changes in their environment. But robots usually require complicated dedicated control circuits to perform just a single action. Chaos control theory could allow simpler control strategies to realize more complex behaviour.

  20. Immunological control of adult neural stem cells

    PubMed Central

    Gonzalez-Perez, Oscar; Quiñones-Hinojosa, Alfredo; Garcia-Verdugo, Jose Manuel

    2010-01-01

    Adult neurogenesis occurs only in discrete regions of adult central nervous system: the subventricular zone and the subgranular zone. These areas are populated by adult neural stem cells (aNSC) that are regulated by a number of molecules and signaling pathways, which control their cell fate choices, survival and proliferation rates. For a long time, it was believed that the immune system did not exert any control on neural proliferative niches. However, it has been observed that many pathological and inflammatory conditions significantly affect NSC niches. Even more, increasing evidence indicates that chemokines and cytokines play an important role in regulating proliferation, cell fate choices, migration and survival of NSCs under physiological conditions. Hence, the immune system is emerging is an important regulator of neurogenic niches in the adult brain, which may have clinical relevance in several brain diseases. PMID:20861925

  1. Applications of Neural Networks to Adaptive Control

    DTIC Science & Technology

    1989-12-01

    DTIC ;- E py 00 NAVAL POSTGRADUATE SCHOOL Monterey, California I.$ RDTIC IELECTE fl THESIS BEG7V°U APPLICATIONS OF NEURAL NETWORKS TO ADAPTIVE CONTROL...Second keader E . Robert Wood, Chairman, Department of Aeronautics and Astronautics Gordoii E . Schacher, Dean of Faculty and Graduate Education ii ABSTRACT...23: Network Dynamic Stability for q(t) . ............................. 55 ix Figure 24: Network Dynamic Stability for e (t

  2. The neural optimal control hierarchy for motor control

    NASA Astrophysics Data System (ADS)

    DeWolf, T.; Eliasmith, C.

    2011-10-01

    Our empirical, neuroscientific understanding of biological motor systems has been rapidly growing in recent years. However, this understanding has not been systematically mapped to a quantitative characterization of motor control based in control theory. Here, we attempt to bridge this gap by describing the neural optimal control hierarchy (NOCH), which can serve as a foundation for biologically plausible models of neural motor control. The NOCH has been constructed by taking recent control theoretic models of motor control, analyzing the required processes, generating neurally plausible equivalent calculations and mapping them on to the neural structures that have been empirically identified to form the anatomical basis of motor control. We demonstrate the utility of the NOCH by constructing a simple model based on the identified principles and testing it in two ways. First, we perturb specific anatomical elements of the model and compare the resulting motor behavior with clinical data in which the corresponding area of the brain has been damaged. We show that damaging the assigned functions of the basal ganglia and cerebellum can cause the movement deficiencies seen in patients with Huntington's disease and cerebellar lesions. Second, we demonstrate that single spiking neuron data from our model's motor cortical areas explain major features of single-cell responses recorded from the same primate areas. We suggest that together these results show how NOCH-based models can be used to unify a broad range of data relevant to biological motor control in a quantitative, control theoretic framework.

  3. Fate restriction and multipotency in retinal stem cells.

    PubMed

    Centanin, Lázaro; Hoeckendorf, Burkhard; Wittbrodt, Joachim

    2011-12-02

    Stem cells have the capacity to both self-renew and generate postmitotic cells. Long-term tracking of individual clones in their natural environment constitutes the ultimate way to validate postembryonic stem cells. We identify retinal stem cells (RSCs) using the spatiotemporal organization of the fish retina and follow the complete offspring of a single cell during the postnatal life. RSCs generate two tissues of the adult fish retina, the neural retina (NR) and the retinal-pigmented epithelium (RPE). Despite their common embryonic origin and tight coordination during continuous organ growth, we prove that NR and RPE are maintained by dedicated RSCs that contribute in a fate-restricted manner to either one or the other tissue. We show that in the NR, RSCs are multipotent and generate all neuron types and glia. The clonal origin of these different cell types from a multipotent NSC has far-reaching implications for cell type and tissue homeostasis.

  4. Neural control of hand muscles during prehension.

    PubMed

    Johnston, Jamie A; Winges, Sara A; Santello, Marco

    2009-01-01

    In the past two decades a large number of studies have successfully characterized important features of the kinetics and kinematics of object grasping and manipulation, providing significant insight into how the Central Nervous System (CNS) controls the hand, one of the most complex motor systems, in a variety of behaviors. In this chapter we briefly review studies of hand kinematics and kinetics and highlight their major findings and open questions. The major focus of this chapter is on the neural control of the hand, an objective that has been pursued by studies on electromyography (EMG) of hand muscles. Here we review what has been learned through different yet complementary methodological approaches. In particular, the study of single motor unit activity has revealed how the distribution of common neural input within and across hand muscles might reflect a muscle-pair specific organization. Studies of motor unit population have revealed important synergistic patterns of muscle activity while also revealing muscle-pair specific patterns of neural coupling. We conclude the chapter with the results of recent simulation studies aiming at combining advantages of single and multi-unit recordings to maximize the amount of information that can be extracted from EMG signal analysis.

  5. Cognitive Control Signals for Neural Prosthetics

    NASA Astrophysics Data System (ADS)

    Musallam, S.; Corneil, B. D.; Greger, B.; Scherberger, H.; Andersen, R. A.

    2004-07-01

    Recent development of neural prosthetics for assisting paralyzed patients has focused on decoding intended hand trajectories from motor cortical neurons and using this signal to control external devices. In this study, higher level signals related to the goals of movements were decoded from three monkeys and used to position cursors on a computer screen without the animals emitting any behavior. Their performance in this task improved over a period of weeks. Expected value signals related to fluid preference, the expected magnitude, or probability of reward were decoded simultaneously with the intended goal. For neural prosthetic applications, the goal signals can be used to operate computers, robots, and vehicles, whereas the expected value signals can be used to continuously monitor a paralyzed patient's preferences and motivation.

  6. Neural control of maternal and paternal behaviors

    PubMed Central

    Dulac, Catherine; O’Connell, Lauren A.; Wu, Zheng

    2014-01-01

    Parental care, including feeding and protection of young, is essential for the survival as well as mental and physical well-being of the offspring. A large variety of parental behaviors has been described across species and sexes, raising fascinating questions about how animals identify the young and how brain circuits drive and modulate parental displays in males and females. Recent studies have begun to uncover a striking antagonistic interplay between brain systems underlying parental care and infant-directed aggression in both males and females, as well as a large range of intrinsic and environmentally driven neural modulation and plasticity. Improved understanding of the neural control of parental interactions in animals should provide novel insights into the complex issue of human parental care in both health and disease. PMID:25124430

  7. Nonlinear system identification and control based on modular neural networks.

    PubMed

    Puscasu, Gheorghe; Codres, Bogdan

    2011-08-01

    A new approach for nonlinear system identification and control based on modular neural networks (MNN) is proposed in this paper. The computational complexity of neural identification can be greatly reduced if the whole system is decomposed into several subsystems. This is obtained using a partitioning algorithm. Each local nonlinear model is associated with a nonlinear controller. These are also implemented by neural networks. The switching between the neural controllers is done by a dynamical switcher, also implemented by neural networks, that tracks the different operating points. The proposed multiple modelling and control strategy has been successfully tested on simulated laboratory scale liquid-level system.

  8. Adaptive neural control of spacecraft using control moment gyros

    NASA Astrophysics Data System (ADS)

    Leeghim, Henzeh; Kim, Donghoon

    2015-03-01

    An adaptive control technique is applied to reorient spacecraft with uncertainty using control moment gyros. A nonlinear quaternion feedback law is chosen as a baseline controller. An additional adaptive control input supported by neural networks can estimate and eliminate unknown terms adaptively. The normalized input neural networks are considered for reliable computation of the adaptive input. To prove the stability of the closed-loop dynamics with the control law, the Lyapunov stability theory is considered. Accordingly, the proposed approach results in the uniform ultimate boundedness in tracking error. For reorientation maneuvers, control moment gyros are utilized with a well-known singularity problem described in this work investigated by predicting one-step ahead singularity index. A momentum vector recovery approach using magnetic torquers is also introduced to evaluate the avoidance strategies indirectly. Finally, the suggested methods are demonstrated by numerical simulation studies.

  9. Epigenetic Regulation in Neural Crest Development

    PubMed Central

    Hu, Na; Strobl-Mazzulla, Pablo H.; Bronner, Marianne E.

    2014-01-01

    The neural crest is a migratory and multipotent cell population that plays a crucial many aspects of embryonic development. In all vertebrate embryos, these cells emerge from the dorsal neural tube then migrate long distances to different regions of the body, where they contribute to formation of many cell types and structures. These include much of the peripheral nervous system, craniofacial skeleton, smooth muscle, and pigmentation of the skin. The best-studied regulatory events guiding neural crest development are mediated by transcription factors and signaling molecules. In recent years, however, growing evidence supports an important role for epigenetic regulation as an additional mechanism for controlling the timing and level of gene expression at different stages of neural crest development. Here, we summarize the process of neural crest formation, with focus on the role of epigenetic regulation in neural crest specification, migration, and differentiation as well as in neural crest related birth defects and diseases. PMID:25446277

  10. Horizontal Basal Cells Are Multipotent Progenitors in Normal and Injured Adult Olfactory Epithelium

    PubMed Central

    Iwai, Naomi; Zhou, Zhijian; Roop, Dennis R.; Behringer, Richard R.

    2014-01-01

    The mammalian olfactory neuroepithelium provides a unique system for understanding the regulation of neurogenesis by adult neural stem cells. Recently, mouse horizontal basal cells (HBCs) were identified as stem cells that regenerate olfactory receptor neurons (ORNs) and non-neuronal cell types only after extensive injury of the olfactory epithelium (OE). Here we report a broader spectrum of action for these cells. We show that even during normal neuronal turnover, HBCs actively generate neuronal and non-neuronal cells throughout adulthood. This occurs in a temporally controlled manner: an initial wave of HBC-derived neurogenesis was observed soon after birth, and a second wave of neurogenesis was observed at 4 months of age. Moreover, upon selective depletion of mature ORNs by olfactory bulbectomy, HBCs give rise to more neurons. Our findings demonstrate a crucial role for HBCs as multipotent progenitors in the adult OE, acting during normal neuronal turnover as well as in acute regeneration upon injury. PMID:18308944

  11. Neural Transcription Factors: from Embryos to Neural Stem Cells

    PubMed Central

    Lee, Hyun-Kyung; Lee, Hyun-Shik; Moody, Sally A.

    2014-01-01

    The early steps of neural development in the vertebrate embryo are regulated by sets of transcription factors that control the induction of proliferative, pluripotent neural precursors, the expansion of neural plate stem cells, and their transition to differentiating neural progenitors. These early events are critical for producing a pool of multipotent cells capable of giving rise to the multitude of neurons and glia that form the central nervous system. In this review we summarize findings from gain- and loss-of-function studies in embryos that detail the gene regulatory network responsible for these early events. We discuss whether this information is likely to be similar in mammalian embryonic and induced pluripotent stem cells that are cultured according to protocols designed to produce neurons. The similarities and differences between the embryo and stem cells may provide important guidance to stem cell protocols designed to create immature neural cells for therapeutic uses. PMID:25234468

  12. Multipotent Stem Cell and Current Application.

    PubMed

    Sobhani, Aligholi; Khanlarkhani, Neda; Baazm, Maryam; Mohammadzadeh, Farzaneh; Najafi, Atefeh; Mehdinejadiani, Shayesteh; Sargolzaei Aval, Fereydoon

    2017-01-01

    Stem cells are self-renewing and undifferentiated cell types that can be differentiate into functional cells. Stem cells can be classified into two main types based on their source of origin: Embryonic and Adult stem cells. Stem cells also classified based on the range of differentiation potentials into Totipotent, Pluripotent, Multipotent, and Unipotent. Multipotent stem cells have the ability to differentiate into all cell types within one particular lineage. There are plentiful advantages and usages for multipotent stem cells. Multipotent Stem cells act as a significant key in procedure of development, tissue repair, and protection. Multipotent Stem cells have been applying in treatment of different disorders such as spinal cord injury, bone fracture, autoimmune diseases, rheumatoid arthritis, hematopoietic defects, and fertility preservation.

  13. Adaptive Control of Visually Guided Grasping in Neural Networks

    DTIC Science & Technology

    1990-03-12

    U01ITU S.WM NONnumsen Adaptive Control of Visually Guided Grasping in Neural Networks AFOSR-89-&CO030 88-NL-209 L AUTHOrSF 2313/A8 00 61102F (V) Dr...FINAL REPORT ADAPTIVE CONTROL OF VISUALLY GUIDED GRASPING IN NEURAL NETWORKS Neurogen Laboratories Inc. Project Summary Research performed for AFOSR...arm’s length in position and 6 degrees in orientation. Keywords: Neural Networks , Adaptive Motor Control, Sensory-Motor sensation Introduction The human

  14. Adaptive neural networks for mobile robotic control

    NASA Astrophysics Data System (ADS)

    Burnett, Jeff R.; Dagli, Cihan H.

    2001-03-01

    Movement of a differential drive robot has non-linear dependence on the current position and orientation. A controller must be able to deal with the non-linearity of the plant. The controller must either linearize the plant and deal with special cases, or be non-linear itself. Once the controller is designed, implementation on a real robotic platform presents challenges due to the varying parameters of the plant. Robots of the same model may have different motor frictions. The surface the robot maneuvers on may change e.g. carpet to tile. Batteries will drain, providing less power over time. A feed-forward neural network controller could overcome these challenges. The network could learn the non- linearities of the plant and monitor the error for parameter changes and adapt to them. In this manner, a single controller can be designed for an ideal robot, and then used to populate a multi-robot colony without manually fine tuning the controller for each robot. This paper shall demonstrate such a controller, outlining design in simulation and implementation on Khepera robotic platforms.

  15. Understanding the brain by controlling neural activity

    PubMed Central

    Krug, Kristine; Salzman, C. Daniel; Waddell, Scott

    2015-01-01

    Causal methods to interrogate brain function have been employed since the advent of modern neuroscience in the nineteenth century. Initially, randomly placed electrodes and stimulation of parts of the living brain were used to localize specific functions to these areas. Recent technical developments have rejuvenated this approach by providing more precise tools to dissect the neural circuits underlying behaviour, perception and cognition. Carefully controlled behavioural experiments have been combined with electrical devices, targeted genetically encoded tools and neurochemical approaches to manipulate information processing in the brain. The ability to control brain activity in these ways not only deepens our understanding of brain function but also provides new avenues for clinical intervention, particularly in conditions where brain processing has gone awry. PMID:26240417

  16. Fuzzy-neural control of an aircraft tracking camera platform

    NASA Technical Reports Server (NTRS)

    Mcgrath, Dennis

    1994-01-01

    A fuzzy-neural control system simulation was developed for the control of a camera platform used to observe aircraft on final approach to an aircraft carrier. The fuzzy-neural approach to control combines the structure of a fuzzy knowledge base with a supervised neural network's ability to adapt and improve. The performance characteristics of this hybrid system were compared to those of a fuzzy system and a neural network system developed independently to determine if the fusion of these two technologies offers any advantage over the use of one or the other. The results of this study indicate that the fuzzy-neural approach to control offers some advantages over either fuzzy or neural control alone.

  17. Experimental results of a predictive neural network HVAC controller

    SciTech Connect

    Jeannette, E.; Assawamartbunlue, K.; Kreider, J.F.; Curtiss, P.S.

    1998-12-31

    Proportional, integral, and derivative (PID) control is widely used in many HVAC control processes and requires constant attention for optimal control. Artificial neural networks offer the potential for improved control of processes through predictive techniques. This paper introduces and shows experimental results of a predictive neural network (PNN) controller applied to an unstable hot water system in an air-handling unit. Actual laboratory testing of the PNN and PID controllers show favorable results for the PNN controller.

  18. Comparison of Hypoalgesic Effects of Neural Stretching vs Neural Gliding: A Randomized Controlled Trial.

    PubMed

    Beltran-Alacreu, Hector; Jiménez-Sanz, Laura; Fernández Carnero, Josue; La Touche, Roy

    2015-01-01

    The purpose of this study was to evaluate the immediate mechanical hypoalgesic effect of neural mobilization in asymptomatic subjects. We also compared neural gliding vs neural stretching to see which produced greater hypoalgesic effects in asymptomatic subjects. Forty-five asymptomatic subjects (20 men and 25 women; mean ± SD age, 20.8 ± 2.83 years) were randomly allocated into 3 groups: the neural glide group, the neural stretch group, and the placebo group. Each subject received 1 treatment session. Outcome measures included bilateral pressure pain threshold measured at the trigeminal, cervical, and tibialis anterior points, assessed pre-treatment and immediately post-treatment by a blinded assessor. Three-way repeated-measures analysis of variance was used to evaluate changes in pressure pain threshold, with group (experimental or control) as the between-subjects variable and time (pre-, post-treatment) or side (dominant, nondominant) as the within-subjects variable. Group differences were identified between neural mobilization groups and the placebo group. Changes occurred in all of the pressure pain threshold measures for neural gliding, and in all but the trigeminal point for neural stretch. No changes in the pressure pain threshold measures occurred in the placebo group. This research provides new experimental evidence that neural mobilization produces an immediate widespread hypoalgesic effect vs placebo but neural gliding produces hypoalgesic effects in more body sites than neural stretching. Copyright © 2015 National University of Health Sciences. Published by Elsevier Inc. All rights reserved.

  19. Neural networks for function approximation in nonlinear control

    NASA Technical Reports Server (NTRS)

    Linse, Dennis J.; Stengel, Robert F.

    1990-01-01

    Two neural network architectures are compared with a classical spline interpolation technique for the approximation of functions useful in a nonlinear control system. A standard back-propagation feedforward neural network and a cerebellar model articulation controller (CMAC) neural network are presented, and their results are compared with a B-spline interpolation procedure that is updated using recursive least-squares parameter identification. Each method is able to accurately represent a one-dimensional test function. Tradeoffs between size requirements, speed of operation, and speed of learning indicate that neural networks may be practical for identification and adaptation in a nonlinear control environment.

  20. An Artificial Neural Network Control System for Spacecraft Attitude Stabilization

    DTIC Science & Technology

    1990-06-01

    training is based on the concept of enforced performance. A neural network will learn to meet a specific performance goal if the performance standard...is the only solution to a problem. Performance index training is devised to teach the neural network the time-optimal control law for the system. Real...time adaptation of a neural network in closed loop control of the Crew/Equipment Retriever was demonstrated in computer simulations.

  1. Multi-layer neural networks for robot control

    NASA Technical Reports Server (NTRS)

    Pourboghrat, Farzad

    1989-01-01

    Two neural learning controller designs for manipulators are considered. The first design is based on a neural inverse-dynamics system. The second is the combination of the first one with a neural adaptive state feedback system. Both types of controllers enable the manipulator to perform any given task very well after a period of training and to do other untrained tasks satisfactorily. The second design also enables the manipulator to compensate for unpredictable perturbations.

  2. Control of neural chaos by synaptic noise.

    PubMed

    Cortes, J M; Torres, J J; Marro, J

    2007-02-01

    We study neural automata - or neurobiologically inspired cellular automata - which exhibits chaotic itinerancy among the different stored patterns or memories. This is a consequence of activity-dependent synaptic fluctuations, which continuously destabilize the attractor and induce irregular hopping to other possible attractors. The nature of these irregularities depends on the dynamic details, namely, on the intensity of the synaptic noise and the number of sites of the network, which are synchronously updated at each time step. Varying these factors, different regimes occur, ranging from regular to chaotic dynamics. As a result, and in absence of external agents, the chaotic behavior may turn regular after tuning the noise intensity. It is argued that a similar mechanism might be on the basis of self-controlling chaos in natural systems.

  3. Real-time Adaptive Control Using Neural Generalized Predictive Control

    NASA Technical Reports Server (NTRS)

    Haley, Pam; Soloway, Don; Gold, Brian

    1999-01-01

    The objective of this paper is to demonstrate the feasibility of a Nonlinear Generalized Predictive Control algorithm by showing real-time adaptive control on a plant with relatively fast time-constants. Generalized Predictive Control has classically been used in process control where linear control laws were formulated for plants with relatively slow time-constants. The plant of interest for this paper is a magnetic levitation device that is nonlinear and open-loop unstable. In this application, the reference model of the plant is a neural network that has an embedded nominal linear model in the network weights. The control based on the linear model provides initial stability at the beginning of network training. In using a neural network the control laws are nonlinear and online adaptation of the model is possible to capture unmodeled or time-varying dynamics. Newton-Raphson is the minimization algorithm. Newton-Raphson requires the calculation of the Hessian, but even with this computational expense the low iteration rate make this a viable algorithm for real-time control.

  4. Accelerator diagnosis and control by Neural Nets

    SciTech Connect

    Spencer, J.E.

    1989-01-01

    Neural Nets (NN) have been described as a solution looking for a problem. In the last conference, Artificial Intelligence (AI) was considered in the accelerator context. While good for local surveillance and control, its use for large complex systems (LCS) was much more restricted. By contrast, NN provide a good metaphor for LCS. It can be argued that they are logically equivalent to multi-loop feedback/forward control of faulty systems, and therefore provide an ideal adaptive control system. Thus, where AI may be good for maintaining a 'golden orbit,' NN should be good for obtaining it via a quantitative approach to 'look and adjust' methods like operator tweaking which use pattern recognition to deal with hardware and software limitations, inaccuracies or errors as well as imprecise knowledge or understanding of effects like annealing and hysteresis. Further, insights from NN allow one to define feasibility conditions for LCS in terms of design constraints and tolerances. Hardware and software implications are discussed and several LCS of current interest are compared and contrasted. 15 refs., 5 figs.

  5. Neural Networks for Signal Processing and Control

    NASA Astrophysics Data System (ADS)

    Hesselroth, Ted Daniel

    Neural networks are developed for controlling a robot-arm and camera system and for processing images. The networks are based upon computational schemes that may be found in the brain. In the first network, a neural map algorithm is employed to control a five-joint pneumatic robot arm and gripper through feedback from two video cameras. The pneumatically driven robot arm employed shares essential mechanical characteristics with skeletal muscle systems. To control the position of the arm, 200 neurons formed a network representing the three-dimensional workspace embedded in a four-dimensional system of coordinates from the two cameras, and learned a set of pressures corresponding to the end effector positions, as well as a set of Jacobian matrices for interpolating between these positions. Because of the properties of the rubber-tube actuators of the arm, the position as a function of supplied pressure is nonlinear, nonseparable, and exhibits hysteresis. Nevertheless, through the neural network learning algorithm the position could be controlled to an accuracy of about one pixel (~3 mm) after two hundred learning steps. Applications of repeated corrections in each step via the Jacobian matrices leads to a very robust control algorithm since the Jacobians learned by the network have to satisfy the weak requirement that they yield a reduction of the distance between gripper and target. The second network is proposed as a model for the mammalian vision system in which backward connections from the primary visual cortex (V1) to the lateral geniculate nucleus play a key role. The application of hebbian learning to the forward and backward connections causes the formation of receptive fields which are sensitive to edges, bars, and spatial frequencies of preferred orientations. The receptive fields are learned in such a way as to maximize the rate of transfer of information from the LGN to V1. Orientational preferences are organized into a feature map in the primary visual

  6. Application of neural networks to unsteady aerodynamic control

    NASA Technical Reports Server (NTRS)

    Faller, William E.; Schreck, Scott J.; Luttges, Marvin W.

    1994-01-01

    The problem under consideration in this viewgraph presentation is to understand, predict, and control the fluid mechanics of dynamic maneuvers, unsteady boundary layers, and vortex dominated flows. One solution is the application of neural networks demonstrating closed-loop control. Neural networks offer unique opportunities: simplify modeling of three dimensional, vortex dominated, unsteady separated flow fields; are effective means for controlling unsteady aerodynamics; and address integration of sensors, controllers, and time lags into adaptive control systems.

  7. Neural joint control for Space Shuttle Remote Manipulator System

    NASA Technical Reports Server (NTRS)

    Atkins, Mark A.; Cox, Chadwick J.; Lothers, Michael D.; Pap, Robert M.; Thomas, Charles R.

    1992-01-01

    Neural networks are being used to control a robot arm in a telerobotic operation. The concept uses neural networks for both joint and inverse kinematics in a robotic control application. An upper level neural network is trained to learn inverse kinematic mappings. The output, a trajectory, is then fed to the Decentralized Adaptive Joint Controllers. This neural network implementation has shown that the controlled arm recovers from unexpected payload changes while following the reference trajectory. The neural network-based decentralized joint controller is faster, more robust and efficient than conventional approaches. Implementations of this architecture are discussed that would relax assumptions about dynamics, obstacles, and heavy loads. This system is being developed to use with the Space Shuttle Remote Manipulator System.

  8. Neural joint control for Space Shuttle Remote Manipulator System

    NASA Technical Reports Server (NTRS)

    Atkins, Mark A.; Cox, Chadwick J.; Lothers, Michael D.; Pap, Robert M.; Thomas, Charles R.

    1992-01-01

    Neural networks are being used to control a robot arm in a telerobotic operation. The concept uses neural networks for both joint and inverse kinematics in a robotic control application. An upper level neural network is trained to learn inverse kinematic mappings. The output, a trajectory, is then fed to the Decentralized Adaptive Joint Controllers. This neural network implementation has shown that the controlled arm recovers from unexpected payload changes while following the reference trajectory. The neural network-based decentralized joint controller is faster, more robust and efficient than conventional approaches. Implementations of this architecture are discussed that would relax assumptions about dynamics, obstacles, and heavy loads. This system is being developed to use with the Space Shuttle Remote Manipulator System.

  9. Neural networks for self-learning control systems

    NASA Technical Reports Server (NTRS)

    Nguyen, Derrick H.; Widrow, Bernard

    1990-01-01

    It is shown how a neural network can learn of its own accord to control a nonlinear dynamic system. An emulator, a multilayered neural network, learns to identify the system's dynamic characteristics. The controller, another multilayered neural network, next learns to control the emulator. The self-trained controller is then used to control the actual dynamic system. The learning process continues as the emulator and controller improve and track the physical process. An example is given to illustrate these ideas. The 'truck backer-upper,' a neural network controller that steers a trailer truck while the truck is backing up to a loading dock, is demonstrated. The controller is able to guide the truck to the dock from almost any initial position. The technique explored should be applicable to a wide variety of nonlinear control problems.

  10. Neural networks for self-learning control systems

    NASA Technical Reports Server (NTRS)

    Nguyen, Derrick H.; Widrow, Bernard

    1990-01-01

    It is shown how a neural network can learn of its own accord to control a nonlinear dynamic system. An emulator, a multilayered neural network, learns to identify the system's dynamic characteristics. The controller, another multilayered neural network, next learns to control the emulator. The self-trained controller is then used to control the actual dynamic system. The learning process continues as the emulator and controller improve and track the physical process. An example is given to illustrate these ideas. The 'truck backer-upper,' a neural network controller that steers a trailer truck while the truck is backing up to a loading dock, is demonstrated. The controller is able to guide the truck to the dock from almost any initial position. The technique explored should be applicable to a wide variety of nonlinear control problems.

  11. System Identification for Nonlinear Control Using Neural Networks

    NASA Technical Reports Server (NTRS)

    Stengel, Robert F.; Linse, Dennis J.

    1990-01-01

    An approach to incorporating artificial neural networks in nonlinear, adaptive control systems is described. The controller contains three principal elements: a nonlinear inverse dynamic control law whose coefficients depend on a comprehensive model of the plant, a neural network that models system dynamics, and a state estimator whose outputs drive the control law and train the neural network. Attention is focused on the system identification task, which combines an extended Kalman filter with generalized spline function approximation. Continual learning is possible during normal operation, without taking the system off line for specialized training. Nonlinear inverse dynamic control requires smooth derivatives as well as function estimates, imposing stringent goals on the approximating technique.

  12. Distributed memory approaches for robotic neural controllers

    NASA Technical Reports Server (NTRS)

    Jorgensen, Charles C.

    1990-01-01

    The suitability is explored of two varieties of distributed memory neutral networks as trainable controllers for a simulated robotics task. The task requires that two cameras observe an arbitrary target point in space. Coordinates of the target on the camera image planes are passed to a neural controller which must learn to solve the inverse kinematics of a manipulator with one revolute and two prismatic joints. Two new network designs are evaluated. The first, radial basis sparse distributed memory (RBSDM), approximates functional mappings as sums of multivariate gaussians centered around previously learned patterns. The second network types involved variations of Adaptive Vector Quantizers or Self Organizing Maps. In these networks, random N dimensional points are given local connectivities. They are then exposed to training patterns and readjust their locations based on a nearest neighbor rule. Both approaches are tested based on their ability to interpolate manipulator joint coordinates for simulated arm movement while simultaneously performing stereo fusion of the camera data. Comparisons are made with classical k-nearest neighbor pattern recognition techniques.

  13. Neural Control of the Immune System

    ERIC Educational Resources Information Center

    Sundman, Eva; Olofsson, Peder S.

    2014-01-01

    Neural reflexes support homeostasis by modulating the function of organ systems. Recent advances in neuroscience and immunology have revealed that neural reflexes also regulate the immune system. Activation of the vagus nerve modulates leukocyte cytokine production and alleviates experimental shock and autoimmune disease, and recent data have…

  14. Neural Control of the Immune System

    ERIC Educational Resources Information Center

    Sundman, Eva; Olofsson, Peder S.

    2014-01-01

    Neural reflexes support homeostasis by modulating the function of organ systems. Recent advances in neuroscience and immunology have revealed that neural reflexes also regulate the immune system. Activation of the vagus nerve modulates leukocyte cytokine production and alleviates experimental shock and autoimmune disease, and recent data have…

  15. Neural Networks for Dynamic Flight Control

    DTIC Science & Technology

    1993-12-01

    uses the Adaline (22) model for development of the neural networks. Neural Graphics and other AFIT applications use a slightly different model. The...primary difference in the Nguyen application is that the Adaline uses the nonlinear function .f(a) = tanh(a) where standard backprop uses the sigmoid

  16. Thermoelastic steam turbine rotor control based on neural network

    NASA Astrophysics Data System (ADS)

    Rzadkowski, Romuald; Dominiczak, Krzysztof; Radulski, Wojciech; Szczepanik, R.

    2015-12-01

    Considered here are Nonlinear Auto-Regressive neural networks with eXogenous inputs (NARX) as a mathematical model of a steam turbine rotor for controlling steam turbine stress on-line. In order to obtain neural networks that locate critical stress and temperature points in the steam turbine during transient states, an FE rotor model was built. This model was used to train the neural networks on the basis of steam turbine transient operating data. The training included nonlinearity related to steam turbine expansion, heat exchange and rotor material properties during transients. Simultaneous neural networks are algorithms which can be implemented on PLC controllers. This allows for the application neural networks to control steam turbine stress in industrial power plants.

  17. Neural control of the endocrine rat heart.

    PubMed

    Jiao, J H; Baertschi, A J

    1993-08-15

    Although atrial stretch is the accepted stimulus for atrial natriuretic factor (ANF), in vivo studies suggest a stretch-independent, neurally induced ANF release mechanism. Thus the hypothesis that cardiac nerves can stimulate ANF secretion was tested in the Langendorff-perfused, paced rat heart. Venom from the scorpion Centruroides sculpturatus was used to activate neuronal sodium channels, veratridine was added to activate sodium channels (predominantly in myocytes), and electrical stimulation was applied to the right atrial appendage. The efficacy of nerve stimulation was verified by measurements of increased neuropeptide Y in the effluent. ANF levels in the effluent increased by 120% over baseline with 0.5 microM scorpion venom and by 88% with 0.5 microM veratridine (P < 0.01). Cardiac mechanics did not explain the large, concentration-dependent ANF response to the scorpion venom, since changes in the left ventricular developed pressure were small, opposite to those induced by veratridine, and unaffected by sympathectomy or adrenergic receptor blockade. Prior chemical sympathectomy and adrenergic receptor blockade almost abolished the ANF response to scorpion venom but hardly affected the ANF response to veratridine. Addition of 1 microM tetrodotoxin abolished all ANF responses. Electrical stimulation of the atrial appendage increased the ANF secretion by 60.2% (P < 0.02), in conjunction with neuropeptide Y, whereas control stimulations were ineffective. These studies unequivocally demonstrate that stimulation of cardiac sympathetic nerves potently stimulates ANF secretion.

  18. Neural-Network Control Of Prosthetic And Robotic Hands

    NASA Technical Reports Server (NTRS)

    Buckley, Theresa M.

    1991-01-01

    Electronic neural networks proposed for use in controlling robotic and prosthetic hands and exoskeletal or glovelike electromechanical devices aiding intact but nonfunctional hands. Specific to patient, who activates grasping motion by voice command, by mechanical switch, or by myoelectric impulse. Patient retains higher-level control, while lower-level control provided by neural network analogous to that of miniature brain. During training, patient teaches miniature brain to perform specialized, anthropomorphic movements unique to himself or herself.

  19. Neural-Network Control Of Prosthetic And Robotic Hands

    NASA Technical Reports Server (NTRS)

    Buckley, Theresa M.

    1991-01-01

    Electronic neural networks proposed for use in controlling robotic and prosthetic hands and exoskeletal or glovelike electromechanical devices aiding intact but nonfunctional hands. Specific to patient, who activates grasping motion by voice command, by mechanical switch, or by myoelectric impulse. Patient retains higher-level control, while lower-level control provided by neural network analogous to that of miniature brain. During training, patient teaches miniature brain to perform specialized, anthropomorphic movements unique to himself or herself.

  20. Neural and Fuzzy Adaptive Control of Induction Motor Drives

    SciTech Connect

    Bensalem, Y.; Sbita, L.; Abdelkrim, M. N.

    2008-06-12

    This paper proposes an adaptive neural network speed control scheme for an induction motor (IM) drive. The proposed scheme consists of an adaptive neural network identifier (ANNI) and an adaptive neural network controller (ANNC). For learning the quoted neural networks, a back propagation algorithm was used to automatically adjust the weights of the ANNI and ANNC in order to minimize the performance functions. Here, the ANNI can quickly estimate the plant parameters and the ANNC is used to provide on-line identification of the command and to produce a control force, such that the motor speed can accurately track the reference command. By combining artificial neural network techniques with fuzzy logic concept, a neural and fuzzy adaptive control scheme is developed. Fuzzy logic was used for the adaptation of the neural controller to improve the robustness of the generated command. The developed method is robust to load torque disturbance and the speed target variations when it ensures precise trajectory tracking with the prescribed dynamics. The algorithm was verified by simulation and the results obtained demonstrate the effectiveness of the IM designed controller.

  1. Implementations of learning control systems using neural networks

    NASA Technical Reports Server (NTRS)

    Sartori, Michael A.; Antsaklis, Panos J.

    1992-01-01

    The systematic storage in neural networks of prior information to be used in the design of various control subsystems is investigated. Assuming that the prior information is available in a certain form (namely, input/output data points and specifications between the data points), a particular neural network and a corresponding parameter design method are introduced. The proposed neural network addresses the issue of effectively using prior information in the areas of dynamical system (plant and controller) modeling, fault detection and identification, information extraction, and control law scheduling.

  2. Adaptive neural network motion control of manipulators with experimental evaluations.

    PubMed

    Puga-Guzmán, S; Moreno-Valenzuela, J; Santibáñez, V

    2014-01-01

    A nonlinear proportional-derivative controller plus adaptive neuronal network compensation is proposed. With the aim of estimating the desired torque, a two-layer neural network is used. Then, adaptation laws for the neural network weights are derived. Asymptotic convergence of the position and velocity tracking errors is proven, while the neural network weights are shown to be uniformly bounded. The proposed scheme has been experimentally validated in real time. These experimental evaluations were carried in two different mechanical systems: a horizontal two degrees-of-freedom robot and a vertical one degree-of-freedom arm which is affected by the gravitational force. In each one of the two experimental set-ups, the proposed scheme was implemented without and with adaptive neural network compensation. Experimental results confirmed the tracking accuracy of the proposed adaptive neural network-based controller.

  3. Adaptive Neural Network Motion Control of Manipulators with Experimental Evaluations

    PubMed Central

    Puga-Guzmán, S.; Moreno-Valenzuela, J.; Santibáñez, V.

    2014-01-01

    A nonlinear proportional-derivative controller plus adaptive neuronal network compensation is proposed. With the aim of estimating the desired torque, a two-layer neural network is used. Then, adaptation laws for the neural network weights are derived. Asymptotic convergence of the position and velocity tracking errors is proven, while the neural network weights are shown to be uniformly bounded. The proposed scheme has been experimentally validated in real time. These experimental evaluations were carried in two different mechanical systems: a horizontal two degrees-of-freedom robot and a vertical one degree-of-freedom arm which is affected by the gravitational force. In each one of the two experimental set-ups, the proposed scheme was implemented without and with adaptive neural network compensation. Experimental results confirmed the tracking accuracy of the proposed adaptive neural network-based controller. PMID:24574910

  4. Neural network based diagonal decoupling control of powered wheelchair systems.

    PubMed

    Nguyen, Tuan Nghia; Su, Steven; Nguyen, Hung T

    2014-03-01

    This paper proposes an advanced diagonal decoupling control method for powered wheelchair systems. This control method is based on a combination of the systematic diagonalization technique and the neural network control design. As such, this control method reduces coupling effects on a multivariable system, leading to independent control design procedures. Using an obtained dynamic model, the problem of the plant's Jacobian calculation is eliminated in a neural network control design. The effectiveness of the proposed control method is verified in a real-time implementation on a powered wheelchair system. The obtained results confirm that robustness and desired performance of the overall system are guaranteed, even under parameter uncertainty effects.

  5. Neural Networks for Modeling and Control of Particle Accelerators

    SciTech Connect

    Edelen, A. L.; Biedron, S. G.; Chase, B. E.; Edstrom, D.; Milton, S. V.; Stabile, P.

    2016-04-01

    Myriad nonlinear and complex physical phenomena are host to particle accelerators. They often involve a multitude of interacting systems, are subject to tight performance demands, and should be able to run for extended periods of time with minimal interruptions. Often times, traditional control techniques cannot fully meet these requirements. One promising avenue is to introduce machine learning and sophisticated control techniques inspired by artificial intelligence, particularly in light of recent theoretical and practical advances in these fields. Within machine learning and artificial intelligence, neural networks are particularly well-suited to modeling, control, and diagnostic analysis of complex, nonlinear, and time-varying systems, as well as systems with large parameter spaces. Consequently, the use of neural network-based modeling and control techniques could be of significant benefit to particle accelerators. For the same reasons, particle accelerators are also ideal test-beds for these techniques. Moreover, many early attempts to apply neural networks to particle accelerators yielded mixed results due to the relative immaturity of the technology for such tasks. For the purpose of this paper is to re-introduce neural networks to the particle accelerator community and report on some work in neural network control that is being conducted as part of a dedicated collaboration between Fermilab and Colorado State University (CSU). We also describe some of the challenges of particle accelerator control, highlight recent advances in neural network techniques, discuss some promising avenues for incorporating neural networks into particle accelerator control systems, and describe a neural network-based control system that is being developed for resonance control of an RF electron gun at the Fermilab Accelerator Science and Technology (FAST) facility, including initial experimental results from a benchmark controller.

  6. Neural Networks for Modeling and Control of Particle Accelerators

    DOE PAGES

    Edelen, A. L.; Biedron, S. G.; Chase, B. E.; ...

    2016-04-01

    Myriad nonlinear and complex physical phenomena are host to particle accelerators. They often involve a multitude of interacting systems, are subject to tight performance demands, and should be able to run for extended periods of time with minimal interruptions. Often times, traditional control techniques cannot fully meet these requirements. One promising avenue is to introduce machine learning and sophisticated control techniques inspired by artificial intelligence, particularly in light of recent theoretical and practical advances in these fields. Within machine learning and artificial intelligence, neural networks are particularly well-suited to modeling, control, and diagnostic analysis of complex, nonlinear, and time-varying systems,more » as well as systems with large parameter spaces. Consequently, the use of neural network-based modeling and control techniques could be of significant benefit to particle accelerators. For the same reasons, particle accelerators are also ideal test-beds for these techniques. Moreover, many early attempts to apply neural networks to particle accelerators yielded mixed results due to the relative immaturity of the technology for such tasks. For the purpose of this paper is to re-introduce neural networks to the particle accelerator community and report on some work in neural network control that is being conducted as part of a dedicated collaboration between Fermilab and Colorado State University (CSU). We also describe some of the challenges of particle accelerator control, highlight recent advances in neural network techniques, discuss some promising avenues for incorporating neural networks into particle accelerator control systems, and describe a neural network-based control system that is being developed for resonance control of an RF electron gun at the Fermilab Accelerator Science and Technology (FAST) facility, including initial experimental results from a benchmark controller.« less

  7. Retentive multipotency of adult dorsal root ganglia stem cells.

    PubMed

    Singh, Rabindra P; Cheng, Ying-Hua; Nelson, Paul; Zhou, Feng C

    2009-01-01

    Preservation of neural stem cells (NSCs) in the adult peripheral nervous system (PNS) has recently been confirmed. However, it is not clear whether peripheral NSCs possess predestined, bona fide phenotypes or a response to innate developmental cues. In this study, we first demonstrated the longevity, multipotency, and high fidelity of sensory features of postmigrating adult dorsal root ganglia (aDRG) stem cells. Derived from aDRG and after 4-5 years in culture without dissociating, the aDRG NSCs were found capable of proliferation, expressing neuroepithelial, neuronal, and glial markers. Remarkably, these aDRG NSCs expressed sensory neuronal markers vesicular glutamate transporter 2 (VGluT2--glutamate terminals), transient receptor potential vanilloid 1 (TrpV1--capsaicin sensitive), phosphorylated 200 kDa neurofilaments (pNF200--capsaicin insensitive, myelinated), and the serotonin transporter (5-HTT), which normally is transiently expressed in developing DRG. Furthermore, in response to neurotrophins, the aDRG NSCs enhanced TrpV1 expression upon exposure to nerve growth factor (NGF), but not to brain-derived neurotrophic factor (BDNF). On the contrary, BDNF increased the expression of NeuN. Third, the characterization of aDRG NSCs was demonstrated by transplantation of red fluorescent-expressing aDRG NSCs into injured spinal cord. These cells expressed nestin, Hu, and beta-III-tubulin (immature neuronal markers), GFAP (astrocyte marker) as well as sensory neural marker TrpV1 (capsaicin sensitive) and pNF200 (mature, capsaicin insensitive, myelinated). Our results demonstrated that the postmigrating neural crest adult DRG stem cells not only preserved their multipotency but also were retentive in sensory potency despite the age and long-term ex vivo status.

  8. Adaptive artificial neural network for autonomous robot control

    NASA Technical Reports Server (NTRS)

    Arras, Michael K.; Protzel, Peter W.; Palumbo, Daniel L.

    1992-01-01

    The topics are presented in viewgraph form and include: neural network controller for robot arm positioning with visual feedback; initial training of the arm; automatic recovery from cumulative fault scenarios; and error reduction by iterative fine movements.

  9. Adaptive artificial neural network for autonomous robot control

    NASA Technical Reports Server (NTRS)

    Arras, Michael K.; Protzel, Peter W.; Palumbo, Daniel L.

    1992-01-01

    The topics are presented in viewgraph form and include: neural network controller for robot arm positioning with visual feedback; initial training of the arm; automatic recovery from cumulative fault scenarios; and error reduction by iterative fine movements.

  10. Adaptive Neural Network Based Control of Noncanonical Nonlinear Systems.

    PubMed

    Zhang, Yanjun; Tao, Gang; Chen, Mou

    2016-09-01

    This paper presents a new study on the adaptive neural network-based control of a class of noncanonical nonlinear systems with large parametric uncertainties. Unlike commonly studied canonical form nonlinear systems whose neural network approximation system models have explicit relative degree structures, which can directly be used to derive parameterized controllers for adaptation, noncanonical form nonlinear systems usually do not have explicit relative degrees, and thus their approximation system models are also in noncanonical forms. It is well-known that the adaptive control of noncanonical form nonlinear systems involves the parameterization of system dynamics. As demonstrated in this paper, it is also the case for noncanonical neural network approximation system models. Effective control of such systems is an open research problem, especially in the presence of uncertain parameters. This paper shows that it is necessary to reparameterize such neural network system models for adaptive control design, and that such reparameterization can be realized using a relative degree formulation, a concept yet to be studied for general neural network system models. This paper then derives the parameterized controllers that guarantee closed-loop stability and asymptotic output tracking for noncanonical form neural network system models. An illustrative example is presented with the simulation results to demonstrate the control design procedure, and to verify the effectiveness of such a new design method.

  11. Topological defects control collective dynamics in neural progenitor cell cultures

    NASA Astrophysics Data System (ADS)

    Kawaguchi, Kyogo; Kageyama, Ryoichiro; Sano, Masaki

    2017-04-01

    Cultured stem cells have become a standard platform not only for regenerative medicine and developmental biology but also for biophysical studies. Yet, the characterization of cultured stem cells at the level of morphology and of the macroscopic patterns resulting from cell-to-cell interactions remains largely qualitative. Here we report on the collective dynamics of cultured murine neural progenitor cells (NPCs), which are multipotent stem cells that give rise to cells in the central nervous system. At low densities, NPCs moved randomly in an amoeba-like fashion. However, NPCs at high density elongated and aligned their shapes with one another, gliding at relatively high velocities. Although the direction of motion of individual cells reversed stochastically along the axes of alignment, the cells were capable of forming an aligned pattern up to length scales similar to that of the migratory stream observed in the adult brain. The two-dimensional order of alignment within the culture showed a liquid-crystalline pattern containing interspersed topological defects with winding numbers of +1/2 and -1/2 (half-integer due to the nematic feature that arises from the head-tail symmetry of cell-to-cell interaction). We identified rapid cell accumulation at +1/2 defects and the formation of three-dimensional mounds. Imaging at the single-cell level around the defects allowed us to quantify the velocity field and the evolving cell density; cells not only concentrate at +1/2 defects, but also escape from -1/2 defects. We propose a generic mechanism for the instability in cell density around the defects that arises from the interplay between the anisotropic friction and the active force field.

  12. Neural network-based nonlinear model predictive control vs. linear quadratic gaussian control

    USGS Publications Warehouse

    Cho, C.; Vance, R.; Mardi, N.; Qian, Z.; Prisbrey, K.

    1997-01-01

    One problem with the application of neural networks to the multivariable control of mineral and extractive processes is determining whether and how to use them. The objective of this investigation was to compare neural network control to more conventional strategies and to determine if there are any advantages in using neural network control in terms of set-point tracking, rise time, settling time, disturbance rejection and other criteria. The procedure involved developing neural network controllers using both historical plant data and simulation models. Various control patterns were tried, including both inverse and direct neural network plant models. These were compared to state space controllers that are, by nature, linear. For grinding and leaching circuits, a nonlinear neural network-based model predictive control strategy was superior to a state space-based linear quadratic gaussian controller. The investigation pointed out the importance of incorporating state space into neural networks by making them recurrent, i.e., feeding certain output state variables into input nodes in the neural network. It was concluded that neural network controllers can have better disturbance rejection, set-point tracking, rise time, settling time and lower set-point overshoot, and it was also concluded that neural network controllers can be more reliable and easy to implement in complex, multivariable plants.

  13. Minimax design of neural net controllers for highly uncertain plants.

    PubMed

    Sebald, A V; Schlenzig, J

    1994-01-01

    This paper discusses the use of evolutionary programming (EP) for computer-aided design and testing of neural controllers applied to problems in which the system to be controlled is highly uncertain. Examples include closed-loop control of drug infusion and integrated control of HVAC/lighting/utility systems in large multi-use buildings. The method is described in detail and applied to a modified Cerebellar Model Arithmetic Computer (CMAC) neural network regulator for systems with unknown time delays. The design and testing problem is viewed as a game, in that the controller is chosen with a minimax criterion i.e., minimize the loss associated with its use on the worst possible plant. The technique permits analysis of neural strategies against a set of feasible plants. This yields both the best choice of control parameters and identification of that plant which is most difficult for the best controller to handle.

  14. A rule-based neural controller for inverted pendulum system.

    PubMed

    Hao, J; Vandewalle, J; Tan, S

    1993-03-01

    This paper tries to demonstrate how a heuristic neural control approach can be used to solve a complex nonlinear control problem. The control task is to swing up a pendulum mounted on a cart from its stable position (vertically down) to the zero state (up right) and keep it there by applying a sequence of two opposing constant forces of equal magnitude to the mass center of the cart. In addition, the displacement of the cart itself is confined to within a preset limit during the swinging up action and it will eventually be brought to the origin of the track. This is truly a nontrivial nonlinear regulation problem and is considerably difficult compared to the pendulum balancing problem (and its variations) widely adopted as a benchmarking test system for neural controllers. Through the solution of this specific control problem, we try to illustrate a heuristic neural control approach with task decomposition, control rule extraction and neural net rule implementation as its basic elements. Specializing to the pendulum problem, the global control task is decomposed into subtasks namely pendulum positioning and cart positioning. Accordingly, three separate neural subcontrollers are designed to cater to the subtasks and their coordination, i.e., pendulum subcontroller (PSC), cart subcontroller (CSC) and the switching subcontroller (SSC). Each of the subcontrollers is designed based on the rules and guidelines obtained from the experiences of a human operator. The simulation result is included to show the actual performance of the controller.

  15. Nonlinear control structures based on embedded neural system models.

    PubMed

    Lightbody, G; Irwin, G W

    1997-01-01

    This paper investigates in detail the possible application of neural networks to the modeling and adaptive control of nonlinear systems. Nonlinear neural-network-based plant modeling is first discussed, based on the approximation capabilities of the multilayer perceptron. A structure is then proposed to utilize feedforward networks within a direct model reference adaptive control strategy. The difficulties involved in training this network, embedded within the closed-loop are discussed and a novel neural-network-based sensitivity modeling approach proposed to allow for the backpropagation of errors through the plant to the neural controller. Finally, a novel nonlinear internal model control (IMC) strategy is suggested, that utilizes a nonlinear neural model of the plant to generate parameter estimates over the nonlinear operating region for an adaptive linear internal model, without the problems associated with recursive parameter identification algorithms. Unlike other neural IMC approaches the linear control law can then be readily designed. A continuous stirred tank reactor was chosen as a realistic nonlinear case study for the techniques discussed in the paper.

  16. Distributed neural control of a hexapod walking vehicle

    NASA Technical Reports Server (NTRS)

    Beer, R. D.; Sterling, L. S.; Quinn, R. D.; Chiel, H. J.; Ritzmann, R.

    1989-01-01

    There has been a long standing interest in the design of controllers for multilegged vehicles. The approach is to apply distributed control to this problem, rather than using parallel computing of a centralized algorithm. Researchers describe a distributed neural network controller for hexapod locomotion which is based on the neural control of locomotion in insects. The model considers the simplified kinematics with two degrees of freedom per leg, but the model includes the static stability constraint. Through simulation, it is demonstrated that this controller can generate a continuous range of statically stable gaits at different speeds by varying a single control parameter. In addition, the controller is extremely robust, and can continue the function even after several of its elements have been disabled. Researchers are building a small hexapod robot whose locomotion will be controlled by this network. Researchers intend to extend their model to the dynamic control of legs with more than two degrees of freedom by using data on the control of multisegmented insect legs. Another immediate application of this neural control approach is also exhibited in biology: the escape reflex. Advanced robots are being equipped with tactile sensing and machine vision so that the sensory inputs to the robot controller are vast and complex. Neural networks are ideal for a lower level safety reflex controller because of their extremely fast response time. The combination of robotics, computer modeling, and neurobiology has been remarkably fruitful, and is likely to lead to deeper insights into the problems of real time sensorimotor control.

  17. Bidirectional neural interface: Closed-loop feedback control for hybrid neural systems.

    PubMed

    Chou, Zane; Lim, Jeffrey; Brown, Sophie; Keller, Melissa; Bugbee, Joseph; Broccard, Frédéric D; Khraiche, Massoud L; Silva, Gabriel A; Cauwenberghs, Gert

    2015-01-01

    Closed-loop neural prostheses enable bidirectional communication between the biological and artificial components of a hybrid system. However, a major challenge in this field is the limited understanding of how these components, the two separate neural networks, interact with each other. In this paper, we propose an in vitro model of a closed-loop system that allows for easy experimental testing and modification of both biological and artificial network parameters. The interface closes the system loop in real time by stimulating each network based on recorded activity of the other network, within preset parameters. As a proof of concept we demonstrate that the bidirectional interface is able to establish and control network properties, such as synchrony, in a hybrid system of two neural networks more significantly more effectively than the same system without the interface or with unidirectional alternatives. This success holds promise for the application of closed-loop systems in neural prostheses, brain-machine interfaces, and drug testing.

  18. Attractor switching by neural control of chaotic neurodynamics.

    PubMed

    Pasemann, F; Stollenwerk, N

    1998-11-01

    Chaotic attractors of discrete-time neural networks include infinitely many unstable periodic orbits, which can be stabilized by small parameter changes in a feedback control. Here we explore the control of unstable periodic orbits in a chaotic neural network with only two neurons. Analytically, a local control algorithm is derived on the basis of least squares minimization of the future deviations between actual system states and the desired orbit. This delayed control allows a consistent neural implementation, i.e. the same types of neurons are used for chaotic and controlling modules. The control signal is realized with one layer of neurons, allowing selective switching between different stabilized periodic orbits. For chaotic modules with noise, random switching between different periodic orbits is observed.

  19. Neural aspects of cognitive motor control.

    PubMed

    Georgopoulos, A P

    2000-04-01

    Traditionally, motor and cognitive functions were studied separately; however, the investigation of processes at the interface between cognition and action has become more and more popular recently. Typical research goals include the identification of the processes involved using experimental psychological methods, and understanding the neural mechanisms underlying these processes using neurophysiological and functional neuroimaging methods. Specifically, there has been a special emphasis during the past few years on timing mechanisms, practice effects, and the application of rules in guiding action. New information concerning the neural mechanisms involved is being acquired at a rapid pace, albeit mostly within a descriptive framework. With respect to specific brain areas, a key finding has been the clear involvement of the primary motor cortex in complex tasks engaging diverse motor and cognitive dimensions.

  20. Determination, diversification and multipotency of mammalian myogenic cells.

    PubMed

    Cossu, G; De Angelis, L; Borello, U; Berarducci, B; Buffa, V; Sonnino, C; Coletta, M; Vivarelli, E; Bouche, M; Lattanzi, L; Tosoni, D; Di Donna, S; Berghella, L; Salvatori, G; Murphy, P; Cusella-De Angelis, M G; Molinaro, M

    2000-01-01

    In amniotes, myogenic commitment appears to be dependent upon signaling from neural tube and dorsal ectoderm, that can be replaced by members of the Wnt family and by Sonic hedgehog. Once committed, myoblasts undergo different fates, in that they can differentiate immediately to form the myotome, or later to give rise to primary and secondary muscle fibers. With fiber maturation, satellite cells are first detected; these cells contribute to fiber growth and regeneration during post-natal life. We will describe recent data, mainly from our laboratory, that suggest a different origin for some of the cells that are incorporated into the muscle fibers during late development. We propose the possibility that these myogenic cells are derived from the vasculature, are multi-potent and become committed to myogenesis by local signaling, when ingressing a differentiating muscle tissue. The implications for fetal and perinatal development of the whole mesoderm will also be discussed.

  1. Isolation and manipulation of mammalian neural stem cells in vitro.

    PubMed

    Giachino, Claudio; Basak, Onur; Taylor, Verdon

    2009-01-01

    Neural stem cells are potentially a source of cells not only for replacement therapy but also as drug vectors, bringing bioactive molecules into the brain. Stem cell-like cells can be isolated readily from the human brain, thus, it is important to find culture systems that enable expansion in a multipotent state to generate cells that are of potential use for therapy. Currently, two systems have been described for the maintenance and expansion of multipotent progenitors, an adhesive substrate bound and the neurosphere culture. Both systems have pros and cons, but the neurosphere may be able to simulate the three-dimensional environment of the niche in which the cells reside in vivo. Thus, the neurosphere, when used and cultured appropriately, can expand and provide important information about the mechanisms that potentially control neural stem cells in vivo.

  2. Neural Network Control of a Magnetically Suspended Rotor System

    NASA Technical Reports Server (NTRS)

    Choi, Benjamin; Brown, Gerald; Johnson, Dexter

    1997-01-01

    Abstract Magnetic bearings offer significant advantages because of their noncontact operation, which can reduce maintenance. Higher speeds, no friction, no lubrication, weight reduction, precise position control, and active damping make them far superior to conventional contact bearings. However, there are technical barriers that limit the application of this technology in industry. One of them is the need for a nonlinear controller that can overcome the system nonlinearity and uncertainty inherent in magnetic bearings. This paper discusses the use of a neural network as a nonlinear controller that circumvents system nonlinearity. A neural network controller was well trained and successfully demonstrated on a small magnetic bearing rig. This work demonstrated the feasibility of using a neural network to control nonlinear magnetic bearings and systems with unknown dynamics.

  3. Neural Network Control of a Magnetically Suspended Rotor System

    NASA Technical Reports Server (NTRS)

    Choi, Benjamin; Brown, Gerald; Johnson, Dexter

    1997-01-01

    Abstract Magnetic bearings offer significant advantages because of their noncontact operation, which can reduce maintenance. Higher speeds, no friction, no lubrication, weight reduction, precise position control, and active damping make them far superior to conventional contact bearings. However, there are technical barriers that limit the application of this technology in industry. One of them is the need for a nonlinear controller that can overcome the system nonlinearity and uncertainty inherent in magnetic bearings. This paper discusses the use of a neural network as a nonlinear controller that circumvents system nonlinearity. A neural network controller was well trained and successfully demonstrated on a small magnetic bearing rig. This work demonstrated the feasibility of using a neural network to control nonlinear magnetic bearings and systems with unknown dynamics.

  4. Neural Control of Energy Balance: Translating Circuits to Therapies

    PubMed Central

    Gautron, Laurent; Elmquist, Joel K.; Williams, Kevin W.

    2015-01-01

    Recent insights into the neural circuits controlling energy balance and glucose homeostasis have rekindled the hope for development of novel treatments for obesity and diabetes. However, many therapies contribute relatively modest beneficial gains with accompanying side effects, and the mechanisms of action for other interventions remain undefined. This Review summarizes current knowledge linking the neural circuits regulating energy and glucose balance with current and potential pharmacotherapeutic and surgical interventions for the treatment of obesity and diabetes. PMID:25815991

  5. Feed Forward Neural Network and Optimal Control Problem with Control and State Constraints

    SciTech Connect

    Kmet', Tibor; Kmet'ova, Maria

    2009-09-09

    A feed forward neural network based optimal control synthesis is presented for solving optimal control problems with control and state constraints. The paper extends adaptive critic neural network architecture proposed by [5] to the optimal control problems with control and state constraints. The optimal control problem is transcribed into a nonlinear programming problem which is implemented with adaptive critic neural network. The proposed simulation method is illustrated by the optimal control problem of nitrogen transformation cycle model. Results show that adaptive critic based systematic approach holds promise for obtaining the optimal control with control and state constraints.

  6. Feed Forward Neural Network and Optimal Control Problem with Control and State Constraints

    NASA Astrophysics Data System (ADS)

    Kmet', Tibor; Kmet'ová, Mária

    2009-09-01

    A feed forward neural network based optimal control synthesis is presented for solving optimal control problems with control and state constraints. The paper extends adaptive critic neural network architecture proposed by [5] to the optimal control problems with control and state constraints. The optimal control problem is transcribed into a nonlinear programming problem which is implemented with adaptive critic neural network. The proposed simulation method is illustrated by the optimal control problem of nitrogen transformation cycle model. Results show that adaptive critic based systematic approach holds promise for obtaining the optimal control with control and state constraints.

  7. Neural networks for process control and optimization: two industrial applications.

    PubMed

    Bloch, Gérard; Denoeux, Thierry

    2003-01-01

    The two most widely used neural models, multilayer perceptron (MLP) and radial basis function network (RBFN), are presented in the framework of system identification and control. The main steps for building such nonlinear black box models are regressor choice, selection of internal architecture, and parameter estimation. The advantages of neural network models are summarized: universal approximation capabilities, flexibility, and parsimony. Two applications are described in steel industry and water treatment, respectively, the control of alloying process in a hot dipped galvanizing line and the control of a coagulation process in a drinking water treatment plant. These examples highlight the interest of neural techniques, when complex nonlinear phenomena are involved, but the empirical knowledge of control operators can be learned.

  8. On neural networks in identification and control of dynamic systems

    NASA Technical Reports Server (NTRS)

    Phan, Minh; Juang, Jer-Nan; Hyland, David C.

    1993-01-01

    This paper presents a discussion of the applicability of neural networks in the identification and control of dynamic systems. Emphasis is placed on the understanding of how the neural networks handle linear systems and how the new approach is related to conventional system identification and control methods. Extensions of the approach to nonlinear systems are then made. The paper explains the fundamental concepts of neural networks in their simplest terms. Among the topics discussed are feed forward and recurrent networks in relation to the standard state-space and observer models, linear and nonlinear auto-regressive models, linear, predictors, one-step ahead control, and model reference adaptive control for linear and nonlinear systems. Numerical examples are presented to illustrate the application of these important concepts.

  9. An artificial neural network controller for intelligent transportation systems applications

    SciTech Connect

    Vitela, J.E.; Hanebutte, U.R.; Reifman, J.

    1996-04-01

    An Autonomous Intelligent Cruise Control (AICC) has been designed using a feedforward artificial neural network, as an example for utilizing artificial neural networks for nonlinear control problems arising in intelligent transportation systems applications. The AICC is based on a simple nonlinear model of the vehicle dynamics. A Neural Network Controller (NNC) code developed at Argonne National Laboratory to control discrete dynamical systems was used for this purpose. In order to test the NNC, an AICC-simulator containing graphical displays was developed for a system of two vehicles driving in a single lane. Two simulation cases are shown, one involving a lead vehicle with constant velocity and the other a lead vehicle with varying acceleration. More realistic vehicle dynamic models will be considered in future work.

  10. Integrated evolutionary computation neural network quality controller for automated systems

    SciTech Connect

    Patro, S.; Kolarik, W.J.

    1999-06-01

    With increasing competition in the global market, more and more stringent quality standards and specifications are being demands at lower costs. Manufacturing applications of computing power are becoming more common. The application of neural networks to identification and control of dynamic processes has been discussed. The limitations of using neural networks for control purposes has been pointed out and a different technique, evolutionary computation, has been discussed. The results of identifying and controlling an unstable, dynamic process using evolutionary computation methods has been presented. A framework for an integrated system, using both neural networks and evolutionary computation, has been proposed to identify the process and then control the product quality, in a dynamic, multivariable system, in real-time.

  11. The Neurally Controlled Animat: Biological Brains Acting with Simulated Bodies.

    PubMed

    Demarse, Thomas B; Wagenaar, Daniel A; Blau, Axel W; Potter, Steve M

    2001-01-01

    The brain is perhaps the most advanced and robust computation system known. We are creating a method to study how information is processed and encoded in living cultured neuronal networks by interfacing them to a computer-generated animal, the Neurally-Controlled Animat, within a virtual world. Cortical neurons from rats are dissociated and cultured on a surface containing a grid of electrodes (multi-electrode arrays, or MEAs) capable of both recording and stimulating neural activity. Distributed patterns of neural activity are used to control the behavior of the Animat in a simulated environment. The computer acts as its sensory system providing electrical feedback to the network about the Animat's movement within its environment. Changes in the Animat's behavior due to interaction with its surroundings are studied in concert with the biological processes (e.g., neural plasticity) that produced those changes, to understand how information is processed and encoded within a living neural network. Thus, we have created a hybrid real-time processing engine and control system that consists of living, electronic, and simulated components. Eventually this approach may be applied to controlling robotic devices, or lead to better real-time silicon-based information processing and control algorithms that are fault tolerant and can repair themselves.

  12. Neural dynamic programming and its application to control systems

    NASA Astrophysics Data System (ADS)

    Seong, Chang-Yun

    There are few general practical feedback control methods for nonlinear MIMO (multi-input-multi-output) systems, although such methods exist for their linear counterparts. Neural Dynamic Programming (NDP) is proposed as a practical design method of optimal feedback controllers for nonlinear MIMO systems. NDP is an offspring of both neural networks and optimal control theory. In optimal control theory, the optimal solution to any nonlinear MIMO control problem may be obtained from the Hamilton-Jacobi-Bellman equation (HJB) or the Euler-Lagrange equations (EL). The two sets of equations provide the same solution in different forms: EL leads to a sequence of optimal control vectors, called Feedforward Optimal Control (FOC); HJB yields a nonlinear optimal feedback controller, called Dynamic Programming (DP). DP produces an optimal solution that can reject disturbances and uncertainties as a result of feedback. Unfortunately, computation and storage requirements associated with DP solutions can be problematic, especially for high-order nonlinear systems. This dissertation presents an approximate technique for solving the DP problem based on neural network techniques that provides many of the performance benefits (e.g., optimality and feedback) of DP and benefits from the numerical properties of neural networks. We formulate neural networks to approximate optimal feedback solutions whose existence DP justifies. We show the conditions under which NDP closely approximates the optimal solution. Finally, we introduce the learning operator characterizing the learning process of the neural network in searching the optimal solution. The analysis of the learning operator provides not only a fundamental understanding of the learning process in neural networks but also useful guidelines for selecting the number of weights of the neural network. As a result, NDP finds---with a reasonable amount of computation and storage---the optimal feedback solutions to nonlinear MIMO control

  13. Biologically inspired neural network controller for an infrared tracking system

    NASA Astrophysics Data System (ADS)

    Frigo, Janette R.; Tilden, Mark W.

    1999-01-01

    Many biological system exhibit capable, adaptive behavior with a minimal nervous system such as those found in lower invertebrates. Scientists and engineers are studying biological system because these models may have real-world applications. the analog neural controller, herein, is loosely modeled after minimal biological nervous systems. The system consists of the controller and pair of sensor mounted on an actuator. It is implemented with an electrical oscillator network, two IR sensor and a dc motor, used as an actuator for the system. The system tracks an IR target source. The pointing accuracy of this neural network controller is estimated through experimental measurements and a numerical model of the system.

  14. A neural network controller for automated composite manufacturing

    NASA Technical Reports Server (NTRS)

    Lichtenwalner, Peter F.

    1994-01-01

    At McDonnell Douglas Aerospace (MDA), an artificial neural network based control system has been developed and implemented to control laser heating for the fiber placement composite manufacturing process. This neurocontroller learns an approximate inverse model of the process on-line to provide performance that improves with experience and exceeds that of conventional feedback control techniques. When untrained, the control system behaves as a proportional plus integral (PI) controller. However after learning from experience, the neural network feedforward control module provides control signals that greatly improve temperature tracking performance. Faster convergence to new temperature set points and reduced temperature deviation due to changing feed rate have been demonstrated on the machine. A Cerebellar Model Articulation Controller (CMAC) network is used for inverse modeling because of its rapid learning performance. This control system is implemented in an IBM compatible 386 PC with an A/D board interface to the machine.

  15. Neural network based dynamic controllers for industrial robots.

    PubMed

    Oh, S Y; Shin, W C; Kim, H G

    1995-09-01

    The industrial robot's dynamic performance is frequently measured by positioning accuracy at high speeds and a good dynamic controller is essential that can accurately compute robot dynamics at a servo rate high enough to ensure system stability. A real-time dynamic controller for an industrial robot is developed here using neural networks. First, an efficient time-selectable hidden layer architecture has been developed based on system dynamics localized in time, which lends itself to real-time learning and control along with enhanced mapping accuracy. Second, the neural network architecture has also been specially tuned to accommodate servo dynamics. This not only facilitates the system design through reduced sensing requirements for the controller but also enhances the control performance over the control architecture neglecting servo dynamics. Experimental results demonstrate the controller's excellent learning and control performances compared with a conventional controller and thus has good potential for practical use in industrial robots.

  16. Proliferation control in neural stem and progenitor cells

    PubMed Central

    Homem, Catarina CF; Repic, Marko; Knoblich, Juergen A

    2015-01-01

    Neural circuit function can be drastically affected by variations in the number of cells that are produced during development or by a reduction in adult cell number due to disease. Unlike many other organs, the brain is unable to compensate for such changes by increasing cell numbers or altering the size of the cells. For this reason, unique cell cycle and cell growth control mechanisms operate in the developing and adult brain. In Drosophila melanogaster and mammalian neural stem and progenitor cells these mechanisms are intricately coordinated with the developmental age and the nutritional, metabolic and hormonal state of the animal. Defects in neural stem cell proliferation that result in the generation of incorrect cell numbers or defects in neural stem cell differentiation can cause microcephaly or megalencephaly. PMID:26420377

  17. Neural network guided search control in partial order planning

    SciTech Connect

    Zimmerman, T.

    1996-12-31

    The development of efficient search control methods is an active research topic in the field of planning. Investigation of a planning program integrated with a neural network (NN) that assists in search control is underway, and has produced promising preliminary results.

  18. Application of neural networks to seismic active control

    SciTech Connect

    Tang, Yu

    1995-07-01

    An exploratory study on seismic active control using an artificial neural network (ANN) is presented in which a singledegree-of-freedom (SDF) structural system is controlled by a trained neural network. A feed-forward neural network and the backpropagation training method are used in the study. In backpropagation training, the learning rate is determined by ensuring the decrease of the error function at each training cycle. The training patterns for the neural net are generated randomly. Then, the trained ANN is used to compute the control force according to the control algorithm. The control strategy proposed herein is to apply the control force at every time step to destroy the build-up of the system response. The ground motions considered in the simulations are the N21E and N69W components of the Lake Hughes No. 12 record that occurred in the San Fernando Valley in California on February 9, 1971. Significant reduction of the structural response by one order of magnitude is observed. Also, it is shown that the proposed control strategy has the ability to reduce the peak that occurs during the first few cycles of the time history. These promising results assert the potential of applying ANNs to active structural control under seismic loads.

  19. The application of neural network PID controller to control the light gasoline etherification

    NASA Astrophysics Data System (ADS)

    Cheng, Huanxin; Zhang, Yimin; Kong, Lingling; Meng, Xiangyong

    2017-06-01

    Light gasoline etherification technology can effectively improve the quality of gasoline, which is environmental- friendly and economical. By combining BP neural network and PID control and using BP neural network self-learning ability for online parameter tuning, this method optimizes the parameters of PID controller and applies this to the Fcc gas flow control to achieve the control of the final product- heavy oil concentration. Finally, through MATLAB simulation, it is found that the PID control based on BP neural network has better controlling effect than traditional PID control.

  20. Human fetal keratocytes have multipotent characteristics in the developing avian embryo.

    PubMed

    Chao, Jennifer R; Bronner, Marianne E; Lwigale, Peter Y

    2013-08-01

    The human cornea contains stem cells that can be induced to express markers consistent with multipotency in cell culture; however, there have been no studies demonstrating that human corneal keratocytes are multipotent. The objective of this study is to examine the potential of human fetal keratocytes (HFKs) to differentiate into neural crest-derived tissues when challenged in an embryonic environment. HFKs were injected bilaterally into the cranial mesenchyme adjacent to the neural tube and the periocular mesenchyme in chick embryos at embryonic days 1.5 and 3, respectively. The injected keratocytes were detected by immunofluorescence using the human cell-specific marker, HuNu. HuNu-positive keratocytes injected along the neural crest pathway were localized adjacent to HNK-1-positive migratory host neural crest cells and in the cardiac cushion mesenchyme. The HuNu-positive cells transformed into neural crest derivatives such as smooth muscle in cranial blood vessels, stromal keratocytes, and corneal endothelium. However, they failed to form neurons despite their presence in the condensing trigeminal ganglion. These results show that HFKs retain the ability to differentiate into some neural crest-derived tissues. Their ability to respond to embryonic cues and generate corneal endothelium and stromal keratocytes provides a basis for understanding the feasibility of creating specialized cells for possible use in regenerative medicine.

  1. Neural dynamic optimization for control systems. I. Background.

    PubMed

    Seong, C Y; Widrow, B

    2001-01-01

    The paper presents neural dynamic optimization (NDO) as a method of optimal feedback control for nonlinear multi-input-multi-output (MIMO) systems. The main feature of NDO is that it enables neural networks to approximate the optimal feedback solution whose existence dynamic programming (DP) justifies, thereby reducing the complexities of computation and storage problems of the classical methods such as DP. This paper mainly describes the background and motivations for the development of NDO, while the two other subsequent papers of this topic present the theory of NDO and demonstrate the method with several applications including control of autonomous vehicles and of a robot arm, respectively.

  2. Neural dynamic optimization for control systems.II. Theory.

    PubMed

    Seong, C Y; Widrow, B

    2001-01-01

    The paper presents neural dynamic optimization (NDO) as a method of optimal feedback control for nonlinear multi-input-multi-output (MIMO) systems. The main feature of NDO is that it enables neural networks to approximate the optimal feedback solution whose existence dynamic programming (DP) justifies, thereby reducing the complexities of computation and storage problems of the classical methods such as DP. This paper mainly describes the theory of NDO, while the two other companion papers of this topic explain the background for the development of NDO and demonstrate the method with several applications including control of autonomous vehicles and of a robot arm, respectively.

  3. Neural Networks Control of a Magnetic Levitation System

    DTIC Science & Technology

    2001-04-17

    neural networks (ANN) in conjunction of proportional-integral-derivative (PID) controllers in control of non-contacting active magnetic bearings (AMB). The objective of this technique is to reduce the effect of the unbalance on the rotor displacement without the estimating perturbation. The work consists of the following: 1) application of artificial neural networks (multi-layer perceptrons) for nonlinear model of the active magnetic bearing by using the dynamic back-propagation methods for the adjustment of parameters; and 2) application of

  4. Steam turbine stress control using NARX neural network

    NASA Astrophysics Data System (ADS)

    Dominiczak, Krzysztof; Rzadkowski, Romuald; Radulski, Wojciech

    2015-11-01

    Considered here is concept of steam turbine stress control, which is based on Nonlinear AutoRegressive neural networks with eXogenous inputs. Using NARX neural networks,whichwere trained based on experimentally validated FE model allows to control stresses in protected thickwalled steam turbine element with FE model quality. Additionally NARX neural network, which were trained base on FE model, includes: nonlinearity of steam expansion in turbine steam path during transients, nonlinearity of heat exchange inside the turbine during transients and nonlinearity of material properties during transients. In this article NARX neural networks stress controls is shown as an example of HP rotor of 18K390 turbine. HP part thermodynamic model as well as heat exchange model in vicinity of HP rotor,whichwere used in FE model of the HP rotor and the HP rotor FE model itself were validated based on experimental data for real turbine transient events. In such a way it is ensured that NARX neural network behave as real HP rotor during steam turbine transient events.

  5. Neural network payload estimation for adaptive robot control.

    PubMed

    Leahy, M R; Johnson, M A; Rogers, S K

    1991-01-01

    A concept is proposed for utilizing artificial neural networks to enhance the high-speed tracking accuracy of robotic manipulators. Tracking accuracy is a function of the controller's ability to compensate for disturbances produced by dynamical interactions between the links. A model-based control algorithm uses a nominal model of those dynamical interactions to reduce the disturbances. The problem is how to provide accurate dynamics information to the controller in the presence of payload uncertainty and modeling error. Neural network payload estimation uses a series of artificial neural networks to recognize the payload variation associated with a degradation in tracking performance. The network outputs are combined with a knowledge of nominal dynamics to produce a computationally efficient direct form of adaptive control. The concept is validated through experimentation and analysis on the first three links of a PUMA-560 manipulator. A multilayer perceptron architecture with two hidden layers is used. Integration of the principles of neural network pattern recognition and model-based control produces a tracking algorithm with enhanced robustness to incomplete dynamic information. Tracking efficacy and applicability to robust control algorithms are discussed.

  6. Neural network application to aircraft control system design

    NASA Technical Reports Server (NTRS)

    Troudet, Terry; Garg, Sanjay; Merrill, Walter C.

    1991-01-01

    The feasibility of using artificial neural networks as control systems for modern, complex aerospace vehicles is investigated via an example aircraft control design study. The problem considered is that of designing a controller for an integrated airframe/propulsion longitudinal dynamics model of a modern fighter aircraft to provide independent control of pitch rate and airspeed responses to pilot command inputs. An explicit model following controller using H infinity control design techniques is first designed to gain insight into the control problem as well as to provide a baseline for evaluation of the neurocontroller. Using the model of the desired dynamics as a command generator, a multilayer feedforward neural network is trained to control the vehicle model within the physical limitations of the actuator dynamics. This is achieved by minimizing an objective function which is a weighted sum of tracking errors and control input commands and rates. To gain insight in the neurocontrol, linearized representations of the nonlinear neurocontroller are analyzed along a commanded trajectory. Linear robustness analysis tools are then applied to the linearized neurocontroller models and to the baseline H infinity based controller. Future areas of research are identified to enhance the practical applicability of neural networks to flight control design.

  7. Neural network application to aircraft control system design

    NASA Technical Reports Server (NTRS)

    Troudet, Terry; Garg, Sanjay; Merrill, Walter C.

    1991-01-01

    The feasibility of using artificial neural network as control systems for modern, complex aerospace vehicles is investigated via an example aircraft control design study. The problem considered is that of designing a controller for an integrated airframe/propulsion longitudinal dynamics model of a modern fighter aircraft to provide independent control of pitch rate and airspeed responses to pilot command inputs. An explicit model following controller using H infinity control design techniques is first designed to gain insight into the control problem as well as to provide a baseline for evaluation of the neurocontroller. Using the model of the desired dynamics as a command generator, a multilayer feedforward neural network is trained to control the vehicle model within the physical limitations of the actuator dynamics. This is achieved by minimizing an objective function which is a weighted sum of tracking errors and control input commands and rates. To gain insight in the neurocontrol, linearized representations of the nonlinear neurocontroller are analyzed along a commanded trajectory. Linear robustness analysis tools are then applied to the linearized neurocontroller models and to the baseline H infinity based controller. Future areas of research identified to enhance the practical applicability of neural networks to flight control design.

  8. Neural network application to aircraft control system design

    NASA Technical Reports Server (NTRS)

    Troudet, Terry; Garg, Sanjay; Merrill, Walter C.

    1991-01-01

    The feasibility of using artificial neural network as control systems for modern, complex aerospace vehicles is investigated via an example aircraft control design study. The problem considered is that of designing a controller for an integrated airframe/propulsion longitudinal dynamics model of a modern fighter aircraft to provide independent control of pitch rate and airspeed responses to pilot command inputs. An explicit model following controller using H infinity control design techniques is first designed to gain insight into the control problem as well as to provide a baseline for evaluation of the neurocontroller. Using the model of the desired dynamics as a command generator, a multilayer feedforward neural network is trained to control the vehicle model within the physical limitations of the actuator dynamics. This is achieved by minimizing an objective function which is a weighted sum of tracking errors and control input commands and rates. To gain insight in the neurocontrol, linearized representations of the nonlinear neurocontroller are analyzed along a commanded trajectory. Linear robustness analysis tools are then applied to the linearized neurocontroller models and to the baseline H infinity based controller. Future areas of research identified to enhance the practical applicability of neural networks to flight control design.

  9. Dissipative rendering and neural network control system design

    NASA Technical Reports Server (NTRS)

    Gonzalez, Oscar R.

    1995-01-01

    Model-based control system designs are limited by the accuracy of the models of the plant, plant uncertainty, and exogenous signals. Although better models can be obtained with system identification, the models and control designs still have limitations. One approach to reduce the dependency on particular models is to design a set of compensators that will guarantee robust stability to a set of plants. Optimization over the compensator parameters can then be used to get the desired performance. Conservativeness of this approach can be reduced by integrating fundamental properties of the plant models. This is the approach of dissipative control design. Dissipative control designs are based on several variations of the Passivity Theorem, which have been proven for nonlinear/linear and continuous-time/discrete-time systems. These theorems depend not on a specific model of a plant, but on its general dissipative properties. Dissipative control design has found wide applicability in flexible space structures and robotic systems that can be configured to be dissipative. Currently, there is ongoing research to improve the performance of dissipative control designs. For aircraft systems that are not dissipative active control may be used to make them dissipative and then a dissipative control design technique can be used. It is also possible that rendering a system dissipative and dissipative control design may be combined into one step. Furthermore, the transformation of a non-dissipative system to dissipative can be done robustly. One sequential design procedure for finite dimensional linear time-invariant systems has been developed. For nonlinear plants that cannot be controlled adequately with a single linear controller, model-based techniques have additional problems. Nonlinear system identification is still a research topic. Lacking analytical models for model-based design, artificial neural network algorithms have recently received considerable attention. Using

  10. Dissipative rendering and neural network control system design

    NASA Technical Reports Server (NTRS)

    Gonzalez, Oscar R.

    1995-01-01

    Model-based control system designs are limited by the accuracy of the models of the plant, plant uncertainty, and exogenous signals. Although better models can be obtained with system identification, the models and control designs still have limitations. One approach to reduce the dependency on particular models is to design a set of compensators that will guarantee robust stability to a set of plants. Optimization over the compensator parameters can then be used to get the desired performance. Conservativeness of this approach can be reduced by integrating fundamental properties of the plant models. This is the approach of dissipative control design. Dissipative control designs are based on several variations of the Passivity Theorem, which have been proven for nonlinear/linear and continuous-time/discrete-time systems. These theorems depend not on a specific model of a plant, but on its general dissipative properties. Dissipative control design has found wide applicability in flexible space structures and robotic systems that can be configured to be dissipative. Currently, there is ongoing research to improve the performance of dissipative control designs. For aircraft systems that are not dissipative active control may be used to make them dissipative and then a dissipative control design technique can be used. It is also possible that rendering a system dissipative and dissipative control design may be combined into one step. Furthermore, the transformation of a non-dissipative system to dissipative can be done robustly. One sequential design procedure for finite dimensional linear time-invariant systems has been developed. For nonlinear plants that cannot be controlled adequately with a single linear controller, model-based techniques have additional problems. Nonlinear system identification is still a research topic. Lacking analytical models for model-based design, artificial neural network algorithms have recently received considerable attention. Using

  11. Ideomotor feedback control in a recurrent neural network.

    PubMed

    Galtier, Mathieu

    2015-06-01

    The architecture of a neural network controlling an unknown environment is presented. It is based on a randomly connected recurrent neural network from which both perception and action are simultaneously read and fed back. There are two concurrent learning rules implementing a sort of ideomotor control: (i) perception is learned along the principle that the network should predict reliably its incoming stimuli; (ii) action is learned along the principle that the prediction of the network should match a target time series. The coherent behavior of the neural network in its environment is a consequence of the interaction between the two principles. Numerical simulations show a promising performance of the approach, which can be turned into a local and better "biologically plausible" algorithm.

  12. Adaptive model predictive process control using neural networks

    DOEpatents

    Buescher, K.L.; Baum, C.C.; Jones, R.D.

    1997-08-19

    A control system for controlling the output of at least one plant process output parameter is implemented by adaptive model predictive control using a neural network. An improved method and apparatus provides for sampling plant output and control input at a first sampling rate to provide control inputs at the fast rate. The MPC system is, however, provided with a network state vector that is constructed at a second, slower rate so that the input control values used by the MPC system are averaged over a gapped time period. Another improvement is a provision for on-line training that may include difference training, curvature training, and basis center adjustment to maintain the weights and basis centers of the neural in an updated state that can follow changes in the plant operation apart from initial off-line training data. 46 figs.

  13. Adaptive model predictive process control using neural networks

    DOEpatents

    Buescher, Kevin L.; Baum, Christopher C.; Jones, Roger D.

    1997-01-01

    A control system for controlling the output of at least one plant process output parameter is implemented by adaptive model predictive control using a neural network. An improved method and apparatus provides for sampling plant output and control input at a first sampling rate to provide control inputs at the fast rate. The MPC system is, however, provided with a network state vector that is constructed at a second, slower rate so that the input control values used by the MPC system are averaged over a gapped time period. Another improvement is a provision for on-line training that may include difference training, curvature training, and basis center adjustment to maintain the weights and basis centers of the neural in an updated state that can follow changes in the plant operation apart from initial off-line training data.

  14. Generalized Predictive and Neural Generalized Predictive Control of Aerospace Systems

    NASA Technical Reports Server (NTRS)

    Kelkar, Atul G.

    2000-01-01

    The research work presented in this thesis addresses the problem of robust control of uncertain linear and nonlinear systems using Neural network-based Generalized Predictive Control (NGPC) methodology. A brief overview of predictive control and its comparison with Linear Quadratic (LQ) control is given to emphasize advantages and drawbacks of predictive control methods. It is shown that the Generalized Predictive Control (GPC) methodology overcomes the drawbacks associated with traditional LQ control as well as conventional predictive control methods. It is shown that in spite of the model-based nature of GPC it has good robustness properties being special case of receding horizon control. The conditions for choosing tuning parameters for GPC to ensure closed-loop stability are derived. A neural network-based GPC architecture is proposed for the control of linear and nonlinear uncertain systems. A methodology to account for parametric uncertainty in the system is proposed using on-line training capability of multi-layer neural network. Several simulation examples and results from real-time experiments are given to demonstrate the effectiveness of the proposed methodology.

  15. Delayed standard neural network models for control systems.

    PubMed

    Liu, Meiqin

    2007-09-01

    In order to conveniently analyze the stability of recurrent neural networks (RNNs) and successfully synthesize the controllers for nonlinear systems, similar to the nominal model in linear robust control theory, the novel neural network model, named delayed standard neural network model (DSNNM) is presented, which is the interconnection of a linear dynamic system and a bounded static delayed (or nondelayed) nonlinear operator. By combining a number of different Lyapunov functionals with S-procedure, some useful criteria of global asymptotic stability and global exponential stability for the continuous-time DSNNMs (CDSNNMs) and discrete-time DSNNMs (DDSNNMs) are derived, whose conditions are formulated as linear matrix inequalities (LMIs). Based on the stability analysis, some state-feedback control laws for the DSNNM with input and output are designed to stabilize the closed-loop systems. Most RNNs and neurocontrol nonlinear systems with (or without) time delays can be transformed into the DSNNMs to be stability-analyzed or stabilization-synthesized in a unified way. In this paper, the DSNNMs are applied to analyzing the stability of the continuous-time and discrete-time RNNs with or without time delays, and synthesizing the state-feedback controllers for the chaotic neural-network-system and discrete-time nonlinear system. It turns out that the DSNNM makes the stability conditions of the RNNs easily verified, and provides a new idea for the synthesis of the controllers for the nonlinear systems.

  16. Neural Control Mechanisms and Body Fluid Homeostasis

    NASA Technical Reports Server (NTRS)

    Johnson, Alan Kim

    1998-01-01

    The goal of the proposed research was to study the nature of afferent signals to the brain that reflect the status of body fluid balance and to investigate the central neural mechanisms that process this information for the activation of response systems which restore body fluid homeostasis. That is, in the face of loss of fluids from intracellular or extracellular fluid compartments, animals seek and ingest water and ionic solutions (particularly Na(+) solutions) to restore the intracellular and extracellular spaces. Over recent years, our laboratory has generated a substantial body of information indicating that: (1) a fall in systemic arterial pressure facilitates the ingestion of rehydrating solutions and (2) that the actions of brain amine systems (e.g., norepinephrine; serotonin) are critical for precise correction of fluid losses. Because both acute and chronic dehydration are associated with physiological stresses, such as exercise and sustained exposure to microgravity, the present research will aid in achieving a better understanding of how vital information is handled by the nervous system for maintenance of the body's fluid matrix which is critical for health and well-being.

  17. An architecture for designing fuzzy logic controllers using neural networks

    NASA Technical Reports Server (NTRS)

    Berenji, Hamid R.

    1991-01-01

    Described here is an architecture for designing fuzzy controllers through a hierarchical process of control rule acquisition and by using special classes of neural network learning techniques. A new method for learning to refine a fuzzy logic controller is introduced. A reinforcement learning technique is used in conjunction with a multi-layer neural network model of a fuzzy controller. The model learns by updating its prediction of the plant's behavior and is related to the Sutton's Temporal Difference (TD) method. The method proposed here has the advantage of using the control knowledge of an experienced operator and fine-tuning it through the process of learning. The approach is applied to a cart-pole balancing system.

  18. Applications of neural networks to process control and modeling

    SciTech Connect

    Barnes, C.W.; Brown, S.K.; Flake, G.W.; Jones, R.D.; O'Rourke, M.K.; Lee, Y.C.

    1991-01-01

    Modeling and control of physical processes are universal parts of modern life, from control of chemical plants to riding a bicycle. Often, an effective model of the process is not known so that traditional control theory is of little use. If a process can be represented by a set of a data which captures it behavior over a range of parameter settings, a neural net can inductively model the process and form the basis of an optimization procedure. We present a neural network architecture which is particularly effective in process modeling and control. We discuss its effectiveness in several application areas as well as some of the non-ideal characteristics present in real control problems which effect the form and style of the network architecture and learning algorithm. 8 refs., 6 figs.

  19. Defining a neural network controller structure for a rubbertuator robot.

    PubMed

    Ozkan, M; Inoue, K; Negishi, K; Yamanaka, T

    2000-01-01

    Rubbertuator (Rubber-Actuator) robot arm is a pneumatic robot, unique with its lightweight, high power, compliant and spark free nature. Compressibility of air in the actuator tubes and the elastic nature of the rubber, however, are the two major sources of increased non-linearity and complexity in motion control. Soft computing, exploiting the tolerance of uncertainty and vagueness in cognitive reasoning has been offering easy to handle, robust, and low-priced solutions to several non-linear industrial applications. Nonetheless, the black-box approach in these systems results in application specific architectures with some important design parameters left for fine tuning (i.e. number of nodes in a neural network). In this study we propose a more systematic method in defining the structure of a soft computing technique, namely the backpropagation neural network, when used as a controller for rubbertuator robot systems. The structure of the neural network is based on the physical model of the robot, while the neural network itself is trained to learn the trajectory independent parameters of the model that are essential for defining the robot dynamics. The proposed system performance was compared with a well-tuned PID controller and shown to be more accurate in trajectory control for rubbertuator robots.

  20. Robust Neural Sliding Mode Control of Robot Manipulators

    NASA Astrophysics Data System (ADS)

    Hiep, Nguyen Tran; cat, Pham Thuong

    2009-03-01

    This paper proposes a robust neural sliding mode control method for robot tracking problem to overcome the noises and large uncertainties in robot dynamics. The Lyapunov direct method has been used to prove the stability of the overall system. Simulation results are given to illustrate the applicability of the proposed method

  1. Robust Neural Sliding Mode Control of Robot Manipulators

    SciTech Connect

    Nguyen Tran Hiep; Pham Thuong Cat

    2009-03-05

    This paper proposes a robust neural sliding mode control method for robot tracking problem to overcome the noises and large uncertainties in robot dynamics. The Lyapunov direct method has been used to prove the stability of the overall system. Simulation results are given to illustrate the applicability of the proposed method.

  2. Adaptive Neural Network Controller for ATM Traffic

    DTIC Science & Technology

    1996-12-01

    IEEE Communications Magazine (October 1995). 2. Baum, Eric B...Adaptive Control in ATM Networks," IEEE Communications Magazine (October 1995). 9. Evanowsky, John B. "Information for the Warrior," IEEE Communications Magazine (October...Network Applications in ATM," IEEE Communications Magazine (October 1995). 78 16. Imrich, et al. "A counter based congestion control for ATM

  3. Internal models for interpreting neural population activity during sensorimotor control.

    PubMed

    Golub, Matthew D; Yu, Byron M; Chase, Steven M

    2015-12-08

    To successfully guide limb movements, the brain takes in sensory information about the limb, internally tracks the state of the limb, and produces appropriate motor commands. It is widely believed that this process uses an internal model, which describes our prior beliefs about how the limb responds to motor commands. Here, we leveraged a brain-machine interface (BMI) paradigm in rhesus monkeys and novel statistical analyses of neural population activity to gain insight into moment-by-moment internal model computations. We discovered that a mismatch between subjects' internal models and the actual BMI explains roughly 65% of movement errors, as well as long-standing deficiencies in BMI speed control. We then used the internal models to characterize how the neural population activity changes during BMI learning. More broadly, this work provides an approach for interpreting neural population activity in the context of how prior beliefs guide the transformation of sensory input to motor output.

  4. The newt reprograms mature RPE cells into a unique multipotent state for retinal regeneration

    PubMed Central

    Islam, Md. Rafiqul; Nakamura, Kenta; Casco-Robles, Martin Miguel; Kunahong, Ailidana; Inami, Wataru; Toyama, Fubito; Maruo, Fumiaki; Chiba, Chikafumi

    2014-01-01

    The reprogramming of retinal pigment epithelium (RPE) cells in the adult newt immediately after retinal injury is an area of active research for the study of retinal disorders and regeneration. We demonstrate here that unlike embryonic/larval retinal regeneration, adult newt RPE cells are not directly reprogrammed into retinal stem/progenitor cells; instead, they are programmed into a unique state of multipotency that is similar to the early optic vesicle (embryo) but preserves certain adult characteristics. These cells then differentiate into two populations from which the prospective-neural retina and -RPE layers are formed with the correct polarity. Furthermore, our findings provide insight into the similarity between these unique multipotent cells in newts and those implicated in retinal disorders, such as proliferative vitreoretinopathy, in humans. These findings provide a foundation for biomedical approaches that aim to induce retinal self-regeneration for the treatment of RPE-mediated retinal disorders. PMID:25116407

  5. Adaptive control using neural networks and approximate models.

    PubMed

    Narendra, K S; Mukhopadhyay, S

    1997-01-01

    The NARMA model is an exact representation of the input-output behavior of finite-dimensional nonlinear discrete-time dynamical systems in a neighborhood of the equilibrium state. However, it is not convenient for purposes of adaptive control using neural networks due to its nonlinear dependence on the control input. Hence, quite often, approximate methods are used for realizing the neural controllers to overcome computational complexity. In this paper, we introduce two classes of models which are approximations to the NARMA model, and which are linear in the control input. The latter fact substantially simplifies both the theoretical analysis as well as the practical implementation of the controller. Extensive simulation studies have shown that the neural controllers designed using the proposed approximate models perform very well, and in many cases even better than an approximate controller designed using the exact NARMA model. In view of their mathematical tractability as well as their success in simulation studies, a case is made in this paper that such approximate input-output models warrant a detailed study in their own right.

  6. Spacecraft power system controller based on neural network

    NASA Astrophysics Data System (ADS)

    El-madany, Hanaa T.; Fahmy, Faten H.; El-Rahman, Ninet M. A.; Dorrah, Hassen T.

    2011-09-01

    Neural control is a branch of the general field of intelligent control, which is based on the concept of artificial intelligence. This work presents the spacecraft orbit determination, dimensioning of the renewable power system, and mathematical modeling of spacecraft power system which are required for simulating the system. The complete system is simulated using MATLAB-SIMULINK. The NN controller outperform PID in the extreme range of non-linearity. Well trained neural controller can operate at different conditions of load current at different orbital periods without any tuning such in case of PID controller. So an artificial neural network (ANN) based model has been developed for the optimum operation of spacecraft power system. An ANN is trained using a back propagation with Levenberg-Marquardt algorithm. The best validation performance is obtained for mean square error is equal to 9.9962×10 -11 at epoch 637. The regression between the network output and the corresponding target is equal to 100% which means a high accuracy. NNC architecture gives satisfactory results with small number of neurons, hence better in terms of memory and time are required for NNC implementation. The results indicate that the proposed control unit using ANN can be successfully used for controlling the spacecraft power system in low earth orbit (LEO). Therefore, this technique is going to be a very useful tool for the interested designers in space field.

  7. Projection learning algorithm for threshold - controlled neural networks

    SciTech Connect

    Reznik, A.M.

    1995-03-01

    The projection learning algorithm proposed in [1, 2] and further developed in [3] substantially improves the efficiency of memorizing information and accelerates the learning process in neural networks. This algorithm is compatible with the completely connected neural network architecture (the Hopfield network [4]), but its application to other networks involves a number of difficulties. The main difficulties include constraints on interconnection structure and the need to eliminate the state uncertainty of latent neurons if such are present in the network. Despite the encouraging preliminary results of [3], further extension of the applications of the projection algorithm therefore remains problematic. In this paper, which is a continuation of the work begun in [3], we consider threshold-controlled neural networks. Networks of this type are quite common. They represent the receptor neuron layers in some neurocomputer designs. A similar structure is observed in the lower divisions of biological sensory systems [5]. In multilayer projection neural networks with lateral interconnections, the neuron layers or parts of these layers may also have the structure of a threshold-controlled completely connected network. Here the thresholds are the potentials delivered through the projection connections from other parts of the network. The extension of the projection algorithm to the class of threshold-controlled networks may accordingly prove to be useful both for extending its technical applications and for better understanding of the operation of the nervous system in living organisms.

  8. Insights into the neural control of eccentric contractions.

    PubMed

    Duchateau, Jacques; Baudry, Stéphane

    2014-06-01

    The purpose of this brief review is to examine our current knowledge of the neural control of eccentric contractions. The review focuses on three main issues. The first issue considers the ability of individuals to activate muscles maximally during eccentric contractions. Most studies indicate that, regardless of the experimental approach (surface EMG amplitude, twitch superimposition, and motor unit recordings), it is usually more difficult to achieve full activation of a muscle by voluntary command during eccentric contractions than during concentric and isometric contractions. The second issue is related to the specificity of the control strategy used by the central nervous system during submaximal eccentric contractions. This part underscores that although the central nervous system appears to employ a single size-related strategy to activate motoneurons during the different types of contractions, the discharge rate of motor units is less during eccentric contractions across different loading conditions. The last issue addresses the mechanisms that produce this specific neural activation. This section indicates that neural adjustments at both supraspinal and spinal levels contribute to the specific modulation of voluntary activation during eccentric contractions. Although the available information on the control of eccentric contractions has increased during the last two decades, this review indicates that the exact mechanisms underlying the unique neural modulation observed in this type of contraction at spinal and supraspinal levels remains unknown and their understanding represents, therefore, a major challenge for future research on this topic.

  9. Variable Neural Adaptive Robust Control: A Switched System Approach

    SciTech Connect

    Lian, Jianming; Hu, Jianghai; Zak, Stanislaw H.

    2015-05-01

    Variable neural adaptive robust control strategies are proposed for the output tracking control of a class of multi-input multi-output uncertain systems. The controllers incorporate a variable-structure radial basis function (RBF) network as the self-organizing approximator for unknown system dynamics. The variable-structure RBF network solves the problem of structure determination associated with fixed-structure RBF networks. It can determine the network structure on-line dynamically by adding or removing radial basis functions according to the tracking performance. The structure variation is taken into account in the stability analysis of the closed-loop system using a switched system approach with the aid of the piecewise quadratic Lyapunov function. The performance of the proposed variable neural adaptive robust controllers is illustrated with simulations.

  10. Neural Generalized Predictive Control: A Newton-Raphson Implementation

    NASA Technical Reports Server (NTRS)

    Soloway, Donald; Haley, Pamela J.

    1997-01-01

    An efficient implementation of Generalized Predictive Control using a multi-layer feedforward neural network as the plant's nonlinear model is presented. In using Newton-Raphson as the optimization algorithm, the number of iterations needed for convergence is significantly reduced from other techniques. The main cost of the Newton-Raphson algorithm is in the calculation of the Hessian, but even with this overhead the low iteration numbers make Newton-Raphson faster than other techniques and a viable algorithm for real-time control. This paper presents a detailed derivation of the Neural Generalized Predictive Control algorithm with Newton-Raphson as the minimization algorithm. Simulation results show convergence to a good solution within two iterations and timing data show that real-time control is possible. Comments about the algorithm's implementation are also included.

  11. Universal neural network control of MIMO uncertain nonlinear systems.

    PubMed

    Yang, Qinmin; Yang, Zaiyue; Sun, Youxian

    2012-07-01

    In this brief, a continuous tracking control law is proposed for a class of high-order multi-input-multi-output uncertain nonlinear dynamic systems with external disturbance and unknown varying control direction matrix. The proposed controller consists of high-gain feedback, Nussbaum gain matrix selector, online approximator (OLA) model and a robust term. The OLA model is represented by a two-layer neural network. The continuousness of the control signal is guaranteed to relax the requirement for the actuator bandwidth and avoid the incurred chattering effect. Asymptotic tracking performance is achieved theoretically by standard Lyapunov analysis. The control feasibility is also verified in simulation environment.

  12. Artificial neural networks in Space Station optimal attitude control

    NASA Astrophysics Data System (ADS)

    Kumar, Renjith R.; Seywald, Hans; Deshpande, Samir M.; Rahman, Zia

    1992-08-01

    Innovative techniques of using 'Artificial Neural Networks' (ANN) for improving the performance of the pitch axis attitude control system of Space Station Freedom using Control Moment Gyros (CMGs) are investigated. The first technique uses a feedforward ANN with multilayer perceptrons to obtain an on-line controller which improves the performance of the control system via a model following approach. The second techique uses a single layer feedforward ANN with a modified back propagation scheme to estimate the internal plant variations and the external disturbances separately. These estimates are then used to solve two differential Riccati equations to obtain time varying gains which improve the control system performance in successive orbits.

  13. Deterministic chaos control in neural networks on various topologies

    NASA Astrophysics Data System (ADS)

    Neto, A. J. F.; Lima, F. W. S.

    2017-01-01

    Using numerical simulations, we study the control of deterministic chaos in neural networks on various topologies like Voronoi-Delaunay, Barabási-Albert, Small-World networks and Erdös-Rényi random graphs by "pinning" the state of a "special" neuron. We show that the chaotic activity of the networks or graphs, when control is on, can become constant or periodic.

  14. Contact Inhibition of Locomotion in vivo controls neural crest directional migration

    PubMed Central

    Carmona-Fontaine, Carlos; Matthews, Helen K.; Kuriyama, Sei; Moreno, Mauricio; Dunn, Graham A.; Parsons, Maddy; Stern, Claudio D.; Mayor, Roberto

    2008-01-01

    Contact Inhibition of Locomotion was discovered by Abercrombie more than 50 years ago to describe the behaviour of fibroblast cells confronting each other in vitro, where they retract their protrusions and change direction upon contact1,2. Its failure was suggested to contribute to malignant invasion3-6. However, the molecular basis of Contact Inhibition of Locomotion and whether it also occurs in vivo are still unknown. Here we show that neural crest cells, a highly migratory and multipotent embryonic cell population, whose behaviour has been likened to malignant invasion6-8, exhibit Contact Inhibition of Locomotion both in vivo and in vitro, and that this accounts for their directional migration. When two migrating neural crest cells meet, they stop, collapse their protrusions and change direction. In contrast, when a neural crest cell meets another cell type, it fails to display Contact Inhibition of Locomotion; instead, it invades the other tissue, like metastatic cancer cells3,5,9. We show that inhibition of non-canonical Wnt signalling abolishes both Contact Inhibition of Locomotion and the directionality of neural crest migration. Wnt signalling members localise at the site of cell contact, leading to activation of RhoA in this region. These results provide the first example of Contact Inhibition of Locomotion in vivo, present an explanation for coherent directional migration of group of cells and establish a novel role for non-canonical Wnt signalling. PMID:19078960

  15. Contact inhibition of locomotion in vivo controls neural crest directional migration.

    PubMed

    Carmona-Fontaine, Carlos; Matthews, Helen K; Kuriyama, Sei; Moreno, Mauricio; Dunn, Graham A; Parsons, Maddy; Stern, Claudio D; Mayor, Roberto

    2008-12-18

    Contact inhibition of locomotion was discovered by Abercrombie more than 50 years ago and describes the behaviour of fibroblast cells confronting each other in vitro, where they retract their protrusions and change direction on contact. Its failure was suggested to contribute to malignant invasion. However, the molecular basis of contact inhibition of locomotion and whether it also occurs in vivo are still unknown. Here we show that neural crest cells, a highly migratory and multipotent embryonic cell population, whose behaviour has been likened to malignant invasion, demonstrate contact inhibition of locomotion both in vivo and in vitro, and that this accounts for their directional migration. When two migrating neural crest cells meet, they stop, collapse their protrusions and change direction. In contrast, when a neural crest cell meets another cell type, it fails to display contact inhibition of locomotion; instead, it invades the other tissue, in the same manner as metastatic cancer cells. We show that inhibition of non-canonical Wnt signalling abolishes both contact inhibition of locomotion and the directionality of neural crest migration. Wnt-signalling members localize at the site of cell contact, leading to activation of RhoA in this region. These results provide the first example of contact inhibition of locomotion in vivo, provide an explanation for coherent directional migration of groups of cells and establish a previously unknown role for non-canonical Wnt signalling.

  16. Computation and control with neural nets

    SciTech Connect

    Corneliusen, A.; Terdal, P.; Knight, T.; Spencer, J.

    1989-10-04

    As energies have increased exponentially with time so have the size and complexity of accelerators and control systems. NN may offer the kinds of improvements in computation and control that are needed to maintain acceptable functionality. For control their associative characteristics could provide signal conversion or data translation. Because they can do any computation such as least squares, they can close feedback loops autonomously to provide intelligent control at the point of action rather than at a central location that requires transfers, conversions, hand-shaking and other costly repetitions like input protection. Both computation and control can be integrated on a single chip, printed circuit or an optical equivalent that is also inherently faster through full parallel operation. For such reasons one expects lower costs and better results. Such systems could be optimized by integrating sensor and signal processing functions. Distributed nets of such hardware could communicate and provide global monitoring and multiprocessing in various ways e.g. via token, slotted or parallel rings (or Steiner trees) for compatibility with existing systems. Problems and advantages of this approach such as an optimal, real-time Turing machine are discussed. Simple examples are simulated and hardware implemented using discrete elements that demonstrate some basic characteristics of learning and parallelism. Future microprocessors' are predicted and requested on this basis. 19 refs., 18 figs.

  17. Imaging correlates of neural control of ocular movements.

    PubMed

    Agarwal, Mohit; Ulmer, John L; Chandra, Tushar; Klein, Andrew P; Mark, Leighton P; Mohan, Suyash

    2016-07-01

    The purpose of oculomotor movements is maintenance of clear images on the retina. Beyond this oversimplification, it requires several different types of ocular movements and reflexes to focus objects of interest to the fovea-the only portion of retina capable of sharp and clear vision. The different movements and reflexes that execute this task are the saccades, smooth pursuit movements, fixation, accommodation, and the optokinetic and vestibulo-ocular reflexes. Many different centres in the cerebrum, cerebellum, brainstem and thalami, control these movements via different pathways. At the outset, these mechanisms appear dauntingly complex to a radiologist. However, only a little effort could make it possible to understand these neural controls and empower the reading session. The following review on ocular movements and their neural control will enable radiologists and clinicians to correlate lesions with clinical deficits effectively without being swamped by exhaustive detail. Key Points • Knowledge of cortical and subcortical areas controlling ocular movements is important. • Understanding of neural control of ocular movements makes a good foundation. • Awareness of anatomic areas controlling ocular movements helps in clinico-radiologic correlation.

  18. Neural PID Control of Robot Manipulators With Application to an Upper Limb Exoskeleton.

    PubMed

    Yu, Wen; Rosen, Jacob

    2013-04-01

    In order to minimize steady-state error with respect to uncertainties in robot control, proportional-integral-derivative (PID) control needs a big integral gain, or a neural compensator is added to the classical proportional-derivative (PD) control with a large derivative gain. Both of them deteriorate transient performances of the robot control. In this paper, we extend the popular neural PD control into neural PID control. This novel control is a natural combination of industrial linear PID control and neural compensation. The main contributions of this paper are semiglobal asymptotic stability of the neural PID control and local asymptotic stability of the neural PID control with a velocity observer which are proved with standard weight training algorithms. These conditions give explicit selection methods for the gains of the linear PID control. An experimental study on an upper limb exoskeleton with this neural PID control is addressed.

  19. Optogenetic feedback control of neural activity

    PubMed Central

    Newman, Jonathan P; Fong, Ming-fai; Millard, Daniel C; Whitmire, Clarissa J; Stanley, Garrett B; Potter, Steve M

    2015-01-01

    Optogenetic techniques enable precise excitation and inhibition of firing in specified neuronal populations and artifact-free recording of firing activity. Several studies have suggested that optical stimulation provides the precision and dynamic range requisite for closed-loop neuronal control, but no approach yet permits feedback control of neuronal firing. Here we present the ‘optoclamp’, a feedback control technology that provides continuous, real-time adjustments of bidirectional optical stimulation in order to lock spiking activity at specified targets over timescales ranging from seconds to days. We demonstrate how this system can be used to decouple neuronal firing levels from ongoing changes in network excitability due to multi-hour periods of glutamatergic or GABAergic neurotransmission blockade in vitro as well as impinging vibrissal sensory drive in vivo. This technology enables continuous, precise optical control of firing in neuronal populations in order to disentangle causally related variables of circuit activation in a physiologically and ethologically relevant manner. DOI: http://dx.doi.org/10.7554/eLife.07192.001 PMID:26140329

  20. DCS-Neural-Network Program for Aircraft Control and Testing

    NASA Technical Reports Server (NTRS)

    Jorgensen, Charles C.

    2006-01-01

    A computer program implements a dynamic-cell-structure (DCS) artificial neural network that can perform such tasks as learning selected aerodynamic characteristics of an airplane from wind-tunnel test data and computing real-time stability and control derivatives of the airplane for use in feedback linearized control. A DCS neural network is one of several types of neural networks that can incorporate additional nodes in order to rapidly learn increasingly complex relationships between inputs and outputs. In the DCS neural network implemented by the present program, the insertion of nodes is based on accumulated error. A competitive Hebbian learning rule (a supervised-learning rule in which connection weights are adjusted to minimize differences between actual and desired outputs for training examples) is used. A Kohonen-style learning rule (derived from a relatively simple training algorithm, implements a Delaunay triangulation layout of neurons) is used to adjust node positions during training. Neighborhood topology determines which nodes are used to estimate new values. The network learns, starting with two nodes, and adds new nodes sequentially in locations chosen to maximize reductions in global error. At any given time during learning, the error becomes homogeneously distributed over all nodes.

  1. Controlling neural activity in Caenorhabditis elegans to evoke chemotactic behavior

    NASA Astrophysics Data System (ADS)

    Kocabas, Askin; Shen, Ching-Han; Guo, Zengcai V.; Ramanathan, Sharad

    2013-03-01

    Animals locate and track chemoattractive gradients in the environment to find food. With its simple nervous system, Caenorhabditis elegans is a good model system in which to understand how the dynamics of neural activity control this search behavior. To understand how the activity in its interneurons coordinate different motor programs to lead the animal to food, here we used optogenetics and new optical tools to manipulate neural activity directly in freely moving animals to evoke chemotactic behavior. By deducing the classes of activity patterns triggered during chemotaxis and exciting individual neurons with these patterns, we identified interneurons that control the essential locomotory programs for this behavior. Notably, we discovered that controlling the dynamics of activity in just one interneuron pair was sufficient to force the animal to locate, turn towards and track virtual light gradients.

  2. Neural Network Control of a Magnetically Suspended Rotor System

    NASA Technical Reports Server (NTRS)

    Choi, Benjamin B.

    1998-01-01

    Magnetic bearings offer significant advantages because they do not come into contact with other parts during operation, which can reduce maintenance. Higher speeds, no friction, no lubrication, weight reduction, precise position control, and active damping make them far superior to conventional contact bearings. However, there are technical barriers that limit the application of this technology in industry. One of them is the need for a nonlinear controller that can overcome the system nonlinearity and uncertainty inherent in magnetic bearings. At the NASA Lewis Research Center, a neural network was selected as a nonlinear controller because it generates a neural model without any detailed information regarding the internal working of the magnetic bearing system. It can be used even for systems that are too complex for an accurate system model to be derived. A feed-forward architecture with a back-propagation learning algorithm was selected because of its proven performance, accuracy, and relatively easy implementation.

  3. Neural Network-Based Learning Impedance Control for a Robot

    NASA Astrophysics Data System (ADS)

    Xiao, Nan-Feng; Todo, Isao

    In this paper, a neural network-based learning approach for robot impedance control is presented to accomplish a contact task. Firstly, a discrete-time impedance control algorithm is obtained to control the contact task of the robot. Secondly, on-line learning algorithms based on a new evaluation function are developed for the neural networks which adjust the inertia, damping and stiffness parameters of the robot in order to adapt it to the unknown contact environment. Thirdly, experiments are carried out and the effecttiveness of the present approach is verified by pressing a spring using a 6 degrees of freedom robot. The adaptiveness, stability and flexibility of the present approach are also confirmed by the experimental ersults.

  4. Distributed Adaptive Neural Control for Stochastic Nonlinear Multiagent Systems.

    PubMed

    Wang, Fang; Chen, Bing; Lin, Chong; Li, Xuehua

    2016-11-14

    In this paper, a consensus tracking problem of nonlinear multiagent systems is investigated under a directed communication topology. All the followers are modeled by stochastic nonlinear systems in nonstrict feedback form, where nonlinearities and stochastic disturbance terms are totally unknown. Based on the structural characteristic of neural networks (in Lemma 4), a novel distributed adaptive neural control scheme is put forward. The raised control method not only effectively handles unknown nonlinearities in nonstrict feedback systems, but also copes with the interactions among agents and coupling terms. Based on the stochastic Lyapunov functional method, it is indicated that all the signals of the closed-loop system are bounded in probability and all followers' outputs are convergent to a neighborhood of the output of leader. At last, the efficiency of the control method is testified by a numerical example.

  5. Weld modeling and control using artificial neural networks

    SciTech Connect

    Cook, G.E.; Barnett, R.J.; Andersen, K.; Strauss, A.M.

    1995-11-01

    The arc welding processes play an important role in modern manufacturing. Despite the widespread use of arc welding for joining metals, controlling most welding processes still requires considerable skills and experience on behalf of the human welder. Total automation of welding has not yet been achieved, largely because the physics which determine the success of any welding task, are not yet fully understood and quantified. Artificial neural networks were evaluated for monitoring and control of the variable polarity plasma arc welding process. Three areas of welding application were investigated: weld process modeling, weld process control, and weld bead profile analysis for quality control.

  6. Specific domains of FoxD4/5 activate and repress neural transcription factor genes to control the progression of immature neural ectoderm to differentiating neural plate.

    PubMed

    Neilson, Karen M; Klein, Steven L; Mhaske, Pallavi; Mood, Kathy; Daar, Ira O; Moody, Sally A

    2012-05-15

    FoxD4/5, a forkhead transcription factor, plays a critical role in establishing and maintaining the embryonic neural ectoderm. It both up-regulates genes that maintain a proliferative, immature neural ectoderm and down-regulates genes that promote the transition to a differentiating neural plate. We constructed deletion and mutant versions of FoxD4/5 to determine which domains are functionally responsible for these opposite activities, which regulate the critical developmental transition of neural precursors to neural progenitors to differentiating neural plate cells. Our results show that up-regulation of genes that maintain immature neural precursors (gem, zic2) requires the Acidic blob (AB) region in the N-terminal portion of the protein, indicating that the AB is the transactivating domain. Additionally, down-regulation of those genes that promote the transition to neural progenitors (sox) and those that lead to neural differentiation (zic, irx) involves: 1) an interaction with the Groucho co-repressor at the Eh-1 motif in the C-terminus; and 2) sequence downstream of this motif. Finally, the ability of FoxD4/5 to induce the ectopic expression of neural precursor genes in the ventral ectoderm also involves both the AB region and the Eh-1 motif; FoxD4/5 accomplishes ectopic neural induction by both activating neural precursor genes and repressing BMP signaling and epidermal genes. This study identifies the specific, conserved domains of the FoxD4/5 protein that allow this single transcription factor to regulate a network of genes that controls the transition of a proliferative neural ectodermal population to a committed neural plate population poised to begin differentiation.

  7. Clonal multipotency of skeletal muscle-derived stem cells between mesodermal and ectodermal lineage.

    PubMed

    Tamaki, Tetsuro; Okada, Yoshinori; Uchiyama, Yoshiyasu; Tono, Kayoko; Masuda, Maki; Wada, Mika; Hoshi, Akio; Ishikawa, Tetsuya; Akatsuka, Akira

    2007-09-01

    The differentiation potential of skeletal muscle-derived stem cells (MDSCs) after in vitro culture and in vivo transplantation has been extensively studied. However, the clonal multipotency of MDSCs has yet to be fully determined. Here, we show that single skeletal muscle-derived CD34-/CD45- (skeletal muscle-derived double negative [Sk-DN]) cells exhibit clonal multipotency that can give rise to myogenic, vasculogenic, and neural cell lineages after in vivo single cell-derived single sphere implantation and in vitro clonal single cell culture. Muscles from green fluorescent protein (GFP) transgenic mice were enzymatically dissociated and sorted based on CD34 and CD45. Sk-DN cells were clone-sorted into a 96-well plate and were cultured in collagen-based medium with basic fibroblast growth factor and epidermal growth factor for 14 days. Individual colony-forming units (CFUs) were then transplanted directly into severely damaged muscle together with 1 x 10(5) competitive carrier Sk-DN cells obtained from wild-type mice muscle expanded for 5 days under the same culture conditions using 35-mm culture dishes. Four weeks after transplantation, implanted GFP+ cells demonstrated differentiation into endothelial, vascular smooth muscle, skeletal muscle, and neural cell (Schwann cell) lineages. This multipotency was also confirmed by expression of mRNA markers for myogenic (MyoD, myf5), neural (Musashi-1, Nestin, neural cell adhesion molecule-1, peripheral myelin protein-22, Nucleostemin), and vascular (alpha-smooth muscle actin, smoothelin, vascular endothelial-cadherin, tyrosine kinase-endothelial) stem cells by clonal (single-cell derived) single-sphere reverse transcription-polymerase chain reaction. Approximately 70% of clonal CFUs exhibited expression of all three cell lineages. These findings support the notion that Sk-DN cells are a useful tool for damaged muscle-related tissue reconstitution by synchronized vasculogenesis, myogenesis, and neurogenesis.

  8. Neural Network Grasping Controller for Continuum Robots

    DTIC Science & Technology

    2006-01-01

    Francis, June 1999. [15] B . Xian, D. M. Dawson, and M. S . de. Queiroz , A Continuous Asymp- totic Tracking Control Strategy for Uncertain Nonlinear Systems...singularities are avoided such that J(q) is always non-singular. B . Dynamic Model From a review of the literature, it is evident that there have been...the following filtering operation qd ( s ) , 1 ( s ǫ + 1 )sat (U(t)) (19) where s ∈ C is the standard Laplace variable, and ǫ ∈ R+ is a small constant

  9. Income, neural executive processes, and preschool children's executive control.

    PubMed

    Ruberry, Erika J; Lengua, Liliana J; Crocker, Leanna Harris; Bruce, Jacqueline; Upshaw, Michaela B; Sommerville, Jessica A

    2017-02-01

    This study aimed to specify the neural mechanisms underlying the link between low household income and diminished executive control in the preschool period. Specifically, we examined whether individual differences in the neural processes associated with executive attention and inhibitory control accounted for income differences observed in performance on a neuropsychological battery of executive control tasks. The study utilized a sample of preschool-aged children (N = 118) whose families represented the full range of income, with 32% of families at/near poverty, 32% lower income, and 36% middle to upper income. Children completed a neuropsychological battery of executive control tasks and then completed two computerized executive control tasks while EEG data were collected. We predicted that differences in the event-related potential (ERP) correlates of executive attention and inhibitory control would account for income differences observed on the executive control battery. Income and ERP measures were related to performance on the executive control battery. However, income was unrelated to ERP measures. The findings suggest that income differences observed in executive control during the preschool period might relate to processes other than executive attention and inhibitory control.

  10. Cultural influences on neural basis of inhibitory control.

    PubMed

    Pornpattananangkul, Narun; Hariri, Ahmad R; Harada, Tokiko; Mano, Yoko; Komeda, Hidetsugu; Parrish, Todd B; Sadato, Norihiro; Iidaka, Tetsuya; Chiao, Joan Y

    2016-10-01

    Research on neural basis of inhibitory control has been extensively conducted in various parts of the world. It is often implicitly assumed that neural basis of inhibitory control is universally similar across cultures. Here, we investigated the extent to which culture modulated inhibitory-control brain activity at both cultural-group and cultural-value levels of analysis. During fMRI scanning, participants from different cultural groups (including Caucasian-Americans and Japanese-Americans living in the United States and native Japanese living in Japan) performed a Go/No-Go task. They also completed behavioral surveys assessing cultural values of behavioral consistency, or the extent to which one's behaviors in daily life are consistent across situations. Across participants, the Go/No-Go task elicited stronger neural activity in several inhibitory-control areas, such as the inferior frontal gyrus (IFG) and anterior cingulate cortex (ACC). Importantly, at the cultural-group level, we found variation in left IFG (L-IFG) activity that was explained by a cultural region where participants lived in (as opposed to race). Specifically, L-IFG activity was stronger for native Japanese compared to Caucasian- and Japanese-Americans, while there was no systematic difference in L-IFG activity between Japanese- and Caucasian-Americans. At the cultural-value level, we found that participants who valued being "themselves" across situations (i.e., having high endorsement of behavioral consistency) elicited stronger rostral ACC activity during the Go/No-Go task. Altogether, our findings provide novel insight into how culture modulates the neural basis of inhibitory control. Copyright © 2016 Elsevier Inc. All rights reserved.

  11. Neural systems supporting the control of affective and cognitive conflicts.

    PubMed

    Ochsner, Kevin N; Hughes, Brent; Robertson, Elaine R; Cooper, Jeffrey C; Gabrieli, John D E

    2009-09-01

    Although many studies have examined the neural bases of controlling cognitive responses, the neural systems for controlling conflicts between competing affective responses remain unclear. To address the neural correlates of affective conflict and their relationship to cognitive conflict, the present study collected whole-brain fMRI data during two versions of the Eriksen flanker task. For these tasks, participants indicated either the valence (affective task) or the semantic category (cognitive task) of a central target word while ignoring flanking words that mapped onto either the same (congruent) or a different (incongruent) response as the target. Overall, contrasts of incongruent > congruent trials showed that bilateral dorsal ACC, posterior medial frontal cortex, and dorsolateral pFC were active during both kinds of conflict, whereas rostral medial pFC and left ventrolateral pFC were differentially active during affective or cognitive conflict, respectively. Individual difference analyses showed that separate regions of rostral cingulate/ventromedial pFC and left ventrolateral pFC were positively correlated with the magnitude of response time interference. Taken together, the findings that controlling affective and cognitive conflicts depends upon both common and distinct systems have important implications for understanding the organization of control systems in general and their potential dysfunction in clinical disorders.

  12. The level of the transcription factor Pax6 is essential for controlling the balance between neural stem cell self-renewal and neurogenesis.

    PubMed

    Sansom, Stephen N; Griffiths, Dean S; Faedo, Andrea; Kleinjan, Dirk-Jan; Ruan, Youlin; Smith, James; van Heyningen, Veronica; Rubenstein, John L; Livesey, Frederick J

    2009-06-01

    Neural stem cell self-renewal, neurogenesis, and cell fate determination are processes that control the generation of specific classes of neurons at the correct place and time. The transcription factor Pax6 is essential for neural stem cell proliferation, multipotency, and neurogenesis in many regions of the central nervous system, including the cerebral cortex. We used Pax6 as an entry point to define the cellular networks controlling neural stem cell self-renewal and neurogenesis in stem cells of the developing mouse cerebral cortex. We identified the genomic binding locations of Pax6 in neocortical stem cells during normal development and ascertained the functional significance of genes that we found to be regulated by Pax6, finding that Pax6 positively and directly regulates cohorts of genes that promote neural stem cell self-renewal, basal progenitor cell genesis, and neurogenesis. Notably, we defined a core network regulating neocortical stem cell decision-making in which Pax6 interacts with three other regulators of neurogenesis, Neurog2, Ascl1, and Hes1. Analyses of the biological function of Pax6 in neural stem cells through phenotypic analyses of Pax6 gain- and loss-of-function mutant cortices demonstrated that the Pax6-regulated networks operating in neural stem cells are highly dosage sensitive. Increasing Pax6 levels drives the system towards neurogenesis and basal progenitor cell genesis by increasing expression of a cohort of basal progenitor cell determinants, including the key transcription factor Eomes/Tbr2, and thus towards neurogenesis at the expense of self-renewal. Removing Pax6 reduces cortical stem cell self-renewal by decreasing expression of key cell cycle regulators, resulting in excess early neurogenesis. We find that the relative levels of Pax6, Hes1, and Neurog2 are key determinants of a dynamic network that controls whether neural stem cells self-renew, generate cortical neurons, or generate basal progenitor cells, a mechanism that

  13. Noise Control for a Moving Evaluation Point Using Neural Networks

    NASA Astrophysics Data System (ADS)

    Maeda, Toshiki; Shiraishi, Toshihiko

    2016-09-01

    This paper describes the noise control for a moving evaluation point using neural networks by making the best use of its learning ability. Noise control is a technology which is effective on low-frequency noise. Based on the principle of superposition, a primary sound wave can be cancelled at an evaluation point by emitting a secondary opposite sound wave. To obtain good control performance, it is important to precisely identify the characteristics of all the sound paths. One of the most popular algorithms of noise control is filtered-x LMS algorithm. This algorithm can deliver a good result while all the sound paths do not change. However, the control system becomes uncontrollable while the evaluation point is moving. To solve the problem, the characteristics of all the paths are must be identified at all time. In this paper, we applied neural networks with the learning ability to the noise control system to follow the time-varying paths and verified its control performance by numerical simulations. Then, dropout technique for the networks is also applied. Dropout is a technique that prevent the network from overfitting and enables better control performance. By applying dropout for noise control, it prevents the system from diverging.

  14. Sinusoidal modulation control method in a chaotic neural network

    NASA Astrophysics Data System (ADS)

    Zhang, Qihanyue; Xie, Xiaoping; Zhu, Ping; Chen, Hongping; He, Guoguang

    2014-08-01

    Chaotic neural networks (CNNs) have chaotic dynamic associative memory properties: The memory states appear non-periodically, and cannot be converged to a stored pattern. Thus, it is necessary to control chaos in a CNN in order to recognize associative memory. In this paper, a novel control method, the sinusoidal modulation control method, has been proposed to control chaos in a CNN. In this method, a sinusoidal wave simplified from brain waves is used as a control signal to modulate a parameter of the CNN. The simulation results demonstrate the effectiveness of this control method. The controlled CNN can be applied to information processing. Moreover, the method provides a way to associate brain waves by controlling CNNs.

  15. Neural Evidence for the Flexible Control of Mental Representations.

    PubMed

    Lewis-Peacock, Jarrod A; Drysdale, Andrew T; Postle, Bradley R

    2015-10-01

    This study was designed to explore neural evidence for the simultaneous engagement of multiple mental codes while retaining a visual object in short-term memory (STM) and, if successful, to explore the neural bases of strategic prioritization among these codes. We used multivariate pattern analysis of fMRI data to track patterns of brain activity associated with three common mental codes: visual, verbal, and semantic. When participants did not know which dimension of a sample stimulus would be tested, patterns of brain activity during the memory delay indicated that a visual representation was quickly augmented with both verbal and semantic re-representations of the stimulus. The verbal code emerged as most highly activated, consistent with a canonical visual-to-phonological recoding operation in STM. If participants knew which dimension of a sample stimulus would be tested, brain activity patterns were biased toward the probe-relevant stimulus dimension. Interestingly, probe-irrelevant neural states persisted at an intermediate level of activation when they were potentially relevant later in the trial, but dropped to baseline when cued to be irrelevant. These results reveal the neural dynamics underlying the creation and retention of mental codes, and they illustrate the flexible control that humans can exert over these representations. © The Author 2014. Published by Oxford University Press. All rights reserved. For Permissions, please e-mail: journals.permissions@oup.com.

  16. Prediction and control of neural responses to pulsatile electrical stimulation

    NASA Astrophysics Data System (ADS)

    Campbell, Luke J.; Sly, David James; O'Leary, Stephen John

    2012-04-01

    This paper aims to predict and control the probability of firing of a neuron in response to pulsatile electrical stimulation of the type delivered by neural prostheses such as the cochlear implant, bionic eye or in deep brain stimulation. Using the cochlear implant as a model, we developed an efficient computational model that predicts the responses of auditory nerve fibers to electrical stimulation and evaluated the model's accuracy by comparing the model output with pooled responses from a group of guinea pig auditory nerve fibers. It was found that the model accurately predicted the changes in neural firing probability over time to constant and variable amplitude electrical pulse trains, including speech-derived signals, delivered at rates up to 889 pulses s-1. A simplified version of the model that did not incorporate adaptation was used to adaptively predict, within its limitations, the pulsatile electrical stimulus required to cause a desired response from neurons up to 250 pulses s-1. Future stimulation strategies for cochlear implants and other neural prostheses may be enhanced using similar models that account for the way that neural responses are altered by previous stimulation.

  17. Prediction and control of neural responses to pulsatile electrical stimulation.

    PubMed

    Campbell, Luke J; Sly, David James; O'Leary, Stephen John

    2012-04-01

    This paper aims to predict and control the probability of firing of a neuron in response to pulsatile electrical stimulation of the type delivered by neural prostheses such as the cochlear implant, bionic eye or in deep brain stimulation. Using the cochlear implant as a model, we developed an efficient computational model that predicts the responses of auditory nerve fibers to electrical stimulation and evaluated the model's accuracy by comparing the model output with pooled responses from a group of guinea pig auditory nerve fibers. It was found that the model accurately predicted the changes in neural firing probability over time to constant and variable amplitude electrical pulse trains, including speech-derived signals, delivered at rates up to 889 pulses s(-1). A simplified version of the model that did not incorporate adaptation was used to adaptively predict, within its limitations, the pulsatile electrical stimulus required to cause a desired response from neurons up to 250 pulses s(-1). Future stimulation strategies for cochlear implants and other neural prostheses may be enhanced using similar models that account for the way that neural responses are altered by previous stimulation.

  18. Neural dynamic optimization for control systems.III. Applications.

    PubMed

    Seong, C Y; Widrow, B

    2001-01-01

    For pt.II. see ibid., p. 490-501. The paper presents neural dynamic optimization (NDO) as a method of optimal feedback control for nonlinear multi-input-multi-output (MIMO) systems. The main feature of NDO is that it enables neural networks to approximate the optimal feedback solution whose existence dynamic programming (DP) justifies, thereby reducing the complexities of computation and storage problems of the classical methods such as DP. This paper demonstrates NDO with several applications including control of autonomous vehicles and of a robot-arm, while the two other companion papers of this topic describes the background for the development of NDO and present the theory of the method, respectively.

  19. Mechanical properties and neural control of human hand motor units.

    PubMed

    Fuglevand, Andrew J

    2011-12-01

    Motor units serve both as the mechanical apparatus and the final stage of neural processing through which motor behaviours are enacted. Therefore, knowledge about the contractile properties and organization of the neural inputs to motor units supplying finger muscles is essential for understanding the control strategies underlying the diverse motor functions of the human hand. In this brief review, basic contractile properties of motor units residing in human hand muscles are described. Hand motor units are not readily categorized into the classical physiological types as established in the cat gastrocnemius muscle. In addition, the distribution of descending synaptic inputs to motor nuclei supplying different hand muscles is outlined. Motor neurons innervating intrinsic muscles appear to have relatively independent lines of input from supraspinal centres whereas substantial divergence of descending input is seen across motor nuclei supplying extrinsic hand muscles. The functional significance of such differential organizations of descending inputs for the control of hand movements is discussed.

  20. Mechanical properties and neural control of human hand motor units

    PubMed Central

    Fuglevand, Andrew J

    2011-01-01

    Abstract Motor units serve both as the mechanical apparatus and the final stage of neural processing through which motor behaviours are enacted. Therefore, knowledge about the contractile properties and organization of the neural inputs to motor units supplying finger muscles is essential for understanding the control strategies underlying the diverse motor functions of the human hand. In this brief review, basic contractile properties of motor units residing in human hand muscles are described. Hand motor units are not readily categorized into the classical physiological types as established in the cat gastrocnemius muscle. In addition, the distribution of descending synaptic inputs to motor nuclei supplying different hand muscles is outlined. Motor neurons innervating intrinsic muscles appear to have relatively independent lines of input from supraspinal centres whereas substantial divergence of descending input is seen across motor nuclei supplying extrinsic hand muscles. The functional significance of such differential organizations of descending inputs for the control of hand movements is discussed. PMID:22005677

  1. Neural mechanisms underlying auditory feedback control of speech.

    PubMed

    Tourville, Jason A; Reilly, Kevin J; Guenther, Frank H

    2008-02-01

    The neural substrates underlying auditory feedback control of speech were investigated using a combination of functional magnetic resonance imaging (fMRI) and computational modeling. Neural responses were measured while subjects spoke monosyllabic words under two conditions: (i) normal auditory feedback of their speech and (ii) auditory feedback in which the first formant frequency of their speech was unexpectedly shifted in real time. Acoustic measurements showed compensation to the shift within approximately 136 ms of onset. Neuroimaging revealed increased activity in bilateral superior temporal cortex during shifted feedback, indicative of neurons coding mismatches between expected and actual auditory signals, as well as right prefrontal and Rolandic cortical activity. Structural equation modeling revealed increased influence of bilateral auditory cortical areas on right frontal areas during shifted speech, indicating that projections from auditory error cells in posterior superior temporal cortex to motor correction cells in right frontal cortex mediate auditory feedback control of speech.

  2. Neural rotational speed control for wave energy converters

    NASA Astrophysics Data System (ADS)

    Amundarain, M.; Alberdi, M.; Garrido, A. J.; Garrido, I.

    2011-02-01

    Among the benefits arising from an increasing use of renewable energy are: enhanced security of energy supply, stimulation of economic growth, job creation and protection of the environment. In this context, this study analyses the performance of an oscillating water column device for wave energy conversion in function of the stalling behaviour in Wells turbines, one of the most widely used turbines in wave energy plants. For this purpose, a model of neural rotational speed control system is presented, simulated and implemented. This scheme is employed to appropriately adapt the speed of the doubly-fed induction generator coupled to the turbine according to the pressure drop entry, so as to avoid the undesired stalling behaviour. It is demonstrated that the proposed neural rotational speed control design adequately matches the desired relationship between the slip of the doubly-fed induction generator and the pressure drop input, improving the power generated by the turbine generator module.

  3. Neural substrates linking balance control and anxiety

    NASA Technical Reports Server (NTRS)

    Balaban, Carey D.

    2002-01-01

    This communication provides an update of our understanding of the neurological bases for the close association between balance control and anxiety. New data suggest that a vestibulo-recipient region of the parabrachial nucleus (PBN) contains cells that respond to body rotation and position relative to gravity. The PBN, with its reciprocal relationships with the extended central amygdaloid nucleus, infralimbic cortex, and hypothalamus, appears to be an important node in a primary network that processes convergent vestibular, somatic, and visceral information processing to mediate avoidance conditioning, anxiety, and conditioned fear responses. Noradrenergic and serotonergic projections to the vestibular nuclei also have parallel connections with anxiety pathways. The coeruleo-vestibular pathway originates in caudal locus coeruleus (LC) and provides regionally specialized noradrenergic input to the vestibular nuclei, which likely mediate effects of alerting and vigilance on the sensitivity of vestibulo-motor circuits. Both serotonergic and nonserotonergic pathways from the dorsal raphe nucleus and the nucleus raphe obscurus also project differentially to the vestibular nuclei, and 5-HT(2A) receptors are expressed in amygdaloid and cortical targets of the PBN. It is proposed that the dorsal raphe nucleus pathway contributes to both (a) a tradeoff between motor and sensory (information gathering) aspects of responses to self-motion and (b) a calibration of the sensitivity of affective responses to aversive aspects of motion. This updated neurologic model continues to be a synthetic schema for investigating the neurological and neurochemical bases for comorbidity of balance disorders and anxiety disorders.

  4. Neural substrates linking balance control and anxiety

    NASA Technical Reports Server (NTRS)

    Balaban, Carey D.

    2002-01-01

    This communication provides an update of our understanding of the neurological bases for the close association between balance control and anxiety. New data suggest that a vestibulo-recipient region of the parabrachial nucleus (PBN) contains cells that respond to body rotation and position relative to gravity. The PBN, with its reciprocal relationships with the extended central amygdaloid nucleus, infralimbic cortex, and hypothalamus, appears to be an important node in a primary network that processes convergent vestibular, somatic, and visceral information processing to mediate avoidance conditioning, anxiety, and conditioned fear responses. Noradrenergic and serotonergic projections to the vestibular nuclei also have parallel connections with anxiety pathways. The coeruleo-vestibular pathway originates in caudal locus coeruleus (LC) and provides regionally specialized noradrenergic input to the vestibular nuclei, which likely mediate effects of alerting and vigilance on the sensitivity of vestibulo-motor circuits. Both serotonergic and nonserotonergic pathways from the dorsal raphe nucleus and the nucleus raphe obscurus also project differentially to the vestibular nuclei, and 5-HT(2A) receptors are expressed in amygdaloid and cortical targets of the PBN. It is proposed that the dorsal raphe nucleus pathway contributes to both (a) a tradeoff between motor and sensory (information gathering) aspects of responses to self-motion and (b) a calibration of the sensitivity of affective responses to aversive aspects of motion. This updated neurologic model continues to be a synthetic schema for investigating the neurological and neurochemical bases for comorbidity of balance disorders and anxiety disorders.

  5. Neural control of chronic stress adaptation

    PubMed Central

    Herman, James P.

    2013-01-01

    Stress initiates adaptive processes that allow the organism to physiologically cope with prolonged or intermittent exposure to real or perceived threats. A major component of this response is repeated activation of glucocorticoid secretion by the hypothalamo-pituitary-adrenocortical (HPA) axis, which promotes redistribution of energy in a wide range of organ systems, including the brain. Prolonged or cumulative increases in glucocorticoid secretion can reduce benefits afforded by enhanced stress reactivity and eventually become maladaptive. The long-term impact of stress is kept in check by the process of habituation, which reduces HPA axis responses upon repeated exposure to homotypic stressors and likely limits deleterious actions of prolonged glucocorticoid secretion. Habituation is regulated by limbic stress-regulatory sites, and is at least in part glucocorticoid feedback-dependent. Chronic stress also sensitizes reactivity to new stimuli. While sensitization may be important in maintaining response flexibility in response to new threats, it may also add to the cumulative impact of glucocorticoids on the brain and body. Finally, unpredictable or severe stress exposure may cause long-term and lasting dysregulation of the HPA axis, likely due to altered limbic control of stress effector pathways. Stress-related disorders, such as depression and PTSD, are accompanied by glucocorticoid imbalances and structural/ functional alterations in limbic circuits that resemble those seen following chronic stress, suggesting that inappropriate processing of stressful information may be part of the pathological process. PMID:23964212

  6. Neural Control Adaptation to Motor Noise Manipulation

    PubMed Central

    Hasson, Christopher J.; Gelina, Olga; Woo, Garrett

    2016-01-01

    Antagonistic muscular co-activation can compensate for movement variability induced by motor noise at the expense of increased energetic costs. Greater antagonistic co-activation is commonly observed in older adults, which could be an adaptation to increased motor noise. The present study tested this hypothesis by manipulating motor noise in 12 young subjects while they practiced a goal-directed task using a myoelectric virtual arm, which was controlled by their biceps and triceps muscle activity. Motor noise was increased by increasing the coefficient of variation (CV) of the myoelectric signals. As hypothesized, subjects adapted by increasing antagonistic co-activation, and this was associated with reduced noise-induced performance decrements. A second hypothesis was that a virtual decrease in motor noise, achieved by smoothing the myoelectric signals, would have the opposite effect: co-activation would decrease and motor performance would improve. However, the results showed that a decrease in noise made performance worse instead of better, with no change in co-activation. Overall, these findings suggest that the nervous system adapts to virtual increases in motor noise by increasing antagonistic co-activation, and this preserves motor performance. Reducing noise may have failed to benefit performance due to characteristics of the filtering process itself, e.g., delays are introduced and muscle activity bursts are attenuated. The observed adaptations to increased noise may explain in part why older adults and many patient populations have greater antagonistic co-activation, which could represent an adaptation to increased motor noise, along with a desire for increased joint stability. PMID:26973487

  7. A model for the neural control of pineal periodicity

    NASA Astrophysics Data System (ADS)

    de Oliveira Cruz, Frederico Alan; Soares, Marilia Amavel Gomes; Cortez, Celia Martins

    2016-12-01

    The aim of this work was verify if a computational model associating the synchronization dynamics of coupling oscillators to a set of synaptic transmission equations would be able to simulate the control of pineal by a complex neural pathway that connects the retina to this gland. Results from the simulations showed that the frequency and temporal firing patterns were in the range of values found in literature.

  8. Neural Network and Fuzzy Logic Technology for Naval Flight Control Systems

    DTIC Science & Technology

    1991-08-06

    it is still uncertain what neural network and fuzzy logic functions are both technologically feasible and suitable for flight control system...this program is focused on the development of a neural network FCS design tool, a neural network flight control law emulator, a fuzzy logic automatic...carrier landing system and a neural network flight control configuration management system. For each project, some initial results are given. Also

  9. Control strategies for underactuated neural ensembles driven by optogenetic stimulation

    PubMed Central

    Ching, ShiNung; Ritt, Jason T.

    2013-01-01

    Motivated by experiments employing optogenetic stimulation of cortical regions, we consider spike control strategies for ensembles of uncoupled integrate and fire neurons with a common conductance input. We construct strategies for control of spike patterns, that is, multineuron trains of action potentials, up to some maximal spike rate determined by the neural biophysics. We emphasize a constructive role for parameter heterogeneity, and find a simple rule for controllability in pairs of neurons. In particular, we determine parameters for which common drive is not limited to inducing synchronous spiking. For large ensembles, we determine how the number of controllable neurons varies with the number of observed (recorded) neurons, and what collateral spiking occurs in the full ensemble during control of the subensemble. While complete control of spiking in every neuron is not possible with a single input, we find that a degree of subensemble control is made possible by exploiting dynamical heterogeneity. As most available technologies for neural stimulation are underactuated, in the sense that the number of target neurons far exceeds the number of independent channels of stimulation, these results suggest partial control strategies that may be important in the development of sensory neuroprosthetics and other neurocontrol applications. PMID:23576956

  10. Neural control of muscle relaxation in echinoderms.

    PubMed

    Elphick, M R; Melarange, R

    2001-03-01

    Smooth muscle relaxation in vertebrates is regulated by a variety of neuronal signalling molecules, including neuropeptides and nitric oxide (NO). The physiology of muscle relaxation in echinoderms is of particular interest because these animals are evolutionarily more closely related to the vertebrates than to the majority of invertebrate phyla. However, whilst in vertebrates there is a clear structural and functional distinction between visceral smooth muscle and skeletal striated muscle, this does not apply to echinoderms, in which the majority of muscles, whether associated with the body wall skeleton and its appendages or with visceral organs, are made up of non-striated fibres. The mechanisms by which the nervous system controls muscle relaxation in echinoderms were, until recently, unknown. Using the cardiac stomach of the starfish Asterias rubens as a model, it has been established that the NO-cGMP signalling pathway mediates relaxation. NO also causes relaxation of sea urchin tube feet, and NO may therefore function as a 'universal' muscle relaxant in echinoderms. The first neuropeptides to be identified in echinoderms were two related peptides isolated from Asterias rubens known as SALMFamide-1 (S1) and SALMFamide-2 (S2). Both S1 and S2 cause relaxation of the starfish cardiac stomach, but with S2 being approximately ten times more potent than S1. SALMFamide neuropeptides have also been isolated from sea cucumbers, in which they cause relaxation of both gut and body wall muscle. Therefore, like NO, SALMFamides may also function as 'universal' muscle relaxants in echinoderms. The mechanisms by which SALMFamides cause relaxation of echinoderm muscle are not known, but several candidate signal transduction pathways are discussed here. The SALMFamides do not, however, appear to act by promoting release of NO, and muscle relaxation in echinoderms is therefore probably regulated by at least two neuronal signalling systems acting in parallel. Recently, other

  11. Neural Network Based Montioring and Control of Fluidized Bed.

    SciTech Connect

    Bodruzzaman, M.; Essawy, M.A.

    1996-04-01

    The goal of this project was to develop chaos analysis and neural network-based modeling techniques and apply them to the pressure-drop data obtained from the Fluid Bed Combustion (FBC) system (a small scale prototype model) located at the Federal Energy Technology Center (FETC)-Morgantown. The second goal was to develop neural network-based chaos control techniques and provide a suggestive prototype for possible real-time application to the FBC system. The experimental pressure data were collected from a cold FBC experimental set-up at the Morgantown Center. We have performed several analysis on these data in order to unveil their dynamical and chaotic characteristics. The phase-space attractors were constructed from the one dimensional time series data, using the time-delay embedding method, for both normal and abnormal conditions. Several identifying parameters were also computed from these attractors such as the correlation dimension, the Kolmogorov entropy, and the Lyapunov exponents. These chaotic attractor parameters can be used to discriminate between the normal and abnormal operating conditions of the FBC system. It was found that, the abnormal data has higher correlation dimension, larger Kolmogorov entropy and larger positive Lyapunov exponents as compared to the normal data. Chaotic system control using neural network based techniques were also investigated and compared to conventional chaotic system control techniques. Both types of chaotic system control techniques were applied to some typical chaotic systems such as the logistic, the Henon, and the Lorenz systems. A prototype model for real-time implementation of these techniques has been suggested to control the FBC system. These models can be implemented for real-time control in a next phase of the project after obtaining further measurements from the experimental model. After testing the control algorithms developed for the FBC model, the next step is to implement them on hardware and link them to

  12. A lightweight feedback-controlled microdrive for chronic neural recordings.

    PubMed

    Jovalekic, A; Cavé-Lopez, S; Canopoli, A; Ondracek, J M; Nager, A; Vyssotski, A L; Hahnloser, R H R

    2017-04-01

    Chronic neural recordings have provided many insights into the relationship between neural activity and behavior. We set out to develop a miniaturized motorized microdrive that allows precise electrode positioning despite possibly unreliable motors. We designed a feedback-based motor control mechanism. It contains an integrated position readout from an array of magnets and a Hall sensor. Our extremely lightweight (<1 g) motorized microdrive allows remote positioning of both metal electrodes and glass pipettes along one motorized axis. Target locations can be defined with a range of 6 mm and they can be reached within 1 µm precision. The incorporated headstage electronics are capable of both extracellular and intracellular recordings. We include a simple mechanism for repositioning electrodes in three dimensions and for replacing them during operation. We present neural data from different premotor areas of adult and juvenile zebra finches. Our findings show that feedback-based microdrive control requires little extra size and weight, suggesting that such control can be incorporated into more complex multi-electrode designs.

  13. A lightweight feedback-controlled microdrive for chronic neural recordings

    NASA Astrophysics Data System (ADS)

    Jovalekic, A.; Cavé-Lopez, S.; Canopoli, A.; Ondracek, J. M.; Nager, A.; Vyssotski, A. L.; Hahnloser, R. H. R.

    2017-04-01

    Objective. Chronic neural recordings have provided many insights into the relationship between neural activity and behavior. We set out to develop a miniaturized motorized microdrive that allows precise electrode positioning despite possibly unreliable motors. Approach. We designed a feedback-based motor control mechanism. It contains an integrated position readout from an array of magnets and a Hall sensor. Main results. Our extremely lightweight (<1 g) motorized microdrive allows remote positioning of both metal electrodes and glass pipettes along one motorized axis. Target locations can be defined with a range of 6 mm and they can be reached within 1 µm precision. The incorporated headstage electronics are capable of both extracellular and intracellular recordings. We include a simple mechanism for repositioning electrodes in three dimensions and for replacing them during operation. We present neural data from different premotor areas of adult and juvenile zebra finches. Significance. Our findings show that feedback-based microdrive control requires little extra size and weight, suggesting that such control can be incorporated into more complex multi-electrode designs.

  14. Control of a nonholonomic mobile robot using neural networks.

    PubMed

    Fierro, R; Lewis, F L

    1998-01-01

    A control structure that makes possible the integration of a kinematic controller and a neural network (NN) computed-torque controller for nonholonomic mobile robots is presented. A combined kinematic/torque control law is developed using backstepping and stability is guaranteed by Lyapunov theory. This control algorithm can be applied to the three basic nonholonomic navigation problems: tracking a reference trajectory, path following, and stabilization about a desired posture. Moreover, the NN controller proposed in this work can deal with unmodeled bounded disturbances and/or unstructured unmodeled dynamics in the vehicle. On-line NN weight tuning algorithms do no require off-line learning yet guarantee small tracking errors and bounded control signals are utilized.

  15. Neural Network Based PID Gain Tuning of Chemical Plant Controller

    NASA Astrophysics Data System (ADS)

    Abe, Yoshihiro; Konishi, Masami; Imai, Jun; Hasegawa, Ryusaku; Watanabe, Masamori; Kamijo, Hiroaki

    In these years, plant control systems are highly automated and applied to many industries. The control performances change with the passage of time, because of the deterioration of plant facilities. This is why human experts tune the control system to improve the total plant performances. In this study, PID control system for the oil refining chemical plant process is treated. In oil refining, there are thousands of the control loops in the plant to keep the product quality at the desired value and to secure the safety of the plant operation. According to the ambiguity of the interference between control loops, it is difficult to estimate the plant dynamical model accurately. Using neuro emulator and recurrent neural networks model (RNN model) for emulation and tuning parameters, PID gain tuning system of chemical plant controller is constructed. Through numerical experiments using actual plant data, effect of the proposed method was ascertained.

  16. Neural networks for advanced control of robot manipulators.

    PubMed

    Patino, H D; Carelli, R; Kuchen, B R

    2002-01-01

    Presents an approach and a systematic design methodology to adaptive motion control based on neural networks (NNs) for high-performance robot manipulators, for which stability conditions and performance evaluation are given. The neurocontroller includes a linear combination of a set of off-line trained NNs, and an update law of the linear combination coefficients to adjust robot dynamics and payload uncertain parameters. A procedure is presented to select the learning conditions for each NN in the bank. The proposed scheme, based on fixed NNs, is computationally more efficient than the case of using the learning capabilities of the neural network to be adapted, as that used in feedback architectures that need to propagate back control errors through the model to adjust the neurocontroller. A practical stability result for the neurocontrol system is given. That is, we prove that the control error converges asymptotically to a neighborhood of zero, whose size is evaluated and depends on the approximation error of the NN bank and the design parameters of the controller. In addition, a robust adaptive controller to NN learning errors is proposed, using a sign or saturation switching function in the control law, which leads to global asymptotic stability and zero convergence of control errors. Simulation results showing the practical feasibility and performance of the proposed approach to robotics are given.

  17. Identification of Multipotent Stem Cells in Human Brain Tissue Following Stroke

    PubMed Central

    Tatebayashi, Kotaro; Tanaka, Yasue; Nakano-Doi, Akiko; Sakuma, Rika; Kamachi, Saeko; Shirakawa, Manabu; Uchida, Kazutaka; Kageyama, Hiroto; Takagi, Toshinori; Matsuyama, Tomohiro

    2017-01-01

    Perivascular regions of the brain harbor multipotent stem cells. We previously demonstrated that brain pericytes near blood vessels also develop multipotency following experimental ischemia in mice and these ischemia-induced multipotent stem cells (iSCs) can contribute to neurogenesis. However, it is essential to understand the traits of iSCs in the poststroke human brain for possible applications in stem cell-based therapies for stroke patients. In this study, we report for the first time that iSCs can be isolated from the poststroke human brain. Putative iSCs were derived from poststroke brain tissue obtained from elderly stroke patients requiring decompressive craniectomy and partial lobectomy for diffuse cerebral infarction. Immunohistochemistry showed that these iSCs were localized near blood vessels within poststroke areas containing apoptotic/necrotic neurons and expressed both the stem cell marker nestin and several pericytic markers. Isolated iSCs expressed these same markers and demonstrated high proliferative potential without loss of stemness. Furthermore, isolated iSCs expressed other stem cell markers, such as Sox2, c-myc, and Klf4, and differentiated into multiple cells in vitro, including neurons. These results show that iSCs, which are likely brain pericyte derivatives, are present within the poststroke human brain. This study suggests that iSCs can contribute to neural repair in patients with stroke. PMID:28323540

  18. Identification of Multipotent Stem Cells in Human Brain Tissue Following Stroke.

    PubMed

    Tatebayashi, Kotaro; Tanaka, Yasue; Nakano-Doi, Akiko; Sakuma, Rika; Kamachi, Saeko; Shirakawa, Manabu; Uchida, Kazutaka; Kageyama, Hiroto; Takagi, Toshinori; Yoshimura, Shinichi; Matsuyama, Tomohiro; Nakagomi, Takayuki

    2017-06-01

    Perivascular regions of the brain harbor multipotent stem cells. We previously demonstrated that brain pericytes near blood vessels also develop multipotency following experimental ischemia in mice and these ischemia-induced multipotent stem cells (iSCs) can contribute to neurogenesis. However, it is essential to understand the traits of iSCs in the poststroke human brain for possible applications in stem cell-based therapies for stroke patients. In this study, we report for the first time that iSCs can be isolated from the poststroke human brain. Putative iSCs were derived from poststroke brain tissue obtained from elderly stroke patients requiring decompressive craniectomy and partial lobectomy for diffuse cerebral infarction. Immunohistochemistry showed that these iSCs were localized near blood vessels within poststroke areas containing apoptotic/necrotic neurons and expressed both the stem cell marker nestin and several pericytic markers. Isolated iSCs expressed these same markers and demonstrated high proliferative potential without loss of stemness. Furthermore, isolated iSCs expressed other stem cell markers, such as Sox2, c-myc, and Klf4, and differentiated into multiple cells in vitro, including neurons. These results show that iSCs, which are likely brain pericyte derivatives, are present within the poststroke human brain. This study suggests that iSCs can contribute to neural repair in patients with stroke.

  19. Prospective isolation of late development multipotent precursors whose migration is promoted by EGFR.

    PubMed

    Ciccolini, Francesca; Mandl, Claudia; Hölzl-Wenig, Gabriele; Kehlenbach, Angelika; Hellwig, Andrea

    2005-08-01

    A simple procedure to isolate neural stem cells would greatly facilitate direct studies of their properties. Here, we exploited the increase in EGF receptor (EGFR) levels, that occurs in late development stem cells or in younger precursors upon exposure to FGF-2, to isolate cells expressing high levels of EGFR (EGFR(high)) from the developing and the adult brain. Independently of age and region of isolation, EGFR(high) cells were highly enriched in multipotent precursors and displayed similar antigenic characteristics, with the exception of GFAP and Lex/SSEA-1 that were mainly expressed in adult EGFR(high) cells. EGFR levels did not correlate with neurogenic potential, indicating that the increase in EGFR expression does not directly affect differentiation. Instead, in the brain, many EGFR(high) precursors showed tangential orientation and, whether isolated from the cortex or striatum, EGFR(high) precursors displayed characteristics of cells originating from the ventral GZ such as expression Dlx and Mash-1 and the ability to generate GABAergic neurons and oligodendrocytes. Moreover, migration of EGFR(high) cells on telencephalic slices required EGFR activity. Thus, the developmentally regulated increase in EGFR levels may affect tangential migration of multipotent precursors. In addition, it can be used as a marker to effectively isolate telencephalic multipotent precursors from embryonic and adult tissue.

  20. A neural fuzzy controller learning by fuzzy error propagation

    NASA Technical Reports Server (NTRS)

    Nauck, Detlef; Kruse, Rudolf

    1992-01-01

    In this paper, we describe a procedure to integrate techniques for the adaptation of membership functions in a linguistic variable based fuzzy control environment by using neural network learning principles. This is an extension to our work. We solve this problem by defining a fuzzy error that is propagated back through the architecture of our fuzzy controller. According to this fuzzy error and the strength of its antecedent each fuzzy rule determines its amount of error. Depending on the current state of the controlled system and the control action derived from the conclusion, each rule tunes the membership functions of its antecedent and its conclusion. By this we get an unsupervised learning technique that enables a fuzzy controller to adapt to a control task by knowing just about the global state and the fuzzy error.

  1. A neural fuzzy controller learning by fuzzy error propagation

    NASA Technical Reports Server (NTRS)

    Nauck, Detlef; Kruse, Rudolf

    1992-01-01

    In this paper, we describe a procedure to integrate techniques for the adaptation of membership functions in a linguistic variable based fuzzy control environment by using neural network learning principles. This is an extension to our work. We solve this problem by defining a fuzzy error that is propagated back through the architecture of our fuzzy controller. According to this fuzzy error and the strength of its antecedent each fuzzy rule determines its amount of error. Depending on the current state of the controlled system and the control action derived from the conclusion, each rule tunes the membership functions of its antecedent and its conclusion. By this we get an unsupervised learning technique that enables a fuzzy controller to adapt to a control task by knowing just about the global state and the fuzzy error.

  2. New genes in the evolution of the neural crest differentiation program

    PubMed Central

    2007-01-01

    Background Development of the vertebrate head depends on the multipotency and migratory behavior of neural crest derivatives. This cell population is considered a vertebrate innovation and, accordingly, chordate ancestors lacked neural crest counterparts. The identification of neural crest specification genes expressed in the neural plate of basal chordates, in addition to the discovery of pigmented migratory cells in ascidians, has challenged this hypothesis. These new findings revive the debate on what is new and what is ancient in the genetic program that controls neural crest formation. Results To determine the origin of neural crest genes, we analyzed Phenotype Ontology annotations to select genes that control the development of this tissue. Using a sequential blast pipeline, we phylogenetically classified these genes, as well as those associated with other tissues, in order to define tissue-specific profiles of gene emergence. Of neural crest genes, 9% are vertebrate innovations. Our comparative analyses show that, among different tissues, the neural crest exhibits a particularly high rate of gene emergence during vertebrate evolution. A remarkable proportion of the new neural crest genes encode soluble ligands that control neural crest precursor specification into each cell lineage, including pigmented, neural, glial, and skeletal derivatives. Conclusion We propose that the evolution of the neural crest is linked not only to the recruitment of ancestral regulatory genes but also to the emergence of signaling peptides that control the increasingly complex lineage diversification of this plastic cell population. PMID:17352807

  3. Neural mobilization: a systematic review of randomized controlled trials with an analysis of therapeutic efficacy.

    PubMed

    Ellis, Richard F; Hing, Wayne A

    2008-01-01

    Neural mobilization is a treatment modality used in relation to pathologies of the nervous system. It has been suggested that neural mobilization is an effective treatment modality, although support of this suggestion is primarily anecdotal. The purpose of this paper was to provide a systematic review of the literature pertaining to the therapeutic efficacy of neural mobilization. A search to identify randomized controlled trials investigating neural mobilization was conducted using the key words neural mobilisation/mobilization, nerve mobilisation/mobilization, neural manipulative physical therapy, physical therapy, neural/nerve glide, nerve glide exercises, nerve/neural treatment, nerve/neural stretching, neurodynamics, and nerve/neural physiotherapy. The titles and abstracts of the papers identified were reviewed to select papers specifically detailing neural mobilization as a treatment modality. The PEDro scale, a systematic tool used to critique RCTs and grade methodological quality, was used to assess these trials. Methodological assessment allowed an analysis of research investigating therapeutic efficacy of neural mobilization. Ten randomized clinical trials (discussed in 11 retrieved articles) were identified that discussed the therapeutic effect of neural mobilization. This review highlights the lack in quantity and quality of the available research. Qualitative analysis of these studies revealed that there is only limited evidence to support the use of neural mobilization. Future research needs to re-examine the application of neural mobilization with use of more homogeneous study designs and pathologies; in addition, it should standardize the neural mobilization interventions used in the study.

  4. An integrated architecture of adaptive neural network control for dynamic systems

    SciTech Connect

    Ke, Liu; Tokar, R.; Mcvey, B.

    1994-07-01

    In this study, an integrated neural network control architecture for nonlinear dynamic systems is presented. Most of the recent emphasis in the neural network control field has no error feedback as the control input which rises the adaptation problem. The integrated architecture in this paper combines feed forward control and error feedback adaptive control using neural networks. The paper reveals the different internal functionality of these two kinds of neural network controllers for certain input styles, e.g., state feedback and error feedback. Feed forward neural network controllers with state feedback establish fixed control mappings which can not adapt when model uncertainties present. With error feedbacks, neural network controllers learn the slopes or the gains respecting to the error feedbacks, which are error driven adaptive control systems. The results demonstrate that the two kinds of control scheme can be combined to realize their individual advantages. Testing with disturbances added to the plant shows good tracking and adaptation.

  5. [Effect of extracellular matrix components on adhesion of bone marrow multipotent mesenchymal stromal cells to polytetrafluoroethylene].

    PubMed

    Karpenko, A A; Rozanova, I A; Poveshchenko, O V; Lykov, A P; Bondarenko, N A; Kim, I I; Nikonorova, Iu V; Podkhvatilina, N A; Sergeevichev, D S; Popova, I V; Konenkov, V I

    2015-01-01

    Search for new bioengineering materials for creation of small-diameter vascular grafts is currently a priority task. One of the promising trends of creating tissue engineering constructions is coating the internal layer of implants made of polytetrafluoroethylene (PTFE) with autologous mesenchymal multipotent stromal cells. In the study we assessed the ability of separate components of the extracellular matrix such as fibronectin, type I collagen and type IV collagen to influence adhesion, proliferation and morphology of mesenchymal multipotent stromal cells being cultured on PTFE. Bone marrow multipotent stromal cells taken from second-passage Wistar rats in the amount of 106 per 1 cm2 were applied onto PTFE. We used the following variants of preliminary treatment of the material prior to seeding: fibronectin with type I collagen, fibronectin with type IV collagen, fibronectin with a mixture of type I and IV collagens, as well as a control group without coating. After six weeks of cell growth on PTFE patches the samples were subjected to fixation in 10% formalin followed by haematoxylin-eosin stain and morphometric assessment of adhered cells by calculation using the software AxioVision (Carl Zeiss), assessing the number of cells, area of the cellular monolayer, dimensions and ratios of the area of separate cells and the area of cellular nuclei. The maximal area of the monolayer from mesenchymal multipotent stromal cells on the PTFE surface was revealed while culturing with a mixture of fibronectin and type I and IV collagens. Cell colonization density while treatment of the synthetic material with mixtures of fibronectin with type I collagen, type IV collagen and type I and IV collagens demonstrated the results exceeding the parameters of the control specimen 5-, 2.5- and 7-fold, respectively. Hence, extracellular matrix components considerably increase enhance adhesion of cells to PTFE, as well as improve formation of a monolayer from mesenchymal multipotent

  6. Neural correlates of cognitive style and flexible cognitive control.

    PubMed

    Shin, Gyeonghee; Kim, Chobok

    2015-06-01

    Human abilities of flexible cognitive control are associated with appropriately regulating the amount of cognitive control required in response to contextual demands. In the context of conflicting situations, for instance, the amount of cognitive control increases according to the level of previously experienced conflict, resulting in optimized performance. We explored whether the amount of cognitive control in conflict resolution was related to individual differences in cognitive style that were determined with the Object-Spatial-Verbal cognitive style questionnaire. In this functional magnetic resonance imaging (fMRI) study, a version of the color-word Stroop task, which evokes conflict between color and verbal components, was employed to explore whether individual preferences for distracting information were related to the increases in neural conflict adaptation in cognitive control network regions. The behavioral data revealed that the more the verbal style was preferred, the greater the conflict adaptation effect was observed, especially when the current trial type was congruent. Consistent with the behavioral data, the imaging results demonstrated increased neural conflict adaptation effects in task-relevant network regions, including the left dorsolateral prefrontal cortex, left fusiform gyrus, and left precuneus, as the preference for verbal style increased. These results provide new evidence that flexible cognitive control is closely associated with individuals' preference of cognitive style. Copyright © 2015 Elsevier Inc. All rights reserved.

  7. Light, heat, action: neural control of fruit fly behaviour

    PubMed Central

    Owald, David; Lin, Suewei; Waddell, Scott

    2015-01-01

    The fruit fly Drosophila melanogaster has emerged as a popular model to investigate fundamental principles of neural circuit operation. The sophisticated genetics and small brain permit a cellular resolution understanding of innate and learned behavioural processes. Relatively recent genetic and technical advances provide the means to specifically and reproducibly manipulate the function of many fly neurons with temporal resolution. The same cellular precision can also be exploited to express genetically encoded reporters of neural activity and cell-signalling pathways. Combining these approaches in living behaving animals has great potential to generate a holistic view of behavioural control that transcends the usual molecular, cellular and systems boundaries. In this review, we discuss these approaches with particular emphasis on the pioneering studies and those involving learning and memory. PMID:26240426

  8. The neural basis of intermittent motor control in humans

    PubMed Central

    Gross, J.; Timmermann, L.; Kujala, J.; Dirks, M.; Schmitz, F.; Salmelin, R.; Schnitzler, A.

    2002-01-01

    The basic question of whether the human brain controls continuous movements intermittently is still under debate. Here we show that 6- to 9-Hz pulsatile velocity changes of slow finger movements are directly correlated to oscillatory activity in the motor cortex, which is sustained by cerebellar drive through thalamus and premotor cortex. Our findings suggest that coupling of 6- to 9-Hz oscillatory activity in the cerebello–thalamo–cortical loop represents the neural mechanism for the intermittent control of continuous movements. PMID:11854526

  9. A neural-network approach to robotic control

    NASA Technical Reports Server (NTRS)

    Graham, D. P. W.; Deleuterio, G. M. T.

    1993-01-01

    An artificial neural-network paradigm for the control of robotic systems is presented. The approach is based on the Cerebellar Model Articulation Controller created by James Albus and incorporates several extensions. First, recognizing the essential structure of multibody equations of motion, two parallel modules are used that directly reflect the dynamical characteristics of multibody systems. Second, the architecture of the proposed network is imbued with a self-organizational capability which improves efficiency and accuracy. Also, the networks can be arranged in hierarchical fashion with each subsequent network providing finer and finer resolution.

  10. Expansion of Multipotent Stem Cells from the Adult Human Brain

    PubMed Central

    Murrell, Wayne; Palmero, Emily; Bianco, John; Stangeland, Biljana; Joel, Mrinal; Paulson, Linda; Thiede, Bernd; Grieg, Zanina; Ramsnes, Ingunn; Skjellegrind, Håvard K.; Nygård, Ståle; Brandal, Petter; Sandberg, Cecilie; Vik-Mo, Einar; Palmero, Sheryl; Langmoen, Iver A.

    2013-01-01

    The discovery of stem cells in the adult human brain has revealed new possible scenarios for treatment of the sick or injured brain. Both clinical use of and preclinical research on human adult neural stem cells have, however, been seriously hampered by the fact that it has been impossible to passage these cells more than a very few times and with little expansion of cell numbers. Having explored a number of alternative culturing conditions we here present an efficient method for the establishment and propagation of human brain stem cells from whatever brain tissue samples we have tried. We describe virtually unlimited expansion of an authentic stem cell phenotype. Pluripotency proteins Sox2 and Oct4 are expressed without artificial induction. For the first time multipotency of adult human brain-derived stem cells is demonstrated beyond tissue boundaries. We characterize these cells in detail in vitro including microarray and proteomic approaches. Whilst clarification of these cells’ behavior is ongoing, results so far portend well for the future repair of tissues by transplantation of an adult patient’s own-derived stem cells. PMID:23967194

  11. Neural control of rhythmic arm cycling after stroke

    PubMed Central

    Loadman, Pamela M.; Hundza, Sandra R.

    2012-01-01

    Disordered reflex activity and alterations in the neural control of walking have been observed after stroke. In addition to impairments in leg movement that affect locomotor ability after stroke, significant impairments are also seen in the arms. Altered neural control in the upper limb can often lead to altered tone and spasticity resulting in impaired coordination and flexion contractures. We sought to address the extent to which the neural control of movement is disordered after stroke by examining the modulation pattern of cutaneous reflexes in arm muscles during arm cycling. Twenty-five stroke participants who were at least 6 mo postinfarction and clinically stable, performed rhythmic arm cycling while cutaneous reflexes were evoked with trains (5 × 1.0-ms pulses at 300 Hz) of constant-current electrical stimulation to the superficial radial (SR) nerve at the wrist. Both the more (MA) and less affected (LA) arms were stimulated in separate trials. Bilateral electromyography (EMG) activity was recorded from muscles acting at the shoulder, elbow, and wrist. Analysis was conducted on averaged reflexes in 12 equidistant phases of the movement cycle. Phase-modulated cutaneous reflexes were present, but altered, in both MA and LA arms after stroke. Notably, the pattern was “blunted” in the MA arm in stroke compared with control participants. Differences between stroke and control were progressively more evident moving from shoulder to wrist. The results suggest that a reduced pattern of cutaneous reflex modulation persists during rhythmic arm movement after stroke. The overall implication of this result is that the putative spinal contributions to rhythmic human arm movement remain accessible after stroke, which has translational implications for rehabilitation. PMID:22572949

  12. The delayed and noisy nervous system: implications for neural control.

    PubMed

    Milton, John G

    2011-12-01

    Recent advances in the study of delay differential equations draw attention to the potential benefits of the interplay between random perturbations ('noise') and delay in neural control. The phenomena include transient stabilizations of unstable steady states by noise, control of fast movements using time-delayed feedback and the occurrence of long-lived delay-induced transients. In particular, this research suggests that the interplay between noise and delay necessitates the use of intermittent, discontinuous control strategies in which corrective movements are made only when controlled variables cross certain thresholds. A potential benefit of such strategies is that they may be optimal for minimizing energy expenditures associated with control. In this paper, the concepts are made accessible by introducing them through simple illustrative examples that can be readily reproduced using software packages, such as XPPAUT.

  13. Intelligent control based on fuzzy logic and neural net theory

    NASA Technical Reports Server (NTRS)

    Lee, Chuen-Chien

    1991-01-01

    In the conception and design of intelligent systems, one promising direction involves the use of fuzzy logic and neural network theory to enhance such systems' capability to learn from experience and adapt to changes in an environment of uncertainty and imprecision. Here, an intelligent control scheme is explored by integrating these multidisciplinary techniques. A self-learning system is proposed as an intelligent controller for dynamical processes, employing a control policy which evolves and improves automatically. One key component of the intelligent system is a fuzzy logic-based system which emulates human decision making behavior. It is shown that the system can solve a fairly difficult control learning problem. Simulation results demonstrate that improved learning performance can be achieved in relation to previously described systems employing bang-bang control. The proposed system is relatively insensitive to variations in the parameters of the system environment.

  14. Artificial neural networks in Space Station optimal attitude control

    NASA Astrophysics Data System (ADS)

    Kumar, Renjith R.; Seywald, Hans; Deshpande, Samir M.; Rahman, Zia

    1995-01-01

    Innovative techniques of using "artificial neural networks" (ANN) for improving the performance of the pitch axis attitude control system of Space Station Freedom using control moment gyros (CMGs) are investigated. The first technique uses a feed-forward ANN with multi-layer perceptrons to obtain an on-line controller which improves the performance of the control system via a model following approach. The second technique uses a single layer feed-forward ANN with a modified back propagation scheme to estimate the internal plant variations and the external disturbances separately. These estimates are then used to solve two differential Riccati equations to obtain time varying gains which improve the control system performance in successive orbits.

  15. Direct Adaptive Aircraft Control Using Dynamic Cell Structure Neural Networks

    NASA Technical Reports Server (NTRS)

    Jorgensen, Charles C.

    1997-01-01

    A Dynamic Cell Structure (DCS) Neural Network was developed which learns topology representing networks (TRNS) of F-15 aircraft aerodynamic stability and control derivatives. The network is integrated into a direct adaptive tracking controller. The combination produces a robust adaptive architecture capable of handling multiple accident and off- nominal flight scenarios. This paper describes the DCS network and modifications to the parameter estimation procedure. The work represents one step towards an integrated real-time reconfiguration control architecture for rapid prototyping of new aircraft designs. Performance was evaluated using three off-line benchmarks and on-line nonlinear Virtual Reality simulation. Flight control was evaluated under scenarios including differential stabilator lock, soft sensor failure, control and stability derivative variations, and air turbulence.

  16. Application of neural models as controllers in mobile robot velocity control loop

    NASA Astrophysics Data System (ADS)

    Cerkala, Jakub; Jadlovska, Anna

    2017-01-01

    This paper presents the application of an inverse neural models used as controllers in comparison to classical PI controllers for velocity tracking control task used in two-wheel, differentially driven mobile robot. The PI controller synthesis is based on linear approximation of actuators with equivalent load. In order to obtain relevant datasets for training of feed-forward multi-layer perceptron based neural network used as neural model, the mathematical model of mobile robot, that combines its kinematic and dynamic properties such as chassis dimensions, center of gravity offset, friction and actuator parameters is used. Neural models are trained off-line to act as an inverse dynamics of DC motors with particular load using data collected in simulation experiment for motor input voltage step changes within bounded operating area. The performances of PI controllers versus inverse neural models in mobile robot internal velocity control loops are demonstrated and compared in simulation experiment of navigation control task for line segment motion in plane.

  17. Neural net controller for inlet pressure control of rocket engine testing

    NASA Technical Reports Server (NTRS)

    Trevino, Luis C.

    1994-01-01

    Many dynamic systems operate in select operating regions, each exhibiting characteristic modes of behavior. It is traditional to employ standard adjustable gain proportional-integral-derivative (PID) loops in such systems where no apriori model information is available. However, for controlling inlet pressure for rocket engine testing, problems in fine tuning, disturbance accommodation, and control gains for new profile operating regions (for research and development) are typically encountered. Because of the capability of capturing I/O peculiarities, using NETS, a back propagation trained neural network is specified. For select operating regions, the neural network controller is simulated to be as robust as the PID controller. For a comparative analysis, the higher order moment neural array (HOMNA) method is used to specify a second neural controller by extracting critical exemplars from the I/O data set. Furthermore, using the critical exemplars from the HOMNA method, a third neural controller is developed using NETS back propagation algorithm. All controllers are benchmarked against each other.

  18. Insights into neural crest development and evolution from genomic analysis

    PubMed Central

    Simões-Costa, Marcos; Bronner, Marianne E.

    2013-01-01

    The neural crest is an excellent model system for the study of cell type diversification during embryonic development due to its multipotency, motility, and ability to form a broad array of derivatives ranging from neurons and glia, to cartilage, bone, and melanocytes. As a uniquely vertebrate cell population, it also offers important clues regarding vertebrate origins. In the past 30 yr, introduction of recombinant DNA technology has facilitated the dissection of the genetic program controlling neural crest development and has provided important insights into gene regulatory mechanisms underlying cell migration and differentiation. More recently, new genomic approaches have provided a platform and tools that are changing the depth and breadth of our understanding of neural crest development at a “systems” level. Such advances provide an insightful view of the regulatory landscape of neural crest cells and offer a new perspective on developmental as well as stem cell and cancer biology. PMID:23817048

  19. Insights into neural crest development and evolution from genomic analysis.

    PubMed

    Simões-Costa, Marcos; Bronner, Marianne E

    2013-07-01

    The neural crest is an excellent model system for the study of cell type diversification during embryonic development due to its multipotency, motility, and ability to form a broad array of derivatives ranging from neurons and glia, to cartilage, bone, and melanocytes. As a uniquely vertebrate cell population, it also offers important clues regarding vertebrate origins. In the past 30 yr, introduction of recombinant DNA technology has facilitated the dissection of the genetic program controlling neural crest development and has provided important insights into gene regulatory mechanisms underlying cell migration and differentiation. More recently, new genomic approaches have provided a platform and tools that are changing the depth and breadth of our understanding of neural crest development at a "systems" level. Such advances provide an insightful view of the regulatory landscape of neural crest cells and offer a new perspective on developmental as well as stem cell and cancer biology.

  20. A reflexive neural network for dynamic biped walking control.

    PubMed

    Geng, Tao; Porr, Bernd; Wörgötter, Florentin

    2006-05-01

    Biped walking remains a difficult problem, and robot models can greatly facilitate our understanding of the underlying biomechanical principles as well as their neuronal control. The goal of this study is to specifically demonstrate that stable biped walking can be achieved by combining the physical properties of the walking robot with a small, reflex-based neuronal network governed mainly by local sensor signals. Building on earlier work (Taga, 1995; Cruse, Kindermann, Schumm, Dean, & Schmitz, 1998), this study shows that human-like gaits emerge without specific position or trajectory control and that the walker is able to compensate small disturbances through its own dynamical properties. The reflexive controller used here has the following characteristics, which are different from earlier approaches: (1) Control is mainly local. Hence, it uses only two signals (anterior extreme angle and ground contact), which operate at the interjoint level. All other signals operate only at single joints. (2) Neither position control nor trajectory tracking control is used. Instead, the approximate nature of the local reflexes on each joint allows the robot mechanics itself (e.g., its passive dynamics) to contribute substantially to the overall gait trajectory computation. (3) The motor control scheme used in the local reflexes of our robot is more straightforward and has more biological plausibility than that of other robots, because the outputs of the motor neurons in our reflexive controller are directly driving the motors of the joints rather than working as references for position or velocity control. As a consequence, the neural controller and the robot mechanics are closely coupled as a neuromechanical system, and this study emphasizes that dynamically stable biped walking gaits emerge from the coupling between neural computation and physical computation. This is demonstrated by different walking experiments using a real robot as well as by a Poincaré map analysis

  1. Optimal Control Problem of Feeding Adaptations of Daphnia and Neural Network Simulation

    NASA Astrophysics Data System (ADS)

    Kmet', Tibor; Kmet'ov, Mria

    2010-09-01

    A neural network based optimal control synthesis is presented for solving optimal control problems with control and state constraints and open final time. The optimal control problem is transcribed into nonlinear programming problem, which is implemented with adaptive critic neural network [9] and recurrent neural network for solving nonlinear proprojection equations [10]. The proposed simulation methods is illustrated by the optimal control problem of feeding adaptation of filter feeders of Daphnia. Results show that adaptive critic based systematic approach and neural network solving of nonlinear equations hold promise for obtaining the optimal control with control and state constraints and open final time.

  2. Internal models for interpreting neural population activity during sensorimotor control

    PubMed Central

    Golub, Matthew D; Yu, Byron M; Chase, Steven M

    2015-01-01

    To successfully guide limb movements, the brain takes in sensory information about the limb, internally tracks the state of the limb, and produces appropriate motor commands. It is widely believed that this process uses an internal model, which describes our prior beliefs about how the limb responds to motor commands. Here, we leveraged a brain-machine interface (BMI) paradigm in rhesus monkeys and novel statistical analyses of neural population activity to gain insight into moment-by-moment internal model computations. We discovered that a mismatch between subjects’ internal models and the actual BMI explains roughly 65% of movement errors, as well as long-standing deficiencies in BMI speed control. We then used the internal models to characterize how the neural population activity changes during BMI learning. More broadly, this work provides an approach for interpreting neural population activity in the context of how prior beliefs guide the transformation of sensory input to motor output. DOI: http://dx.doi.org/10.7554/eLife.10015.001 PMID:26646183

  3. Modeling, monitoring and control based on neural networks

    SciTech Connect

    Fu, Chi Yung

    1995-04-14

    The cost of a fabrication line such as one in a semiconductor house has increased dramatically over the years and it is possibly already past the point that some new start-up company can have sufficient capital to build a new fabrication line. Such capital-intensive manufacturing needs better utilization of resources and management of equipment to maximize its productivity. In order to maximize the return from such a capital-intensive manufacturing line, we need to address the following: (1) increasing the yield, (2) enhancing the flexibility of the fabrication line, (3) improving quality, and finally (4) minimizing the down time of the processing equipment. Because of the significant advances now made in the fields of artificial neural networks, fuzzy logic, machine learning and genetic algorithms, we advocate the use of these new tools to in manufacturing. We term the applications of these and other tools that mimic human intelligence to manufacturing neural manufacturing. This paper will address the effort at Lawrence Livermore National Laboratory (LLNL) to use artificial neural networks to address certain semiconductor process modeling, monitoring and control questions.

  4. Reconfigurable Control Design with Neural Network Augmentation for a Modified F-15 Aircraft

    NASA Technical Reports Server (NTRS)

    Burken, John J.

    2007-01-01

    The viewgraphs present background information about reconfiguration control design, design methods used for paper, control failure survivability results, and results and time histories of tests. Topics examined include control reconfiguration, general information about adaptive controllers, model reference adaptive control (MRAC), the utility of neural networks, radial basis functions (RBF) neural network outputs, neurons, and results of investigations of failures.

  5. Drive reinforcement neural networks for reactor control. Final report

    SciTech Connect

    Williams, J.G.; Jouse, W.C.

    1995-02-01

    In view of the loss of the third year funding, the scope of the project goals has been revised. The revision in project scope no longer allows for the detailed modeling of the EBR-11 start-up task that was originally envisaged. The authors are continuing, however, to model the control of the rapid power ascent of the University of Arizona TRIGA reactor using a model-based controller and using a drive reinforcement neural network. These will be combined during the concluding period of the project into a hierarchical control architecture. In addition, the modeling of a PWR feedwater heater has continued, and an autonomous fault-tolerant software architecture for its control has been proposed.

  6. Development of a neural network heating controller for solar buildings.

    PubMed

    Argiriou, A A; Bellas-Velidis, I; Balaras, C A

    2000-09-01

    Artificial neural networks (ANN's) are more and more widely used in energy management processes. ANN's can be very useful in optimizing the energy demand of buildings, especially of those of high thermal inertia. These include the so-called solar buildings. For those buildings, a controller able to forecast not only the energy demand but also the weather conditions can lead to energy savings while maintaining thermal comfort. In this paper, such an ANN controller is proposed. It consists of a meteorological module, forecasting the ambient temperature and solar irradiance, the heating energy switch predictor module and the indoor temperature-defining module. The performance of the controller has been tested both experimentally and in a building thermal simulation environment. The results showed that the use of the proposed controller can lead to 7.5% annual energy savings in the case of a highly insulated passive solar test cell.

  7. Algebraic and adaptive learning in neural control systems

    NASA Astrophysics Data System (ADS)

    Ferrari, Silvia

    A systematic approach is developed for designing adaptive and reconfigurable nonlinear control systems that are applicable to plants modeled by ordinary differential equations. The nonlinear controller comprising a network of neural networks is taught using a two-phase learning procedure realized through novel techniques for initialization, on-line training, and adaptive critic design. A critical observation is that the gradients of the functions defined by the neural networks must equal corresponding linear gain matrices at chosen operating points. On-line training is based on a dual heuristic adaptive critic architecture that improves control for large, coupled motions by accounting for actual plant dynamics and nonlinear effects. An action network computes the optimal control law; a critic network predicts the derivative of the cost-to-go with respect to the state. Both networks are algebraically initialized based on prior knowledge of satisfactory pointwise linear controllers and continue to adapt on line during full-scale simulations of the plant. On-line training takes place sequentially over discrete periods of time and involves several numerical procedures. A backpropagating algorithm called Resilient Backpropagation is modified and successfully implemented to meet these objectives, without excessive computational expense. This adaptive controller is as conservative as the linear designs and as effective as a global nonlinear controller. The method is successfully implemented for the full-envelope control of a six-degree-of-freedom aircraft simulation. The results show that the on-line adaptation brings about improved performance with respect to the initialization phase during aircraft maneuvers that involve large-angle and coupled dynamics, and parameter variations.

  8. Adaptive PID control based on orthogonal endocrine neural networks.

    PubMed

    Milovanović, Miroslav B; Antić, Dragan S; Milojković, Marko T; Nikolić, Saša S; Perić, Staniša Lj; Spasić, Miodrag D

    2016-12-01

    A new intelligent hybrid structure used for online tuning of a PID controller is proposed in this paper. The structure is based on two adaptive neural networks, both with built-in Chebyshev orthogonal polynomials. First substructure network is a regular orthogonal neural network with implemented artificial endocrine factor (OENN), in the form of environmental stimuli, to its weights. It is used for approximation of control signals and for processing system deviation/disturbance signals which are introduced in the form of environmental stimuli. The output values of OENN are used to calculate artificial environmental stimuli (AES), which represent required adaptation measure of a second network-orthogonal endocrine adaptive neuro-fuzzy inference system (OEANFIS). OEANFIS is used to process control, output and error signals of a system and to generate adjustable values of proportional, derivative, and integral parameters, used for online tuning of a PID controller. The developed structure is experimentally tested on a laboratory model of the 3D crane system in terms of analysing tracking performances and deviation signals (error signals) of a payload. OENN-OEANFIS performances are compared with traditional PID and 6 intelligent PID type controllers. Tracking performance comparisons (in transient and steady-state period) showed that the proposed adaptive controller possesses performances within the range of other tested controllers. The main contribution of OENN-OEANFIS structure is significant minimization of deviation signals (17%-79%) compared to other controllers. It is recommended to exploit it when dealing with a highly nonlinear system which operates in the presence of undesirable disturbances.

  9. Identification of a Candidate Proteomic Signature to Discriminate Multipotent and Non-Multipotent Stromal Cells

    PubMed Central

    Rosu-Myles, Michael; She, Yi-Min; Fair, Joel; Muradia, Gauri; Mehic, Jelica; Menendez, Pablo; Prasad, Shiv S.; Cyr, Terry D.

    2012-01-01

    Bone marrow stromal cell cultures contain multipotent cells that may have therapeutic utility for tissue restoration; however, the identity of the cell that maintains this function remains poorly characterized. We have utilized a unique model of murine bone marrow stroma in combination with liquid chromatography mass spectrometry to compare the nuclear, cytoplasmic and membrane associated proteomes of multipotent (MSC) (CD105+) and non-multipotent (CD105−) stromal cells. Among the 25 most reliably identified proteins, 10 were verified by both real-time PCR and Western Blot to be highly enriched, in CD105+ cells and were members of distinct biological pathways and functional networks. Five of these proteins were also identified as potentially expressed in human MSC derived from both standard and serum free human stromal cultures. The quantitative amount of each protein identified in human stromal cells was only minimally affected by media conditions but varied highly between bone marrow donors. This study provides further evidence of heterogeneity among cultured bone marrow stromal cells and identifies potential candidate proteins that may prove useful for identifying and quantifying both murine and human MSC in vitro. PMID:22719999

  10. Multipotent pancreas progenitors: Inconclusive but pivotal topic

    PubMed Central

    Jiang, Fang-Xu; Morahan, Grant

    2015-01-01

    The establishment of multipotent pancreas progenitors (MPP) should have a significant impact not only on the ontology of the pancreas, but also for the translational research of glucose-responding endocrine β-cells. Deficiency of the latter may lead to the pandemic type 1 or type 2 diabetes mellitus, a metabolic disorder. An ideal treatment of which would potentially be the replacement of destroyed or failed β-cells, by restoring function of endogenous pancreatic endocrine cells or by transplantation of donor islets or in vitro generated insulin-secreting cells. Thus, considerable research efforts have been devoted to identify MPP candidates in the pre- and post-natal pancreas for the endogenous neogenesis or regeneration of endocrine insulin-secreting cells. In order to advance this inconclusive but critical field, we here review the emerging concepts, recent literature and newest developments of potential MPP and propose measures that would assist its forward progression. PMID:26730269

  11. Analog neural network control method proposed for use in a backup satellite control mode

    SciTech Connect

    Frigo, J.R.; Tilden, M.W.

    1998-03-01

    The authors propose to use an analog neural network controller implemented in hardware, independent of the active control system, for use in a satellite backup control mode. The controller uses coarse sun sensor inputs. The field of view of the sensors activate the neural controller, creating an analog dead band with respect to the direction of the sun on each axis. This network controls the orientation of the vehicle toward the sunlight to ensure adequate power for the system. The attitude of the spacecraft is stabilized with respect to the ambient magnetic field on orbit. This paper develops a model of the controller using real-time coarse sun sensor data and a dynamic model of a prototype system based on a satellite system. The simulation results and the feasibility of this control method for use in a satellite backup control mode are discussed.

  12. Direct Inverse Control using an Artificial Neural Network for the Autonomous Hover of a Helicopter

    DTIC Science & Technology

    2014-10-05

    Inverse Control technique using an Artificial Neural Network to learn and then cancel out the Hover dynamics of the quadrotor UAV... Inverse Control , Neural Network , Flight Control , and UAV helicopter REPORT DOCUMENTATION PAGE 11. SPONSOR/MONITOR’S REPORT NUMBER(S) 10. SPONSOR...Helicopter. The goal of the project is to investigate the effectiveness of the Direct Inverse Control technique using an Artificial Neural Network to

  13. On the neural control of social emotional behavior.

    PubMed

    Roelofs, Karin; Minelli, Alessandra; Mars, Rogier B; van Peer, Jacobien; Toni, Ivan

    2009-03-01

    It is known that the orbitofrontal cortex (OFC) is crucially involved in emotion regulation. However, the specific role of the OFC in controlling the behavior evoked by these emotions, such as approach-avoidance (AA) responses, remains largely unexplored. We measured behavioral and neural responses (using fMRI) during the performance of a social task, a reaction time (RT) task where subjects approached or avoided visually presented emotional faces by pulling or pushing a joystick, respectively. RTs were longer for affect-incongruent responses (approach angry faces and avoid happy faces) as compared to affect-congruent responses (approach-happy; avoid-angry). Moreover, affect-incongruent responses recruited increased activity in the left lateral OFC. These behavioral and neural effects emerged only when the subjects responded explicitly to the emotional value of the faces (AA-task) and largely disappeared when subjects responded to an affectively irrelevant feature of the faces during a control (gender evaluation: GE) task. Most crucially, the size of the OFC-effect correlated positively with the size of the behavioral costs of approaching angry faces. These findings qualify the role of the lateral OFC in the voluntary control of social-motivational behavior, emphasizing the relevance of this region for selecting rule-driven stimulus-response associations, while overriding automatic (affect-congruent) stimulus-response mappings.

  14. Upper Torso Control for HOAP-2 Using Neural Networks

    NASA Technical Reports Server (NTRS)

    Sandoval, Steven P.

    2005-01-01

    Humanoid robots have similar physical builds and motion patterns as humans. Not only does this provide a suitable operating environment for the humanoid but it also opens up many research doors on how humans function. The overall objective is replacing humans operating in unsafe environments. A first target application is assembly of structures for future lunar-planetary bases. The initial development platform is a Fujitsu HOAP-2 humanoid robot. The goal for the project is to demonstrate the capability of a HOAP-2 to autonomously construct a cubic frame using provided tubes and joints. This task will require the robot to identify several items, pick them up, transport them to the build location, then properly assemble the structure. The ability to grasp and assemble the pieces will require improved motor control and the addition of tactile feedback sensors. In recent years, learning-based control is becoming more and more popular; for implementing this method we will be using the Adaptive Neural Fuzzy Inference System (ANFIS). When using neural networks for control, no complex models of the system must be constructed in advance-only input/output relationships are required to model the system.

  15. Neural representation of muscle dynamics in voluntary movement control.

    PubMed

    Hasson, Christopher J

    2014-07-01

    Several theories of motor control posit that the nervous system has access to a neural representation of muscle dynamics. Yet, this has not been tested experimentally. Should such a representation exist, it was hypothesized that subjects who learned to control a virtual limb using virtual muscles would improve performance faster and show greater generalization than those who learned with a less dynamically complex virtual force generator. Healthy adults practiced using their biceps brachii activity to move a myoelectrically controlled virtual limb from rest to a standard target position with maximum speed and accuracy. Throughout practice, generalization was assessed with untrained target trials and sensitivity to actuator dynamics was probed by unexpected actuator model switches. In a muscle model subject group (n = 10), the biceps electromyographic signal activated a virtual muscle that pulled on the virtual limb with a force governed by muscle dynamics, defined by a nonlinear force-length-velocity relation and series elastic stiffness. A force generator group (n = 10) performed the same task, but the actuation force was a linear function of the biceps activation signal. Both groups made significant errors with unexpected actuator dynamics switches, supporting task sensitivity to actuator dynamics. The muscle model group improved performance as fast as the force generator group and showed greater generalization in early practice, despite using an actuator with more complex dynamics. These results are consistent with a preexisting neural representation of muscle dynamics, which may have offset any learning challenges associated with the more dynamically complex virtual muscle model.

  16. Lifelong bilingualism maintains neural efficiency for cognitive control in aging.

    PubMed

    Gold, Brian T; Kim, Chobok; Johnson, Nathan F; Kryscio, Richard J; Smith, Charles D

    2013-01-09

    Recent behavioral data have shown that lifelong bilingualism can maintain youthful cognitive control abilities in aging. Here, we provide the first direct evidence of a neural basis for the bilingual cognitive control boost in aging. Two experiments were conducted, using a perceptual task-switching paradigm, including a total of 110 participants. In Experiment 1, older adult bilinguals showed better perceptual switching performance than their monolingual peers. In Experiment 2, younger and older adult monolinguals and bilinguals completed the same perceptual task-switching experiment while functional magnetic resonance imaging (fMRI) was performed. Typical age-related performance reductions and fMRI activation increases were observed. However, like younger adults, bilingual older adults outperformed their monolingual peers while displaying decreased activation in left lateral frontal cortex and cingulate cortex. Critically, this attenuation of age-related over-recruitment associated with bilingualism was directly correlated with better task-switching performance. In addition, the lower blood oxygenation level-dependent response in frontal regions accounted for 82% of the variance in the bilingual task-switching reaction time advantage. These results suggest that lifelong bilingualism offsets age-related declines in the neural efficiency for cognitive control processes.

  17. On the neural control of social emotional behavior

    PubMed Central

    Roelofs, Karin; Minelli, Alessandra; Mars, Rogier B.; van Peer, Jacobien; Toni, Ivan

    2009-01-01

    It is known that the orbitofrontal cortex (OFC) is crucially involved in emotion regulation. However, the specific role of the OFC in controlling the behavior evoked by these emotions, such as approach–avoidance (AA) responses, remains largely unexplored. We measured behavioral and neural responses (using fMRI) during the performance of a social task, a reaction time (RT) task where subjects approached or avoided visually presented emotional faces by pulling or pushing a joystick, respectively. RTs were longer for affect-incongruent responses (approach angry faces and avoid happy faces) as compared to affect-congruent responses (approach–happy; avoid–angry). Moreover, affect-incongruent responses recruited increased activity in the left lateral OFC. These behavioral and neural effects emerged only when the subjects responded explicitly to the emotional value of the faces (AA-task) and largely disappeared when subjects responded to an affectively irrelevant feature of the faces during a control (gender evaluation: GE) task. Most crucially, the size of the OFC-effect correlated positively with the size of the behavioral costs of approaching angry faces. These findings qualify the role of the lateral OFC in the voluntary control of social–motivational behavior, emphasizing the relevance of this region for selecting rule-driven stimulus–response associations, while overriding automatic (affect-congruent) stimulus–response mappings. PMID:19047074

  18. Upper Torso Control for HOAP-2 Using Neural Networks

    NASA Technical Reports Server (NTRS)

    Sandoval, Steven P.

    2005-01-01

    Humanoid robots have similar physical builds and motion patterns as humans. Not only does this provide a suitable operating environment for the humanoid but it also opens up many research doors on how humans function. The overall objective is replacing humans operating in unsafe environments. A first target application is assembly of structures for future lunar-planetary bases. The initial development platform is a Fujitsu HOAP-2 humanoid robot. The goal for the project is to demonstrate the capability of a HOAP-2 to autonomously construct a cubic frame using provided tubes and joints. This task will require the robot to identify several items, pick them up, transport them to the build location, then properly assemble the structure. The ability to grasp and assemble the pieces will require improved motor control and the addition of tactile feedback sensors. In recent years, learning-based control is becoming more and more popular; for implementing this method we will be using the Adaptive Neural Fuzzy Inference System (ANFIS). When using neural networks for control, no complex models of the system must be constructed in advance-only input/output relationships are required to model the system.

  19. Lifelong Bilingualism Maintains Neural Efficiency for Cognitive Control in Aging

    PubMed Central

    Gold, Brian T.; Kim, Chobok; Johnson, Nathan F.; Kryscio, Richard J.; Smith, Charles D.

    2013-01-01

    Recent behavioral data have shown that lifelong bilingualism can maintain youthful cognitive control abilities in aging. Here, we provide the first direct evidence of a neural basis for the bilingual cognitive control boost in aging. Two experiments were conducted, using a perceptual task switching paradigm, and including a total of 110 participants. In Experiment 1, older adult bilinguals showed better perceptual switching performance than their monolingual peers. In Experiment 2, younger and older adult monolinguals and bilinguals completed the same perceptual task switching experiment while fMRI was performed. Typical age-related performance reductions and fMRI activation increases were observed. However, like younger adults, bilingual older adults outperformed their monolingual peers while displaying decreased activation in left lateral frontal cortex and cingulate cortex. Critically, this attenuation of age-related over-recruitment associated with bilingualism was directly correlated with better task switching performance. In addition, the lower BOLD response in frontal regions accounted for 82% of the variance in the bilingual task switching reaction time advantage. These results suggest that lifelong bilingualism offsets age-related declines in the neural efficiency for cognitive control processes. PMID:23303919

  20. Towards a general neural controller for quadrupedal locomotion.

    PubMed

    Maufroy, Christophe; Kimura, Hiroshi; Takase, Kunikatsu

    2008-05-01

    Our study aims at the design and implementation of a general controller for quadruped locomotion, allowing the robot to use the whole range of quadrupedal gaits (i.e. from low speed walking to fast running). A general legged locomotion controller must integrate both posture control and rhythmic motion control and have the ability to shift continuously from one control method to the other according to locomotion speed. We are developing such a general quadrupedal locomotion controller by using a neural model involving a CPG (Central Pattern Generator) utilizing ground reaction force sensory feedback. We used a biologically faithful musculoskeletal model with a spine and hind legs, and computationally simulated stable stepping motion at various speeds using the neuro-mechanical system combining the neural controller and the musculoskeletal model. We compared the changes of the most important locomotion characteristics (stepping period, duty ratio and support length) according to speed in our simulations with the data on real cat walking. We found similar tendencies for all of them. In particular, the swing period was approximately constant while the stance period decreased with speed, resulting in a decreasing stepping period and duty ratio. Moreover, the support length increased with speed due to the posterior extreme position that shifted progressively caudally, while the anterior extreme position was approximately constant. This indicates that we succeeded in reproducing to some extent the motion of a cat from the kinematical point of view, even though we used a 2D bipedal model. We expect that such computational models will become essential tools for legged locomotion neuroscience in the future.

  1. Some historical reflections on the neural control of locomotion.

    PubMed

    Clarac, François

    2008-01-01

    Thought on the neural control of locomotion dates back to antiquity. In this article, however, the focus is more recent by starting with some major 17th century concepts, which were developed by René Descartes, a French philosopher; Thomas Willis, an English anatomist; and Giovanni Borelli, an Italian physiologist and physicist. Each relied on his personal expertise to theorize on the organization and control of movements. The 18th and early 19th centuries saw work on both the central and peripheral control of movement: the former most notably by Johann Unzer, Marie Jean-Pierre Flourens and Julien-Jean-César Legallois, and the latter by Unzer, Jirí Procháska and many others. Next in the 19th century, neurologists used human locomotion as a precise tool for characterizing motor pathologies: e.g., Guillaume Duchenne de Boulogne's description of locomotor ataxia. Jean-Martin Charcot considered motor control to be organized at two levels of the central nervous system: the cerebral cortex and the spinal cord. Maurice Philippson's defined the dog's step cycle and considered that locomotion used both central and reflex mechanisms. Charles Sherrington explained that locomotor control was usually thought to consist of a succession of peripheral reflexes (e.g., the stepping reflexes). Thomas Graham Brown's then contemporary evidence for the spinal origin of locomotor rhythmicity languished in obscurity until the early 1960s. By then the stage was set for an international assault on the neural control of locomotion, which featured research conducted on both invertebrate and vertebrate animal models. These contributions have progressively became more integrated and interactive, with current work emphasizing that locomotor control involves a seamless integration between central locomotor networks and peripheral feedback.

  2. Remote Neural Pendants In A Welding-Control System

    NASA Technical Reports Server (NTRS)

    Venable, Richard A.; Bucher, Joseph H.

    1995-01-01

    Neural network integrated circuits enhance functionalities of both remote terminals (called "pendants") and communication links, without necessitating installation of additional wires in links. Makes possible to incorporate many features into pendant, including real-time display of critical welding parameters and other process information, capability for communication between technician at pendant and host computer or technician elsewhere in system, and switches and potentiometers through which technician at pendant exerts remote control over such critical aspects of welding process as current, voltage, rate of travel, flow of gas, starting, and stopping. Other potential manufacturing applications include control of spray coating and of curing of composite materials. Potential nonmanufacturing uses include remote control of heating, air conditioning, and lighting in electrically noisy and otherwise hostile environments.

  3. Neural network control of multifingered robot hands using visual feedback.

    PubMed

    Zhao, Yu; Cheah, Chien Chern

    2009-05-01

    It is interesting to observe that humans are able to manipulate an object easily and skillfully without the exact knowledge of the object, contact points, or kinematics of our fingers. However, research so far on multifingered robot control has assumed that the kinematics and contact points of the fingers are known exactly. In many applications of multifingered robot hands, the kinematics and contact points of the fingers are uncertain and structures of the Jacobian matrices are unknown. In this paper, we propose an adaptive neural network (NN) Jacobian controller for multifingered robot hand with uncertainties in kinematics, Jacobian matrices, and dynamics. It is shown that using NNs, the uniform ultimate boundedness of the position error can be achieved in the presence of the uncertainties. Simulation results are presented to illustrate the performance of the proposed controller.

  4. Neural mechanisms of impulse control in sexually risky adolescents

    PubMed Central

    Goldenberg, Diane; Telzer, Eva H.; Lieberman, Matthew D.; Fuligni, Andrew; Galván, Adriana

    2014-01-01

    The consequences of risky sexual behavior are of public concern. Adolescents contribute disproportionately to negative consequences of risky sexual behavior. However, no research has examined the neural correlates of impulse control and real-world engagement in risky sexual behavior in this population. The aim of the present study was to examine this question. Twenty sexually active adolescents performed an impulse control task during a functional magnetic resonance imaging (fMRI) scan and risky sexual behaviors were assessed through self-report. Sexual riskiness ratings were negatively associated with activation in the prefrontal cortex during response inhibition. These results suggest that diminished engagement of impulse control circuitry may contribute to sexual riskiness in adolescents. PMID:23835204

  5. Neural-network hybrid control for antilock braking systems.

    PubMed

    Lin, Chih-Min; Hsu, C F

    2003-01-01

    The antilock braking systems are designed to maximize wheel traction by preventing the wheels from locking during braking, while also maintaining adequate vehicle steerability; however, the performance is often degraded under harsh road conditions. In this paper, a hybrid control system with a recurrent neural network (RNN) observer is developed for antilock braking systems. This hybrid control system is comprised of an ideal controller and a compensation controller. The ideal controller, containing an RNN uncertainty observer, is the principal controller; and the compensation controller is a compensator for the difference between the system uncertainty and the estimated uncertainty. Since for dynamic response the RNN has capabilities superior to the feedforward NN, it is utilized for the uncertainty observer. The Taylor linearization technique is employed to increase the learning ability of the RNN. In addition, the on-line parameter adaptation laws are derived based on a Lyapunov function, so the stability of the system can be guaranteed. Simulations are performed to demonstrate the effectiveness of the proposed NN hybrid control system for antilock braking control under various road conditions.

  6. Optimized biogas-fermentation by neural network control.

    PubMed

    Holubar, P; Zani, L; Hager, M; Fröschl, W; Radak, Z; Braun, R

    2003-01-01

    In this work several feed-forward back-propagation neural networks (FFBP) were trained in order to model, and subsequently control, methane production in anaerobic digesters. To produce data for the training of the neural nets, four anaerobic continuous stirred tank reactors (CSTR) were operated in steady-state conditions at organic loading rates (Br) of about 2 kg x m(-3) x d(-1) chemical oxygen demand (COD), and disturbed by pulse-like increase of the organic loading rate. For the pulses additional carbon sources were added to the basic feed (surplus- and primary sludge) to simulate cofermentation and to increase the COD. Measured parameters were: gas composition, methane production rate, volatile fatty acid concentration, pH, redox potential, volatile suspended solids and COD of feed and effluent. A hierarchical system of neural nets was developed and embedded in a Decision Support System (DSS). A 3-3-1 FFBP simulated the pH with a regression coefficient of 0.82. A 9-3-3 FFBP simulated the volatile fatty acid concentration in the sludge with a regression coefficient of 0.86. And a 9-3-2 FFBP simulated the gas production and gas composition with a regression coefficient of 0.90 and 0.80 respectively. A lab-scale anaerobic CSTR controlled by this tool was able to maintain a methane concentration of about 60% at a rather high gas production rate of between 5 to 5.6 m3 x m(-3) x d(-1).

  7. Neural Control for Two-Axial Micro Piezoelectric Actuators

    NASA Astrophysics Data System (ADS)

    Ohka, Masahiro; Sawamoto, Yasuhiro; Matsukawa, Shiho; Miyaoka, Tetsu; Mitsuya, Yasunaga

    In the previous paper, we experimentally designed serial and parallel typed two-axial micro actuators, which were utilized for key parts of advanced tactile displays. The serial typed two-axial actuator comprises bimorph piezoelectric actuators connected in series. The parallel typed two-axial actuator was composed of two bimorph piezoelectric actuators and two small links connected by three joints. We formulated kinematics for the parallel typed two-axial actuator because the endpoint is controlled in the two-dimensional coordinate. Since relationship between applied voltage and displacement caused by the voltage shows a hysteresis loop in the bimorph piezoelectric actuator used as components of the two-axis actuators, we produce a control system for these two-axial actuators based on a multi-layered artificial neural network to compensate the hysteresis. The neural network is comprised of 4 neurons in the input layer, 10 neurons in the hidden layer and one neuron in the output layer. The output neuron emitts time derivative of voltage; two bits signal expressing loading or unloading condition is generated by two input neurons; one of the other two input neurons and the other calculate current values of voltage and displacement, respectively. The neural network is featured with a feedback loop including an integral unit to reduce number of neurons. In the learning process, the network learns the hysteresis including a minor loop. In the verification test, the endpoint of the two-axial actuator traces the desired circular trajectory in the two-dimensional coordinate system.

  8. Improved methods in neural network-based adaptive output feedback control, with applications to flight control

    NASA Astrophysics Data System (ADS)

    Kim, Nakwan

    Utilizing the universal approximation property of neural networks, we develop several novel approaches to neural network-based adaptive output feedback control of nonlinear systems, and illustrate these approaches for several flight control applications. In particular, we address the problem of non-affine systems and eliminate the fixed point assumption present in earlier work. All of the stability proofs are carried out in a form that eliminates an algebraic loop in the neural network implementation. An approximate input/output feedback linearizing controller is augmented with a neural network using input/output sequences of the uncertain system. These approaches permit adaptation to both parametric uncertainty and unmodeled dynamics. All physical systems also have control position and rate limits, which may either deteriorate performance or cause instability for a sufficiently high control bandwidth. Here we apply a method for protecting an adaptive process from the effects of input saturation and time delays, known as "pseudo control hedging". This method was originally developed for the state feedback case, and we provide a stability analysis that extends its domain of applicability to the case of output feedback. The approach is illustrated by the design of a pitch-attitude flight control system for a linearized model of an R-50 experimental helicopter, and by the design of a pitch-rate control system for a 58-state model of a flexible aircraft consisting of rigid body dynamics coupled with actuator and flexible modes. A new approach to augmentation of an existing linear controller is introduced. It is especially useful when there is limited information concerning the plant model, and the existing controller. The approach is applied to the design of an adaptive autopilot for a guided munition. Design of a neural network adaptive control that ensures asymptotically stable tracking performance is also addressed.

  9. Development of neural network controllers for power industry applications. Volume 1, Final report

    SciTech Connect

    Widrow, B.; Shen, R.; Beaufays, F.; Wan, E.; Plumer, E.; Diep, T.

    1995-11-01

    This report details an investigation in the development of the theory of the design of neural network controllers, and their application to power system problems. The current algorithm for the supervised training of neural networks, backpropagation, is reviewed. Using signal flow graph theory to develop the backpropagation-through-time algorithm, further insight of the training of neural network controllers in dynamic control systems is gained. The strengths of neural networks are brought out in this work, demonstrating that neural networks can solve highly nonlinear problems for which no closed-form, analytical solutions exist. Demonstrating the ability of a neural network to estimate complex processes, the backpropagation algorithm is used to train a neural network to predict void fraction. The results show that the accuracy of t@e neural network estimator is favorable. Demonstrating the ability of a neural network to control dynamic systems, the backpropagation-through-time algorithm is used to train neural networks to solve excitation control problems. Work is performed in developing a neural network controller for regulating load-frequency and terminal voltage for a simplified single synchronous generator model and for two generators linked by a tie-line. Results are favorable and show promise for neural network controllers in power system problems. Volume I contains the results of these applications of neural networks. Volume II contains two Ph.D. theses, which were written, in part, as a result of the research, and are provided as a supplementary reference. These two theses present algorithms and discuss contributions of the research to the science of neural networks, in the areas of control, nonlinear filtering, system identification and prediction.

  10. Autonomic neural control of dynamic cerebral autoregulation in humans

    NASA Technical Reports Server (NTRS)

    Zhang, Rong; Zuckerman, Julie H.; Iwasaki, Kenichi; Wilson, Thad E.; Crandall, Craig G.; Levine, Benjamin D.

    2002-01-01

    BACKGROUND: The purpose of the present study was to determine the role of autonomic neural control of dynamic cerebral autoregulation in humans. METHODS AND RESULTS: We measured arterial pressure and cerebral blood flow (CBF) velocity in 12 healthy subjects (aged 29+/-6 years) before and after ganglion blockade with trimethaphan. CBF velocity was measured in the middle cerebral artery using transcranial Doppler. The magnitude of spontaneous changes in mean blood pressure and CBF velocity were quantified by spectral analysis. The transfer function gain, phase, and coherence between these variables were estimated to quantify dynamic cerebral autoregulation. After ganglion blockade, systolic and pulse pressure decreased significantly by 13% and 26%, respectively. CBF velocity decreased by 6% (P<0.05). In the very low frequency range (0.02 to 0.07 Hz), mean blood pressure variability decreased significantly (by 82%), while CBF velocity variability persisted. Thus, transfer function gain increased by 81%. In addition, the phase lead of CBF velocity to arterial pressure diminished. These changes in transfer function gain and phase persisted despite restoration of arterial pressure by infusion of phenylephrine and normalization of mean blood pressure variability by oscillatory lower body negative pressure. CONCLUSIONS: These data suggest that dynamic cerebral autoregulation is altered by ganglion blockade. We speculate that autonomic neural control of the cerebral circulation is tonically active and likely plays a significant role in the regulation of beat-to-beat CBF in humans.

  11. Autonomic neural control of dynamic cerebral autoregulation in humans

    NASA Technical Reports Server (NTRS)

    Zhang, Rong; Zuckerman, Julie H.; Iwasaki, Kenichi; Wilson, Thad E.; Crandall, Craig G.; Levine, Benjamin D.

    2002-01-01

    BACKGROUND: The purpose of the present study was to determine the role of autonomic neural control of dynamic cerebral autoregulation in humans. METHODS AND RESULTS: We measured arterial pressure and cerebral blood flow (CBF) velocity in 12 healthy subjects (aged 29+/-6 years) before and after ganglion blockade with trimethaphan. CBF velocity was measured in the middle cerebral artery using transcranial Doppler. The magnitude of spontaneous changes in mean blood pressure and CBF velocity were quantified by spectral analysis. The transfer function gain, phase, and coherence between these variables were estimated to quantify dynamic cerebral autoregulation. After ganglion blockade, systolic and pulse pressure decreased significantly by 13% and 26%, respectively. CBF velocity decreased by 6% (P<0.05). In the very low frequency range (0.02 to 0.07 Hz), mean blood pressure variability decreased significantly (by 82%), while CBF velocity variability persisted. Thus, transfer function gain increased by 81%. In addition, the phase lead of CBF velocity to arterial pressure diminished. These changes in transfer function gain and phase persisted despite restoration of arterial pressure by infusion of phenylephrine and normalization of mean blood pressure variability by oscillatory lower body negative pressure. CONCLUSIONS: These data suggest that dynamic cerebral autoregulation is altered by ganglion blockade. We speculate that autonomic neural control of the cerebral circulation is tonically active and likely plays a significant role in the regulation of beat-to-beat CBF in humans.

  12. Geometrical approach to neural net control of movements and posture

    NASA Technical Reports Server (NTRS)

    Pellionisz, A. J.; Ramos, C. F.

    1993-01-01

    In one approach to modeling brain function, sensorimotor integration is described as geometrical mapping among coordinates of non-orthogonal frames that are intrinsic to the system; in such a case sensors represent (covariant) afferents and motor effectors represent (contravariant) motor efferents. The neuronal networks that perform such a function are viewed as general tensor transformations among different expressions and metric tensors determining the geometry of neural functional spaces. Although the non-orthogonality of a coordinate system does not impose a specific geometry on the space, this "Tensor Network Theory of brain function" allows for the possibility that the geometry is non-Euclidean. It is suggested that investigation of the non-Euclidean nature of the geometry is the key to understanding brain function and to interpreting neuronal network function. This paper outlines three contemporary applications of such a theoretical modeling approach. The first is the analysis and interpretation of multi-electrode recordings. The internal geometries of neural networks controlling external behavior of the skeletomuscle system is experimentally determinable using such multi-unit recordings. The second application of this geometrical approach to brain theory is modeling the control of posture and movement. A preliminary simulation study has been conducted with the aim of understanding the control of balance in a standing human. The model appears to unify postural control strategies that have previously been considered to be independent of each other. Third, this paper emphasizes the importance of the geometrical approach for the design and fabrication of neurocomputers that could be used in functional neuromuscular stimulation (FNS) for replacing lost motor control.

  13. Geometrical approach to neural net control of movements and posture

    NASA Technical Reports Server (NTRS)

    Pellionisz, A. J.; Ramos, C. F.

    1993-01-01

    In one approach to modeling brain function, sensorimotor integration is described as geometrical mapping among coordinates of non-orthogonal frames that are intrinsic to the system; in such a case sensors represent (covariant) afferents and motor effectors represent (contravariant) motor efferents. The neuronal networks that perform such a function are viewed as general tensor transformations among different expressions and metric tensors determining the geometry of neural functional spaces. Although the non-orthogonality of a coordinate system does not impose a specific geometry on the space, this "Tensor Network Theory of brain function" allows for the possibility that the geometry is non-Euclidean. It is suggested that investigation of the non-Euclidean nature of the geometry is the key to understanding brain function and to interpreting neuronal network function. This paper outlines three contemporary applications of such a theoretical modeling approach. The first is the analysis and interpretation of multi-electrode recordings. The internal geometries of neural networks controlling external behavior of the skeletomuscle system is experimentally determinable using such multi-unit recordings. The second application of this geometrical approach to brain theory is modeling the control of posture and movement. A preliminary simulation study has been conducted with the aim of understanding the control of balance in a standing human. The model appears to unify postural control strategies that have previously been considered to be independent of each other. Third, this paper emphasizes the importance of the geometrical approach for the design and fabrication of neurocomputers that could be used in functional neuromuscular stimulation (FNS) for replacing lost motor control.

  14. Application of Fuzzy-Logic Controller and Neural Networks Controller in Gas Turbine Speed Control and Overheating Control and Surge Control on Transient Performance

    NASA Astrophysics Data System (ADS)

    Torghabeh, A. A.; Tousi, A. M.

    2007-08-01

    This paper presents Fuzzy Logic and Neural Networks approach to Gas Turbine Fuel schedules. Modeling of non-linear system using feed forward artificial Neural Networks using data generated by a simulated gas turbine program is introduced. Two artificial Neural Networks are used , depicting the non-linear relationship between gas generator speed and fuel flow, and turbine inlet temperature and fuel flow respectively . Off-line fast simulations are used for engine controller design for turbojet engine based on repeated simulation. The Mamdani and Sugeno models are used to expression the Fuzzy system . The linguistic Fuzzy rules and membership functions are presents and a Fuzzy controller will be proposed to provide an Open-Loop control for the gas turbine engine during acceleration and deceleration . MATLAB Simulink was used to apply the Fuzzy Logic and Neural Networks analysis. Both systems were able to approximate functions characterizing the acceleration and deceleration schedules . Surge and Flame-out avoidance during acceleration and deceleration phases are then checked . Turbine Inlet Temperature also checked and controls by Neural Networks controller. This Fuzzy Logic and Neural Network Controllers output results are validated and evaluated by GSP software . The validation results are used to evaluate the generalization ability of these artificial Neural Networks and Fuzzy Logic controllers.

  15. RA induces differentiation of multipotent P19 cells towards male germ cell.

    PubMed

    Zhang, Lei; Tang, Jiangjing; Haines, Christopher J; Feng, Huai; Teng, Xiaoming; Han, Yibing

    2015-01-01

    Generating male germ cells in vitro from multipotent stem cells is still a challenge for stem cell biologists. The difficulty is caused by the lack of knowledge about spermatogenesis molecular-controlling mechanisms. In vivo, PGCs differentiate into male germ cells in a very complicated environment through many middle steps. In this study, we use the pluripotent p19 cells to test their responses to different retinoic acid (RA) concentrations by evaluating markers for stem cells (bmp4, egr3), primordial germ cells (ddx4), spermatogonia (c-kit), premeiotic cells (stra8), and male germ cells (dazl and plzf). We have found that cyp26b1, which will catalyze RA, increases dramatically in p19 cells 1 d after RA treatment. Bmp3, egr3, and stra8 are stimulated after 1 d of RA treatment and then recover to normal after 3 d of RA treatment. C-kit keeps being expressed when treated with 10 nM-4 μM RA. Dazl and plzf are gained after 3 d of stimulation. The morphology of RA (100 nM-4 μM)-treated cells changes distinctively, and cell colonies are formed. Typical neural cell-like and germ cell-like morphologies appear in the 100 nM and 4 μM RA groups, respectively. We conclude that 100-500 nM RA can cause responses in p19 cells, but a high concentration of RA (1-4 μM) can drive these pluripotent cells' differentiation towards male germ cells. However, high concentrations of RA are also toxic. Some colonies that survived from 4 μM RA begin to express ddx4 and c-kit. Selection of the c-kit(+), dazl(+), and ddx4(+) cells after RA stimulation and creating a special culture medium for their propagation might benefit successful spermatogenesis induction in vitro.

  16. Central neural control of thermoregulation and brown adipose tissue

    PubMed Central

    Morrison, Shaun F.

    2016-01-01

    Central neural circuits orchestrate the homeostatic repertoire that maintains body temperature during environmental temperature challenges and alters body temperature during the inflammatory response. This review summarizes the experimental underpinnings of our current model of the CNS pathways controlling the principal thermoeffectors for body temperature regulation: cutaneous vasoconstriction controlling heat loss, and shivering and brown adipose tissue for thermogenesis. The activation of these effectors is regulated by parallel but distinct, effector-specific, core efferent pathways within the CNS that share a common peripheral thermal sensory input. Via the lateral parabrachial nucleus, skin thermal afferent input reaches the hypothalamic preoptic area to inhibit warm-sensitive, inhibitory output neurons which control heat production by inhibiting thermogenesis-promoting neurons in the dorsomedial hypothalamus that project to thermogenesis-controlling premotor neurons in the rostral ventromedial medulla, including the raphe pallidus, that descend to provide the excitation of spinal circuits necessary to drive thermogenic thermal effectors. A distinct population of warm-sensitive preoptic neurons controls heat loss through an inhibitory input to raphe pallidus sympathetic premotor neurons controlling cutaneous vasoconstriction. The model proposed for central thermoregulatory control provides a useful platform for further understanding of the functional organization of central thermoregulation and elucidating the hypothalamic circuitry and neurotransmitters involved in body temperature regulation. PMID:26924538

  17. Central neural control of thermoregulation and brown adipose tissue.

    PubMed

    Morrison, Shaun F

    2016-04-01

    Central neural circuits orchestrate the homeostatic repertoire that maintains body temperature during environmental temperature challenges and alters body temperature during the inflammatory response. This review summarizes the experimental underpinnings of our current model of the CNS pathways controlling the principal thermoeffectors for body temperature regulation: cutaneous vasoconstriction controlling heat loss, and shivering and brown adipose tissue for thermogenesis. The activation of these effectors is regulated by parallel but distinct, effector-specific, core efferent pathways within the CNS that share a common peripheral thermal sensory input. Via the lateral parabrachial nucleus, skin thermal afferent input reaches the hypothalamic preoptic area to inhibit warm-sensitive, inhibitory output neurons which control heat production by inhibiting thermogenesis-promoting neurons in the dorsomedial hypothalamus that project to thermogenesis-controlling premotor neurons in the rostral ventromedial medulla, including the raphe pallidus, that descend to provide the excitation of spinal circuits necessary to drive thermogenic thermal effectors. A distinct population of warm-sensitive preoptic neurons controls heat loss through an inhibitory input to raphe pallidus sympathetic premotor neurons controlling cutaneous vasoconstriction. The model proposed for central thermoregulatory control provides a useful platform for further understanding of the functional organization of central thermoregulation and elucidating the hypothalamic circuitry and neurotransmitters involved in body temperature regulation. Copyright © 2016 Elsevier B.V. All rights reserved.

  18. Output feedback control of a quadrotor UAV using neural networks.

    PubMed

    Dierks, Travis; Jagannathan, Sarangapani

    2010-01-01

    In this paper, a new nonlinear controller for a quadrotor unmanned aerial vehicle (UAV) is proposed using neural networks (NNs) and output feedback. The assumption on the availability of UAV dynamics is not always practical, especially in an outdoor environment. Therefore, in this work, an NN is introduced to learn the complete dynamics of the UAV online, including uncertain nonlinear terms like aerodynamic friction and blade flapping. Although a quadrotor UAV is underactuated, a novel NN virtual control input scheme is proposed which allows all six degrees of freedom (DOF) of the UAV to be controlled using only four control inputs. Furthermore, an NN observer is introduced to estimate the translational and angular velocities of the UAV, and an output feedback control law is developed in which only the position and the attitude of the UAV are considered measurable. It is shown using Lyapunov theory that the position, orientation, and velocity tracking errors, the virtual control and observer estimation errors, and the NN weight estimation errors for each NN are all semiglobally uniformly ultimately bounded (SGUUB) in the presence of bounded disturbances and NN functional reconstruction errors while simultaneously relaxing the separation principle. The effectiveness of proposed output feedback control scheme is then demonstrated in the presence of unknown nonlinear dynamics and disturbances, and simulation results are included to demonstrate the theoretical conjecture.

  19. Neural network evaluation of reflectometry density profiles for control purposes

    NASA Astrophysics Data System (ADS)

    Santos, J.; Nunes, F.; Manso, M.; Nunes, I.

    1999-01-01

    Broadband reflectometry is a diagnostic that is able to measure the density profile with high spatial and temporal resolutions, therefore it can be used to improve the performance of advanced tokamak operation modes and to supplement or correct the magnetics for plasma position control. To perform these tasks real-time processing is needed. Here we present a method that uses a neural network to make a fast evaluation of radial positions for selected density layers. Typical ASDEX Upgrade density profiles were used to generate the simulated network training and test sets. It is shown that the method has the potential to meet the tight timing requirements of control applications with the required accuracy. The network is also able to provide an accurate estimation of the position of density layers below the first density layer which is probed by an O-mode reflectometer, provided that it is trained with a realistic density profile model.

  20. A High-Performance Neural Prosthesis Enabled by Control Algorithm Design

    PubMed Central

    Gilja, Vikash; Nuyujukian, Paul; Chestek, Cindy A.; Cunningham, John P.; Yu, Byron M.; Fan, Joline M.; Churchland, Mark M.; Kaufman, Matthew T.; Kao, Jonathan C.; Ryu, Stephen I.; Shenoy, Krishna V.

    2012-01-01

    Neural prostheses translate neural activity from the brain into control signals for guiding prosthetic devices, such as computer cursors and robotic limbs, and thus offer disabled patients greater interaction with the world. However, relatively low performance remains a critical barrier to successful clinical translation; current neural prostheses are considerably slower with less accurate control than the native arm. Here we present a new control algorithm, the recalibrated feedback intention-trained Kalman filter (ReFIT-KF), that incorporates assumptions about the nature of closed loop neural prosthetic control. When tested with rhesus monkeys implanted with motor cortical electrode arrays, the ReFIT-KF algorithm outperforms existing neural prostheses in all measured domains and halves acquisition time. This control algorithm permits sustained uninterrupted use for hours and generalizes to more challenging tasks without retraining. Using this algorithm, we demonstrate repeatable high performance for years after implantation across two monkeys, thereby increasing the clinical viability of neural prostheses. PMID:23160043

  1. Neural Network Control of the Integrated Power System

    DTIC Science & Technology

    2000-05-07

    NeuralWorks Explorer. Pittsburgh, NeuralWare, 1998. 11. Barron, Roger L., Richard L. Cellucci , Paul R. Jordan, III, Norman E. Beam, Paul Hess and Andrew... Cellucci , Paul R. Jordan, III, Norman E. Beam, Paul Hess and Andrew Barron. “Application of Polynomial Neural Networks to FDIE and Reconfigurable

  2. Biomimetic Hybrid Feedback Feedforward Neural-Network Learning Control.

    PubMed

    Pan, Yongping; Yu, Haoyong

    2017-06-01

    This brief presents a biomimetic hybrid feedback feedforward neural-network learning control (NNLC) strategy inspired by the human motor learning control mechanism for a class of uncertain nonlinear systems. The control structure includes a proportional-derivative controller acting as a feedback servo machine and a radial-basis-function (RBF) NN acting as a feedforward predictive machine. Under the sufficient constraints on control parameters, the closed-loop system achieves semiglobal practical exponential stability, such that an accurate NN approximation is guaranteed in a local region along recurrent reference trajectories. Compared with the existing NNLC methods, the novelties of the proposed method include: 1) the implementation of an adaptive NN control to guarantee plant states being recurrent is not needed, since recurrent reference signals rather than plant states are utilized as NN inputs, which greatly simplifies the analysis and synthesis of the NNLC and 2) the domain of NN approximation can be determined a priori by the given reference signals, which leads to an easy construction of the RBF-NNs. Simulation results have verified the effectiveness of this approach.

  3. Biomimetic Hybrid Feedback Feedforward Neural-Network Learning Control.

    PubMed

    Pan, Yongping; Yu, Haoyong

    2016-03-30

    This brief presents a biomimetic hybrid feedback feedforward neural-network learning control (NNLC) strategy inspired by the human motor learning control mechanism for a class of uncertain nonlinear systems. The control structure includes a proportional-derivative controller acting as a feedback servo machine and a radial-basis-function (RBF) NN acting as a feedforward predictive machine. Under the sufficient constraints on control parameters, the closed-loop system achieves semiglobal practical exponential stability, such that an accurate NN approximation is guaranteed in a local region along recurrent reference traj- ectories. Compared with the existing NNLC methods, the novelties of the proposed method include: 1) the implementation of an adaptive NN control to guarantee plant states being recurrent is not needed, since recurrent reference signals rather than plant states are utilized as NN inputs, which greatly simplifies the analysis and synthesis of the NNLC and 2) the domain of NN approximation can be determined a priori by the given reference signals, which leads to an easy construction of the RBF-NNs. Simulation results have verified the effectiveness of this approach.

  4. Frequency domain active vibration control of a flexible plate based on neural networks

    NASA Astrophysics Data System (ADS)

    Liu, Jinxin; Chen, Xuefeng; He, Zhengjia

    2013-06-01

    A neural-network (NN)-based active control system was proposed to reduce the low frequency noise radiation of the simply supported flexible plate. Feedback control system was built, in which neural network controller (NNC) and neural network identifier (NNI) were applied. Multi-frequency control in frequency domain was achieved by simulation through the NN-based control systems. A pre-testing experiment of the control system on a real simply supported plate was conducted. The NN-based control algorithm was shown to perform effectively. These works lay a solid foundation for the active vibration control of mechanical structures.

  5. Neural Control of Rising and Falling Tones in Mandarin Speakers Who Stutter

    ERIC Educational Resources Information Center

    Howell, Peter; Jiang, Jing; Peng, Danling; Lu, Chunming

    2012-01-01

    Neural control of rising and falling tones in Mandarin people who stutter (PWS) was examined by comparing with that which occurs in fluent speakers [Howell, Jiang, Peng, and Lu (2012). Neural control of fundamental frequency rise and fall in Mandarin tones. "Brain and Language, 121"(1), 35-46]. Nine PWS and nine controls were scanned. Functional…

  6. Neural Control of Rising and Falling Tones in Mandarin Speakers Who Stutter

    ERIC Educational Resources Information Center

    Howell, Peter; Jiang, Jing; Peng, Danling; Lu, Chunming

    2012-01-01

    Neural control of rising and falling tones in Mandarin people who stutter (PWS) was examined by comparing with that which occurs in fluent speakers [Howell, Jiang, Peng, and Lu (2012). Neural control of fundamental frequency rise and fall in Mandarin tones. "Brain and Language, 121"(1), 35-46]. Nine PWS and nine controls were scanned. Functional…

  7. Neural networks in front-end processing and control

    SciTech Connect

    Lister, J.B.; Schnurrenberger, H.; Staeheli, N.; Stockhammer, N.; Duperrex, P.A.; Moret, J.M. )

    1992-04-01

    Research into neural networks has gained a large following in recent years. In spite of the long term timescale of this Artificial Intelligence research, the tools which the community is developing can already find useful applications to real practical problems in experimental research. One of the main advantages of the parallel algorithms being developed in AI is the structural simplicity of the required hardware implementation, and the simple nature of the calculations involved. This makes these techniques ideal for problems in which both speed and data volume reduction are important, the case for most front-end processing tasks. In this paper the authors illustrate the use of a particular neural network known as the Multi-Layer Perceptron as a method for solving several different tasks, all drawn from the field of Tokamak research. The authors also briefly discuss the use of the Multi-Layer Perceptron as a non-linear controller in a feedback loop. The authors outline the type of problem which can be usefully addressed by these techniques, even before the large-scale parallel processing hardware currently under development becomes cheaply available. The authors also present some of the difficulties encountered in applying these networks.

  8. Neural conflict-control mechanisms improve memory for target stimuli.

    PubMed

    Krebs, Ruth M; Boehler, Carsten N; De Belder, Maya; Egner, Tobias

    2015-03-01

    According to conflict-monitoring models, conflict serves as an internal signal for reinforcing top-down attention to task-relevant information. While evidence based on measures of ongoing task performance supports this idea, implications for long-term consequences, that is, memory, have not been tested yet. Here, we evaluated the prediction that conflict-triggered attentional enhancement of target-stimulus processing should be associated with superior subsequent memory for those stimuli. By combining functional magnetic resonance imaging (fMRI) with a novel variant of a face-word Stroop task that employed trial-unique face stimuli as targets, we were able to assess subsequent (incidental) memory for target faces as a function of whether a given face had previously been accompanied by congruent, neutral, or incongruent (conflicting) distracters. In line with our predictions, incongruent distracters not only induced behavioral conflict, but also gave rise to enhanced memory for target faces. Moreover, conflict-triggered neural activity in prefrontal and parietal regions was predictive of subsequent retrieval success, and displayed conflict-enhanced functional coupling with medial-temporal lobe regions. These data provide support for the proposal that conflict evokes enhanced top-down attention to task-relevant stimuli, thereby promoting their encoding into long-term memory. Our findings thus delineate the neural mechanisms of a novel link between cognitive control and memory. © The Author 2013. Published by Oxford University Press. All rights reserved. For Permissions, please e-mail: journals.permissions@oup.com.

  9. Neural Conflict–Control Mechanisms Improve Memory for Target Stimuli

    PubMed Central

    Krebs, Ruth M.; Boehler, Carsten N.; De Belder, Maya; Egner, Tobias

    2015-01-01

    According to conflict-monitoring models, conflict serves as an internal signal for reinforcing top-down attention to task-relevant information. While evidence based on measures of ongoing task performance supports this idea, implications for long-term consequences, that is, memory, have not been tested yet. Here, we evaluated the prediction that conflict-triggered attentional enhancement of target-stimulus processing should be associated with superior subsequent memory for those stimuli. By combining functional magnetic resonance imaging (fMRI) with a novel variant of a face-word Stroop task that employed trial-unique face stimuli as targets, we were able to assess subsequent (incidental) memory for target faces as a function of whether a given face had previously been accompanied by congruent, neutral, or incongruent (conflicting) distracters. In line with our predictions, incongruent distracters not only induced behavioral conflict, but also gave rise to enhanced memory for target faces. Moreover, conflict-triggered neural activity in prefrontal and parietal regions was predictive of subsequent retrieval success, and displayed conflict-enhanced functional coupling with medial-temporal lobe regions. These data provide support for the proposal that conflict evokes enhanced top-down attention to task-relevant stimuli, thereby promoting their encoding into long-term memory. Our findings thus delineate the neural mechanisms of a novel link between cognitive control and memory. PMID:24108799

  10. Control of Neural Stem Cell Survival by Electroactive Polymer Substrates

    PubMed Central

    Lundin, Vanessa; Herland, Anna; Berggren, Magnus

    2011-01-01

    Stem cell function is regulated by intrinsic as well as microenvironmental factors, including chemical and mechanical signals. Conducting polymer-based cell culture substrates provide a powerful tool to control both chemical and physical stimuli sensed by stem cells. Here we show that polypyrrole (PPy), a commonly used conducting polymer, can be tailored to modulate survival and maintenance of rat fetal neural stem cells (NSCs). NSCs cultured on PPy substrates containing different counter ions, dodecylbenzenesulfonate (DBS), tosylate (TsO), perchlorate (ClO4) and chloride (Cl), showed a distinct correlation between PPy counter ion and cell viability. Specifically, NSC viability was high on PPy(DBS) but low on PPy containing TsO, ClO4 and Cl. On PPy(DBS), NSC proliferation and differentiation was comparable to standard NSC culture on tissue culture polystyrene. Electrical reduction of PPy(DBS) created a switch for neural stem cell viability, with widespread cell death upon polymer reduction. Coating the PPy(DBS) films with a gel layer composed of a basement membrane matrix efficiently prevented loss of cell viability upon polymer reduction. Here we have defined conditions for the biocompatibility of PPy substrates with NSC culture, critical for the development of devices based on conducting polymers interfacing with NSCs. PMID:21494605

  11. Synchronization Control of Neural Networks With State-Dependent Coefficient Matrices.

    PubMed

    Zhang, Junfeng; Zhao, Xudong; Huang, Jun

    2016-11-01

    This brief is concerned with synchronization control of a class of neural networks with state-dependent coefficient matrices. Being different from the existing drive-response neural networks in the literature, a novel model of drive-response neural networks is established. The concepts of uniformly ultimately bounded (UUB) synchronization and convex hull Lyapunov function are introduced. Then, by using the convex hull Lyapunov function approach, the UUB synchronization design of the drive-response neural networks is proposed, and a delay-independent control law guaranteeing the bounded synchronization of the neural networks is constructed. All present conditions are formulated in terms of bilinear matrix inequalities. By comparison, it is shown that the neural networks obtained in this brief are less conservative than those ones in the literature, and the bounded synchronization is suitable for the novel drive-response neural networks. Finally, an illustrative example is given to verify the validity of the obtained results.

  12. Neural net robot controller with guaranteed tracking performance.

    PubMed

    Lewis, F L; Liu, K; Yesildirek, A

    1995-01-01

    A neural net (NN) controller for a general serial-link robot arm is developed. The NN has two layers so that linearity in the parameters holds, but the "net functional reconstruction error" and robot disturbance input are taken as nonzero. The structure of the NN controller is derived using a filtered error/passivity approach, leading to new NN passivity properties. Online weight tuning algorithms including a correction term to backpropagation, plus an added robustifying signal, guarantee tracking as well as bounded NN weights. The NN controller structure has an outer tracking loop so that the NN weights are conveniently initialized at zero, with learning occurring online in real-time. It is shown that standard backpropagation, when used for real-time closed-loop control, can yield unbounded NN weights if (1) the net cannot exactly reconstruct a certain required control function or (2) there are bounded unknown disturbances in the robot dynamics. The role of persistency of excitation is explored.

  13. Control of Complex Dynamic Systems by Neural Networks

    NASA Technical Reports Server (NTRS)

    Spall, James C.; Cristion, John A.

    1993-01-01

    This paper considers the use of neural networks (NN's) in controlling a nonlinear, stochastic system with unknown process equations. The NN is used to model the resulting unknown control law. The approach here is based on using the output error of the system to train the NN controller without the need to construct a separate model (NN or other type) for the unknown process dynamics. To implement such a direct adaptive control approach, it is required that connection weights in the NN be estimated while the system is being controlled. As a result of the feedback of the unknown process dynamics, however, it is not possible to determine the gradient of the loss function for use in standard (back-propagation-type) weight estimation algorithms. Therefore, this paper considers the use of a new stochastic approximation algorithm for this weight estimation, which is based on a 'simultaneous perturbation' gradient approximation that only requires the system output error. It is shown that this algorithm can greatly enhance the efficiency over more standard stochastic approximation algorithms based on finite-difference gradient approximations.

  14. Adaptive fuzzy-neural-network control for maglev transportation system.

    PubMed

    Wai, Rong-Jong; Lee, Jeng-Dao

    2008-01-01

    A magnetic-levitation (maglev) transportation system including levitation and propulsion control is a subject of considerable scientific interest because of highly nonlinear and unstable behaviors. In this paper, the dynamic model of a maglev transportation system including levitated electromagnets and a propulsive linear induction motor (LIM) based on the concepts of mechanical geometry and motion dynamics is developed first. Then, a model-based sliding-mode control (SMC) strategy is introduced. In order to alleviate chattering phenomena caused by the inappropriate selection of uncertainty bound, a simple bound estimation algorithm is embedded in the SMC strategy to form an adaptive sliding-mode control (ASMC) scheme. However, this estimation algorithm is always a positive value so that tracking errors introduced by any uncertainty will cause the estimated bound increase even to infinity with time. Therefore, it further designs an adaptive fuzzy-neural-network control (AFNNC) scheme by imitating the SMC strategy for the maglev transportation system. In the model-free AFNNC, online learning algorithms are designed to cope with the problem of chattering phenomena caused by the sign action in SMC design, and to ensure the stability of the controlled system without the requirement of auxiliary compensated controllers despite the existence of uncertainties. The outputs of the AFNNC scheme can be directly supplied to the electromagnets and LIM without complicated control transformations for relaxing strict constrains in conventional model-based control methodologies. The effectiveness of the proposed control schemes for the maglev transportation system is verified by numerical simulations, and the superiority of the AFNNC scheme is indicated in comparison with the SMC and ASMC strategies.

  15. New multipotent tetracyclic tacrines with neuroprotective activity.

    PubMed

    Marco-Contelles, José; León, Rafael; de los Ríos, Cristóbal; García, Antonio G; López, Manuela G; Villarroya, Mercedes

    2006-12-15

    The synthesis and the biological evaluation (neuroprotection, voltage dependent calcium channel blockade, AChE/BuChE inhibitory activity and propidium binding) of new multipotent tetracyclic tacrine analogues (5-13) are described. Compounds 7, 8 and 11 showed a significant neuroprotective effect on neuroblastoma cells subjected to Ca(2+) overload or free radical induced toxicity. These compounds are modest AChE inhibitors [the best inhibitor (11) is 50-fold less potent than tacrine], but proved to be very selective, as for most of them no BuChE inhibition was observed. In addition, the propidium displacement experiments showed that these compounds bind AChE to the peripheral anionic site (PAS) of AChE and, consequently, are potential agents that can prevent the aggregation of beta-amyloid. Overall, compound 8 is a modest and selective AChE inhibitor, but an efficient neuroprotective agent against 70mM K(+) and 60microM H(2)O(2). Based on these results, some of these molecules can be considered as lead candidates for the further development of anti-Alzheimer drugs.

  16. Modeling sarcomagenesis using multipotent mesenchymal stem cells

    PubMed Central

    Rodriguez, Rene; Rubio, Ruth; Menendez, Pablo

    2012-01-01

    Because of their unique properties, multipotent mesenchymal stem cells (MSCs) represent one of the most promising adult stem cells being used worldwide in a wide array of clinical applications. Overall, compelling evidence supports the long-term safety of ex vivo expanded human MSCs, which do not seem to transform spontaneously. However, experimental data reveal a link between MSCs and cancer, and MSCs have been reported to inhibit or promote tumor growth depending on yet undefined conditions. Interestingly, solid evidence based on transgenic mice and genetic intervention of MSCs has placed these cells as the most likely cell of origin for certain sarcomas. This research area is being increasingly explored to develop accurate MSC-based models of sarcomagenesis, which will be undoubtedly valuable in providing a better understanding about the etiology and pathogenesis of mesenchymal cancer, eventually leading to the development of more specific therapies directed against the sarcoma-initiating cell. Unfortunately, still little is known about the mechanisms underlying MSC transformation and further studies are required to develop bona fide sarcoma models based on human MSCs. Here, we comprehensively review the existing MSC-based models of sarcoma and discuss the most common mechanisms leading to tumoral transformation of MSCs and sarcomagenesis. PMID:21931359

  17. Multiobjective algebraic synthesis of neural control systems by implicit model following.

    PubMed

    Ferrari, Silvia

    2009-03-01

    The advantages brought about by using classical linear control theory in conjunction with neural approximators have long been recognized in the literature. In particular, using linear controllers to obtain the starting neural control design has been shown to be a key step for the successful development and implementation of adaptive-critic neural controllers. Despite their adaptive capabilities, neural controllers are often criticized for not providing the same performance and stability guarantees as classical linear designs. Therefore, this paper develops an algebraic synthesis procedure for designing dynamic output-feedback neural controllers that are closed-loop stable and meet the same performance objectives as any classical linear design. The performance synthesis problem is addressed by deriving implicit model-following algebraic relationships between model matrices, obtained from the classical design, and the neural control parameters. Additional linear matrix inequalities (LMIs) conditions for closed-loop exponential stability of the neural controller are derived using existing integral quadratic constraints (IQCs) for operators with repeated slope-restricted nonlinearities. The approach is demonstrated by designing a recurrent neural network controller for a highly maneuverable tailfin-controlled missile that meets multiple design objectives, including pole placement for transient tuning, H(infinity) and H(2) performance in the presence of parameter uncertainty, and command-input tracking.

  18. Reconfigurable Flight Control Design using a Robust Servo LQR and Radial Basis Function Neural Networks

    NASA Technical Reports Server (NTRS)

    Burken, John J.

    2005-01-01

    This viewgraph presentation reviews the use of a Robust Servo Linear Quadratic Regulator (LQR) and a Radial Basis Function (RBF) Neural Network in reconfigurable flight control designs in adaptation to a aircraft part failure. The method uses a robust LQR servomechanism design with model Reference adaptive control, and RBF neural networks. During the failure the LQR servomechanism behaved well, and using the neural networks improved the tracking.

  19. A Unilateral Negative Feedback Loop Between miR-200 microRNAs and Sox2/E2F3 Controls Neural Progenitor Cell-Cycle Exit and Differentiation

    PubMed Central

    Peng, Changgeng; Li, Na; Ng, Yen-Kar; Zhang, Jingzhong; Meier, Florian; Theis, Fabian J.; Merkenschlager, Matthias; Chen, Wei

    2012-01-01

    MicroRNAs have emerged as key posttranscriptional regulators of gene expression during vertebrate development. We show that the miR-200 family plays a crucial role for the proper generation and survival of ventral neuronal populations in the murine midbrain/hindbrain region, including midbrain dopaminergic neurons, by directly targeting the pluripotency factor Sox2 and the cell-cycle regulator E2F3 in neural stem/progenitor cells. The lack of a negative regulation of Sox2 and E2F3 by miR-200 in conditional Dicer1 mutants (En1+/Cre; Dicer1flox/flox mice) and after miR-200 knockdown in vitro leads to a strongly reduced cell-cycle exit and neuronal differentiation of ventral midbrain/hindbrain (vMH) neural progenitors, whereas the opposite effect is seen after miR-200 overexpression in primary vMH cells. Expression of miR-200 is in turn directly regulated by Sox2 and E2F3, thereby establishing a unilateral negative feedback loop required for the cell-cycle exit and neuronal differentiation of neural stem/progenitor cells. Our findings suggest that the posttranscriptional regulation of Sox2 and E2F3 by miR-200 family members might be a general mechanism to control the transition from a pluripotent/multipotent stem/progenitor cell to a postmitotic and more differentiated cell. PMID:22993445

  20. Neural and hormonal control of postecdysial behaviors in insects.

    PubMed

    White, Benjamin H; Ewer, John

    2014-01-01

    The shedding of the old exoskeleton that occurs in insects at the end of a molt (a process called ecdysis) is typically followed by the expansion and tanning of a new one. At the adult molt, these postecdysial processes include expansion and hardening of the wings. Here we describe recent advances in understanding the neural and hormonal control of wing expansion and hardening, focusing on work using Drosophila melanogaster in which genetic manipulations have permitted detailed investigation of postecdysial processes and their modulation by sensory input. To place this work in context, we briefly review recent progress in understanding the neuroendocrine regulation of ecdysis, which appears to be largely conserved across insect species. Investigations into the neuroendocrine networks that regulate ecdysial and postecdysial behaviors provide insights into how stereotyped, yet environmentally responsive, sequences are generated and how they develop and evolve.

  1. Neural and Hormonal Control of Postecdysial Behaviors in Insects

    PubMed Central

    White, Benjamin H.; Ewer, John

    2016-01-01

    The shedding of the old exoskeleton that occurs in insects at the end of a molt (a process called ecdysis) is typically followed by the expansion and tanning of a new one. At the adult molt, these postecdysial processes include expanding and hardening the wings. Here we describe recent advances in understanding the neural and hormonal control of wing expansion and hardening, focusing on work done in Drosophila where genetic manipulations have permitted a detailed investigation of postecdysial processes and their modulation by sensory input. To place this work in context, we briefly review recent progress in understanding the neuroendocrine regulation of ecdysis, which appears to be largely conserved across insect species. Investigations into the neuroendocrine networks that regulate ecdysial and postecdysial behaviors, will provide insights into how stereotyped, yet environmentally-responsive, sequences are generated, as well as into how they develop and evolve. PMID:24160420

  2. Pinning-controlled synchronization of delayed neural networks with distributed-delay coupling via impulsive control.

    PubMed

    He, Wangli; Qian, Feng; Cao, Jinde

    2017-01-01

    This paper investigates pinning synchronization of coupled neural networks with both current-state coupling and distributed-delay coupling via impulsive control. A novel impulse pinning strategy involving pinning ratio is proposed and a general criterion is derived to ensure an array of neural networks with two different topologies synchronizes with the desired trajectory. In order to handle the difficulties of high-dimension criteria, some inequality techniques and matrix decomposition methods through simultaneous diagonalization of two matrices are introduced and low-dimensional criteria are obtained. Finally, an illustrative example is given to show the effectiveness of the proposed method. Copyright © 2016 Elsevier Ltd. All rights reserved.

  3. Control of neural synchrony using channelrhodopsin-2: a computational study.

    PubMed

    Talathi, Sachin S; Carney, Paul R; Khargonekar, Pramod P

    2011-08-01

    In this paper, we present an optical stimulation based approach to induce 1:1 in-phase synchrony in a network of coupled interneurons wherein each interneuron expresses the light sensitive protein channelrhodopsin-2 (ChR2). We begin with a transition rate model for the channel kinetics of ChR2 in response to light stimulation. We then define "functional optical time response curve (fOTRC)" as a measure of the response of a periodically firing interneuron (transfected with ChR2 ion channel) to a periodic light pulse stimulation. We specifically consider the case of unidirectionally coupled (UCI) network and propose an open loop control architecture that uses light as an actuation signal to induce 1:1 in-phase synchrony in the UCI network. Using general properties of the spike time response curves (STRCs) for Type-1 neuron model (Ermentrout, Neural Comput 8:979-1001, 1996) and fOTRC, we estimate the (open loop) optimal actuation signal parameters required to induce 1:1 in-phase synchrony. We then propose a closed loop controller architecture and a controller algorithm to robustly sustain stable 1:1 in-phase synchrony in the presence of unknown deviations in the network parameters. Finally, we test the performance of this closed-loop controller in a network of mutually coupled (MCI) interneurons.

  4. Neural Dynamics of Attentional Cross-Modality Control

    PubMed Central

    Rabinovich, Mikhail; Tristan, Irma; Varona, Pablo

    2013-01-01

    Attentional networks that integrate many cortical and subcortical elements dynamically control mental processes to focus on specific events and make a decision. The resources of attentional processing are finite. Nevertheless, we often face situations in which it is necessary to simultaneously process several modalities, for example, to switch attention between players in a soccer field. Here we use a global brain mode description to build a model of attentional control dynamics. This model is based on sequential information processing stability conditions that are realized through nonsymmetric inhibition in cortical circuits. In particular, we analyze the dynamics of attentional switching and focus in the case of parallel processing of three interacting mental modalities. Using an excitatory-inhibitory network, we investigate how the bifurcations between different attentional control strategies depend on the stimuli and analyze the relationship between the time of attention focus and the strength of the stimuli. We discuss the interplay between attention and decision-making: in this context, a decision-making process is a controllable bifurcation of the attention strategy. We also suggest the dynamical evaluation of attentional resources in neural sequence processing. PMID:23696890

  5. Counterpropagation fuzzy-neural network for city flood control system

    NASA Astrophysics Data System (ADS)

    Chang, Fi-John; Chang, Kai-Yao; Chang, Li-Chiu

    2008-08-01

    SummaryThe counterpropagation fuzzy-neural network (CFNN) can effectively solve highly non-linear control problems and robustly tune the complicated conversion of human intelligence to logical operating system. We propose the CFNN for extracting flood control knowledge in the form of fuzzy if-then rules to simulate a human-like operating strategy in a city flood control system through storm events. The Yu-Cheng pumping station, Taipei City, is used as a case study, where storm and operating records are used to train and verify the model's performance. Historical records contain information of rainfall amounts, inner water levels, and pump and gate operating records in torrential rain events. Input information can be classified according to its similarity and mapped into the hidden layer to form precedent if-then rules, while the output layer gradually adjusts the linked weights to obtain the optimal operating result. A model with increasing historical data can automatically increase rules and thus enhance its predicting ability. The results indicate the network has a simple basic structure with efficient learning ability to construct a human-like operating strategy and has the potential ability to automatically operating the flood control system.

  6. PleiotRHOpic: Rho pathways are essential for all stages of Neural Crest development.

    PubMed

    Fort, Philippe; Théveneau, Eric

    2014-01-01

    Neural Crest (NC) cells are a multipotent migratory stem cell population unique to vertebrates, which contributes extensively to the formation of a wide array of neural and non-neural structures in the embryo. NC cells originate in the ectoderm at the border of the neural tube, undergo an epithelial-mesenchymal transition and acquire outstanding individual and collective migratory properties that allow them to disseminate and differentiate to different parts of the body. This exquisite capacity to switch from an epithelium to motile cells represents both a puzzling biological issue and an attractive model to address the basic mechanisms of cell migration and their alteration during cancer progression. Here we review how signaling pathways controlled by Rho GTPases, key players in cell adhesion, contraction, migration and polarity, contribute to the control the different phases of NC development.

  7. Hybrid neural network fraction integral terminal sliding mode control of an Inchworm robot manipulator

    NASA Astrophysics Data System (ADS)

    Rahmani, Mehran; Ghanbari, Ahmad; Ettefagh, Mir Mohammad

    2016-12-01

    This paper proposes a control scheme based on the fraction integral terminal sliding mode control and adaptive neural network. It deals with the system model uncertainties and the disturbances to improve the control performance of the Inchworm robot manipulator. A fraction integral terminal sliding mode control applies to the Inchworm robot manipulator to obtain the initial stability. Also, an adaptive neural network is designed to approximate the system uncertainties and unknown disturbances to reduce chattering phenomena. The weight matrix of the proposed adaptive neural network can be updated online, according to the current state error information. The stability of the proposed control method is proved by Lyapunov theory. The performance of the adaptive neural network fraction integral terminal sliding mode control is compared with three other conventional controllers such as sliding mode control, integral terminal sliding mode control and fraction integral terminal sliding mode control. Simulation results show the effectiveness of the proposed control method.

  8. A neural network controller for the path tracking control of a hopping robot involving time delays.

    PubMed

    Chaitanya, V Sree Krishna; Reddy, M Srinivas

    2006-02-01

    In this paper a hopping robot motion with offset mass is discussed. A mathematical model has been considered and an efficient single layered neural network has been developed to suit to the dynamics of the hopping robot, which ensures guaranteed tracking performance leading to the stability of the otherwise unstable system. The neural network takes advantage of the robot regressor dynamics that expresses the highly nonlinear robot dynamics in a linear form in terms of the known and unknown robot parameters. Time delays in the control mechanism play a vital role in the motion of hopping robots. The present work also enables us to estimate the maximum time delay admissible with out losing the guaranteed tracking performance. Further this neural network does not require offline training procedures. The salient features are highlighted by appropriate simulations.

  9. Establishing neural crest identity: a gene regulatory recipe

    PubMed Central

    Simões-Costa, Marcos; Bronner, Marianne E.

    2015-01-01

    The neural crest is a stem/progenitor cell population that contributes to a wide variety of derivatives, including sensory and autonomic ganglia, cartilage and bone of the face and pigment cells of the skin. Unique to vertebrate embryos, it has served as an excellent model system for the study of cell behavior and identity owing to its multipotency, motility and ability to form a broad array of cell types. Neural crest development is thought to be controlled by a suite of transcriptional and epigenetic inputs arranged hierarchically in a gene regulatory network. Here, we examine neural crest development from a gene regulatory perspective and discuss how the underlying genetic circuitry results in the features that define this unique cell population. PMID:25564621

  10. Emergence of Coordinated Neural Dynamics Underlies Neuroprosthetic Learning and Skillful Control.

    PubMed

    Athalye, Vivek R; Ganguly, Karunesh; Costa, Rui M; Carmena, Jose M

    2017-02-22

    During motor learning, movements and underlying neural activity initially exhibit large trial-to-trial variability that decreases over learning. However, it is unclear how task-relevant neural populations coordinate to explore and consolidate activity patterns. Exploration and consolidation could happen for each neuron independently, across the population jointly, or both. We disambiguated among these possibilities by investigating how subjects learned de novo to control a brain-machine interface using neurons from motor cortex. We decomposed population activity into the sum of private and shared signals, which produce uncorrelated and correlated neural variance, respectively, and examined how these signals' evolution causally shapes behavior. We found that initially large trial-to-trial movement and private neural variability reduce over learning. Concomitantly, task-relevant shared variance increases, consolidating a manifold containing consistent neural trajectories that generate refined control. These results suggest that motor cortex acquires skillful control by leveraging both independent and coordinated variance to explore and consolidate neural patterns.

  11. Active Control of Wind-Tunnel Model Aeroelastic Response Using Neural Networks

    NASA Technical Reports Server (NTRS)

    Scott, Robert C.

    2000-01-01

    NASA Langley Research Center, Hampton, VA 23681 Under a joint research and development effort conducted by the National Aeronautics and Space Administration and The Boeing Company (formerly McDonnell Douglas) three neural-network based control systems were developed and tested. The control systems were experimentally evaluated using a transonic wind-tunnel model in the Langley Transonic Dynamics Tunnel. One system used a neural network to schedule flutter suppression control laws, another employed a neural network in a predictive control scheme, and the third employed a neural network in an inverse model control scheme. All three of these control schemes successfully suppressed flutter to or near the limits of the testing apparatus, and represent the first experimental applications of neural networks to flutter suppression. This paper will summarize the findings of this project.

  12. Synchronization of Switched Neural Networks With Communication Delays via the Event-Triggered Control.

    PubMed

    Wen, Shiping; Zeng, Zhigang; Chen, Michael Z Q; Huang, Tingwen

    2017-10-01

    This paper addresses the issue of synchronization of switched delayed neural networks with communication delays via event-triggered control. For synchronizing coupled switched neural networks, we propose a novel event-triggered control law which could greatly reduce the number of control updates for synchronization tasks of coupled switched neural networks involving embedded microprocessors with limited on-board resources. The control signals are driven by properly defined events, which depend on the measurement errors and current-sampled states. By using a delay system method, a novel model of synchronization error system with delays is proposed with the communication delays and event-triggered control in the unified framework for coupled switched neural networks. The criteria are derived for the event-triggered synchronization analysis and control synthesis of switched neural networks via the Lyapunov-Krasovskii functional method and free weighting matrix approach. A numerical example is elaborated on to illustrate the effectiveness of the derived results.

  13. Robustness of a distributed neural network controller for locomotion in a hexapod robot

    NASA Technical Reports Server (NTRS)

    Chiel, Hillel J.; Beer, Randall D.; Quinn, Roger D.; Espenschied, Kenneth S.

    1992-01-01

    A distributed neural-network controller for locomotion, based on insect neurobiology, has been used to control a hexapod robot. How robust is this controller? Disabling any single sensor, effector, or central component did not prevent the robot from walking. Furthermore, statically stable gaits could be established using either sensor input or central connections. Thus, a complex interplay between central neural elements and sensor inputs is responsible for the robustness of the controller and its ability to generate a continuous range of gaits. These results suggest that biologically inspired neural-network controllers may be a robust method for robotic control.

  14. Robustness of a distributed neural network controller for locomotion in a hexapod robot

    NASA Technical Reports Server (NTRS)

    Chiel, Hillel J.; Beer, Randall D.; Quinn, Roger D.; Espenschied, Kenneth S.

    1992-01-01

    A distributed neural-network controller for locomotion, based on insect neurobiology, has been used to control a hexapod robot. How robust is this controller? Disabling any single sensor, effector, or central component did not prevent the robot from walking. Furthermore, statically stable gaits could be established using either sensor input or central connections. Thus, a complex interplay between central neural elements and sensor inputs is responsible for the robustness of the controller and its ability to generate a continuous range of gaits. These results suggest that biologically inspired neural-network controllers may be a robust method for robotic control.

  15. Neural network based adaptive control of nonlinear plants using random search optimization algorithms

    NASA Technical Reports Server (NTRS)

    Boussalis, Dhemetrios; Wang, Shyh J.

    1992-01-01

    This paper presents a method for utilizing artificial neural networks for direct adaptive control of dynamic systems with poorly known dynamics. The neural network weights (controller gains) are adapted in real time using state measurements and a random search optimization algorithm. The results are demonstrated via simulation using two highly nonlinear systems.

  16. Neural network based adaptive control of nonlinear plants using random search optimization algorithms

    NASA Technical Reports Server (NTRS)

    Boussalis, Dhemetrios; Wang, Shyh J.

    1992-01-01

    This paper presents a method for utilizing artificial neural networks for direct adaptive control of dynamic systems with poorly known dynamics. The neural network weights (controller gains) are adapted in real time using state measurements and a random search optimization algorithm. The results are demonstrated via simulation using two highly nonlinear systems.

  17. Autonomic neural control of heart rate during dynamic exercise: revisited

    PubMed Central

    White, Daniel W; Raven, Peter B

    2014-01-01

    The accepted model of autonomic control of heart rate (HR) during dynamic exercise indicates that the initial increase is entirely attributable to the withdrawal of parasympathetic nervous system (PSNS) activity and that subsequent increases in HR are entirely attributable to increases in cardiac sympathetic activity. In the present review, we sought to re-evaluate the model of autonomic neural control of HR in humans during progressive increases in dynamic exercise workload. We analysed data from both new and previously published studies involving baroreflex stimulation and pharmacological blockade of the autonomic nervous system. Results indicate that the PSNS remains functionally active throughout exercise and that increases in HR from rest to maximal exercise result from an increasing workload-related transition from a 4 : 1 vagal–sympathetic balance to a 4 : 1 sympatho–vagal balance. Furthermore, the beat-to-beat autonomic reflex control of HR was found to be dependent on the ability of the PSNS to modulate the HR as it was progressively restrained by increasing workload-related sympathetic nerve activity. In conclusion: (i) increases in exercise workload-related HR are not caused by a total withdrawal of the PSNS followed by an increase in sympathetic tone; (ii) reciprocal antagonism is key to the transition from vagal to sympathetic dominance, and (iii) resetting of the arterial baroreflex causes immediate exercise-onset reflexive increases in HR, which are parasympathetically mediated, followed by slower increases in sympathetic tone as workloads are increased. PMID:24756637

  18. Chemo-mechanical control of neural stem cell differentiation

    NASA Astrophysics Data System (ADS)

    Geishecker, Emily R.

    Cellular processes such as adhesion, proliferation, and differentiation are controlled in part by cell interactions with the microenvironment. Cells can sense and respond to a variety of stimuli, including soluble and insoluble factors (such as proteins and small molecules) and externally applied mechanical stresses. Mechanical properties of the environment, such as substrate stiffness, have also been suggested to play an important role in cell processes. The roles of both biochemical and mechanical signaling in fate modification of stem cells have been explored independently. However, very few studies have been performed to study well-controlled chemo-mechanotransduction. The objective of this work is to design, synthesize, and characterize a chemo-mechanical substrate to encourage neuronal differentiation of C17.2 neural stem cells. In Chapter 2, Polyacrylamide (PA) gels of varying stiffnesses are functionalized with differing amounts of whole collagen to investigate the role of protein concentration in combination with substrate stiffness. As expected, neurons on the softest substrate were more in number and neuronal morphology than those on stiffer substrates. Neurons appeared locally aligned with an expansive network of neurites. Additional experiments would allow for statistical analysis to determine if and how collagen density impacts C17.2 differentiation in combination with substrate stiffness. Due to difficulties associated with whole protein approaches, a similar platform was developed using mixed adhesive peptides, derived from fibronectin and laminin, and is presented in Chapter 3. The matrix elasticity and peptide concentration can be individually modulated to systematically probe the effects of chemo-mechanical signaling on differentiation of C17.2 cells. Polyacrylamide gel stiffness was confirmed using rheological techniques and found to support values published by Yeung et al. [1]. Cellular growth and differentiation were assessed by cell counts

  19. Use of artificial neural networks as estimators and controllers

    NASA Astrophysics Data System (ADS)

    Concilio, Antonio; Sorrentino, A.

    1996-04-01

    Active noise control is one among the most promising applications of the so-called Smart Structures, because it ensures, or promises, lower weight, lower cost, more effectiveness and all what is desirable in a vehicle design process, with respect to the current solutions. More and more attention in the research world has been devoting to this argument, pushed by both political, economical and environmental reasons, the one connected to the others. Piezoceramic actuators, integrated into the structure, seem to offer the most fashionable and practical solutions among all the proposed architectures, [1-2]. As sensors, microphones demonstrated to be the most performing, above all because they give the most suitable representation of the field that has to be cancelled, [3-4]. This approach is known as Acousto-Structural Active Control, ASAC, [5]. However, according to Fuller's definition, [6] , an intelligent controller is needed to ensure the development of an "Intelligent Structure" . Its main characteristic should be represented by the capability of learning by examples, of following the structure during its evolution, of being the system "brain" . This peculiarity may be offered by Artificial Neural Networks (ANN's), [7-8]. They present other important features, like the capability, in principle, of treating non-linear as well as linear problems, [9], of identifying dynamic systems, [10], of properly acting as a controller. Then, such a net could integrate in itself the function of "system estimator" or "observer" ,and of interpolator - extrapolator and controller, contemporarily. The authors have been working on such subjects for a long time, proposing for instance ANN's as time-domain structural parameters estimators on a simple 2D element ( a framed plate), [11], as noise and vibration controllers in a FF system, [12-13], as materials damping parameters extractors from experimental data, [14]. All these applications were aimed at noise reduction problems. The

  20. Osteoarthritis-derived chondrocytes are a potential source of multipotent progenitor cells for cartilage tissue engineering.

    PubMed

    Oda, Tomoyuki; Sakai, Tadahiro; Hiraiwa, Hideki; Hamada, Takashi; Ono, Yohei; Nakashima, Motoshige; Ishizuka, Shinya; Matsukawa, Tetsuya; Yamashita, Satoshi; Tsuchiya, Saho; Ishiguro, Naoki

    2016-10-21

    The natural healing capacity of damaged articular cartilage is poor, rendering joint surface injuries a prime target for regenerative medicine. While autologous chondrocyte or mesenchymal stem cell (MSC) implantation can be applied to repair cartilage defects in young patients, no appropriate long-lasting treatment alternative is available for elderly patients with osteoarthritis (OA). Multipotent progenitor cells are reported to present in adult human articular cartilage, with a preponderance in OA cartilage. These facts led us to hypothesize the possible use of osteoarthritis-derived chondrocytes as a cell source for cartilage tissue engineering. We therefore analyzed chondrocyte- and stem cell-related markers, cell growth rate, and multipotency in OA chondrocytes (OACs) and bone marrow-derived MSCs, along with normal articular chondrocytes (ACs) as a control. OACs demonstrated similar phenotype and proliferation rate to MSCs. Furthermore, OACs exhibited multilineage differentiation ability with a greater chondrogenic differentiation ability than MSCs, which was equivalent to ACs. We conclude that chondrogenic capacity is not significantly affected by OA, and OACs could be a potential source of multipotent progenitor cells for cartilage tissue engineering. Copyright © 2016 Elsevier Inc. All rights reserved.

  1. ASSEMBLING NEURAL CREST REGULATORY CIRCUITS INTO A GENE REGULATORY NETWORK

    PubMed Central

    Betancur, Paola; Bronner-Fraser, Marianne; Sauka-Spengler, Tatjana

    2014-01-01

    The neural crest is a multipotent stem cell--like population that gives rise to a wide range of derivatives in vertebrate embryo including elements of the craniofacial skeleton and peripheral nervous system as well as melanocytes. The neural crest forms in a series of regulatory steps that include induction and specification of the prospective neural crest territory--neural plate border, specification of bona fide neural crest progenitors, and differentiation into diverse derivatives. These individual processes during neural crest ontogeny are controlled by regulatory circuits that can be assembled into a hierarchical gene regulatory network (GRN). Here we present an overview of the GRN that orchestrates the formation of cranial neural crest cells. Formulation of this network relies on information largely inferred from gene perturbation studies performed in several vertebrate model organisms. Our representation of the cranial neural crest GRN also includes information about direct regulatory interactions obtained from the cis-regulatory analyses performed to date, which increases the resolution of the architectural circuitry within the network. PMID:19575671

  2. Neural Controller Design-Based Adaptive Control for Nonlinear MIMO Systems With Unknown Hysteresis Inputs.

    PubMed

    Liu, Yan-Jun; Tong, Shaocheng; Chen, C L Philip; Li, Dong-Juan

    2016-01-01

    This paper studies an adaptive neural control for nonlinear multiple-input multiple-output systems in interconnected form. The studied systems are composed of N subsystems in pure feedback structure and the interconnection terms are contained in every equation of each subsystem. Moreover, the studied systems consider the effects of Prandtl-Ishlinskii (PI) hysteresis model. It is for the first time to study the control problem for such a class of systems. In addition, the proposed scheme removes an important assumption imposed on the previous works that the bounds of the parameters in PI hysteresis are known. The radial basis functions neural networks are employed to approximate unknown functions. The adaptation laws and the controllers are designed by employing the backstepping technique. The closed-loop system can be proven to be stable by using Lyapunov theorem. A simulation example is studied to validate the effectiveness of the scheme.

  3. An adaptive Hinfinity controller design for bank-to-turn missiles using ridge Gaussian neural networks.

    PubMed

    Lin, Chuan-Kai; Wang, Sheng-De

    2004-11-01

    A new autopilot design for bank-to-turn (BTT) missiles is presented. In the design of autopilot, a ridge Gaussian neural network with local learning capability and fewer tuning parameters than Gaussian neural networks is proposed to model the controlled nonlinear systems. We prove that the proposed ridge Gaussian neural network, which can be a universal approximator, equals the expansions of rotated and scaled Gaussian functions. Although ridge Gaussian neural networks can approximate the nonlinear and complex systems accurately, the small approximation errors may affect the tracking performance significantly. Therefore, by employing the Hinfinity control theory, it is easy to attenuate the effects of the approximation errors of the ridge Gaussian neural networks to a prescribed level. Computer simulation results confirm the effectiveness of the proposed ridge Gaussian neural networks-based autopilot with Hinfinity stabilization.

  4. Integrating multiple sensory systems to modulate neural networks controlling posture.

    PubMed

    Lavrov, I; Gerasimenko, Y; Burdick, J; Zhong, H; Roy, R R; Edgerton, V R

    2015-12-01

    In this study we investigated the ability of sensory input to produce tonic responses in hindlimb muscles to facilitate standing in adult spinal rats and tested two hypotheses: 1) whether the spinal neural networks below a complete spinal cord transection can produce tonic reactions by activating different sensory inputs and 2) whether facilitation of tonic and rhythmic responses via activation of afferents and with spinal cord stimulation could engage similar neuronal mechanisms. We used a dynamically controlled platform to generate vibration during weight bearing, epidural stimulation (at spinal cord level S1), and/or tail pinching to determine the postural control responses that can be generated by the lumbosacral spinal cord. We observed that a combination of platform displacement, epidural stimulation, and tail pinching produces a cumulative effect that progressively enhances tonic responses in the hindlimbs. Tonic responses produced by epidural stimulation alone during standing were represented mainly by monosynaptic responses, whereas the combination of epidural stimulation and tail pinching during standing or epidural stimulation during stepping on a treadmill facilitated bilaterally both monosynaptic and polysynaptic responses. The results demonstrate that tonic muscle activity after complete spinal cord injury can be facilitated by activation of specific combinations of afferent inputs associated with load-bearing proprioception and cutaneous input in the presence of epidural stimulation and indicate that whether activation of tonic or rhythmic responses is generated depends on the specific combinations of sources and types of afferents activated in the hindlimb muscles.

  5. Neural mechanisms of attentional control in mindfulness meditation.

    PubMed

    Malinowski, Peter

    2013-01-01

    The scientific interest in meditation and mindfulness practice has recently seen an unprecedented surge. After an initial phase of presenting beneficial effects of mindfulness practice in various domains, research is now seeking to unravel the underlying psychological and neurophysiological mechanisms. Advances in understanding these processes are required for improving and fine-tuning mindfulness-based interventions that target specific conditions such as eating disorders or attention deficit hyperactivity disorders. This review presents a theoretical framework that emphasizes the central role of attentional control mechanisms in the development of mindfulness skills. It discusses the phenomenological level of experience during meditation, the different attentional functions that are involved, and relates these to the brain networks that subserve these functions. On the basis of currently available empirical evidence specific processes as to how attention exerts its positive influence are considered and it is concluded that meditation practice appears to positively impact attentional functions by improving resource allocation processes. As a result, attentional resources are allocated more fully during early processing phases which subsequently enhance further processing. Neural changes resulting from a pure form of mindfulness practice that is central to most mindfulness programs are considered from the perspective that they constitute a useful reference point for future research. Furthermore, possible interrelations between the improvement of attentional control and emotion regulation skills are discussed.

  6. Neural mechanisms of attentional control in mindfulness meditation

    PubMed Central

    Malinowski, Peter

    2013-01-01

    The scientific interest in meditation and mindfulness practice has recently seen an unprecedented surge. After an initial phase of presenting beneficial effects of mindfulness practice in various domains, research is now seeking to unravel the underlying psychological and neurophysiological mechanisms. Advances in understanding these processes are required for improving and fine-tuning mindfulness-based interventions that target specific conditions such as eating disorders or attention deficit hyperactivity disorders. This review presents a theoretical framework that emphasizes the central role of attentional control mechanisms in the development of mindfulness skills. It discusses the phenomenological level of experience during meditation, the different attentional functions that are involved, and relates these to the brain networks that subserve these functions. On the basis of currently available empirical evidence specific processes as to how attention exerts its positive influence are considered and it is concluded that meditation practice appears to positively impact attentional functions by improving resource allocation processes. As a result, attentional resources are allocated more fully during early processing phases which subsequently enhance further processing. Neural changes resulting from a pure form of mindfulness practice that is central to most mindfulness programs are considered from the perspective that they constitute a useful reference point for future research. Furthermore, possible interrelations between the improvement of attentional control and emotion regulation skills are discussed. PMID:23382709

  7. Integrating multiple sensory systems to modulate neural networks controlling posture

    PubMed Central

    Gerasimenko, Y.; Burdick, J.; Zhong, H.; Roy, R. R.; Edgerton, V. R.

    2015-01-01

    In this study we investigated the ability of sensory input to produce tonic responses in hindlimb muscles to facilitate standing in adult spinal rats and tested two hypotheses: 1) whether the spinal neural networks below a complete spinal cord transection can produce tonic reactions by activating different sensory inputs and 2) whether facilitation of tonic and rhythmic responses via activation of afferents and with spinal cord stimulation could engage similar neuronal mechanisms. We used a dynamically controlled platform to generate vibration during weight bearing, epidural stimulation (at spinal cord level S1), and/or tail pinching to determine the postural control responses that can be generated by the lumbosacral spinal cord. We observed that a combination of platform displacement, epidural stimulation, and tail pinching produces a cumulative effect that progressively enhances tonic responses in the hindlimbs. Tonic responses produced by epidural stimulation alone during standing were represented mainly by monosynaptic responses, whereas the combination of epidural stimulation and tail pinching during standing or epidural stimulation during stepping on a treadmill facilitated bilaterally both monosynaptic and polysynaptic responses. The results demonstrate that tonic muscle activity after complete spinal cord injury can be facilitated by activation of specific combinations of afferent inputs associated with load-bearing proprioception and cutaneous input in the presence of epidural stimulation and indicate that whether activation of tonic or rhythmic responses is generated depends on the specific combinations of sources and types of afferents activated in the hindlimb muscles. PMID:26445868

  8. Neural network classification of myoelectric signal for prosthesis control.

    PubMed

    Kelly, M F; Parker, P A; Scott, R N

    1991-12-01

    An alternate approach to deriving control for multidegree of freedom prosthetic arms is considered. By analyzing a single-channel myoelectric signal (MES), we can extract information that can be used to identify different contraction patterns in the upper arm. These contraction patterns are generated by subjects without previous training and are naturally associated with specific functions. Using a set of normalized MES spectral features, we can identify contraction patterns for four arm functions, specifically extension and flexion of the elbow and pronation and supination of the forearm. Performing identification independent of signal power is advantageous because this can then be used as a means for deriving proportional rate control for a prosthesis. An artificial neural network implementation is applied in the classification task. By using three single-layer perceptron networks, the MES is classified, with the spectral representations as input features. Trials performed on five subjects with normal limbs resulted in an average classification performance level of 85% for the four functions.

  9. Reinforced ART (ReART) for Online Neural Control

    NASA Astrophysics Data System (ADS)

    Ediriweera, Damjee D.; Marshall, Ian W.

    Fuzzy ART has been proposed for learning stable recognition categories for an arbitrary sequence of analogue input patterns. It uses a match based learning mechanism to categorise inputs based on similarities in their features. However, this approach does not work well for neural control, where inputs have to be categorised based on the classes which they represent, rather than by the features of the input. To address this we propose and investigate ReART, a novel extension to Fuzzy ART. ReART uses a feedback based categorisation mechanism supporting class based input categorisation, online learning, and immunity from the plasticity stability dilemma. ReART is used for online control by integrating it with a separate external function which maps each ReART category to a desired output action. We test the proposal in the context of a simulated wireless data reader intended to be carried by an autonomous mobile vehicle, and show that ReART training time and accuracy are significantly better than both Fuzzy ART and Back Propagation. ReART is also compared to a Naïve Bayesian Classifier. Naïve Bayesian Classification achieves faster learning, but is less accurate in testing compared to both ReART, and Bach Propagation.

  10. Neural network based optimal control of HVAC&R systems

    NASA Astrophysics Data System (ADS)

    Ning, Min

    Heating, Ventilation, Air-Conditioning and Refrigeration (HVAC&R) systems have wide applications in providing a desired indoor environment for different types of buildings. It is well acknowledged that 30%-40% of the total energy generated is consumed by buildings and HVAC&R systems alone account for more than 50% of the building energy consumption. Low operational efficiency especially under partial load conditions and poor control are part of reasons for such high energy consumption. To improve energy efficiency, HVAC&R systems should be properly operated to maintain a comfortable and healthy indoor environment under dynamic ambient and indoor conditions with the least energy consumption. This research focuses on the optimal operation of HVAC&R systems. The optimization problem is formulated and solved to find the optimal set points for the chilled water supply temperature, discharge air temperature and AHU (air handling unit) fan static pressure such that the indoor environment is maintained with the least chiller and fan energy consumption. To achieve this objective, a dynamic system model is developed first to simulate the system behavior under different control schemes and operating conditions. The system model is modular in structure, which includes a water-cooled vapor compression chiller model and a two-zone VAV system model. A fuzzy-set based extended transformation approach is then applied to investigate the uncertainties of this model caused by uncertain parameters and the sensitivities of the control inputs with respect to the interested model outputs. A multi-layer feed forward neural network is constructed and trained in unsupervised mode to minimize the cost function which is comprised of overall energy cost and penalty cost when one or more constraints are violated. After training, the network is implemented as a supervisory controller to compute the optimal settings for the system. In order to implement the optimal set points predicted by the

  11. Robust adaptive backstepping neural networks control for spacecraft rendezvous and docking with input saturation.

    PubMed

    Xia, Kewei; Huo, Wei

    2016-05-01

    This paper presents a robust adaptive neural networks control strategy for spacecraft rendezvous and docking with the coupled position and attitude dynamics under input saturation. Backstepping technique is applied to design a relative attitude controller and a relative position controller, respectively. The dynamics uncertainties are approximated by radial basis function neural networks (RBFNNs). A novel switching controller consists of an adaptive neural networks controller dominating in its active region combined with an extra robust controller to avoid invalidation of the RBFNNs destroying stability of the system outside the neural active region. An auxiliary signal is introduced to compensate the input saturation with anti-windup technique, and a command filter is employed to approximate derivative of the virtual control in the backstepping procedure. Globally uniformly ultimately bounded of the relative states is proved via Lyapunov theory. Simulation example demonstrates effectiveness of the proposed control scheme.

  12. Synchronization criteria for generalized reaction-diffusion neural networks via periodically intermittent control.

    PubMed

    Gan, Qintao; Lv, Tianshi; Fu, Zhenhua

    2016-04-01

    In this paper, the synchronization problem for a class of generalized neural networks with time-varying delays and reaction-diffusion terms is investigated concerning Neumann boundary conditions in terms of p-norm. The proposed generalized neural networks model includes reaction-diffusion local field neural networks and reaction-diffusion static neural networks as its special cases. By establishing a new inequality, some simple and useful conditions are obtained analytically to guarantee the global exponential synchronization of the addressed neural networks under the periodically intermittent control. According to the theoretical results, the influences of diffusion coefficients, diffusion space, and control rate on synchronization are analyzed. Finally, the feasibility and effectiveness of the proposed methods are shown by simulation examples, and by choosing different diffusion coefficients, diffusion spaces, and control rates, different controlled synchronization states can be obtained.

  13. Volitional control of neural activity: implications for brain–computer interfaces

    PubMed Central

    Fetz, Eberhard E

    2007-01-01

    Successful operation of brain–computer interfaces (BCI) and brain–machine interfaces (BMI) depends significantly on the degree to which neural activity can be volitionally controlled. This paper reviews evidence for such volitional control in a variety of neural signals, with particular emphasis on the activity of cortical neurons. Some evidence comes from conventional experiments that reveal volitional modulation in neural activity related to behaviours, including real and imagined movements, cognitive imagery and shifts of attention. More direct evidence comes from studies on operant conditioning of neural activity using biofeedback, and from BCI/BMI studies in which neural activity controls cursors or peripheral devices. Limits in the degree of accuracy of control in the latter studies can be attributed to several possible factors. Some of these factors, particularly limited practice time, can be addressed with long-term implanted BCIs. Preliminary observations with implanted circuits implementing recurrent BCIs are summarized. PMID:17234689

  14. Feature selection using a neural framework with controlled redundancy.

    PubMed

    Chakraborty, Rudrasis; Pal, Nikhil R

    2015-01-01

    We first present a feature selection method based on a multilayer perceptron (MLP) neural network, called feature selection MLP (FSMLP). We explain how FSMLP can select essential features and discard derogatory and indifferent features. Such a method may pick up some useful but dependent (say correlated) features, all of which may not be needed. We then propose a general scheme for dealing with feature selection with "controlled redundancy" (CoR). The proposed scheme, named as FSMLP-CoR, can select features with a controlled redundancy both for classification and function approximation/prediction type problems. We have also proposed a new more effective training scheme named mFSMLP-CoR. The idea is general in nature and can be used with other learning schemes also. We demonstrate the effectiveness of the algorithms using several data sets including a synthetic data set. We also show that the selected features are adequate to solve the problem at hand. Here, we have considered a measure of linear dependency to control the redundancy. The use of nonlinear measures of dependency, such as mutual information, is straightforward. Here, there are some advantages of the proposed schemes. They do not require explicit evaluation of the feature subsets. Here, feature selection is integrated into designing of the decision-making system. Hence, it can look at all features together and pick up whatever is necessary. Our methods can account for possible nonlinear subtle interactions between features, as well as that between features, tools, and the problem being solved. They can also control the level of redundancy in the selected features. Of the two learning schemes, mFSMLP-CoR, not only improves the performance of the system, but also significantly reduces the dependency of the network's behavior on the initialization of connection weights.

  15. Neural-network-based fuzzy logic control system with applications on compliant robot control

    NASA Astrophysics Data System (ADS)

    Hor, MawKae; Lu, Hui L.

    1994-10-01

    In view of the success of neural network applications in inverted pendulum control, speech recognition, and other problem solving, we believe that one could inject the noise removing concepts and learning spirits into the algorithm in constructing the neural networks and apply it to the various tasks such as compliant coordinated motion using multiple robots. Based on the fuzzy logic, a fuzzy logical control system is a logical system which is much closer to human thinking than any other logical systems. During recent years, fuzzy logic control has emerged as a fruitful area in applications, especially the applications lacking quantitative data regarding the input-output relations. Whereas, the connectionist model injects the learning ability to the fuzzy logic system. This model, proposed by Lin and Lee, is a connected neural network that embedded the fuzzy rules in the architecture. Since this model is general enough and we expect the embedded fuzzy concepts can solve the problems caused by the defective training data, it is chosen as our base structure. Appropriate modifications have been made to this model to reflect the real situations encountered in the robot applications. Our goal is to control two different types of robots for coordinated motion using sensory feedback information.

  16. Compound control of a compound cosine function neural network and PD for manipulators

    NASA Astrophysics Data System (ADS)

    Ye, Jun

    2014-10-01

    In this paper, a compound cosine function neural network controller for manipulators is presented based on the combination of a cosine function and a unipolar sigmoid function. The compound control scheme based on a proportional-differential (PD) feedback control plus the cosine function neural network feedforward control is used for the tracking control of manipulators. The advantages of the compound control are that the system model does not need to be identified beforehand in the manipulator control system and it can achieve better adaptive control in an on-line continuous learning manner. The simulation results for the two-link manipulator show that the proposed compound control has higher tracking accuracy and better robustness than the conventional PD controllers in the position trajectory tracking control for the manipulator. Therefore, the compound cosine function neural network controller provides a novel approach for the manipulator control with uncertain nonlinear problems.

  17. Performance-oriented antiwindup for a class of linear control systems with augmented neural network controller.

    PubMed

    Herrmann, Guido; Turner, Matthew C; Postlethwaite, Ian

    2007-03-01

    This paper presents a conditioning scheme for a linear control system which is enhanced by a neural network (NN) controller and subjected to a control signal amplitude limit. The NN controller improves the performance of the linear control system by directly estimating an actuator-matched, unmodeled, nonlinear disturbance, in closed-loop, and compensating for it. As disturbances are generally known to be bounded, the nominal NN-control element is modified to keep its output below the disturbance bound. The linear control element is conditioned by an antiwindup (AW) compensator which ensures performance close to the nominal controller and swift recovery from saturation. For this, the AW compensator proposed is of low order, designed using convex linear matrix inequalities (LMIs) optimization.

  18. A neural-network-based identifier/controller for modern HVAC control

    SciTech Connect

    So, A.T.P.; Chow, T.T.; Chan, W.L.; Tse, W.L.

    1995-12-31

    This paper reports the application of an artificial neural network (ANN) to serve both as a system identifier and as an intelligent controller for an air-handling system. A comprehensive software model has been established based on the specifications of a standard air-handling unit (AHU) on the market. The model is appropriate for testing various control algorithms including the new ANN identifier/controller. The ANN behaves as an identifier by continuously keeping track of all the real-time parameters associated with the whole air-handling system. Five actuating signals are produced based on the nonlinear error optimization of the outputs of the ANN, now served as a controller. The control target involves the minimization of two weighted factors--the errors between setpoints and control variables and the total energy consumption. The excellent performance of the ANN identifier/controller is illustrated by comparing it with that of a conventional proportional-integral-derivative (PID) controller.

  19. Neural network based approach for tuning of SNS feedback and feedforward controllers.

    SciTech Connect

    Kwon, S. I.; Prokop, M. S.; Regan, A. H.

    2002-01-01

    The primary controllers in the SNS low level RF system are proportional-integral (PI) feedback controllers. To obtain the best performance of the linac control systems, approximately 91 individual PI controller gains should be optimally tuned. Tuning is time consuming and requires automation. In this paper, a neural network is used for the controller gain tuning. A neural network can approximate any continuous mapping through learning. In a sense, the cavity loop PI controller is a continuous mapping of the tracking error and its one-sample-delay inputs to the controller output. Also, monotonic cavity output with respect to its input makes knowing the detailed parameters of the cavity unnecessary. Hence the PI controller is a prime candidate for approximation through a neural network. Using mean square error minimization to train the neural network along with a continuous mapping of appropriate weights, optimally tuned PI controller gains can be determined. The same neural network approximation property is also applied to enhance the adaptive feedforward controller performance. This is done by adjusting the feedforward controller gains, forgetting factor, and learning ratio. Lastly, the automation of the tuning procedure data measurement, neural network training, tuning and loading the controller gain to the DSP is addressed.

  20. Neural signal processing and closed-loop control algorithm design for an implanted neural recording and stimulation system.

    PubMed

    Hamilton, Lei; McConley, Marc; Angermueller, Kai; Goldberg, David; Corba, Massimiliano; Kim, Louis; Moran, James; Parks, Philip D; Sang Chin; Widge, Alik S; Dougherty, Darin D; Eskandar, Emad N

    2015-08-01

    A fully autonomous intracranial device is built to continually record neural activities in different parts of the brain, process these sampled signals, decode features that correlate to behaviors and neuropsychiatric states, and use these features to deliver brain stimulation in a closed-loop fashion. In this paper, we describe the sampling and stimulation aspects of such a device. We first describe the signal processing algorithms of two unsupervised spike sorting methods. Next, we describe the LFP time-frequency analysis and feature derivation from the two spike sorting methods. Spike sorting includes a novel approach to constructing a dictionary learning algorithm in a Compressed Sensing (CS) framework. We present a joint prediction scheme to determine the class of neural spikes in the dictionary learning framework; and, the second approach is a modified OSort algorithm which is implemented in a distributed system optimized for power efficiency. Furthermore, sorted spikes and time-frequency analysis of LFP signals can be used to generate derived features (including cross-frequency coupling, spike-field coupling). We then show how these derived features can be used in the design and development of novel decode and closed-loop control algorithms that are optimized to apply deep brain stimulation based on a patient's neuropsychiatric state. For the control algorithm, we define the state vector as representative of a patient's impulsivity, avoidance, inhibition, etc. Controller parameters are optimized to apply stimulation based on the state vector's current state as well as its historical values. The overall algorithm and software design for our implantable neural recording and stimulation system uses an innovative, adaptable, and reprogrammable architecture that enables advancement of the state-of-the-art in closed-loop neural control while also meeting the challenges of system power constraints and concurrent development with ongoing scientific research designed

  1. Autonomic neural control of heart rate during dynamic exercise: revisited.

    PubMed

    White, Daniel W; Raven, Peter B

    2014-06-15

    The accepted model of autonomic control of heart rate (HR) during dynamic exercise indicates that the initial increase is entirely attributable to the withdrawal of parasympathetic nervous system (PSNS) activity and that subsequent increases in HR are entirely attributable to increases in cardiac sympathetic activity. In the present review, we sought to re-evaluate the model of autonomic neural control of HR in humans during progressive increases in dynamic exercise workload. We analysed data from both new and previously published studies involving baroreflex stimulation and pharmacological blockade of the autonomic nervous system. Results indicate that the PSNS remains functionally active throughout exercise and that increases in HR from rest to maximal exercise result from an increasing workload-related transition from a 4 : 1 vagal-sympathetic balance to a 4 : 1 sympatho-vagal balance. Furthermore, the beat-to-beat autonomic reflex control of HR was found to be dependent on the ability of the PSNS to modulate the HR as it was progressively restrained by increasing workload-related sympathetic nerve activity. (i) increases in exercise workload-related HR are not caused by a total withdrawal of the PSNS followed by an increase in sympathetic tone; (ii) reciprocal antagonism is key to the transition from vagal to sympathetic dominance, and (iii) resetting of the arterial baroreflex causes immediate exercise-onset reflexive increases in HR, which are parasympathetically mediated, followed by slower increases in sympathetic tone as workloads are increased. © 2014 The Authors. The Journal of Physiology © 2014 The Physiological Society.

  2. Effect of hydrocortisone on multipotent human mesenchymal stromal cells.

    PubMed

    Shipunova, N N; Petinati, N A; Drize, N I

    2013-05-01

    We studied the effect of natural glucocorticosteroid hydrocortisone on total cell production, cloning efficiency, and expression of genes important for the function of mesenchymal stromal cells. Addition of hydrocortisone to the culture medium reduces the total cell yield by 2 times and significantly increased cloning efficiency by 2-3 times; this effect was more pronounced in multipotent mesenchymal stromal cells obtained from female donors. Hydrocortisone had no effect on the expression of immunomodulatory factors produced by multipotent mesenchymal stromal cells. Hydrocortisone inhibits the expression of bone differentiation markers, increases the expression of the early adipocyte differentiation marker at the beginning of culturing, and dramatically stimulates the expression of the late adipocyte differentiation marker throughout the culturing period. The findings suggest that hydrocortisone activates multipotent mesenchymal stromal cells.

  3. Newly developed double neural network concept for reliable fast plasma position control

    NASA Astrophysics Data System (ADS)

    Jeon, Young-Mu; Na, Yong-Su; Kim, Myung-Rak; Hwang, Y. S.

    2001-01-01

    Neural network is considered as a parameter estimation tool in plasma controls for next generation tokamak such as ITER. The neural network has been reported to be so accurate and fast for plasma equilibrium identification that it may be applied to the control of complex tokamak plasmas. For this application, the reliability of the conventional neural network needs to be improved. In this study, a new idea of double neural network is developed to achieve this. The new idea has been applied to simple plasma position identification of KSTAR tokamak for feasibility test. Characteristics of the concept show higher reliability and fault tolerance even in severe faulty conditions, which may make neural network applicable to plasma control reliably and widely in future tokamaks.

  4. Path optimisation of a mobile robot using an artificial neural network controller

    NASA Astrophysics Data System (ADS)

    Singh, M. K.; Parhi, D. R.

    2011-01-01

    This article proposed a novel approach for design of an intelligent controller for an autonomous mobile robot using a multilayer feed forward neural network, which enables the robot to navigate in a real world dynamic environment. The inputs to the proposed neural controller consist of left, right and front obstacle distance with respect to its position and target angle. The output of the neural network is steering angle. A four layer neural network has been designed to solve the path and time optimisation problem of mobile robots, which deals with the cognitive tasks such as learning, adaptation, generalisation and optimisation. A back propagation algorithm is used to train the network. This article also analyses the kinematic design of mobile robots for dynamic movements. The simulation results are compared with experimental results, which are satisfactory and show very good agreement. The training of the neural nets and the control performance analysis has been done in a real experimental setup.

  5. Switched-Observer-Based Adaptive Neural Control of MIMO Switched Nonlinear Systems With Unknown Control Gains.

    PubMed

    Long, Lijun; Zhao, Jun

    2017-07-01

    In this paper, the problem of adaptive neural output-feedback control is addressed for a class of multi-input multioutput (MIMO) switched uncertain nonlinear systems with unknown control gains. Neural networks (NNs) are used to approximate unknown nonlinear functions. In order to avoid the conservativeness caused by adoption of a common observer for all subsystems, an MIMO NN switched observer is designed to estimate unmeasurable states. A new switched observer-based adaptive neural control technique for the problem studied is then provided by exploiting the classical average dwell time (ADT) method and the backstepping method and the Nussbaum gain technique. It effectively handles the obstacle about the coexistence of multiple Nussbaum-type function terms, and improves the classical ADT method, since the exponential decline property of Lyapunov functions for individual subsystems is no longer satisfied. It is shown that the technique proposed is able to guarantee semiglobal uniformly ultimately boundedness of all the signals in the closed-loop system under a class of switching signals with ADT, and the tracking errors converge to a small neighborhood of the origin. The effectiveness of the approach proposed is illustrated by its application to a two inverted pendulum system.

  6. Brain lipid sensing and the neural control of energy balance.

    PubMed

    Magnan, Christophe; Levin, Barry E; Luquet, Serge

    2015-12-15

    Fatty acid (FA) -sensitive neurons are present in the brain, especially the hypothalamus, and play a key role in the neural control of energy and glucose homeostasis including feeding behavior, secretion insulin and action. Subpopulations of neurons in the arcuate and ventromedial hypothalamic nuclei are selectively either activated or inhibited by FA. Molecular effectors of these FA effects include ion channels such as chloride, potassium or calcium. In addition, at least half of the responses in the hypothalamic ventromedial FA neurons are mediated through interaction with the FA translocator/receptor, FAT/CD36, that does not require metabolism to activate intracellular signaling downstream. Recently, an important role of lipoprotein lipase in FA detection has also been demonstrated not only in the hypothalamus, but also in the hippocampus and striatum. Finally, FA could overload energy homeostasis via increased hypothalamic ceramide synthesis which could, in turn, contribute to the pathogenesis of diabetes of obesity and/or type 2 in predisposed individuals by disrupting the endocrine signaling pathways of insulin and/or leptin. Copyright © 2015 Elsevier Ireland Ltd. All rights reserved.

  7. Gastrointestinal Parasites and the Neural Control of Gut Functions.

    PubMed

    Halliez, Marie C M; Buret, André G

    2015-01-01

    Gastrointestinal motility and transport of water and electrolytes play key roles in the pathophysiology of diarrhea upon exposure to enteric parasites. These processes are actively modulated by the enteric nervous system (ENS), which includes efferent, and afferent neurons, as well as interneurons. ENS integrity is essential to the maintenance of homeostatic gut responses. A number of gastrointestinal parasites are known to cause disease by altering the ENS. The mechanisms remain incompletely understood. Cryptosporidium parvum, Giardia duodenalis (syn. Giardia intestinalis, Giardia lamblia), Trypanosoma cruzi, Schistosoma species and others alter gastrointestinal motility, absorption, or secretion at least in part via effects on the ENS. Recent findings also implicate enteric parasites such as C. parvum and G. duodenalis in the development of post-infectious complications such as irritable bowel syndrome, which further underscores their effects on the gut-brain axis. This article critically reviews recent advances and the current state of knowledge on the impact of enteric parasitism on the neural control of gut functions, and provides insights into mechanisms underlying these abnormalities.

  8. EMG-Based Neural Network Control of Transhumeral Prostheses

    PubMed Central

    Pulliam, Christopher L.; Lambrecht, Joris M.; Kirsch, Robert F.

    2013-01-01

    Upper-limb amputation can cause a great deal of functional impairment for patients, particularly for those with amputation at or above the elbow. Our long-term objective is to improve functional outcomes for patients with amputation by integrating a fully implanted electromyographic (EMG) recording system with a wireless telemetry system that communicates with the patient’s prosthesis. We believe that this should generate a scheme that will allow patients to robustly control multiple degrees of freedom simultaneously. The goal of this study is to evaluate the feasibility of predicting dynamic arm movements (both flexion/extension and pronation/supination) based on EMG signals from a set of muscles that would likely be intact in patients with transhumeral amputation. We recorded movement kinematics and EMG signals from seven muscles during a variety of movements with different complexities. Time-delayed artificial neural networks were then trained offline to predict the measured arm trajectories based on features extracted from the measured EMG signals. We evaluated the relative effectiveness of various muscle subsets. Predicted movement trajectories had average root-mean-square errors of approximately 15.7° and 24.9° and average R2 values of approximately 0.81 and 0.46 for elbow flexion/extension and forearm pronation/supination, respectively. PMID:21938659

  9. Neural control of tuneable skin iridescence in squid

    PubMed Central

    Wardill, T. J.; Gonzalez-Bellido, P. T.; Crook, R. J.; Hanlon, R. T.

    2012-01-01

    Fast dynamic control of skin coloration is rare in the animal kingdom, whether it be pigmentary or structural. Iridescent structural coloration results when nanoscale structures disrupt incident light and selectively reflect specific colours. Unlike animals with fixed iridescent coloration (e.g. butterflies), squid iridophores (i.e. aggregations of iridescent cells in the skin) produce dynamically tuneable structural coloration, as exogenous application of acetylcholine (ACh) changes the colour and brightness output. Previous efforts to stimulate iridophores neurally or to identify the source of endogenous ACh were unsuccessful, leaving researchers to question the activation mechanism. We developed a novel neurophysiological preparation in the squid Doryteuthis pealeii and demonstrated that electrical stimulation of neurons in the skin shifts the spectral peak of the reflected light to shorter wavelengths (greater than 145 nm) and increases the peak reflectance (greater than 245%) of innervated iridophores. We show ACh is released within the iridophore layer and that extensive nerve branching is seen within the iridophore. The dynamic colour shift is significantly faster (17 s) than the peak reflectance increase (32 s), revealing two distinct mechanisms. Responses from a structurally altered preparation indicate that the reflectin protein condensation mechanism explains peak reflectance change, while an undiscovered mechanism causes the fast colour shift. PMID:22896651

  10. Neural Control of Breathing and CO2 Homeostasis.

    PubMed

    Guyenet, Patrice G; Bayliss, Douglas A

    2015-09-02

    Recent advances have clarified how the brain detects CO2 to regulate breathing (central respiratory chemoreception). These mechanisms are reviewed and their significance is presented in the general context of CO2/pH homeostasis through breathing. At rest, respiratory chemoreflexes initiated at peripheral and central sites mediate rapid stabilization of arterial PCO2 and pH. Specific brainstem neurons (e.g., retrotrapezoid nucleus, RTN; serotonergic) are activated by PCO2 and stimulate breathing. RTN neurons detect CO2 via intrinsic proton receptors (TASK-2, GPR4), synaptic input from peripheral chemoreceptors and signals from astrocytes. Respiratory chemoreflexes are arousal state dependent whereas chemoreceptor stimulation produces arousal. When abnormal, these interactions lead to sleep-disordered breathing. During exercise, central command and reflexes from exercising muscles produce the breathing stimulation required to maintain arterial PCO2 and pH despite elevated metabolic activity. The neural circuits underlying central command and muscle afferent control of breathing remain elusive and represent a fertile area for future investigation.

  11. Gastrointestinal Parasites and the Neural Control of Gut Functions

    PubMed Central

    Halliez, Marie C. M.; Buret, André G.

    2015-01-01

    Gastrointestinal motility and transport of water and electrolytes play key roles in the pathophysiology of diarrhea upon exposure to enteric parasites. These processes are actively modulated by the enteric nervous system (ENS), which includes efferent, and afferent neurons, as well as interneurons. ENS integrity is essential to the maintenance of homeostatic gut responses. A number of gastrointestinal parasites are known to cause disease by altering the ENS. The mechanisms remain incompletely understood. Cryptosporidium parvum, Giardia duodenalis (syn. Giardia intestinalis, Giardia lamblia), Trypanosoma cruzi, Schistosoma species and others alter gastrointestinal motility, absorption, or secretion at least in part via effects on the ENS. Recent findings also implicate enteric parasites such as C. parvum and G. duodenalis in the development of post-infectious complications such as irritable bowel syndrome, which further underscores their effects on the gut-brain axis. This article critically reviews recent advances and the current state of knowledge on the impact of enteric parasitism on the neural control of gut functions, and provides insights into mechanisms underlying these abnormalities. PMID:26635531

  12. Neural control of micturition in humans: a working model.

    PubMed

    Griffiths, Derek

    2015-12-01

    Results from functional brain scanning have shown that neural control of the bladder involves many different regions. Yet, many aspects of this complex system can be simplified to a working model in which a few forebrain circuits, acting mainly on the midbrain periaqueductal grey (PAG), advance or delay the triggering of the voiding reflex and generate bladder sensations according to the volume of urine in the bladder, the safety of voiding and the emotional and social propriety of doing so. Understanding these circuits seems to offer a route to treatment of conditions, such as urgency incontinence or overactive bladder, in patients without overt neurological disease. Two of these circuits include, respectively, the medial prefrontal cortex and the parahippocampal complex, as well as the PAG. These circuits belong to a well-known network that is active at rest and deactivated when attention is required. Another circuit, comprising the insula and the midcingulate or dorsal anterior cingulate cortex, is activated by bladder filling and belongs to a salience network that generates sensations such as the desire to void. Behavioural treatments of urgency incontinence lead to changes in brain function that support the working model and suggest the mechanism of this type of treatment.

  13. Neural control of breathing and CO2 homeostasis

    PubMed Central

    Guyenet, P.G.; Bayliss, D.A

    2015-01-01

    Summary Recent advances have clarified how the brain detects CO2 to regulate breathing (central respiratory chemoreception). These mechanisms are reviewed and their significance is presented in the general context of CO2/pH homeostasis through breathing. At rest, respiratory chemoreflexes initiated at peripheral and central sites mediate rapid stabilization of arterial PCO2 and pH. Specific brainstem neurons (e.g., retrotrapezoid nucleus, RTN; serotonergic) are activated by PCO2 and stimulate breathing. RTN neurons detect CO2 via intrinsic proton receptors (TASK-2, GPR4), synaptic input from peripheral chemoreceptors and signals from astrocytes. Respiratory chemoreflexes are arousal state-dependent whereas chemoreceptor stimulation produces arousal. When abnormal, these interactions lead to sleep-disordered breathing. During exercise, “central command” and reflexes from exercising muscles produce the breathing stimulation required to maintain arterial PCO2 and pH despite elevated metabolic activity. The neural circuits underlying central command and muscle afferent control of breathing remain elusive and represent a fertile area for future investigation. PMID:26335642

  14. Neural networks for combined control of capacitor banks and voltage regulators in distribution systems

    SciTech Connect

    Gu, Z.; Rizy, D.T.

    1996-02-01

    A neural network for controlling shunt capacitor banks and feeder voltage regulators in electric distribution systems is presented. The objective of the neural controller is to minimize total I{sup 2}R losses and maintain all bus voltages within standard limits. The performance of the neural network for different input selections and training data is discussed and compared. Two different input selections are tried, one using the previous control states of the capacitors and regulator along with measured line flows and voltage which is equivalent to having feedback and the other with measured line flows and voltage without previous control settings. The results indicate that the neural net controller with feedback can outperform the one without. Also, proper selection of a training data set that adequately covers the operating space of the distribution system is important for achieving satisfactory performance with the neural controller. The neural controller is tested on a radially configured distribution system with 30 buses, 5 switchable capacitor banks an d one nine tap line regulator to demonstrate the performance characteristics associated with these principles. Monte Carlo simulations show that a carefully designed and relatively compact neural network with a small but carefully developed training set can perform quite well under slight and extreme variation of loading conditions.

  15. Neural control and adaptive neural forward models for insect-like, energy-efficient, and adaptable locomotion of walking machines.

    PubMed

    Manoonpong, Poramate; Parlitz, Ulrich; Wörgötter, Florentin

    2013-01-01

    Living creatures, like walking animals, have found fascinating solutions for the problem of locomotion control. Their movements show the impression of elegance including versatile, energy-efficient, and adaptable locomotion. During the last few decades, roboticists have tried to imitate such natural properties with artificial legged locomotion systems by using different approaches including machine learning algorithms, classical engineering control techniques, and biologically-inspired control mechanisms. However, their levels of performance are still far from the natural ones. By contrast, animal locomotion mechanisms seem to largely depend not only on central mechanisms (central pattern generators, CPGs) and sensory feedback (afferent-based control) but also on internal forward models (efference copies). They are used to a different degree in different animals. Generally, CPGs organize basic rhythmic motions which are shaped by sensory feedback while internal models are used for sensory prediction and state estimations. According to this concept, we present here adaptive neural locomotion control consisting of a CPG mechanism with neuromodulation and local leg control mechanisms based on sensory feedback and adaptive neural forward models with efference copies. This neural closed-loop controller enables a walking machine to perform a multitude of different walking patterns including insect-like leg movements and gaits as well as energy-efficient locomotion. In addition, the forward models allow the machine to autonomously adapt its locomotion to deal with a change of terrain, losing of ground contact during stance phase, stepping on or hitting an obstacle during swing phase, leg damage, and even to promote cockroach-like climbing behavior. Thus, the results presented here show that the employed embodied neural closed-loop system can be a powerful way for developing robust and adaptable machines.

  16. Neural control and adaptive neural forward models for insect-like, energy-efficient, and adaptable locomotion of walking machines

    PubMed Central

    Manoonpong, Poramate; Parlitz, Ulrich; Wörgötter, Florentin

    2013-01-01

    Living creatures, like walking animals, have found fascinating solutions for the problem of locomotion control. Their movements show the impression of elegance including versatile, energy-efficient, and adaptable locomotion. During the last few decades, roboticists have tried to imitate such natural properties with artificial legged locomotion systems by using different approaches including machine learning algorithms, classical engineering control techniques, and biologically-inspired control mechanisms. However, their levels of performance are still far from the natural ones. By contrast, animal locomotion mechanisms seem to largely depend not only on central mechanisms (central pattern generators, CPGs) and sensory feedback (afferent-based control) but also on internal forward models (efference copies). They are used to a different degree in different animals. Generally, CPGs organize basic rhythmic motions which are shaped by sensory feedback while internal models are used for sensory prediction and state estimations. According to this concept, we present here adaptive neural locomotion control consisting of a CPG mechanism with neuromodulation and local leg control mechanisms based on sensory feedback and adaptive neural forward models with efference copies. This neural closed-loop controller enables a walking machine to perform a multitude of different walking patterns including insect-like leg movements and gaits as well as energy-efficient locomotion. In addition, the forward models allow the machine to autonomously adapt its locomotion to deal with a change of terrain, losing of ground contact during stance phase, stepping on or hitting an obstacle during swing phase, leg damage, and even to promote cockroach-like climbing behavior. Thus, the results presented here show that the employed embodied neural closed-loop system can be a powerful way for developing robust and adaptable machines. PMID:23408775

  17. Translating Principles of Neural Plasticity into Research on Speech Motor Control Recovery and Rehabilitation

    ERIC Educational Resources Information Center

    Ludlow, Christy L.; Hoit, Jeannette; Kent, Raymond; Ramig, Lorraine O.; Shrivastav, Rahul; Strand, Edythe; Yorkston, Kathryn; Sapienza, Christine M.

    2008-01-01

    Purpose: To review the principles of neural plasticity and make recommendations for research on the neural bases for rehabilitation of neurogenic speech disorders. Method: A working group in speech motor control and disorders developed this report, which examines the potential relevance of basic research on the brain mechanisms involved in neural…

  18. A Neural Network Solution for Fixed-Final Time Optimal Control of Nonlinear Systems

    DTIC Science & Technology

    2006-06-01

    nonlinear systems. The method is based on Kronecker matrix methods along with neural network approximation over a compact set to solve a time-varying...Hamilton-Jacobi-Bellman equation. The result is a neural network feedback controller that has time-varying coefficients found by a priori offline tuning

  19. Neural networks as a possible architecture for the distributed control of space systems

    NASA Technical Reports Server (NTRS)

    Fiesler, E.; Choudry, A.

    1987-01-01

    Researchers attempted to identify the features essential for large, complex, multi-modular multi-functional systems possessing a high level of interconnectivity. These features were studied in the context of neural networks with the aim of arriving at a possible architecture of the distributed control system-specific features of the neural networks and their applicability in space systems.

  20. Translating Principles of Neural Plasticity into Research on Speech Motor Control Recovery and Rehabilitation

    ERIC Educational Resources Information Center

    Ludlow, Christy L.; Hoit, Jeannette; Kent, Raymond; Ramig, Lorraine O.; Shrivastav, Rahul; Strand, Edythe; Yorkston, Kathryn; Sapienza, Christine M.

    2008-01-01

    Purpose: To review the principles of neural plasticity and make recommendations for research on the neural bases for rehabilitation of neurogenic speech disorders. Method: A working group in speech motor control and disorders developed this report, which examines the potential relevance of basic research on the brain mechanisms involved in neural…

  1. Adaptive Control Law Development for Failure Compensation Using Neural Networks on a NASA F-15 Aircraft

    NASA Technical Reports Server (NTRS)

    Burken, John J.

    2005-01-01

    This viewgraph presentation covers the following topics: 1) Brief explanation of Generation II Flight Program; 2) Motivation for Neural Network Adaptive Systems; 3) Past/ Current/ Future IFCS programs; 4) Dynamic Inverse Controller with Explicit Model; 5) Types of Neural Networks Investigated; and 6) Brief example

  2. A study of interceptor attitude control based on adaptive wavelet neural networks

    NASA Astrophysics Data System (ADS)

    Li, Da; Wang, Qing-chao

    2005-12-01

    This paper engages to study the 3-DOF attitude control problem of the kinetic interceptor. When the kinetic interceptor enters into terminal guidance it has to maneuver with large angles. The characteristic of interceptor attitude system is nonlinearity, strong-coupling and MIMO. A kind of inverse control approach based on adaptive wavelet neural networks was proposed in this paper. Instead of using one complex neural network as the controller, the nonlinear dynamics of the interceptor can be approximated by three independent subsystems applying exact feedback-linearization firstly, and then controllers for each subsystem are designed using adaptive wavelet neural networks respectively. This method avoids computing a large amount of the weights and bias in one massive neural network and the control parameters can be adaptive changed online. Simulation results betray that the proposed controller performs remarkably well.

  3. Muscle extracellular matrix scaffold is a multipotent environment.

    PubMed

    Aulino, Paola; Costa, Alessandra; Chiaravalloti, Ernesto; Perniconi, Barbara; Adamo, Sergio; Coletti, Dario; Marrelli, Massimo; Tatullo, Marco; Teodori, Laura

    2015-01-01

    The multipotency of scaffolds is a new concept. Skeletal muscle acellular scaffolds (MAS) implanted at the interface of Tibialis Anterior/tibial bone and masseter muscle/mandible bone in a murine model were colonized by muscle cells near the host muscle and by bone-cartilaginous tissues near the host bone, thus highlighting the importance of the environment in directing cell homing and differentiation. These results unveil the multipotency of MAS and point to the potential of this new technique as a valuable tool in musculo-skeletal tissue regeneration.

  4. Course Control of Underactuated Ship Based on Nonlinear Robust Neural Network Backstepping Method

    PubMed Central

    Yuan, Junjia; Meng, Hao; Zhu, Qidan; Zhou, Jiajia

    2016-01-01

    The problem of course control for underactuated surface ship is addressed in this paper. Firstly, neural networks are adopted to determine the parameters of the unknown part of ideal virtual backstepping control, even the weight values of neural network are updated by adaptive technique. Then uniform stability for the convergence of course tracking errors has been proven through Lyapunov stability theory. Finally, simulation experiments are carried out to illustrate the effectiveness of proposed control method. PMID:27293422

  5. Experiments in Neural-Network Control of a Free-Flying Space Robot

    NASA Technical Reports Server (NTRS)

    Wilson, Edward

    1995-01-01

    Four important generic issues are identified and addressed in some depth in this thesis as part of the development of an adaptive neural network based control system for an experimental free flying space robot prototype. The first issue concerns the importance of true system level design of the control system. A new hybrid strategy is developed here, in depth, for the beneficial integration of neural networks into the total control system. A second important issue in neural network control concerns incorporating a priori knowledge into the neural network. In many applications, it is possible to get a reasonably accurate controller using conventional means. If this prior information is used purposefully to provide a starting point for the optimizing capabilities of the neural network, it can provide much faster initial learning. In a step towards addressing this issue, a new generic Fully Connected Architecture (FCA) is developed for use with backpropagation. A third issue is that neural networks are commonly trained using a gradient based optimization method such as backpropagation; but many real world systems have Discrete Valued Functions (DVFs) that do not permit gradient based optimization. One example is the on-off thrusters that are common on spacecraft. A new technique is developed here that now extends backpropagation learning for use with DVFs. The fourth issue is that the speed of adaptation is often a limiting factor in the implementation of a neural network control system. This issue has been strongly resolved in the research by drawing on the above new contributions.

  6. Communications and control for electric power systems: Power system stability applications of artificial neural networks

    NASA Technical Reports Server (NTRS)

    Toomarian, N.; Kirkham, Harold

    1994-01-01

    This report investigates the application of artificial neural networks to the problem of power system stability. The field of artificial intelligence, expert systems, and neural networks is reviewed. Power system operation is discussed with emphasis on stability considerations. Real-time system control has only recently been considered as applicable to stability, using conventional control methods. The report considers the use of artificial neural networks to improve the stability of the power system. The networks are considered as adjuncts and as replacements for existing controllers. The optimal kind of network to use as an adjunct to a generator exciter is discussed.

  7. Extended Kalman Filter Based Neural Networks Controller For Hot Strip Rolling mill

    NASA Astrophysics Data System (ADS)

    Moussaoui, A. K.; Abbassi, H. A.; Bouazza, S.

    2008-06-01

    The present paper deals with the application of an Extended Kalman filter based adaptive Neural-Network control scheme to improve the performance of a hot strip rolling mill. The suggested Neural Network model was implemented using Bayesian Evidence based training algorithm. The control input was estimated iteratively by an on-line extended Kalman filter updating scheme basing on the inversion of the learned neural networks model. The performance of the controller is evaluated using an accurate model estimated from real rolling mill input/output data, and the usefulness of the suggested method is proved.

  8. The optimization of force inputs for active structural acoustic control using a neural network

    NASA Technical Reports Server (NTRS)

    Cabell, R. H.; Lester, H. C.; Silcox, R. J.

    1992-01-01

    This paper investigates the use of a neural network to determine which force actuators, of a multi-actuator array, are best activated in order to achieve structural-acoustic control. The concept is demonstrated using a cylinder/cavity model on which the control forces, produced by piezoelectric actuators, are applied with the objective of reducing the interior noise. A two-layer neural network is employed and the back propagation solution is compared with the results calculated by a conventional, least-squares optimization analysis. The ability of the neural network to accurately and efficiently control actuator activation for interior noise reduction is demonstrated.

  9. Extended Kalman Filter Based Neural Networks Controller For Hot Strip Rolling mill

    SciTech Connect

    Moussaoui, A. K.; Abbassi, H. A.; Bouazza, S.

    2008-06-12

    The present paper deals with the application of an Extended Kalman filter based adaptive Neural-Network control scheme to improve the performance of a hot strip rolling mill. The suggested Neural Network model was implemented using Bayesian Evidence based training algorithm. The control input was estimated iteratively by an on-line extended Kalman filter updating scheme basing on the inversion of the learned neural networks model. The performance of the controller is evaluated using an accurate model estimated from real rolling mill input/output data, and the usefulness of the suggested method is proved.

  10. The Relationship of Aluminium and Silver to Neural Tube Defects; a Case Control

    PubMed Central

    Ramírez-Altamirano, María de Jesús; Fenton-Navarro, Patricia; Sivet-Chiñas, Elvira; Harp-Iturribarria, Flor de María; Martínez-Cruz, Ruth; Cruz, Pedro Hernández; Cruz, Margarito Martínez; Pérez-Campos, Eduardo

    2012-01-01

    Objective The purpose of this study was to identify the relationship of neurotoxic inorganic elements in the hair of patients with the diagnosis of Neural Tube Defects. Our initial hypothesis was that neurotoxic inorganic elements were associated with Neural Tube Defects. Methods Twenty-three samples of hair from newborns were obtained from the General Hospital, “Aurelio Valdivieso” in the city of Oaxaca, Mexico. The study group included 8 newborn infants with neural tube pathology. The control group was composed of 15 newborns without this pathology. The presence of inorganic elements in the hair samples was determined by inductively-coupled plasma spectroscopy (spectroscopic emission of the plasma). Findings The population of newborns with Neural Tube Defects showed significantly higher values of the following elements than the control group: Aluminium, Neural Tube Defects 152.77±51.06 µg/g, control group 76.24±27.89 µg/g; Silver, Neural Tube Defects 1.45±0.76, control group 0.25±0.53 µg/g; Potassium, Neural Tube Defects 553.87±77.91 µg/g, control group 341.13±205.90 µg/g. Association was found at 75 percentile between aluminium plus silver, aluminium plus potassium, silver plus potassium, and potassium plus sodium. Conclusion In the hair of newborns with Neural Tube Defects, the following metals were increased: aluminium, silver. Given the neurotoxicity of the same, and association of Neural Tube Defects with aluminum and silver, one may infer that they may be participating as factors in the development of Neural Tube Defects. PMID:23400307

  11. Adaptive Neural Control of Uncertain MIMO Nonlinear Systems With State and Input Constraints.

    PubMed

    Chen, Ziting; Li, Zhijun; Chen, C L Philip

    2017-06-01

    An adaptive neural control strategy for multiple input multiple output nonlinear systems with various constraints is presented in this paper. To deal with the nonsymmetric input nonlinearity and the constrained states, the proposed adaptive neural control is combined with the backstepping method, radial basis function neural network, barrier Lyapunov function (BLF), and disturbance observer. By ensuring the boundedness of the BLF of the closed-loop system, it is demonstrated that the output tracking is achieved with all states remaining in the constraint sets and the general assumption on nonsingularity of unknown control coefficient matrices has been eliminated. The constructed adaptive neural control has been rigorously proved that it can guarantee the semiglobally uniformly ultimate boundedness of all signals in the closed-loop system. Finally, the simulation studies on a 2-DOF robotic manipulator system indicate that the designed adaptive control is effective.

  12. Distributed Recurrent Neural Networks for Cooperative Control of Manipulators: A Game-Theoretic Perspective.

    PubMed

    Li, Shuai; He, Jinbo; Li, Yangming; Rafique, Muhammad Usman

    2017-02-01

    This paper considers cooperative kinematic control of multiple manipulators using distributed recurrent neural networks and provides a tractable way to extend existing results on individual manipulator control using recurrent neural networks to the scenario with the coordination of multiple manipulators. The problem is formulated as a constrained game, where energy consumptions for each manipulator, saturations of control input, and the topological constraints imposed by the communication graph are considered. An implicit form of the Nash equilibrium for the game is obtained by converting the problem into its dual space. Then, a distributed dynamic controller based on recurrent neural networks is devised to drive the system toward the desired Nash equilibrium to seek the optimal solution of the cooperative control. Global stability and solution optimality of the proposed neural networks are proved in the theory. Simulations demonstrate the effectiveness of the proposed method.

  13. Adaptive Output-Feedback Neural Control of Switched Uncertain Nonlinear Systems With Average Dwell Time.

    PubMed

    Long, Lijun; Zhao, Jun

    2015-07-01

    This paper investigates the problem of adaptive neural tracking control via output-feedback for a class of switched uncertain nonlinear systems without the measurements of the system states. The unknown control signals are approximated directly by neural networks. A novel adaptive neural control technique for the problem studied is set up by exploiting the average dwell time method and backstepping. A switched filter and different update laws are designed to reduce the conservativeness caused by adoption of a common observer and a common update law for all subsystems. The proposed controllers of subsystems guarantee that all closed-loop signals remain bounded under a class of switching signals with average dwell time, while the output tracking error converges to a small neighborhood of the origin. As an application of the proposed design method, adaptive output feedback neural tracking controllers for a mass-spring-damper system are constructed.

  14. Cognitive Control Mechanisms, Emotion & Memory: A neural perspective with implications for psychopathology

    PubMed Central

    Banich, Marie T.; Mackiewicz, Kristen L.; Depue, Brendan E.; Whitmer, Anson; Miller, Gregory A.; Heller, Wendy

    2009-01-01

    In this paper we provide a focused review of the literature examining neural mechanisms involved in cognitive control over memory processes that can influence, and in turn are influenced, by emotional processes. The review is divided into two parts, the first focusing on working memory and the second on long-term memory. With regard to working memory, we discuss the neural bases of 1) control mechanisms that can select against distracting emotional information, 2) mechanisms that can regulate emotional reactions or responses, 3) how mood state influences cognitive control, and 4) individual differences in control mechanisms. For long-term memory, we briefly review 1) the neural substrates of emotional memory, 2) the cognitive and neural mechanisms that are involved in controlling emotional memories and 3) how these systems are altered in post-traumatic stress disorder. Finally, we consider tentative generalizations that can be drawn from this relatively unexplored conjunction of research endeavors. PMID:18948135

  15. Global synchronization of memristive neural networks subject to random disturbances via distributed pinning control.

    PubMed

    Guo, Zhenyuan; Yang, Shaofu; Wang, Jun

    2016-12-01

    This paper presents theoretical results on global exponential synchronization of multiple memristive neural networks in the presence of external noise by means of two types of distributed pinning control. The multiple memristive neural networks are coupled in a general structure via a nonlinear function, which consists of a linear diffusive term and a discontinuous sign term. A pinning impulsive control law is introduced in the coupled system to synchronize all neural networks. Sufficient conditions are derived for ascertaining global exponential synchronization in mean square. In addition, a pinning adaptive control law is developed to achieve global exponential synchronization in mean square. Both pinning control laws utilize only partial state information received from the neighborhood of the controlled neural network. Simulation results are presented to substantiate the theoretical results. Copyright © 2016 Elsevier Ltd. All rights reserved.

  16. Vector control of wind turbine on the basis of the fuzzy selective neural net*

    NASA Astrophysics Data System (ADS)

    Engel, E. A.; Kovalev, I. V.; Engel, N. E.

    2016-04-01

    An article describes vector control of wind turbine based on fuzzy selective neural net. Based on the wind turbine system’s state, the fuzzy selective neural net tracks an maximum power point under random perturbations. Numerical simulations are accomplished to clarify the applicability and advantages of the proposed vector wind turbine’s control on the basis of the fuzzy selective neuronet. The simulation results show that the proposed intelligent control of wind turbine achieves real-time control speed and competitive performance, as compared to a classical control model with PID controllers based on traditional maximum torque control strategy.

  17. Adaptive inverse control of neural spatiotemporal spike patterns with a reproducing kernel Hilbert space (RKHS) framework.

    PubMed

    Li, Lin; Park, Il Memming; Brockmeier, Austin; Chen, Badong; Seth, Sohan; Francis, Joseph T; Sanchez, Justin C; Príncipe, José C

    2013-07-01

    The precise control of spiking in a population of neurons via applied electrical stimulation is a challenge due to the sparseness of spiking responses and neural system plasticity. We pose neural stimulation as a system control problem where the system input is a multidimensional time-varying signal representing the stimulation, and the output is a set of spike trains; the goal is to drive the output such that the elicited population spiking activity is as close as possible to some desired activity, where closeness is defined by a cost function. If the neural system can be described by a time-invariant (homogeneous) model, then offline procedures can be used to derive the control procedure; however, for arbitrary neural systems this is not tractable. Furthermore, standard control methodologies are not suited to directly operate on spike trains that represent both the target and elicited system response. In this paper, we propose a multiple-input multiple-output (MIMO) adaptive inverse control scheme that operates on spike trains in a reproducing kernel Hilbert space (RKHS). The control scheme uses an inverse controller to approximate the inverse of the neural circuit. The proposed control system takes advantage of the precise timing of the neural events by using a Schoenberg kernel defined directly in the space of spike trains. The Schoenberg kernel maps the spike train to an RKHS and allows linear algorithm to control the nonlinear neural system without the danger of converging to local minima. During operation, the adaptation of the controller minimizes a difference defined in the spike train RKHS between the system and the target response and keeps the inverse controller close to the inverse of the current neural circuit, which enables adapting to neural perturbations. The results on a realistic synthetic neural circuit show that the inverse controller based on the Schoenberg kernel outperforms the decoding accuracy of other models based on the conventional rate

  18. Neural network based control schemes for flexible-link manipulators: simulations and experiments.

    PubMed

    Talebi, H A.; Khorasani, K; Patel, R V.

    1998-10-01

    This paper presents simulation and experimental results on the performance of neural network-based controllers for tip position tracking of flexible-link manipulators. The controllers are designed by utilizing the modified output re-definition approach. The modified output re-definition approach requires only a priori knowledge about the linear model of the system and no a priori knowledge about the payload mass. Four different neural network schemes are proposed. The first two schemes are developed by using a modified version of the 'feedback-error-learning' approach to learn the inverse dynamics of the flexible manipulator. Both schemes require only a linear model of the system for defining the new outputs and for designing conventional PD-type controllers. This assumption is relaxed in the third and fourth schemes. In the third scheme, the controller is designed based on tracking the hub position while controlling the elastic deflection at the tip. In the fourth scheme which employs two neural networks, the first network (referred to as the 'output neural network') is responsible for specifying an appropriate output for ensuring minimum phase behavior of the system. The second neural network is responsible for implementing an inverse dynamics controller. The performance of the four proposed neural network controllers is illustrated by simulation results for a two-link planar flexible manipulator and by experimental results for a single flexible-link test-bed. The networks are all trained and employed as online controllers and no off-line training is required.

  19. Identification and adaptive neural network control of a DC motor system with dead-zone characteristics.

    PubMed

    Peng, Jinzhu; Dubay, Rickey

    2011-10-01

    In this paper, an adaptive control approach based on the neural networks is presented to control a DC motor system with dead-zone characteristics (DZC), where two neural networks are proposed to formulate the traditional identification and control approaches. First, a Wiener-type neural network (WNN) is proposed to identify the motor DZC, which formulates the Wiener model with a linear dynamic block in cascade with a nonlinear static gain. Second, a feedforward neural network is proposed to formulate the traditional PID controller, termed as PID-type neural network (PIDNN), which is then used to control and compensate for the DZC. In this way, the DC motor system with DZC is identified by the WNN identifier, which provides model information to the PIDNN controller in order to make it adaptive. Back-propagation algorithms are used to train both neural networks. Also, stability and convergence analysis are conducted using the Lyapunov theorem. Finally, experiments on the DC motor system demonstrated accurate identification and good compensation for dead-zone with improved control performance over the conventional PID control. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.

  20. The neural representation of postural control in humans

    PubMed Central

    Karnath, Hans-Otto; Ferber, Susanne; Dichgans, Johannes

    2000-01-01

    Lesion of the “vestibular cortex” in the human posterior insula leads to a tilted perception of visual vertical but not to tilted body posture and loss of lateral balance. However, some stroke patients show the reverse pattern. Although their processing of visual and vestibular inputs for orientation perception of the visual world is undisturbed, they push away actively from the ipsilesional side (the side of lesion location), leading to a contraversive tilt of the body (tilt toward the side opposite to the lesion) and falling to that side. Recently, the origin of contraversive pushing was identified as an altered perception of the body's orientation in relation to gravity. These patients experience their body as oriented “upright” when actually tilted enormously to the ipsilesional side (18° on average). The findings argued for a separate pathway in humans for sensing body orientation in relation to gravity apart from the one projecting to the vestibular cortex. The present study aimed at identifying this brain area. The infarcted brain regions of 23 consecutively admitted patients with severe contraversive pushing were projected onto a template MRI scan, which had been normalized to Talairach space. The overlapping area of these infarctions centered on the posterolateral thalamus. Our finding necessitates reinterpretation of this area as being only a “relay structure” of the vestibular pathway on its way from the brainstem to the vestibular cortex. The ventral posterior and lateral posterior nuclei of the posterolateral thalamus (and probably its cortical projections) rather seem to be fundamentally involved in the neural representation of a second graviceptive system in humans decisive for our control of upright body posture. PMID:11087818

  1. A Tensor-Product-Kernel Framework for Multiscale Neural Activity Decoding and Control

    PubMed Central

    Li, Lin; Brockmeier, Austin J.; Choi, John S.; Francis, Joseph T.; Sanchez, Justin C.; Príncipe, José C.

    2014-01-01

    Brain machine interfaces (BMIs) have attracted intense attention as a promising technology for directly interfacing computers or prostheses with the brain's motor and sensory areas, thereby bypassing the body. The availability of multiscale neural recordings including spike trains and local field potentials (LFPs) brings potential opportunities to enhance computational modeling by enriching the characterization of the neural system state. However, heterogeneity on data type (spike timing versus continuous amplitude signals) and spatiotemporal scale complicates the model integration of multiscale neural activity. In this paper, we propose a tensor-product-kernel-based framework to integrate the multiscale activity and exploit the complementary information available in multiscale neural activity. This provides a common mathematical framework for incorporating signals from different domains. The approach is applied to the problem of neural decoding and control. For neural decoding, the framework is able to identify the nonlinear functional relationship between the multiscale neural responses and the stimuli using general purpose kernel adaptive filtering. In a sensory stimulation experiment, the tensor-product-kernel decoder outperforms decoders that use only a single neural data type. In addition, an adaptive inverse controller for delivering electrical microstimulation patterns that utilizes the tensor-product kernel achieves promising results in emulating the responses to natural stimulation. PMID:24829569

  2. Exponential synchronization of delayed memristor-based chaotic neural networks via periodically intermittent control.

    PubMed

    Zhang, Guodong; Shen, Yi

    2014-07-01

    This paper investigates the exponential synchronization of coupled memristor-based chaotic neural networks with both time-varying delays and general activation functions. And here, we adopt nonsmooth analysis and control theory to handle memristor-based chaotic neural networks with discontinuous right-hand side. In particular, several new criteria ensuring exponential synchronization of two memristor-based chaotic neural networks are obtained via periodically intermittent control. In addition, the new proposed results here are very easy to verify and also complement, extend the earlier publications. Numerical simulations on the chaotic systems are presented to illustrate the effectiveness of the theoretical results.

  3. Finite-time synchronization control of a class of memristor-based recurrent neural networks.

    PubMed

    Jiang, Minghui; Wang, Shuangtao; Mei, Jun; Shen, Yanjun

    2015-03-01

    This paper presents a global and local finite-time synchronization control law for memristor neural networks. By utilizing the drive-response concept, differential inclusions theory, and Lyapunov functional method, we establish several sufficient conditions for finite-time synchronization between the master and corresponding slave memristor-based neural network with the designed controller. In comparison with the existing results, the proposed stability conditions are new, and the obtained results extend some previous works on conventional recurrent neural networks. Two numerical examples are provided to illustrate the effective of the design method.

  4. Synchronization control of memristor-based recurrent neural networks with perturbations.

    PubMed

    Wang, Weiping; Li, Lixiang; Peng, Haipeng; Xiao, Jinghua; Yang, Yixian

    2014-05-01

    In this paper, the synchronization control of memristor-based recurrent neural networks with impulsive perturbations or boundary perturbations is studied. We find that the memristive connection weights have a certain relationship with the stability of the system. Some criteria are obtained to guarantee that memristive neural networks have strong noise tolerance capability. Two kinds of controllers are designed so that the memristive neural networks with perturbations can converge to the equilibrium points, which evoke human's memory patterns. The analysis in this paper employs the differential inclusions theory and the Lyapunov functional method. Numerical examples are given to show the effectiveness of our results.

  5. A wirelessly powered and controlled device for optical neural control of freely-behaving animals

    NASA Astrophysics Data System (ADS)

    Wentz, Christian T.; Bernstein, Jacob G.; Monahan, Patrick; Guerra, Alexander; Rodriguez, Alex; Boyden, Edward S.

    2011-08-01

    Optogenetics, the ability to use light to activate and silence specific neuron types within neural networks in vivo and in vitro, is revolutionizing neuroscientists' capacity to understand how defined neural circuit elements contribute to normal and pathological brain functions. Typically, awake behaving experiments are conducted by inserting an optical fiber into the brain, tethered to a remote laser, or by utilizing an implanted light-emitting diode (LED), tethered to a remote power source. A fully wireless system would enable chronic or longitudinal experiments where long duration tethering is impractical, and would also support high-throughput experimentation. However, the high power requirements of light sources (LEDs, lasers), especially in the context of the extended illumination periods often desired in experiments, precludes battery-powered approaches from being widely applicable. We have developed a headborne device weighing 2 g capable of wirelessly receiving power using a resonant RF power link and storing the energy in an adaptive supercapacitor circuit, which can algorithmically control one or more headborne LEDs via a microcontroller. The device can deliver approximately 2 W of power to the LEDs in steady state, and 4.3 W in bursts. We also present an optional radio transceiver module (1 g) which, when added to the base headborne device, enables real-time updating of light delivery protocols; dozens of devices can be controlled simultaneously from one computer. We demonstrate use of the technology to wirelessly drive cortical control of movement in mice. These devices may serve as prototypes for clinical ultra-precise neural prosthetics that use light as the modality of biological control.

  6. A wirelessly powered and controlled device for optical neural control of freely-behaving animals.

    PubMed

    Wentz, Christian T; Bernstein, Jacob G; Monahan, Patrick; Guerra, Alexander; Rodriguez, Alex; Boyden, Edward S

    2011-08-01

    Optogenetics, the ability to use light to activate and silence specific neuron types within neural networks in vivo and in vitro, is revolutionizing neuroscientists' capacity to understand how defined neural circuit elements contribute to normal and pathological brain functions. Typically, awake behaving experiments are conducted by inserting an optical fiber into the brain, tethered to a remote laser, or by utilizing an implanted light-emitting diode (LED), tethered to a remote power source. A fully wireless system would enable chronic or longitudinal experiments where long duration tethering is impractical, and would also support high-throughput experimentation. However, the high power requirements of light sources (LEDs, lasers), especially in the context of the extended illumination periods often desired in experiments, precludes battery-powered approaches from being widely applicable. We have developed a headborne device weighing 2 g capable of wirelessly receiving power using a resonant RF power link and storing the energy in an adaptive supercapacitor circuit, which can algorithmically control one or more headborne LEDs via a microcontroller. The device can deliver approximately 2 W of power to the LEDs in steady state, and 4.3 W in bursts. We also present an optional radio transceiver module (1 g) which, when added to the base headborne device, enables real-time updating of light delivery protocols; dozens of devices can be controlled simultaneously from one computer. We demonstrate use of the technology to wirelessly drive cortical control of movement in mice. These devices may serve as prototypes for clinical ultra-precise neural prosthetics that use light as the modality of biological control.

  7. A Wirelessly Powered and Controlled Device for Optical Neural Control of Freely-Behaving Animals

    PubMed Central

    Wentz, Christian T.; Bernstein, Jacob G.; Monahan, Patrick; Guerra, Alexander; Rodriguez, Alex; Boyden, Edward S.

    2011-01-01

    Optogenetics, the ability to use light to activate and silence specific neuron types within neural networks in vivo and in vitro, is revolutionizing neuroscientists’ capacity to understand how defined neural circuit elements contribute to normal and pathological brain functions. Typically awake behaving experiments are conducted by inserting an optical fiber into the brain, tethered to a remote laser, or by utilizing an implanted LED, tethered to a remote power source. A fully wireless system would enable chronic or longitudinal experiments where long duration tethering is impractical, and would also support high-throughput experimentation. However, the high power requirements of light sources (LEDs, lasers), especially in the context of the high-frequency pulse trains often desired in experiments, precludes battery-powered approaches from being widely applicable. We have developed a headborne device weighing 2 grams capable of wirelessly receiving power using a resonant RF power link and storing the energy in an adaptive supercapacitor circuit, which can algorithmically control one or more headborne LEDs via a microcontroller. The device can deliver approximately 2W of power to the LEDs in steady state, and 4.3W in bursts. We also present an optional radio transceiver module (1 gram) which, when added to the base headborne device, enables real-time updating of light delivery protocols; dozens of devices can be simultaneously controlled from one computer. We demonstrate use of the technology to wirelessly drive cortical control of movement in mice. These devices may serve as prototypes for clinical ultra-precise neural prosthetics that use light as the modality of biological control. PMID:21701058

  8. Reconfigurable Control with Neural Network Augmentation for a Modified F-15 Aircraft

    NASA Technical Reports Server (NTRS)

    Burken, John J.; Williams-Hayes, Peggy; Kaneshige, John T.; Stachowiak, Susan J.

    2006-01-01

    Description of the performance of a simplified dynamic inversion controller with neural network augmentation follows. Simulation studies focus on the results with and without neural network adaptation through the use of an F-15 aircraft simulator that has been modified to include canards. Simulated control law performance with a surface failure, in addition to an aerodynamic failure, is presented. The aircraft, with adaptation, attempts to minimize the inertial cross-coupling effect of the failure (a control derivative anomaly associated with a jammed control surface). The dynamic inversion controller calculates necessary surface commands to achieve desired rates. The dynamic inversion controller uses approximate short period and roll axis dynamics. The yaw axis controller is a sideslip rate command system. Methods are described to reduce the cross-coupling effect and maintain adequate tracking errors for control surface failures. The aerodynamic failure destabilizes the pitching moment due to angle of attack. The results show that control of the aircraft with the neural networks is easier (more damped) than without the neural networks. Simulation results show neural network augmentation of the controller improves performance with aerodynamic and control surface failures in terms of tracking error and cross-coupling reduction.

  9. Adaptive Control Using Neural Network Augmentation for a Modified F-15 Aircraft

    NASA Technical Reports Server (NTRS)

    Burken, John J.; Williams-Hayes, Peggy; Karneshige, J. T.; Stachowiak, Susan J.

    2006-01-01

    Description of the performance of a simplified dynamic inversion controller with neural network augmentation follows. Simulation studies focus on the results with and without neural network adaptation through the use of an F-15 aircraft simulator that has been modified to include canards. Simulated control law performance with a surface failure, in addition to an aerodynamic failure, is presented. The aircraft, with adaptation, attempts to minimize the inertial cross-coupling effect of the failure (a control derivative anomaly associated with a jammed control surface). The dynamic inversion controller calculates necessary surface commands to achieve desired rates. The dynamic inversion controller uses approximate short period and roll axis dynamics. The yaw axis controller is a sideslip rate command system. Methods are described to reduce the cross-coupling effect and maintain adequate tracking errors for control surface failures. The aerodynamic failure destabilizes the pitching moment due to angle of attack. The results show that control of the aircraft with the neural networks is easier (more damped) than without the neural networks. Simulation results show neural network augmentation of the controller improves performance with aerodynamic and control surface failures in terms of tracking error and cross-coupling reduction.

  10. Method for neural network control of motion using real-time environmental feedback

    NASA Technical Reports Server (NTRS)

    Buckley, Theresa M. (Inventor)

    1997-01-01

    A method of motion control for robotics and other automatically controlled machinery using a neural network controller with real-time environmental feedback. The method is illustrated with a two-finger robotic hand having proximity sensors and force sensors that provide environmental feedback signals. The neural network controller is taught to control the robotic hand through training sets using back- propagation methods. The training sets are created by recording the control signals and the feedback signal as the robotic hand or a simulation of the robotic hand is moved through a representative grasping motion. The data recorded is divided into discrete increments of time and the feedback data is shifted out of phase with the control signal data so that the feedback signal data lag one time increment behind the control signal data. The modified data is presented to the neural network controller as a training set. The time lag introduced into the data allows the neural network controller to account for the temporal component of the robotic motion. Thus trained, the neural network controlled robotic hand is able to grasp a wide variety of different objects by generalizing from the training sets.

  11. Self-tuning control of a nuclear reactor using a Gaussian function neural network

    SciTech Connect

    Park, M.G.; Cho, N.Z.

    1995-05-01

    A self-tuning control method is described for a nuclear reactor system that requires only a set of input-output measurements. The use of an artificial neural network in nonlinear model-based adaptive control, both as a plant model and a controller, is investigated. A neural network called a Gaussian function network is used for one-step-ahead predictive control to track the desired plant output. The effectiveness of the controller is demonstrated by the application of the method to the power tracking control of the Korea Multipurpose Research Reactor.

  12. Multivariate biophysical markers predictive of mesenchymal stromal cell multipotency

    PubMed Central

    Lee, Wong Cheng; Shi, Hui; Poon, Zhiyong; Nyan, Lin Myint; Kaushik, Tanwi; Shivashankar, G. V.; Chan, Jerry K. Y.; Lim, Chwee Teck; Han, Jongyoon; Van Vliet, Krystyn J.

    2014-01-01

    The capacity to produce therapeutically relevant quantities of multipotent mesenchymal stromal cells (MSCs) via in vitro culture is a common prerequisite for stem cell-based therapies. Although culture expanded MSCs are widely studied and considered for therapeutic applications, it has remained challenging to identify a unique set of characteristics that enables robust identification and isolation of the multipotent stem cells. New means to describe and separate this rare cell type and its downstream progenitor cells within heterogeneous cell populations will contribute significantly to basic biological understanding and can potentially improve efficacy of stem and progenitor cell-based therapies. Here, we use multivariate biophysical analysis of culture-expanded, bone marrow-derived MSCs, correlating these quantitative measures with biomolecular markers and in vitro and in vivo functionality. We find that, although no single biophysical property robustly predicts stem cell multipotency, there exists a unique and minimal set of three biophysical markers that together are predictive of multipotent subpopulations, in vitro and in vivo. Subpopulations of culture-expanded stromal cells from both adult and fetal bone marrow that exhibit sufficiently small cell diameter, low cell stiffness, and high nuclear membrane fluctuations are highly clonogenic and also exhibit gene, protein, and functional signatures of multipotency. Further, we show that high-throughput inertial microfluidics enables efficient sorting of committed osteoprogenitor cells, as distinct from these mesenchymal stem cells, in adult bone marrow. Together, these results demonstrate novel methods and markers of stemness that facilitate physical isolation, study, and therapeutic use of culture-expanded, stromal cell subpopulations. PMID:25298531

  13. Neural Control of the Cardiovascular System in Space

    NASA Technical Reports Server (NTRS)

    Levine, Benjamin D.; Pawelczyk, James A.; Zuckerman, Julie; Zhang, Rong; Fu, Qi; Iwasaki, Kenichi; Ray, Chet; Blomqvist, C. Gunnar; Lane, Lynda D.; Giller, Cole A.

    2003-01-01

    During the acute transition from lying supine to standing upright, a large volume of blood suddenly moves from the chest into the legs. To prevent fainting, the blood pressure control system senses this change immediately, and rapidly adjusts flow (by increasing heart rate) and resistance to flow (by constricting the blood vessels) to restore blood pressure and maintain brain blood flow. If this system is inadequate, the brain has a backup plan. Blood vessels in the brain can adjust their diameter to keep blood flow constant. If blood pressure drops, the brain blood vessels dilate; if blood pressure increases, the brain blood vessels constrict. This process, which is called autoregulation, allows the brain to maintain a steady stream of oxygen, even when blood pressure changes. We examined what changes in the blood pressure control system or cerebral autoregulation contribute to the blood pressure control problems seen after spaceflight. We asked: (1) does the adaptation to spaceflight cause an adaptation in the blood pressure control system that impairs the ability of the system to constrict blood vessels on return to Earth?; (2) if such a defect exists, could we pinpoint the neural pathways involved?; and (3) does cerebral autoregulation become abnormal during spaceflight, impairing the body s ability to maintain constant brain blood flow when standing upright on Earth? We stressed the blood pressure control system using lower body negative pressure, upright tilt, handgrip exercise, and cold stimulation of the hand. Standard cardiovascular parameters were measured along with sympathetic nerve activity (the nerve activity causing blood vessels to constrict) and brain blood flow. We confirmed that the primary cardiovascular effect of spaceflight was a postflight reduction in upright stroke volume (the amount of blood the heart pumps per beat). Heart rate increased appropriately for the reduction in stroke volume, thereby showing that changes in heart rate

  14. Control of Wind Tunnel Operations Using Neural Net Interpretation of Flow Visualization Records

    NASA Technical Reports Server (NTRS)

    Buggele, Alvin E.; Decker, Arthur J.

    1994-01-01

    Neural net control of operations in a small subsonic/transonic/supersonic wind tunnel at Lewis Research Center is discussed. The tunnel and the layout for neural net control or control by other parallel processing techniques are described. The tunnel is an affordable, multiuser platform for testing instrumentation and components, as well as parallel processing and control strategies. Neural nets have already been tested on archival schlieren and holographic visualizations from this tunnel as well as recent supersonic and transonic shadowgraph. This paper discusses the performance of neural nets for interpreting shadowgraph images in connection with a recent exercise for tuning the tunnel in a subsonic/transonic cascade mode of operation. That mode was operated for performing wake surveys in connection with NASA's Advanced Subsonic Technology (AST) noise reduction program. The shadowgraph was presented to the neural nets as 60 by 60 pixel arrays. The outputs were tunnel parameters such as valve settings or tunnel state identifiers for selected tunnel operating points, conditions, or states. The neural nets were very sensitive, perhaps too sensitive, to shadowgraph pattern detail. However, the nets exhibited good immunity to variations in brightness, to noise, and to changes in contrast. The nets are fast enough so that ten or more can be combined per control operation to interpret flow visualization data, point sensor data, and model calculations. The pattern sensitivity of the nets will be utilized and tested to control wind tunnel operations at Mach 2.0 based on shock wave patterns.

  15. Neural self-tuning adaptive control of non-minimum phase system

    NASA Technical Reports Server (NTRS)

    Ho, Long T.; Bialasiewicz, Jan T.; Ho, Hai T.

    1993-01-01

    The motivation of this research came about when a neural network direct adaptive control scheme was applied to control the tip position of a flexible robotic arm. Satisfactory control performance was not attainable due to the inherent non-minimum phase characteristics of the flexible robotic arm tip. Most of the existing neural network control algorithms are based on the direct method and exhibit very high sensitivity, if not unstable, closed-loop behavior. Therefore, a neural self-tuning control (NSTC) algorithm is developed and applied to this problem and showed promising results. Simulation results of the NSTC scheme and the conventional self-tuning (STR) control scheme are used to examine performance factors such as control tracking mean square error, estimation mean square error, transient response, and steady state response.

  16. Manipulator adaptive control by neural networks in an orange picking robot.

    PubMed

    Cavalieri, S; Plebe, A

    1996-12-01

    The paper focuses on the use of neural networks for process identification in an orange-picking robot adaptive control system. The results that will be shown in the paper refer to a study carried out under the European Community ESPRIT project "CONNY", dealing with the application of neural networks to robotics. The aim of the research is to verify the possibility of integrating a neural identification module in a traditional system to control the movement of the manipulators of the robot. The paper illustrates integration of neural identification in the existing orange-picking robot control system, highlighting the improvement of performance obtainable. Although the proposal refers to a specific robot, it can be applied to any system with the same dynamic features.

  17. Neural Network for Image-to-Image Control of Optical Tweezers

    NASA Technical Reports Server (NTRS)

    Decker, Arthur J.; Anderson, Robert C.; Weiland, Kenneth E.; Wrbanek, Susan Y.

    2004-01-01

    A method is discussed for using neural networks to control optical tweezers. Neural-net outputs are combined with scaling and tiling to generate 480 by 480-pixel control patterns for a spatial light modulator (SLM). The SLM can be combined in various ways with a microscope to create movable tweezers traps with controllable profiles. The neural nets are intended to respond to scattered light from carbon and silicon carbide nanotube sensors. The nanotube sensors are to be held by the traps for manipulation and calibration. Scaling and tiling allow the 100 by 100-pixel maximum resolution of the neural-net software to be applied in stages to exploit the full 480 by 480-pixel resolution of the SLM. One of these stages is intended to create sensitive null detectors for detecting variations in the scattered light from the nanotube sensors.

  18. Decentralized neural identifier and control for nonlinear systems based on extended Kalman filter.

    PubMed

    Castañeda, Carlos E; Esquivel, P

    2012-07-01

    A time-varying learning algorithm for recurrent high order neural network in order to identify and control nonlinear systems which integrates the use of a statistical framework is proposed. The learning algorithm is based in the extended Kalman filter, where the associated state and measurement noises covariance matrices are composed by the coupled variance between the plant states. The formulation allows identification of interactions associate between plant state and the neural convergence. Furthermore, a sliding window-based method for dynamical modeling of nonstationary systems is presented to improve the neural identification in the proposed methodology. The efficiency and accuracy of the proposed method is assessed to a five degree of freedom (DOF) robot manipulator where based on the time-varying neural identifier model, the decentralized discrete-time block control and sliding mode techniques are used to design independent controllers and develop the trajectory tracking for each DOF.

  19. Radial Basis Function Neural Network-based PID model for functional electrical stimulation system control.

    PubMed

    Cheng, Longlong; Zhang, Guangju; Wan, Baikun; Hao, Linlin; Qi, Hongzhi; Ming, Dong

    2009-01-01

    Functional electrical stimulation (FES) has been widely used in the area of neural engineering. It utilizes electrical current to activate nerves innervating extremities affected by paralysis. An effective combination of a traditional PID controller and a neural network, being capable of nonlinear expression and adaptive learning property, supply a more reliable approach to construct FES controller that help the paraplegia complete the action they want. A FES system tuned by Radial Basis Function (RBF) Neural Network-based Proportional-Integral-Derivative (PID) model was designed to control the knee joint according to the desired trajectory through stimulation of lower limbs muscles in this paper. Experiment result shows that the FES system with RBF Neural Network-based PID model get a better performance when tracking the preset trajectory of knee angle comparing with the system adjusted by Ziegler- Nichols tuning PID model.

  20. A Physiological Neural Network for Saccadic Eye Movement Control

    DTIC Science & Technology

    1994-04-01

    Llinas , R., Ionic basis for the electroresponsiveness and oscillatory properties of guinea-pig thalamic neurons in vitro...and Llinas , R., Electrophysiological properties of guinea-pig thalamic neu- rons: An in vitro study. Journal of Physiology, 1984, vol. 349, pp. 205-226...nucleus. The neural circuit consists of neurons in the paramedian pontine reticular formation, the vestibular nucleus, abducens nucleus, oculomotor

  1. Neural Issues in the Control of Muscular Strength

    ERIC Educational Resources Information Center

    Kamen, Gary

    2004-01-01

    During the earliest stages of resistance exercise training, initial muscular strength gains occur too rapidly to be explained solely by muscle-based mechanisms. However, increases in surface-based EMG amplitude as well as motor unit discharge rate provide some insight to the existence of neural mechanisms in the earliest phases of resistance…

  2. Neural network-based control using Lyapunov functions

    NASA Technical Reports Server (NTRS)

    Luxemburg, Leon A.

    1993-01-01

    We have successfully demonstrated how the problem of stabilization of plants can be reduced to a problem of approximation of functions. Neural networks have been shown to have approximating and interpolating properties. This approach is good for linear and nonlinear plants. Software has been generated to demonstrate this approach.

  3. Neural Issues in the Control of Muscular Strength

    ERIC Educational Resources Information Center

    Kamen, Gary

    2004-01-01

    During the earliest stages of resistance exercise training, initial muscular strength gains occur too rapidly to be explained solely by muscle-based mechanisms. However, increases in surface-based EMG amplitude as well as motor unit discharge rate provide some insight to the existence of neural mechanisms in the earliest phases of resistance…

  4. Multipotent adult hippocampal progenitor cells maintained as neurospheres favor differentiation toward glial lineages

    PubMed Central

    Oh, Jisun; Daniels, Gabrielle J.; Chiou, Lawrence S.; Ye, Eun-Ah; Jeong, Yong-Seob; Sakaguchi, Donald S.

    2014-01-01

    Adult hippocampal progenitor cells (AHPCs) are generally maintained as a dispersed monolayer population of multipotent neural progenitors. To better understand cell-cell interactions among neural progenitors and their influences on cellular characteristics, we generated free-floating cellular aggregates, or neurospheres, from the adherent monolayer population of AHPCs. Results from in vitro analyses demonstrated that both populations of AHPCs were highly proliferative under maintenance conditions, but AHPCs formed in neurospheres favored differentiation along a glial lineage and displayed greater migrational activity, than the traditionally cultured AHPCs. To study the plasticity of AHPCs from both populations in vivo, we transplanted GFP-expressing AHPCs via intraocular injection into the developing rat eyes. Both AHPC populations were capable of surviving and integrating into the developing host central nervous system, but considerably more GFP-positive cells were observed in the retinas transplanted with neurosphere AHPCs, compared to adherent AHPCs. These results suggest that the culture configuration during maintenance for neural progenitor cells (NPCs) influences cell fate and motility in vitro as well as in vivo. Our findings have implication for understanding different cellular characteristics of NPCs according to distinct intercellular architectures and for developing cell-based therapeutic strategies using lineage-committed NPCs. PMID:24844209

  5. Selected Flight Test Results for Online Learning Neural Network-Based Flight Control System

    NASA Technical Reports Server (NTRS)

    Williams-Hayes, Peggy S.

    2004-01-01

    The NASA F-15 Intelligent Flight Control System project team developed a series of flight control concepts designed to demonstrate neural network-based adaptive controller benefits, with the objective to develop and flight-test control systems using neural network technology to optimize aircraft performance under nominal conditions and stabilize the aircraft under failure conditions. This report presents flight-test results for an adaptive controller using stability and control derivative values from an online learning neural network. A dynamic cell structure neural network is used in conjunction with a real-time parameter identification algorithm to estimate aerodynamic stability and control derivative increments to baseline aerodynamic derivatives in flight. This open-loop flight test set was performed in preparation for a future phase in which the learning neural network and parameter identification algorithm output would provide the flight controller with aerodynamic stability and control derivative updates in near real time. Two flight maneuvers are analyzed - pitch frequency sweep and automated flight-test maneuver designed to optimally excite the parameter identification algorithm in all axes. Frequency responses generated from flight data are compared to those obtained from nonlinear simulation runs. Flight data examination shows that addition of flight-identified aerodynamic derivative increments into the simulation improved aircraft pitch handling qualities.

  6. The Ca2+-induced methyltransferase xPRMT1b controls neural fate in amphibian embryo.

    PubMed

    Batut, Julie; Vandel, Laurence; Leclerc, Catherine; Daguzan, Christiane; Moreau, Marc; Néant, Isabelle

    2005-10-18

    We have previously shown that an increase in intracellular Ca2+ is both necessary and sufficient to commit ectoderm to a neural fate in Xenopus embryos. However, the relationship between this Ca2+ increase and the expression of early neural genes has yet to be defined. Using a subtractive cDNA library between untreated and caffeine-treated animal caps, i.e., control ectoderm and ectoderm induced toward a neural fate by a release of Ca2+, we have isolated the arginine N-methyltransferase, xPRMT1b, a Ca2+-induced target gene, which plays a pivotal role in this process. First, we show in embryo and in animal cap that xPRMT1b expression is Ca2+-regulated. Second, overexpression of xPRMT1b induces the expression of early neural genes such as Zic3. Finally, in the whole embryo, antisense approach with morpholino oligonucleotide against xPRMT1b impairs neural development and in animal caps blocks the expression of neural markers induced by a release of internal Ca2+. Our results implicate an instructive role of an enzyme, an arginine methyltransferase protein, in the embryonic choice of determination between epidermal and neural fate. The results presented provide insights by which a Ca2+ increase induces neural fate.

  7. Controlling the elements: an optogenetic approach to understanding the neural circuits of fear

    PubMed Central

    Johansen, Joshua P.; Wolff, Steffen B.E.; Lüthi, Andreas; LeDoux, Joseph E.

    2011-01-01

    Neural circuits underlie our ability to interact in the world and to learn adaptively from experience. Understanding neural circuits and how circuit structure gives rise to neural firing patterns or computations is fundamental to our understanding of human experience and behavior. Fear conditioning is a powerful model system in which to study neural circuits and information processing and relate them to learning and behavior. Until recently technological limitations have made it difficult to study the causal role of specific circuit elements during fear conditioning. However, newly developed optogenetic tools allow researchers to manipulate individual circuit components such as anatomically or molecularly defined cell populations, with high temporal precision. Applying these tools to the study of fear conditioning to control specific neural subpopulations in the fear circuit will facilitate a causal analysis of the role of these circuit elements in fear learning and memory. By combining this approach with in vivo electrophysiological recordings in awake, behaving animals, it will also be possible to determine the functional contribution of specific cell populations to neural processing in the fear circuit. As a result, the application of optogenetics to fear conditioning could shed light on how specific circuit elements contribute to neural coding and to fear learning and memory. Furthermore, this approach may reveal general rules for how circuit structure and neural coding within circuits gives rise to sensory experience and behavior. PMID:22169096

  8. Imaging the neural circuitry and chemical control of aggressive motivation

    PubMed Central

    Ferris, Craig F; Stolberg, Tara; Kulkarni, Praveen; Murugavel, Murali; Blanchard, Robert; Blanchard, D Caroline; Febo, Marcelo; Brevard, Mathew; Simon, Neal G

    2008-01-01

    Background With the advent of functional magnetic resonance imaging (fMRI) in awake animals it is possible to resolve patterns of neuronal activity across the entire brain with high spatial and temporal resolution. Synchronized changes in neuronal activity across multiple brain areas can be viewed as functional neuroanatomical circuits coordinating the thoughts, memories and emotions for particular behaviors. To this end, fMRI in conscious rats combined with 3D computational analysis was used to identifying the putative distributed neural circuit involved in aggressive motivation and how this circuit is affected by drugs that block aggressive behavior. Results To trigger aggressive motivation, male rats were presented with their female cage mate plus a novel male intruder in the bore of the magnet during image acquisition. As expected, brain areas previously identified as critical in the organization and expression of aggressive behavior were activated, e.g., lateral hypothalamus, medial basal amygdala. Unexpected was the intense activation of the forebrain cortex and anterior thalamic nuclei. Oral administration of a selective vasopressin V1a receptor antagonist SRX251 or the selective serotonin reuptake inhibitor fluoxetine, drugs that block aggressive behavior, both caused a general suppression of the distributed neural circuit involved in aggressive motivation. However, the effect of SRX251, but not fluoxetine, was specific to aggression as brain activation in response to a novel sexually receptive female was unaffected. Conclusion The putative neural circuit of aggressive motivation identified with fMRI includes neural substrates contributing to emotional expression (i.e. cortical and medial amygdala, BNST, lateral hypothalamus), emotional experience (i.e. hippocampus, forebrain cortex, anterior cingulate, retrosplenial cortex) and the anterior thalamic nuclei that bridge the motor and cognitive components of aggressive responding. Drugs that block vasopressin

  9. Major transcriptome re-organisation and abrupt changes in signalling, cell cycle and chromatin regulation at neural differentiation in vivo.

    PubMed

    Olivera-Martinez, Isabel; Schurch, Nick; Li, Roman A; Song, Junfang; Halley, Pamela A; Das, Raman M; Burt, Dave W; Barton, Geoffrey J; Storey, Kate G

    2014-08-01

    Here, we exploit the spatial separation of temporal events of neural differentiation in the elongating chick body axis to provide the first analysis of transcriptome change in progressively more differentiated neural cell populations in vivo. Microarray data, validated against direct RNA sequencing, identified: (1) a gene cohort characteristic of the multi-potent stem zone epiblast, which contains neuro-mesodermal progenitors that progressively generate the spinal cord; (2) a major transcriptome re-organisation as cells then adopt a neural fate; and (3) increasing diversity as neural patterning and neuron production begin. Focussing on the transition from multi-potent to neural state cells, we capture changes in major signalling pathways, uncover novel Wnt and Notch signalling dynamics, and implicate new pathways (mevalonate pathway/steroid biogenesis and TGFβ). This analysis further predicts changes in cellular processes, cell cycle, RNA-processing and protein turnover as cells acquire neural fate. We show that these changes are conserved across species and provide biological evidence for reduced proteasome efficiency and a novel lengthening of S phase. This latter step may provide time for epigenetic events to mediate large-scale transcriptome re-organisation; consistent with this, we uncover simultaneous downregulation of major chromatin modifiers as the neural programme is established. We further demonstrate that transcription of one such gene, HDAC1, is dependent on FGF signalling, making a novel link between signals that control neural differentiation and transcription of a core regulator of chromatin organisation. Our work implicates new signalling pathways and dynamics, cellular processes and epigenetic modifiers in neural differentiation in vivo, identifying multiple new potential cellular and molecular mechanisms that direct differentiation.

  10. Comparison of nestin-expressing multipotent stem cells in the tongue fungiform papilla and vibrissa hair follicle.

    PubMed

    Mii, Sumiyuki; Amoh, Yasuyuki; Katsuoka, Kensei; Hoffman, Robert M

    2014-06-01

    We have previously reported that hair follicles contain multipotent stem cells, which express nestin and participate in follicle growth at anagen as well as in the extension of the follicle sensory nerve. The nestin-driven green fluorescent protein (ND-GFP) transgenic mouse labels all nestin-expressing cells with GFP. The hair follicle nestin-GFP cells can differentiate into neurons, Schwann cells, and other cell types. In this study, we describe nestin-expressing multipotent stem cells in the fungiform papilla in the tongue. The nestin-expressing multipotent stem cells in the fungiform papilla are located around a peripheral sensory nerve immediately below the taste bud and co-express the neural crest cell marker p75(NTR) . The fungiform papilla cells formed spheres in suspension culture in DMEM-F12 medium supplemented with basic fibroblast growth factor (bFGF). The spheres consisted of nestin-expressing cells that co-expressed the neural crest marker p75(NTR) and which developed expression of the stem cell marker CD34. P75(NTR), CD34 and nestin co-expression suggested that nestin-expressing cells comprising the fungiform papilla spheres were in a relatively undifferentiated state. The nestin-expressing cells of these spheres acquired the following markers: β III tubulin typical of nerve cells; GFAP typical of glial cells; K15 typical of keratinocytes; and smooth-muscle antigen (SMA), after transfer to RPMI 1640 medium with 10% fetal bovine serum (FBS), suggesting they differentiated into multiple cell types. The results of the current study indicate nestin-expressing fungiform papilla cells and the nestin-expressing hair follicle stem cells have common features of cell morphology and ability to differentiate into multiple cell types, suggesting their remarkable similarity.

  11. Improved training of neural networks for the nonlinear active control of sound and vibration.

    PubMed

    Bouchard, M; Paillard, B; Le Dinh, C T

    1999-01-01

    Active control of sound and vibration has been the subject of a lot of research in recent years, and examples of applications are now numerous. However, few practical implementations of nonlinear active controllers have been realized. Nonlinear active controllers may be required in cases where the actuators used in active control systems exhibit nonlinear characteristics, or in cases when the structure to be controlled exhibits a nonlinear behavior. A multilayer perceptron neural-network based control structure was previously introduced as a nonlinear active controller, with a training algorithm based on an extended backpropagation scheme. This paper introduces new heuristical training algorithms for the same neural-network control structure. The objective is to develop new algorithms with faster convergence speed (by using nonlinear recursive-least-squares algorithms) and/or lower computational loads (by using an alternative approach to compute the instantaneous gradient of the cost function). Experimental results of active sound control using a nonlinear actuator with linear and nonlinear controllers are presented. The results show that some of the new algorithms can greatly improve the learning rate of the neural-network control structure, and that for the considered experimental setup a neural-network controller can outperform linear controllers.

  12. Resonant hopping of a robot controlled by an artificial neural oscillator.

    PubMed

    Pelc, Evan H; Daley, Monica A; Ferris, Daniel P

    2008-06-01

    The bouncing gaits of terrestrial animals (hopping, running, trotting) can be modeled as a hybrid dynamic system, with spring-mass dynamics during stance and ballistic motion during the aerial phase. We used a simple hopping robot controlled by an artificial neural oscillator to test the ability of the neural oscillator to adaptively drive this hybrid dynamic system. The robot had a single joint, actuated by an artificial pneumatic muscle in series with a tendon spring. We examined how the oscillator-robot system responded to variation in two neural control parameters: descending neural drive and neuromuscular gain. We also tested the ability of the oscillator-robot system to adapt to variations in mechanical properties by changing the series and parallel spring stiffnesses. Across a 100-fold variation in both supraspinal gain and muscle gain, hopping frequency changed by less than 10%. The neural oscillator consistently drove the system at the resonant half-period for the stance phase, and adapted to a new resonant half-period when the muscle series and parallel stiffnesses were altered. Passive cycling of elastic energy in the tendon accounted for 70-79% of the mechanical work done during each hop cycle. Our results demonstrate that hopping dynamics were largely determined by the intrinsic properties of the mechanical system, not the specific choice of neural oscillator parameters. The findings provide the first evidence that an artificial neural oscillator will drive a hybrid dynamic system at partial resonance.

  13. A neural manufacturing a novel concept for processing modeling, monitoring and control

    SciTech Connect

    Law, B.; Fu, C.Y.; Petrich, L.

    1995-10-01

    Semiconductor fabrication lines have become extremely costly, and achieving a good return from such a high capital investment requires efficient utilization of these expensive facilities. It is highly desirable to shorten processing development time, increase fabrication yield, enhance flexibility, improve quality, and minimize downtime. We propose that these ends can be achieved by applying recent advances in the areas of artificial neural networks, fuzzy logic, machine learning, and genetic algorithms. We use the term neural manufacturing to describe such applications. This paper describes our use of artificial neural networks to improve the monitoring and control of semiconductor process.

  14. Neural network for solving Nash equilibrium problem in application of multiuser power control.

    PubMed

    He, Xing; Yu, Junzhi; Huang, Tingwen; Li, Chuandong; Li, Chaojie

    2014-09-01

    In this paper, based on an equivalent mixed linear complementarity problem, we propose a neural network to solve multiuser power control optimization problems (MPCOP), which is modeled as the noncooperative Nash game in modern digital subscriber line (DSL). If the channel crosstalk coefficients matrix is positive semidefinite, it is shown that the proposed neural network is stable in the sense of Lyapunov and global convergence to a Nash equilibrium, and the Nash equilibrium is unique if the channel crosstalk coefficients matrix is positive definite. Finally, simulation results on two numerical examples show the effectiveness and performance of the proposed neural network.

  15. Exponential stabilization and synchronization for fuzzy model of memristive neural networks by periodically intermittent control.

    PubMed

    Yang, Shiju; Li, Chuandong; Huang, Tingwen

    2016-03-01

    The problem of exponential stabilization and synchronization for fuzzy model of memristive neural networks (MNNs) is investigated by using periodically intermittent control in this paper. Based on the knowledge of memristor and recurrent neural network, the model of MNNs is formulated. Some novel and useful stabilization criteria and synchronization conditions are then derived by using the Lyapunov functional and differential inequality techniques. It is worth noting that the methods used in this paper are also applied to fuzzy model for complex networks and general neural networks. Numerical simulations are also provided to verify the effectiveness of theoretical results. Copyright © 2015 Elsevier Ltd. All rights reserved.

  16. Error mapping controller: a closed loop neuroprosthesis controlled by artificial neural networks

    PubMed Central

    Pedrocchi, Alessandra; Ferrante, Simona; De Momi, Elena; Ferrigno, Giancarlo

    2006-01-01

    Background The design of an optimal neuroprostheses controller and its clinical use presents several challenges. First, the physiological system is characterized by highly inter-subjects varying properties and also by non stationary behaviour with time, due to conditioning level and fatigue. Secondly, the easiness to use in routine clinical practice requires experienced operators. Therefore, feedback controllers, avoiding long setting procedures, are required. Methods The error mapping controller (EMC) here proposed uses artificial neural networks (ANNs) both for the design of an inverse model and of a feedback controller. A neuromuscular model is used to validate the performance of the controllers in simulations. The EMC performance is compared to a Proportional Integral Derivative (PID) included in an anti wind-up scheme (called PIDAW) and to a controller with an ANN as inverse model and a PID in the feedback loop (NEUROPID). In addition tests on the EMC robustness in response to variations of the Plant parameters and to mechanical disturbances are carried out. Results The EMC shows improvements with respect to the other controllers in tracking accuracy, capability to prolong exercise managing fatigue, robustness to parameter variations and resistance to mechanical disturbances. Conclusion Different from the other controllers, the EMC is capable of balancing between tracking accuracy and mapping of fatigue during the exercise. In this way, it avoids overstressing muscles and allows a considerable prolongation of the movement. The collection of the training sets does not require any particular experimental setting and can be introduced in routine clinical practice. PMID:17029636

  17. Modified neural networks for rapid recovery of tokamak plasma parameters for real time control

    NASA Astrophysics Data System (ADS)

    Sengupta, A.; Ranjan, P.

    2002-07-01

    Two modified neural network techniques are used for the identification of the equilibrium plasma parameters of the Superconducting Steady State Tokamak I from external magnetic measurements. This is expected to ultimately assist in a real time plasma control. As different from the conventional network structure where a single network with the optimum number of processing elements calculates the outputs, a multinetwork system connected in parallel does the calculations here in one of the methods. This network is called the double neural network. The accuracy of the recovered parameters is clearly more than the conventional network. The other type of neural network used here is based on the statistical function parametrization combined with a neural network. The principal component transformation removes linear dependences from the measurements and a dimensional reduction process reduces the dimensionality of the input space. This reduced and transformed input set, rather than the entire set, is fed into the neural network input. This is known as the principal component transformation-based neural network. The accuracy of the recovered parameters in the latter type of modified network is found to be a further improvement over the accuracy of the double neural network. This result differs from that obtained in an earlier work where the double neural network showed better performance. The conventional network and the function parametrization methods have also been used for comparison. The conventional network has been used for an optimization of the set of magnetic diagnostics. The effective set of sensors, as assessed by this network, are compared with the principal component based network. Fault tolerance of the neural networks has been tested. The double neural network showed the maximum resistance to faults in the diagnostics, while the principal component based network performed poorly. Finally the processing times of the methods have been compared. The double

  18. Parameter estimation and control for a neural mass model based on the unscented Kalman filter

    NASA Astrophysics Data System (ADS)

    Liu, Xian; Gao, Qing

    2013-10-01

    Recent progress in Kalman filters to estimate states and parameters in nonlinear systems has provided the possibility of applying such approaches to neural systems. We here apply the nonlinear method of unscented Kalman filters (UKFs) to observe states and estimate parameters in a neural mass model that can simulate distinct rhythms in electroencephalography (EEG) including dynamical evolution during epilepsy seizures. We demonstrate the efficiency of the UKF in estimating states and parameters. We also develop an UKF-based control strategy to modulate the dynamics of the neural mass model. In this strategy the UKF plays the role of observing states, and the control law is constructed via the estimated states. We demonstrate the feasibility of using such a strategy to suppress epileptiform spikes in the neural mass model.

  19. Active Control of Complex Systems via Dynamic (Recurrent) Neural Networks

    DTIC Science & Technology

    1992-05-30

    course, to on-going changes brought about by learning processes. As research in neurodynamics proceeded, the concept of reverberatory information flows...Microstructure of Cognition . Vol. 1: Foundations, M.I.T. Press, Cambridge, Massachusetts, pp. 354-361, 1986. 100 I Schwarz, G., "Estimating the dimension of a...Continually Running Fully Recurrent Neural Networks, ICS Report 8805, Institute of Cognitive Science, University of California at San Diego, 1988. 10 II

  20. Effects of hypoxia on sympathetic neural control in humans

    NASA Technical Reports Server (NTRS)

    Smith, M. L.; Muenter, N. K.

    2000-01-01

    This special issue is principally focused on the time domain of the adaptive mechanisms of ventilatory responses to short-term, long-term and intermittent hypoxia. The purpose of this review is to summarize the limited literature on the sympathetic neural responses to sustained or intermittent hypoxia in humans and attempt to discern the time domain of these responses and potential adaptive processes that are evoked during short and long-term exposures to hypoxia.

  1. Effects of hypoxia on sympathetic neural control in humans

    NASA Technical Reports Server (NTRS)

    Smith, M. L.; Muenter, N. K.

    2000-01-01

    This special issue is principally focused on the time domain of the adaptive mechanisms of ventilatory responses to short-term, long-term and intermittent hypoxia. The purpose of this review is to summarize the limited literature on the sympathetic neural responses to sustained or intermittent hypoxia in humans and attempt to discern the time domain of these responses and potential adaptive processes that are evoked during short and long-term exposures to hypoxia.

  2. Predictive and Neural Predictive Control of Uncertain Systems

    NASA Technical Reports Server (NTRS)

    Kelkar, Atul G.

    2000-01-01

    Accomplishments and future work are:(1) Stability analysis: the work completed includes characterization of stability of receding horizon-based MPC in the setting of LQ paradigm. The current work-in-progress includes analyzing local as well as global stability of the closed-loop system under various nonlinearities; for example, actuator nonlinearities; sensor nonlinearities, and other plant nonlinearities. Actuator nonlinearities include three major types of nonlineaxities: saturation, dead-zone, and (0, 00) sector. (2) Robustness analysis: It is shown that receding horizon parameters such as input and output horizon lengths have direct effect on the robustness of the system. (3) Code development: A matlab code has been developed which can simulate various MPC formulations. The current effort is to generalize the code to include ability to handle all plant types and all MPC types. (4) Improved predictor: It is shown that MPC design using better predictors that can minimize prediction errors. It is shown analytically and numerically that Smith predictor can provide closed-loop stability under GPC operation for plants with dead times where standard optimal predictor fails. (5) Neural network predictors: When neural network is used as predictor it can be shown that neural network predicts the plant output within some finite error bound under certain conditions. Our preliminary study shows that with proper choice of update laws and network architectures such bound can be obtained. However, much work needs to be done to obtain a similar result in general case.

  3. Controlling chaos in balanced neural circuits with input spike trains

    NASA Astrophysics Data System (ADS)

    Engelken, Rainer; Wolf, Fred

    The cerebral cortex can be seen as a system of neural circuits driving each other with spike trains. Here we study how the statistics of these spike trains affects chaos in balanced target circuits.Earlier studies of chaos in balanced neural circuits either used a fixed input [van Vreeswijk, Sompolinsky 1996, Monteforte, Wolf 2010] or white noise [Lajoie et al. 2014]. We study dynamical stability of balanced networks driven by input spike trains with variable statistics. The analytically obtained Jacobian enables us to calculate the complete Lyapunov spectrum. We solved the dynamics in event-based simulations and calculated Lyapunov spectra, entropy production rate and attractor dimension. We vary correlations, irregularity, coupling strength and spike rate of the input and action potential onset rapidness of recurrent neurons.We generally find a suppression of chaos by input spike trains. This is strengthened by bursty and correlated input spike trains and increased action potential onset rapidness. We find a link between response reliability and the Lyapunov spectrum. Our study extends findings in chaotic rate models [Molgedey et al. 1992] to spiking neuron models and opens a novel avenue to study the role of projections in shaping the dynamics of large neural circuits.

  4. Neural Control of Motion-to-Force Transitions with the Fingertip

    PubMed Central

    Venkadesan, Madhusudhan; Valero-Cuevas, Francisco J.

    2010-01-01

    The neural control of tasks such as rapid acquisition of precision pinch remains unknown. Therefore, we investigated the neural control of finger musculature when the index fingertip abruptly transitions from motion to static force production. Nine subjects produced a downward tapping motion followed by vertical fingertip force against a rigid surface. We simultaneously recorded three-dimensional fingertip force, plus the complete muscle coordination pattern using intramuscular electromyograms from all seven index finger muscles. We found that the muscle coordination pattern clearly switched from that for motion to that for isometric force ~5 ms before contact (p = 0.0004). Mathematical modeling and analysis revealed that the underlying neural control also switched between mutually incompatible strategies in a time-critical manner. Importantly, this abrupt switch in underlying neural control polluted fingertip force vector direction beyond what is explained by muscle activation-contraction dynamics and neuromuscular noise (p ≤0.003). We further ruled out an impedance control strategy in a separate test showing no systematic change in initial force magnitude for catch trials where the tapping surface was surreptitiously lowered and raised (p = 0.93). We conclude that the nervous system predictively switches between mutually incompatible neural control strategies to bridge the abrupt transition in mechanical constraints between motion and static force. Moreover because the nervous system cannot switch between control strategies instantaneously or exactly, there arise physical limits to the accuracy of force production on contact. The need for such a neurally demanding and time-critical strategy for routine motion-to-force transitions with the fingertip may explain the existence of specialized neural circuits for the human hand. PMID:18256256

  5. Neural control of motion-to-force transitions with the fingertip.

    PubMed

    Venkadesan, Madhusudhan; Valero-Cuevas, Francisco J

    2008-02-06

    The neural control of tasks such as rapid acquisition of precision pinch remains unknown. Therefore, we investigated the neural control of finger musculature when the index fingertip abruptly transitions from motion to static force production. Nine subjects produced a downward tapping motion followed by vertical fingertip force against a rigid surface. We simultaneously recorded three-dimensional fingertip force, plus the complete muscle coordination pattern using intramuscular electromyograms from all seven index finger muscles. We found that the muscle coordination pattern clearly switched from that for motion to that for isometric force approximately 65 ms before contact (p = 0.0004). Mathematical modeling and analysis revealed that the underlying neural control also switched between mutually incompatible strategies in a time-critical manner. Importantly, this abrupt switch in underlying neural control polluted fingertip force vector direction beyond what is explained by muscle activation-contraction dynamics and neuromuscular noise (p < or = 0.003). We further ruled out an impedance control strategy in a separate test showing no systematic change in initial force magnitude for catch trials where the tapping surface was surreptitiously lowered and raised (p = 0.93). We conclude that the nervous system predictively switches between mutually incompatible neural control strategies to bridge the abrupt transition in mechanical constraints between motion and static force. Moreover because the nervous system cannot switch between control strategies instantaneously or exactly, there arise physical limits to the accuracy of force production on contact. The need for such a neurally demanding and time-critical strategy for routine motion-to-force transitions with the fingertip may explain the existence of specialized neural circuits for the human hand.

  6. Functional Multipotency of Stem Cells: A Conceptual Review of Neurotrophic Factor-Based Evidence and Its Role in Translational Research

    PubMed Central

    Teng, Yang D; Yu, Dou; Ropper, Alexander E; Li, Jianxue; Kabatas, Serdar; Wakeman, Dustin R; Wang, Junmei; Sullivan, Maryrose P; Redmond, D. Eugene; Langer, Robert; Snyder, Evan Y; Sidman, Richard L

    2011-01-01

    We here propose an updated concept of stem cells (SCs), with an emphasis on neural stem cells (NSCs). The conventional view, which has touched principally on the essential property of lineage multipotency (e.g., the ability of NSCs to differentiate into all neural cells), should be broadened to include the emerging recognition of biofunctional multipotency of SCs to mediate systemic homeostasis, evidenced in NSCs in particular by the secretion of neurotrophic factors. Under this new conceptual context and taking the NSC as a leading example, one may begin to appreciate and seek the “logic” behind the wide range of molecular tactics the NSC appears to serve at successive developmental stages as it integrates into and prepares, modifies, and guides the surrounding CNS micro- and macro-environment towards the formation and self-maintenance of a functioning adult nervous system. We suggest that embracing this view of the “multipotency” of the SCs is pivotal for correctly, efficiently, and optimally exploiting stem cell biology for therapeutic applications, including reconstitution of a dysfunctional CNS. PMID:22654717

  7. Real-time water treatment process control with artificial neural networks

    SciTech Connect

    Zhang, Q.; Stanley, S.J.

    1999-02-01

    With more stringent requirements being placed on water treatment performance, operators need a reliable tool to optimize the process control in the treatment plant. In the present paper, one such tool is presented, which is a process control system built with the artificial neural network (ANN) modeling approach. The coagulation, flocculation, and sedimentation processes involve many complex physical and chemical phenomena and thus are difficult to model for process control with traditional methods. Proposed is the use of a neural network process control system for the coagulation, flocculation, and sedimentation processes. Presented is a review of influential control parameters and control requirements for these processes followed by the development of a feed forward neural network control scheme. A neural network process model was built based on nearly 2,000 sets of process control data. This model formed the major component of a software controller and was found to consistently predict the optimum alum and power activated carbon doses for different control actions. With minor modifications, the approach illustrated can be used for building control models for other water treatment processes.

  8. Rough set-based hybrid fuzzy-neural controller design for industrial wastewater treatment.

    PubMed

    Chen, W C; Chang, Ni-Bin; Chen, Jeng-Chung

    2003-01-01

    Recent advances in control engineering suggest that hybrid control strategies, integrating some ideas and paradigms existing in different soft computing techniques, such as fuzzy logic, genetic algorithms, rough set theory, and neural networks, may provide improved control performance in wastewater treatment processes. This paper presents an innovative hybrid control algorithm leading to integrate the distinct aspects of indiscernibility capability of rough set theory and search capability of genetic algorithms with conventional neural-fuzzy controller design. The methodology proposed in this study employs a three-stage analysis that is designed in series for generating a representative state function, searching for a set of multi-objective control strategies, and performing a rough set-based autotuning for the neural-fuzzy logic controller to make it applicable for controlling an industrial wastewater treatment process. Research findings in the case study clearly indicate that the use of rough set theory to aid in the neural-fuzzy logic controller design can produce relatively better plant performance in terms of operating cost, control stability, and response time simultaneously, which is effective at least in the selected industrial wastewater treatment plant. Such a methodology is anticipated to be capable of dealing with many other types of process control problems in waste treatment processes by making only minor modifications.

  9. Global neural dynamic surface tracking control of strict-feedback systems with application to hypersonic flight vehicle.

    PubMed

    Xu, Bin; Yang, Chenguang; Pan, Yongping

    2015-10-01

    This paper studies both indirect and direct global neural control of strict-feedback systems in the presence of unknown dynamics, using the dynamic surface control (DSC) technique in a novel manner. A new switching mechanism is designed to combine an adaptive neural controller in the neural approximation domain, together with the robust controller that pulls the transient states back into the neural approximation domain from the outside. In comparison with the conventional control techniques, which could only achieve semiglobally uniformly ultimately bounded stability, the proposed control scheme guarantees all the signals in the closed-loop system are globally uniformly ultimately bounded, such that the conventional constraints on initial conditions of the neural control system can be relaxed. The simulation studies of hypersonic flight vehicle (HFV) are performed to demonstrate the effectiveness of the proposed global neural DSC design.

  10. Impulsive control of stochastic systems with applications in chaos control, chaos synchronization, and neural networks.

    PubMed

    Li, Chunguang; Chen, Luonan; Aihara, Kazuyuki

    2008-06-01

    Real systems are often subject to both noise perturbations and impulsive effects. In this paper, we study the stability and stabilization of systems with both noise perturbations and impulsive effects. In other words, we generalize the impulsive control theory from the deterministic case to the stochastic case. The method is based on extending the comparison method to the stochastic case. The method presented in this paper is general and easy to apply. Theoretical results on both stability in the pth mean and stability with disturbance attenuation are derived. To show the effectiveness of the basic theory, we apply it to the impulsive control and synchronization of chaotic systems with noise perturbations, and to the stability of impulsive stochastic neural networks. Several numerical examples are also presented to verify the theoretical results.

  11. Impulsive control of stochastic systems with applications in chaos control, chaos synchronization, and neural networks

    NASA Astrophysics Data System (ADS)

    Li, Chunguang; Chen, Luonan; Aihara, Kazuyuki

    2008-06-01

    Real systems are often subject to both noise perturbations and impulsive effects. In this paper, we study the stability and stabilization of systems with both noise perturbations and impulsive effects. In other words, we generalize the impulsive control theory from the deterministic case to the stochastic case. The method is based on extending the comparison method to the stochastic case. The method presented in this paper is general and easy to apply. Theoretical results on both stability in the pth mean and stability with disturbance attenuation are derived. To show the effectiveness of the basic theory, we apply it to the impulsive control and synchronization of chaotic systems with noise perturbations, and to the stability of impulsive stochastic neural networks. Several numerical examples are also presented to verify the theoretical results.

  12. Characteristics and multipotency of equine dedifferentiated fat cells.

    PubMed

    Murata, Daiki; Yamasaki, Atsushi; Matsuzaki, Shouta; Sunaga, Takafumi; Fujiki, Makoto; Tokunaga, Satoshi; Misumi, Kazuhiro

    2016-01-01

    Dedifferentiated fat (DFAT) cells have been shown to be multipotent, similar to mesenchymal stem cells (MSCs). In this study, we aimed to establish and characterize equine DFAT cells. Equine adipocytes were ceiling cultured, and then dedifferentiated into DFAT cells by the seventh day of culture. The number of DFAT cells was increased to over 10 million by the fourth passage. Flow cytometry of DFAT cells showed that the cells were strongly positive for CD44, CD90, and major histocompatibility complex (MHC) class I; moderately positive for CD11a/18, CD105, and MHC class II; and negative for CD34 and CD45. Moreover, DFAT cells were positive for the expression of sex determining region Y-box 2 as a marker of multipotency. Finally, we found that DFAT cells could differentiate into osteogenic, chondrogenic, and adipogenic lineages under specific nutrient conditions. Thus, DFAT cells could have clinical applications in tissue regeneration, similar to MSCs derived from adipose tissue.

  13. Reconfigurable Control with Neural Network Augmentation for a Modified F-15 Aircraft

    NASA Technical Reports Server (NTRS)

    Burken, John J.

    2007-01-01

    This paper describes the performance of a simplified dynamic inversion controller with neural network supplementation. This 6 DOF (Degree-of-Freedom) simulation study focuses on the results with and without adaptation of neural networks using a simulation of the NASA modified F-15 which has canards. One area of interest is the performance of a simulated surface failure while attempting to minimize the inertial cross coupling effect of a [B] matrix failure (a control derivative anomaly associated with a jammed or missing control surface). Another area of interest and presented is simulated aerodynamic failures ([A] matrix) such as a canard failure. The controller uses explicit models to produce desired angular rate commands. The dynamic inversion calculates the necessary surface commands to achieve the desired rates. The simplified dynamic inversion uses approximate short period and roll axis dynamics. Initial results indicated that the transient response for a [B] matrix failure using a Neural Network (NN) improved the control behavior when compared to not using a neural network for a given failure, However, further evaluation of the controller was comparable, with objections io the cross coupling effects (after changes were made to the controller). This paper describes the methods employed to reduce the cross coupling effect and maintain adequate tracking errors. The IA] matrix failure results show that control of the aircraft without adaptation is more difficult [leas damped) than with active neural networks, Simulation results show Neural Network augmentation of the controller improves performance in terms of backing error and cross coupling reduction and improved performance with aerodynamic-type failures.

  14. Reconfigurable Control with Neural Network Augmentation for a Modified F-15 Aircraft

    NASA Technical Reports Server (NTRS)

    Burken, John J.

    2007-01-01

    This paper describes the performance of a simplified dynamic inversion controller with neural network supplementation. This 6 DOF (Degree-of-Freedom) simulation study focuses on the results with and without adaptation of neural networks using a simulation of the NASA modified F-15 which has canards. One area of interest is the performance of a simulated surface failure while attempting to minimize the inertial cross coupling effect of a [B] matrix failure (a control derivative anomaly associated with a jammed or missing control surface). Another area of interest and presented is simulated aerodynamic failures ([A] matrix) such as a canard failure. The controller uses explicit models to produce desired angular rate commands. The dynamic inversion calculates the necessary surface commands to achieve the desired rates. The simplified dynamic inversion uses approximate short period and roll axis dynamics. Initial results indicated that the transient response for a [B] matrix failure using a Neural Network (NN) improved the control behavior when compared to not using a neural network for a given failure, However, further evaluation of the controller was comparable, with objections io the cross coupling effects (after changes were made to the controller). This paper describes the methods employed to reduce the cross coupling effect and maintain adequate tracking errors. The IA] matrix failure results show that control of the aircraft without adaptation is more difficult [leas damped) than with active neural networks, Simulation results show Neural Network augmentation of the controller improves performance in terms of backing error and cross coupling reduction and improved performance with aerodynamic-type failures.

  15. Adaptive neural network tracking control of MIMO nonlinear systems with unknown dead zones and control directions.

    PubMed

    Zhang, Tianping; Ge, Shuzhi Sam

    2009-03-01

    In this paper, adaptive neural network (NN) tracking control is investigated for a class of uncertain multiple-input-multiple-output (MIMO) nonlinear systems in triangular control structure with unknown nonsymmetric dead zones and control directions. The design is based on the principle of sliding mode control and the use of Nussbaum-type functions in solving the problem of the completely unknown control directions. It is shown that the dead-zone output can be represented as a simple linear system with a static time-varying gain and bounded disturbance by introducing characteristic function. By utilizing the integral-type Lyapunov function and introducing an adaptive compensation term for the upper bound of the optimal approximation error and the dead-zone disturbance, the closed-loop control system is proved to be semiglobally uniformly ultimately bounded, with tracking errors converging to zero under the condition that the slopes of unknown dead zones are equal. Simulation results demonstrate the effectiveness of the approach.

  16. Neural network-based finite horizon stochastic optimal control design for nonlinear networked control systems.

    PubMed

    Xu, Hao; Jagannathan, Sarangapani

    2015-03-01

    The stochastic optimal control of nonlinear networked control systems (NNCSs) using neuro-dynamic programming (NDP) over a finite time horizon is a challenging problem due to terminal constraints, system uncertainties, and unknown network imperfections, such as network-induced delays and packet losses. Since the traditional iteration or time-based infinite horizon NDP schemes are unsuitable for NNCS with terminal constraints, a novel time-based NDP scheme is developed to solve finite horizon optimal control of NNCS by mitigating the above-mentioned challenges. First, an online neural network (NN) identifier is introduced to approximate the control coefficient matrix that is subsequently utilized in conjunction with the critic and actor NNs to determine a time-based stochastic optimal control input over finite horizon in a forward-in-time and online manner. Eventually, Lyapunov theory is used to show that all closed-loop signals and NN weights are uniformly ultimately bounded with ultimate bounds being a function of initial conditions and final time. Moreover, the approximated control input converges close to optimal value within finite time. The simulation results are included to show the effectiveness of the proposed scheme.

  17. 2010 Nicolas Andry Award: Multipotent adult stem cells from adipose tissue for musculoskeletal tissue engineering.

    PubMed

    Guilak, Farshid; Estes, Bradley T; Diekman, Brian O; Moutos, Franklin T; Gimble, Jeffrey M

    2010-09-01

    Cell-based therapies such as tissue engineering provide promising therapeutic possibilities to enhance the repair or regeneration of damaged or diseased tissues but are dependent on the availability and controlled manipulation of appropriate cell sources. The goal of this study was to test the hypothesis that adult subcutaneous fat contains stem cells with multilineage potential and to determine the influence of specific soluble mediators and biomaterial scaffolds on their differentiation into musculoskeletal phenotypes. We reviewed recent studies showing the stem-like characteristics and multipotency of adipose-derived stem cells (ASCs), and their potential application in cell-based therapies in orthopaedics. Under controlled conditions, ASCs show phenotypic characteristics of various cell types, including chondrocytes, osteoblasts, adipocytes, neuronal cells, or muscle cells. In particular, the chondrogenic differentiation of ASCs can be induced by low oxygen tension, growth factors such as bone morphogenetic protein-6 (BMP-6), or biomaterial scaffolds consisting of native tissue matrices derived from cartilage. Finally, focus is given to the development of a functional biomaterial scaffold that can provide ASC-based constructs with mechanical properties similar to native cartilage. Adipose tissue contains an abundant source of multipotent progenitor cells. These cells show cell surface marker profiles and differentiation characteristics that are similar to but distinct from other adult stem cells, such as bone marrow mesenchymal stem cells (MSCs). The availability of an easily accessible and reproducible cell source may greatly facilitate the development of new cell-based therapies for regenerative medicine applications in the musculoskeletal system.

  18. Neural network controller development for a magnetically suspended flywheel energy storage system

    NASA Technical Reports Server (NTRS)

    Fittro, Roger L.; Pang, Da-Chen; Anand, Davinder K.

    1994-01-01

    A neural network controller has been developed to accommodate disturbances and nonlinearities and improve the robustness of a magnetically suspended flywheel energy storage system. The controller is trained using the back propagation-through-time technique incorporated with a time-averaging scheme. The resulting nonlinear neural network controller improves system performance by adapting flywheel stiffness and damping based on operating speed. In addition, a hybrid multi-layered neural network controller is developed off-line which is capable of improving system performance even further. All of the research presented in this paper was implemented via a magnetic bearing computer simulation. However, careful attention was paid to developing a practical methodology which will make future application to the actual bearing system fairly straightforward.

  19. Adaptive Neural Synchronization Control for Bilateral Teleoperation Systems With Time Delay and Backlash-Like Hysteresis.

    PubMed

    Wang, Huanqing; Liu, Peter Xiaoping; Liu, Shichao

    2017-10-01

    This paper considers the master and slave synchronization control for bilateral teleoperation systems with time delay and backlash-like hysteresis. Based on radial basis functions neural networks' approximation capabilities, two improved adaptive neural control approaches are developed. By Lyapunov stability analysis, the position and velocity tracking errors are guaranteed to converge to a small neighborhood of the origin. The contributions of this paper can be summarized as follows: 1) by using the matrix norm established using the weight vector of neural networks as the estimated parameters, two novel control schemes are developed and 2) the hysteresis inverse is not required in the proposed controllers. The simulations are performed, and the results show the effectiveness of the proposed method.

  20. Towards an Irritable Bowel Syndrome Control System Based on Artificial Neural Networks

    NASA Astrophysics Data System (ADS)

    Podolski, Ina; Rettberg, Achim

    To solve health problems with medical applications that use complex algorithms is a trend nowadays. It could also be a chance to help patients with critical problems caused from nerve irritations to overcome them and provide a better living situation. In this paper a system for monitoring and controlling the nerves from the intestine is described on a theoretical basis. The presented system could be applied to the irritable bowel syndrome. For control a neural network is used. The advantages for using a neural network for the control of irritable bowel syndrome are the adaptation and learning. These two aspects are important because the syndrome behavior varies from patient to patient and have also concerning the time a lot of variations with respect to each patient. The developed neural network is implemented and can be simulated. Therefore, it can be shown how the network monitor and control the nerves for individual input parameters.

  1. Direct Adaptive Neural Control for a Class of Uncertain Nonaffine Nonlinear Systems Based on Disturbance Observer.

    PubMed

    Chen, Mou; Ge, Shuzhi Sam

    2013-08-01

    In this paper, the direct adaptive neural control is proposed for a class of uncertain nonaffine nonlinear systems with unknown nonsymmetric input saturation. Based on the implicit function theorem and mean value theorem, both state feedback and output feedback direct adaptive controls are developed using neural networks (NNs) and a disturbance observer. A compounded disturbance is defined to take into account of the effect of the unknown external disturbance, the unknown nonsymmetric input saturation, and the approximation error of NN. Then, a disturbance observer is developed to estimate the unknown compounded disturbance, and it is established that the estimate error converges to a compact set if appropriate observer design parameters are chosen. Both state feedback and output feedback direct adaptive controls can guarantee semiglobal uniform boundedness of the closed-loop system signals as rigorously proved by Lyapunov analysis. Numerical simulation results are presented to illustrate the effectiveness of the proposed direct adaptive neural control techniques.

  2. Low-Oxygen Culture Conditions Extend the Multipotent Properties of Human Retinal Progenitor Cells

    PubMed Central

    Tucker, Budd A.; Young, Michael J.

    2014-01-01

    Purpose: Development of an effective cell-based therapy is highly dependent upon having a reproducible cell source suitable for transplantation. One potential source, isolated from the developing fetal neural retina, is the human retinal progenitor cell (hRPC). One limiting factor for the use of hRPCs is their in vitro expansion limit. As such, the aim of this study was to determine whether culturing hRPCs under 3% O2 would support their proliferative capacity while maintaining multipotency. Methods: To determine the effect of low oxygen on the ability of hRPCs to self-renew, rates of proliferation and apoptosis, telomerase activity, and expression of proliferative, stemness, and differentiation markers were assessed for hRPCs cultured in 3% and 20% oxygen conditions. Results: Culture under 3% oxygen increases the proliferation rate and shifts the proliferation limit of hRPCs to greater 40 divisions. This increased capacity for proliferation is correlated with an upregulation of Ki67, CyclinD1, and telomerase activity and a decrease in p53 expression and apoptosis. Increased expression of cMyc, Klf4, Oct4, and Sox2 in 3% O2 is correlated with stabilization of both HIF1α and HIF2α. The eye field development markers Pax6, Sox2, and Otx2 are present in hRPCs up to passage 16 in 3% O2. Following in vitro differentiation hRPCs expanded in the 3% O2 were able to generate specialized retinal cells, including rods and cones. Conclusions: Low-oxygen culture conditions act to maintain both multipotency and self-renewal properties of hRPCs in vitro. The extended expansion limits permit the development of a clinical-grade reagent for transplantation. PMID:24320879

  3. Neural Network Modeling and Shape Control of DIII-D Tokamak

    NASA Astrophysics Data System (ADS)

    Trunov, Alexander; Humphreys, David

    2001-10-01

    Accurate plasma response models for plasma axisymmetric equilibria and nonaxisymmetric MHD mode evolution are the key requirements for the development of high performance tokamak controllers. Perturbation of such models can produce accurate linear models of the plasma response needed for dynamic circuit equation representation of the axisymmetric tokamak system. Although relatively imprecise models that approximate non-rigid plasma responses with rigid plasma motion can be calculated quite rapidly, accurate models require such long computation times as to make real-time control adaptation (or even between-shot control redesign) impossible. Neural network techniques have the potential for producing accurate nonlinear models of each aspect of plasma response. The use of an accurate neural network-based model will allow rapid between-shot redesign, and possibly even real-time updating of the plasma model. The nonlinear and adaptive controllers implemented with neural network architecture can also provide improved performance in suppression of MHD instabilities such as neoclassical tearing modes and resistive wall modes. We present the collaborative efforts of Intelligent Optical Systems Inc. and General Atomics, Inc. directed towards construction of a set of neural network approximators capable of learning and predicting with high accuracy the behavior of plasma parameters. Initial results of the development of neural network-based controller are also discussed.

  4. Neural adaptive control for vibration suppression in composite fin-tip of aircraft.

    PubMed

    Suresh, S; Kannan, N; Sundararajan, N; Saratchandran, P

    2008-06-01

    In this paper, we present a neural adaptive control scheme for active vibration suppression of a composite aircraft fin tip. The mathematical model of a composite aircraft fin tip is derived using the finite element approach. The finite element model is updated experimentally to reflect the natural frequencies and mode shapes very accurately. Piezo-electric actuators and sensors are placed at optimal locations such that the vibration suppression is a maximum. Model-reference direct adaptive neural network control scheme is proposed to force the vibration level within the minimum acceptable limit. In this scheme, Gaussian neural network with linear filters is used to approximate the inverse dynamics of the system and the parameters of the neural controller are estimated using Lyapunov based update law. In order to reduce the computational burden, which is critical for real-time applications, the number of hidden neurons is also estimated in the proposed scheme. The global asymptotic stability of the overall system is ensured using the principles of Lyapunov approach. Simulation studies are carried-out using sinusoidal force functions of varying frequency. Experimental results show that the proposed neural adaptive control scheme is capable of providing significant vibration suppression in the multiple bending modes of interest. The performance of the proposed scheme is better than the H(infinity) control scheme.

  5. Isolation of multipotent cells from human term placenta.

    PubMed

    Yen, B Linju; Huang, Hsing-I; Chien, Chih-Cheng; Jui, Hsiang-Yiang; Ko, Bor-Sheng; Yao, Ming; Shun, Chia-Tung; Yen, Men-Luh; Lee, Meng-Chou; Chen, Yao-Chang

    2005-01-01

    Current sources of stem cells include embryonic stem cells (ESCs) and adult stem cells (ASCs). However, concerns exist with either source: ESCs, with their significant ethical considerations, tumorigenicity, and paucity of cell lines; and ASCs, which are possibly more limited in potential. Thus, the search continues for an ethically conducive, easily accessible, and high-yielding source of stem cells. We have isolated a population of multipotent cells from the human term placenta, a temporary organ with fetal contributions that is discarded postpartum. These placenta-derived multipotent cells (PDMCs) exhibit many markers common to mesenchymal stem cells--including CD105/endoglin/SH-2, SH-3, and SH-4--and they lack hematopoietic-, endothelial-, and trophoblastic-specific cell markers. In addition, PDMCs exhibit ESC surface markers of SSEA-4, TRA-1-61, and TRA-1-80. Adipogenic, osteogenic, and neurogenic differentiation were achieved after culturing under the appropriate conditions. PDMCs could provide an ethically uncontroversial and easily accessible source of multipotent cells for future experimental and clinical applications.

  6. Effects of dermal multipotent cell transplantation on skin wound healing.

    PubMed

    Chunmeng, Shi; Tianmin, Cheng; Yongping, Su; Xinze, Ran; Yue, Mai; Jifu, Qu; Shufen, Lou; Hui, Xu; Chengji, Luo

    2004-09-01

    There is increasing evidence that dermis contains adult multipotent stem cells. To investigate the effects of dermis-derived multipotent cells on wound healing, we transplanted a clonal population of dermis-derived multipotent cells (termed as DMCs) by topical and systemic application into the skin wound of rats with simple wounds and rats with combined wound and radiation injury. Our results suggest that both topical and systemic transplantation of DMCs accelerate the healing process in rats with a simple wound; the promoting effect by topical transplantation occurs earlier than systemic transplantation. However, systemic transplantation of DMCs promotes the healing process in irradiated rats, while topical transplantation of DMCs fails. Further studies on the mechanisms of DMCs to promote wound healing indicate that the supernatant of DMCs could promote the proliferation of fibroblasts and epidermal cells; DMCs expressed transcripts of a series of cytokines and extracellular matrix molecules, including VEGF, PDGF, HGF, TGF-beta, ICAM-1, VCAM-1, and Fibronectin, which were closely related to the wound healing by DNA microarray analysis. The implanted DMCs can engraft into recipient skin wounded tissues after transplantation by the FISH analysis with Y-chromosome-specific probe. Systemic transplantation of DMCs also promotes the recovery of peripheral white blood cells in irradiated rats. These results demonstrate the different effects of DMCs on wound healing in non-irradiated and irradiated rats and illustrate the importance of optimizing wound healing via the topical or systemic transplantation of stem cells.

  7. Modulation of grasping force in prosthetic hands using neural network-based predictive control.

    PubMed

    Pasluosta, Cristian F; Chiu, Alan W L

    2015-01-01

    This chapter describes the implementation of a neural network-based predictive control system for driving a prosthetic hand. Nonlinearities associated with the electromechanical aspects of prosthetic devices present great challenges for precise control of this type of device. Model-based controllers may overcome this issue. Moreover, given the complexity of these kinds of electromechanical systems, neural network-based modeling arises as a good fit for modeling the fingers' dynamics. The results of simulations mimicking potential situations encountered during activities of daily living demonstrate the feasibility of this technique.

  8. A Quasi-ARX Neural Network with Switching Mechanism to Adaptive Control of Nonlinear Systems

    NASA Astrophysics Data System (ADS)

    Wang, Lan; Cheng, Yu; Hu, Jinglu

    This paper introduces an improved quasi-ARX neural network and discusses its application to adaptive control of nonlinear systems. A switching mechanism is employed to improve the performance of the quasi-ARX neural network prediction model which has linear and nonlinear parts. An adaptive controller for a nonlinear system is established based on the proposed prediction model and some stability analysis of the control system is shown. Simulations are given to show the effectiveness of the proposed method both on stability and accuracy.

  9. Neural-network-based speed controller for induction motors using inverse dynamics model

    NASA Astrophysics Data System (ADS)

    Ahmed, Hassanein S.; Mohamed, Kamel

    2016-08-01

    Artificial Neural Networks (ANNs) are excellent tools for controller design. ANNs have many advantages compared to traditional control methods. These advantages include simple architecture, training and generalization and distortion insensitivity to nonlinear approximations and nonexact input data. Induction motors have many excellent features, such as simple and rugged construction, high reliability, high robustness, low cost, minimum maintenance, high efficiency, and good self-starting capabilities. In this paper, we propose a neural-network-based inverse model for speed controllers for induction motors. Simulation results show that the ANNs have a high tracing capability.

  10. Neural prosthesis in the wake of nanotechnology: controlled growth of neurons using surface nanostructures.

    PubMed

    Lee, J K; Baac, H; Song, S H; Jang, E; Lee, S D; Park, D; Kim, S J

    2006-01-01

    Neural prosthesis has been successfully applied to patients with motional or sensory disabilities for clinical purpose. To enhance the performance of the neural prosthetic device, the electrodes for the biosignal recording or electrical stimulation should be located in closer proximity to target neurons than they are now. Instead of revising the prior implanting surgery to improve the electrical contact of neurons, we propose a technique that can bring the neurons closer to the electrode sites. A new method is investigated that can control the direction of neural cell growth using surface nanostructures. We successfully guide the neurons to the position of the microelectrodes by providing a surface topographical cue presented by the surface nanostructure on a photoresponsive polymer material. Because the surface structure formed by laser holography is reversible and repeatable, the geometrical positioning of the neurons to microelectrodes can be adjusted by applying laser treatment during the surgery for the purpose of improving the performance of neural prosthetic device.

  11. Axonal control of the adult neural stem cell niche.

    PubMed

    Tong, Cheuk Ka; Chen, Jiadong; Cebrián-Silla, Arantxa; Mirzadeh, Zaman; Obernier, Kirsten; Guinto, Cristina D; Tecott, Laurence H; García-Verdugo, Jose Manuel; Kriegstein, Arnold; Alvarez-Buylla, Arturo

    2014-04-03

    The ventricular-subventricular zone (V-SVZ) is an extensive germinal niche containing neural stem cells (NSCs) in the walls of the lateral ventricles of the adult brain. How the adult brain's neural activity influences the behavior of adult NSCs remains largely unknown. We show that serotonergic (5HT) axons originating from a small group of neurons in the raphe form an extensive plexus on most of the ventricular walls. Electron microscopy revealed intimate contacts between 5HT axons and NSCs (B1) or ependymal cells (E1) and these cells were labeled by a transsynaptic viral tracer injected into the raphe. B1 cells express the 5HT receptors 2C and 5A. Electrophysiology showed that activation of these receptors in B1 cells induced small inward currents. Intraventricular infusion of 5HT2C agonist or antagonist increased or decreased V-SVZ proliferation, respectively. These results indicate that supraependymal 5HT axons directly interact with NSCs to regulate neurogenesis via 5HT2C. Copyright © 2014 Elsevier Inc. All rights reserved.

  12. Axonal Control of the Adult Neural Stem Cell Niche

    PubMed Central

    Tong, Cheuk Ka; Chen, Jiadong; Cebrián-Silla, Arantxa; Mirzadeh, Zaman; Obernier, Kirsten; Guinto, Cristina D.; Tecott, Laurence H.; García-Verdugo, Jose Manuel; Kriegstein, Arnold; Alvarez-Buylla, Arturo

    2014-01-01

    SUMMARY The ventricular-subventricular zone (V-SVZ) is an extensive germinal niche containing neural stem cells (NSC) in the walls of the lateral ventricles of the adult brain. How the adult brain’s neural activity influences the behavior of adult NSCs remains largely unknown. We show that serotonergic (5HT) axons originating from a small group of neurons in the raphe form an extensive plexus on most of the ventricular walls. Electron microscopy revealed intimate contacts between 5HT axons and NSCs (B1) or ependymal cells (E1) and these cells were labeled by a transsynaptic viral tracer injected into the raphe. B1 cells express the 5HT receptors 2C and 5A. Electrophysiology showed that activation of these receptors in B1 cells induced small inward currents. Intraventricular infusion of 5HT2C agonist or antagonist increased or decreased V-SVZ proliferation, respectively. These results indicate that supraependymal 5HT axons directly interact with NSCs to regulate neurogenesis via 5HT2C. PMID:24561083

  13. Some neural correlates of sensorial and cognitive control of behavior

    NASA Astrophysics Data System (ADS)

    Ogmen, Haluk; Prakash, R. V.; Moussa, M.

    1992-07-01

    Development and maintenance of unsupervised intelligent activity relies on an active interaction with the environment. Such active exploratory behavior plays an essential role in both the development and adult phases of higher biological systems including humans. Exploration initiates a self-organization process whereby a coherent fusion of different sensory and motor modalities can be achieved (sensory-motor development) and maintained (adult rearrangement). In addition, the development of intelligence depends critically on an active manipulation of the environment. These observations are in sharp contrast with current attempts of artificial intelligence and various neural network models. In this paper, we present a neural network model that combines internal drives and environmental cues to reach behavioral decisions for the exploratory activity. The vision system consists of an ambient and a focal system. The ambient vision system guides eye movements by using nonassociative learning. This sensory based attentional focusing is augmented by a `cognitive' system using models developed for various aspects of frontal lobe function. The combined system has nonassociative learning, reinforcement learning, selective attention, habit formation, and flexible criterion categorization properties.

  14. Neural control of predatory aggression in wild and domesticated animals.

    PubMed

    Nikulina, E M

    1991-01-01

    The neural mechanisms of predatory aggression in laboratory animals were investigated in a variety of rodents and members of the order Carnivora. Experimental enhancement of brain serotonin (5-HT) blocked killing behavior in rats, mice, mink and silver foxes, indicating that there is a 5-HT inhibiting mechanism of predatory aggression in animals of different species. Suppressed killing behavior, at least in some strains of mice, does not depend for expression on the inhibitory effect of the brain 5-HT system, but is caused by the low tonus of the system activating predatory behavior. Long-term satiation of mink increased the level of 5-hydroxyindole acetic acid in the lateral hypothalamus and amygdala and enhanced the latency of predatory aggression. It is suggested that 5-HT represents a dietary responsive endogenous factor regulating predatory behavior in carnivores. Selection of Norway rats over many generations for tamed behavior towards man (domestication) leads to an increase in level and turnover of 5-HT in the midbrain and hypothalamus, but does not change predatory aggression. Substantially reduced defensive behavior of domesticated rats is thus unconnected with the neural mechanism of predatory aggression.

  15. Transient Stability Enhancement of Power Systems by Lyapunov-Based Recurrent Neural Networks UPFC Controllers

    NASA Astrophysics Data System (ADS)

    Chu, Chia-Chi; Tsai, Hung-Chi; Chang, Wei-Neng

    A Lyapunov-based recurrent neural networks unified power flow controller (UPFC) is developed for improving transient stability of power systems. First, a simple UPFC dynamical model, composed of a controllable shunt susceptance on the shunt side and an ideal complex transformer on the series side, is utilized to analyze UPFC dynamical characteristics. Secondly, we study the control configuration of the UPFC with two major blocks: the primary control, and the supplementary control. The primary control is implemented by standard PI techniques when the power system is operated in a normal condition. The supplementary control will be effective only when the power system is subjected by large disturbances. We propose a new Lyapunov-based UPFC controller of the classical single-machine-infinite-bus system for damping enhancement. In order to consider more complicated detailed generator models, we also propose a Lyapunov-based adaptive recurrent neural network controller to deal with such model uncertainties. This controller can be treated as neural network approximations of Lyapunov control actions. In addition, this controller also provides online learning ability to adjust the corresponding weights with the back propagation algorithm built in the hidden layer. The proposed control scheme has been tested on two simple power systems. Simulation results demonstrate that the proposed control strategy is very effective for suppressing power swing even under severe system conditions.

  16. Using Reinforcement Learning to Provide Stable Brain-Machine Interface Control Despite Neural Input Reorganization

    PubMed Central

    Pohlmeyer, Eric A.; Mahmoudi, Babak; Geng, Shijia; Prins, Noeline W.; Sanchez, Justin C.

    2014-01-01

    Brain-machine interface (BMI) systems give users direct neural control of robotic, communication, or functional electrical stimulation systems. As BMI systems begin transitioning from laboratory settings into activities of daily living, an important goal is to develop neural decoding algorithms that can be calibrated with a minimal burden on the user, provide stable control for long periods of time, and can be responsive to fluctuations in the decoder’s neural input space (e.g. neurons appearing or being lost amongst electrode recordings). These are significant challenges for static neural decoding algorithms that assume stationary input/output relationships. Here we use an actor-critic reinforcement learning architecture to provide an adaptive BMI controller that can successfully adapt to dramatic neural reorganizations, can maintain its performance over long time periods, and which does not require the user to produce specific kinetic or kinematic activities to calibrate the BMI. Two marmoset monkeys used the Reinforcement Learning BMI (RLBMI) to successfully control a robotic arm during a two-target reaching task. The RLBMI was initialized using random initial conditions, and it quickly learned to control the robot from brain states using only a binary evaluative feedback regarding whether previously chosen robot actions were good or bad. The RLBMI was able to maintain control over the system throughout sessions spanning multiple weeks. Furthermore, the RLBMI was able to quickly adapt and maintain control of the robot despite dramatic perturbations to the neural inputs, including a series of tests in which the neuron input space was deliberately halved or doubled. PMID:24498055

  17. Using reinforcement learning to provide stable brain-machine interface control despite neural input reorganization.

    PubMed

    Pohlmeyer, Eric A; Mahmoudi, Babak; Geng, Shijia; Prins, Noeline W; Sanchez, Justin C

    2014-01-01

    Brain-machine interface (BMI) systems give users direct neural control of robotic, communication, or functional electrical stimulation systems. As BMI systems begin transitioning from laboratory settings into activities of daily living, an important goal is to develop neural decoding algorithms that can be calibrated with a minimal burden on the user, provide stable control for long periods of time, and can be responsive to fluctuations in the decoder's neural input space (e.g. neurons appearing or being lost amongst electrode recordings). These are significant challenges for static neural decoding algorithms that assume stationary input/output relationships. Here we use an actor-critic reinforcement learning architecture to provide an adaptive BMI controller that can successfully adapt to dramatic neural reorganizations, can maintain its performance over long time periods, and which does not require the user to produce specific kinetic or kinematic activities to calibrate the BMI. Two marmoset monkeys used the Reinforcement Learning BMI (RLBMI) to successfully control a robotic arm during a two-target reaching task. The RLBMI was initialized using random initial conditions, and it quickly learned to control the robot from brain states using only a binary evaluative feedback regarding whether previously chosen robot actions were good or bad. The RLBMI was able to maintain control over the system throughout sessions spanning multiple weeks. Furthermore, the RLBMI was able to quickly adapt and maintain control of the robot despite dramatic perturbations to the neural inputs, including a series of tests in which the neuron input space was deliberately halved or doubled.

  18. Neuromechanic: a computational platform for simulation and analysis of the neural control of movement

    PubMed Central

    Bunderson, Nathan E.; Bingham, Jeffrey T.; Sohn, M. Hongchul; Ting, Lena H.; Burkholder, Thomas J.

    2015-01-01

    Neuromusculoskeletal models solve the basic problem of determining how the body moves under the influence of external and internal forces. Existing biomechanical modeling programs often emphasize dynamics with the goal of finding a feed-forward neural program to replicate experimental data or of estimating force contributions or individual muscles. The computation of rigid-body dynamics, muscle forces, and activation of the muscles are often performed separately. We have developed an intrinsically forward computational platform (Neuromechanic, www.neuromechanic.com) that explicitly represents the interdependencies among rigid body dynamics, frictional contact, muscle mechanics, and neural control modules. This formulation has significant advantages for optimization and forward simulation, particularly with application to neural controllers with feedback or regulatory features. Explicit inclusion of all state dependencies allows calculation of system derivatives with respect to kinematic states as well as muscle and neural control states, thus affording a wealth of analytical tools, including linearization, stability analyses and calculation of initial conditions for forward simulations. In this review, we describe our algorithm for generating state equations and explain how they may be used in integration, linearization and stability analysis tools to provide structural insights into the neural control of movement. PMID:23027632

  19. Neural Signatures of Controlled and Automatic Retrieval Processes in Memory-based Decision-making.

    PubMed

    Khader, Patrick H; Pachur, Thorsten; Weber, Lilian A E; Jost, Kerstin

    2016-01-01

    Decision-making often requires retrieval from memory. Drawing on the neural ACT-R theory [Anderson, J. R., Fincham, J. M., Qin, Y., & Stocco, A. A central circuit of the mind. Trends in Cognitive Sciences, 12, 136-143, 2008] and other neural models of memory, we delineated the neural signatures of two fundamental retrieval aspects during decision-making: automatic and controlled activation of memory representations. To disentangle these processes, we combined a paradigm developed to examine neural correlates of selective and sequential memory retrieval in decision-making with a manipulation of associative fan (i.e., the decision options were associated with one, two, or three attributes). The results show that both the automatic activation of all attributes associated with a decision option and the controlled sequential retrieval of specific attributes can be traced in material-specific brain areas. Moreover, the two facets of memory retrieval were associated with distinct activation patterns within the frontoparietal network: The dorsolateral prefrontal cortex was found to reflect increasing retrieval effort during both automatic and controlled activation of attributes. In contrast, the superior parietal cortex only responded to controlled retrieval, arguably reflecting the sequential updating of attribute information in working memory. This dissociation in activation pattern is consistent with ACT-R and constitutes an important step toward a neural model of the retrieval dynamics involved in memory-based decision-making.

  20. Translating Principles of Neural Plasticity into Research on Speech Motor Control Recovery and Rehabilitation

    PubMed Central

    Ludlow, Christy L.; Hoit, Jeannette; Kent, Raymond; Ramig, Lorraine O.; Shrivastav, Rahul; Strand, Edythe; Yorkston, Kathryn; Sapienza, Christine

    2008-01-01

    Purpose To review the principles of neural plasticity and make recommendations for research on the neural bases for rehabilitation of neurogenic speech disorders. Method A working group in speech motor control and disorders developed this report, which examines the potential relevance of basic research on the brain mechanisms involved in neural plasticity and discusses possible similarities and differences for application to speech motor control disorders. The possible involvement of neural plasticity in changes in speech production in normalcy, development, aging, and neurological diseases and disorders was considered. This report focuses on the appropriate use of functional and structural neuroimaging and the design of feasibility studies aimed at understanding how brain mechanisms are altered by environmental manipulations such as training and stimulation and how these changes might enhance the future development of rehabilitative methods for persons with speech motor control disorders. Conclusions Increased collaboration with neuroscientists working in clinical research centers addressing human communication disorders might foster research in this area. It is hoped that this paper will encourage future research on speech motor control disorders to address the principles of neural plasticity and their application for rehabilitation. PMID:18230849

  1. Integral variable structure control of nonlinear system using a CMAC neural network learning approach.

    PubMed

    Hung, Chin-Pao

    2004-02-01

    This work presents a novel integral variable structure control (IVSC) that combines a cerebellar model articulation controller (CMAC) neural network and a soft supervisor controller for use in designing single-input single-output (SISO) nonlinear system. Based on the Lyapunov theorem, the soft supervisor controller is designed to guarantee the global stability of the system. The CMAC neural network is used to perform the equivalent control on IVSC, using a real-time learning algorithm. The proposed IVSC control scheme alleviates the dependency on system parameters and eliminates the chattering of the control signal through an efficient learning scheme. The CMAC-based IVSC (CIVSC) scheme is proven to be globally stable inasmuch all signals involved are bounded and the tracking error converges to zero. A numerical simulation demonstrates the effectiveness and robustness of the proposed controller.

  2. Modeling and simulation of permanent magnet synchronous motor based on neural network control strategy

    NASA Astrophysics Data System (ADS)

    Luo, Bingyang; Chi, Shangjie; Fang, Man; Li, Mengchao

    2017-03-01

    Permanent magnet synchronous motor is used widely in industry, the performance requirements wouldn't be met by adopting traditional PID control in some of the occasions with high requirements. In this paper, a hybrid control strategy - nonlinear neural network PID and traditional PID parallel control are adopted. The high stability and reliability of traditional PID was combined with the strong adaptive ability and robustness of neural network. The permanent magnet synchronous motor will get better control performance when switch different working modes according to different controlled object conditions. As the results showed, the speed response adopting the composite control strategy in this paper was faster than the single control strategy. And in the case of sudden disturbance, the recovery time adopting the composite control strategy designed in this paper was shorter, the recovery ability and the robustness were stronger.

  3. Model inversion tracking control for UltraLITE using neural networks

    NASA Astrophysics Data System (ADS)

    Leitner, Jesse; Denoyer, Keith K.

    1998-12-01

    This paper presents the analytical methodology and initial numerical simulation results for autonomous neural control of the Ultra-Lightweight Imaging Technology Experiment (UltraLITE) Phase I test article. The UltraLITE Phase I test article is a precision deployable structure currently under development at the United States Air Force Research Laboratory (AFRL). Its purpose is to examine control and hardware integration issues related to large deployable sparse optical array spacecraft systems. In this paper, a multi-stage control architecture is examined which incorporates artificial neural networks for model inversion tracking control. The emphasis in the control design approach is to exploit the known nonlinear dynamics of the system in the synthesis of a model inversion tracking controller and to augment the nonlinear controller with an adaptive neuro-controller to accommodate for changing dynamics, failures, and model uncertainties.

  4. Backstepping Design of Adaptive Neural Fault-Tolerant Control for MIMO Nonlinear Systems.

    PubMed

    Gao, Hui; Song, Yongduan; Wen, Changyun

    2016-08-24

    In this paper, an adaptive controller is developed for a class of multi-input and multioutput nonlinear systems with neural networks (NNs) used as a modeling tool. It is shown that all the signals in the closed-loop system with the proposed adaptive neural controller are globally uniformly bounded for any external input in L[₀,∞]. In our control design, the upper bound of the NN modeling error and the gains of external disturbance are characterized by unknown upper bounds, which is more rational to establish the stability in the adaptive NN control. Filter-based modification terms are used in the update laws of unknown parameters to improve the transient performance. Finally, fault-tolerant control is developed to accommodate actuator failure. An illustrative example applying the adaptive controller to control a rigid robot arm shows the validation of the proposed controller.

  5. Full-state tracking control of a mobile robot using neural networks.

    PubMed

    Chaitanya, V Sree Krishna

    2005-10-01

    In this paper a nonholonomic mobile robot with completely unknown dynamics is discussed. A mathematical model has been considered and an efficient neural network is developed, which ensures guaranteed tracking performance leading to stability of the system. The neural network assumes a single layer structure, by taking advantage of the robot regressor dynamics that expresses the highly nonlinear robot dynamics in a linear form in terms of the known and unknown robot dynamic parameters. No assumptions relating to the boundedness is placed on the unmodeled disturbances. It is capable of generating real-time smooth and continuous velocity control signals that drive the mobile robot to follow the desired trajectories. The proposed approach resolves speed jump problem existing in some previous tracking controllers. Further, this neural network does not require offline training procedures. Lyapunov theory has been used to prove system stability. The practicality and effectiveness of the proposed tracking controller are demonstrated by simulation and comparison results.

  6. A pressure control method for emulsion pump station based on Elman neural network.

    PubMed

    Tan, Chao; Qi, Nan; Zhou, Xin; Liu, Xinhua; Yao, Xingang; Wang, Zhongbin; Si, Lei

    2015-01-01

    In order to realize pressure control of emulsion pump station which is key equipment of coal mine in the safety production, the control requirements were analyzed and a pressure control method based on Elman neural network was proposed. The key techniques such as system framework, pressure prediction model, pressure control model, and the flowchart of proposed approach were presented. Finally, a simulation example was carried out and comparison results indicated that the proposed approach was feasible and efficient and outperformed others.

  7. A Pressure Control Method for Emulsion Pump Station Based on Elman Neural Network

    PubMed Central

    Tan, Chao; Qi, Nan; Yao, Xingang; Wang, Zhongbin; Si, Lei

    2015-01-01

    In order to realize pressure control of emulsion pump station which is key equipment of coal mine in the safety production, the control requirements were analyzed and a pressure control method based on Elman neural network was proposed. The key techniques such as system framework, pressure prediction model, pressure control model, and the flowchart of proposed approach were presented. Finally, a simulation example was carried out and comparison results indicated that the proposed approach was feasible and efficient and outperformed others. PMID:25861253

  8. Toward Building Hybrid Biological/in silico Neural Networks for Motor Neuroprosthetic Control

    PubMed Central

    Kocaturk, Mehmet; Gulcur, Halil Ozcan; Canbeyli, Resit

    2015-01-01

    In this article, we introduce the Bioinspired Neuroprosthetic Design Environment (BNDE) as a practical platform for the development of novel brain–machine interface (BMI) controllers, which are based on spiking model neurons. We built the BNDE around a hard real-time system so that it is capable of creating simulated synapses from extracellularly recorded neurons to model neurons. In order to evaluate the practicality of the BNDE for neuroprosthetic control experiments, a novel, adaptive BMI controller was developed and tested using real-time closed-loop simulations. The present controller consists of two in silico medium spiny neurons, which receive simulated synaptic inputs from recorded motor cortical neurons. In the closed-loop simulations, the recordings from the cortical neurons were imitated using an external, hardware-based neural signal synthesizer. By implementing a reward-modulated spike timing-dependent plasticity rule, the controller achieved perfect target reach accuracy for a two-target reaching task in one-dimensional space. The BNDE combines the flexibility of software-based spiking neural network (SNN) simulations with powerful online data visualization tools and is a low-cost, PC-based, and all-in-one solution for developing neurally inspired BMI controllers. We believe that the BNDE is the first implementation, which is capable of creating hybrid biological/in silico neural networks for motor neuroprosthetic control and utilizes multiple CPU cores for computationally intensive real-time SNN simulations. PMID:26321943

  9. Toward Building Hybrid Biological/in silico Neural Networks for Motor Neuroprosthetic Control.

    PubMed

    Kocaturk, Mehmet; Gulcur, Halil Ozcan; Canbeyli, Resit

    2015-01-01

    In this article, we introduce the Bioinspired Neuroprosthetic Design Environment (BNDE) as a practical platform for the development of novel brain-machine interface (BMI) controllers, which are based on spiking model neurons. We built the BNDE around a hard real-time system so that it is capable of creating simulated synapses from extracellularly recorded neurons to model neurons. In order to evaluate the practicality of the BNDE for neuroprosthetic control experiments, a novel, adaptive BMI controller was developed and tested using real-time closed-loop simulations. The present controller consists of two in silico medium spiny neurons, which receive simulated synaptic inputs from recorded motor cortical neurons. In the closed-loop simulations, the recordings from the cortical neurons were imitated using an external, hardware-based neural signal synthesizer. By implementing a reward-modulated spike timing-dependent plasticity rule, the controller achieved perfect target reach accuracy for a two-target reaching task in one-dimensional space. The BNDE combines the flexibility of software-based spiking neural network (SNN) simulations with powerful online data visualization tools and is a low-cost, PC-based, and all-in-one solution for developing neurally inspired BMI controllers. We believe that the BNDE is the first implementation, which is capable of creating hybrid biological/in silico neural networks for motor neuroprosthetic control and utilizes multiple CPU cores for computationally intensive real-time SNN simulations.

  10. Generation of the Human Biped Stance by a Neural Controller Able to Compensate Neurological Time Delay

    PubMed Central

    Jiang, Ping; Chiba, Ryosuke; Takakusaki, Kaoru; Ota, Jun

    2016-01-01

    The development of a physiologically plausible computational model of a neural controller that can realize a human-like biped stance is important for a large number of potential applications, such as assisting device development and designing robotic control systems. In this paper, we develop a computational model of a neural controller that can maintain a musculoskeletal model in a standing position, while incorporating a 120-ms neurological time delay. Unlike previous studies that have used an inverted pendulum model, a musculoskeletal model with seven joints and 70 muscular-tendon actuators is adopted to represent the human anatomy. Our proposed neural controller is composed of both feed-forward and feedback controls. The feed-forward control corresponds to the constant activation input necessary for the musculoskeletal model to maintain a standing posture. This compensates for gravity and regulates stiffness. The developed neural controller model can replicate two salient features of the human biped stance: (1) physiologically plausible muscle activations for quiet standing; and (2) selection of a low active stiffness for low energy consumption. PMID:27655271

  11. Selected Flight Test Results for Online Learning Neural Network-Based Flight Control System

    NASA Technical Reports Server (NTRS)

    Williams, Peggy S.

    2004-01-01

    The NASA F-15 Intelligent Flight Control System project team has developed a series of flight control concepts designed to demonstrate the benefits of a neural network-based adaptive controller. The objective of the team is to develop and flight-test control systems that use neural network technology to optimize the performance of the aircraft under nominal conditions as well as stabilize the aircraft under failure conditions. Failure conditions include locked or failed control surfaces as well as unforeseen damage that might occur to the aircraft in flight. This report presents flight-test results for an adaptive controller using stability and control derivative values from an online learning neural network. A dynamic cell structure neural network is used in conjunction with a real-time parameter identification algorithm to estimate aerodynamic stability and control derivative increments to the baseline aerodynamic derivatives in flight. This set of open-loop flight tests was performed in preparation for a future phase of flights in which the learning neural network and parameter identification algorithm output would provide the flight controller with aerodynamic stability and control derivative updates in near real time. Two flight maneuvers are analyzed a pitch frequency sweep and an automated flight-test maneuver designed to optimally excite the parameter identification algorithm in all axes. Frequency responses generated from flight data are compared to those obtained from nonlinear simulation runs. An examination of flight data shows that addition of the flight-identified aerodynamic derivative increments into the simulation improved the pitch handling qualities of the aircraft.

  12. Using Neural Networks to Explore Air Traffic Controller Workload

    NASA Technical Reports Server (NTRS)

    Martin, Lynne; Kozon, Thomas; Verma, Savita; Lozito, Sandra C.

    2006-01-01

    When a new system, concept, or tool is proposed in the aviation domain, one concern is the impact that this will have on operator workload. As an experience, workload is difficult to measure in a way that will allow comparison of proposed systems with those already in existence. Chatterji and Sridhar (2001) suggested a method by which airspace parameters can be translated into workload ratings, using a neural network. This approach was employed, and modified to accept input from a non-real time airspace simulation model. The following sections describe the preparations and testing work that will enable comparison of a future airspace concept with a current day baseline in terms of workload levels.

  13. Rethinking neural efficiency: effects of controlling for strategy use.

    PubMed

    Toffanin, Paolo; Johnson, Addie; de Jong, Ritske; Martens, Sander

    2007-10-01

    A sentence verification task (SVT) was used to test whether differences in neural activation patterns that have been attributed to IQ may actually depend on differential strategy use between IQ groups. Electroencephalograms were recorded from 14 low (89 < IQ < 110) and 14 high (121 < IQ < 142) IQ individuals as they performed the SVT with either a spatial or verbal strategy. Event-related desynchronization in upper alpha (9.5-12.5 Hz) and theta (4-6 Hz) bands showed that different strategies evoked different activation patterns, but these patterns did not differ between groups. However, an IQ-related correlate was found in the preparation interval. Thus, although processing patterns during task performance seem to depend on the strategy used for task execution, preparation for task processing may depend on IQ. (PsycINFO Database Record (c) 2007 APA, all rights reserved).

  14. Therapeutic effect of mesenchymal multipotent stromal cells on memory in animals with Alzheimer-type neurodegeneration.

    PubMed

    Bobkova, N V; Poltavtseva, R A; Samokhin, A N; Sukhikh, G T

    2013-11-01

    Transplantation of human mesenchymal multipotent stromal cells improved spatial memory in bulbectomized mice with Alzheimer-type neurodegeneration. The positive effect was observed in 1 month after intracerebral transplantation and in 3 months after systemic injection of mesenchymal multipotent stromal cells. No cases of malignant transformation were noted. These findings indicate prospects of using mesenchymal multipotent stromal cells for the therapy of Alzheimer disease and the possibility of their systemic administration for attaining the therapeutic effect.

  15. Exponential stabilization for sampled-data neural-network-based control systems.

    PubMed

    Wu, Zheng-Guang; Shi, Peng; Su, Hongye; Chu, Jian

    2014-12-01

    This paper investigates the problem of sampled-data stabilization for neural-network-based control systems with an optimal guaranteed cost. Using time-dependent Lyapunov functional approach, some novel conditions are proposed to guarantee the closed-loop systems exponentially stable, which fully use the available information about the actual sampling pattern. Based on the derived conditions, the design methods of the desired sampled-data three-layer fully connected feedforward neural-network-based controller are established to obtain the largest sampling interval and the smallest upper bound of the cost function. A practical example is provided to demonstrate the effectiveness and feasibility of the proposed techniques.

  16. Synchronization of neural networks with stochastic perturbation via aperiodically intermittent control.

    PubMed

    Zhang, Wei; Li, Chuandong; Huang, Tingwen; Xiao, Mingqing

    2015-11-01

    In this paper, the synchronization problem for neural networks with stochastic perturbation is studied with intermittent control via adaptive aperiodicity. Under the framework of stochastic theory and Lyapunov stability method, we develop some techniques of intermittent control with adaptive aperiodicity to achieve the synchronization of a class of neural networks, modeled by stochastic systems. Some effective sufficient conditions are established for the realization of synchronization of the underlying network. Numerical simulations of two examples are provided to illustrate the theoretical results obtained in the paper.

  17. Combined optical tweezers and laser dissector for controlled ablation of functional connections in neural networks.

    PubMed

    Difato, Francesco; Dal Maschio, Marco; Marconi, Emanuele; Ronzitti, Giuseppe; Maccione, Alessandro; Fellin, Tommasso; Berdondini, Luca; Chieregatti, Evelina; Benfenati, Fabio; Blau, Axel

    2011-05-01

    Regeneration of functional connectivity within a neural network after different degrees of lesion is of utmost clinical importance. To test pharmacological approaches aimed at recovering from a total or partial damage of neuronal connections within a circuit, it is necessary to develop a precise method for controlled ablation of neuronal processes. We combined a UV laser microdissector to ablate neural processes in vitro at single neuron and neural network level with infrared holographic optical tweezers to carry out force spectroscopy measurements. Simultaneous force spectroscopy, down to the sub-pico-Newton range, was performed during laser dissection to quantify the tension release in a partially ablated neurite. Therefore, we could control and measure the damage inflicted to an individual neuronal process. To characterize the effect of the inflicted injury on network level, changes in activity of neural subpopulations were monitored with subcellular resolution and overall network activity with high temporal resolution by concurrent calcium imaging and microelectrode array recording. Neuronal connections have been sequentially ablated and the corr