Heliostat control

DOEpatents

Kaehler, James A.

1984-01-01

An improvement in a system and method of controlling heliostat in which the heliostat is operable in azimuth and elevation by respective stepper motors and including the respective steps or means for calculating the position for the heliostat to be at a commanded position, determining the number of steps in azimuth and elevation for each respective motor to get to the commanded position and energizing both the azimuth and elevation stepper motors to run in parallel until predetermined number of steps away from the closest commanded position in azimuth and elevation so that the closest position has been achieved, and thereafter energizing only the remaining motor to bring it to its commanded position. In this way, the heliostat can be started from a stowed position in the morning and operated by a computer means to its commanded position and kept correctly oriented throughout the day using only the time of the day without requiring the usual sensors and feedback apparatus. A computer, or microprocessor, can then control a plurality of many heliostats easily and efficiently throughout the day.

Brushless DC motor control system responsive to control signals generated by a computer or the like

NASA Technical Reports Server (NTRS)

Packard, D. T. (Inventor)

1985-01-01

A control system for a brushless DC motor responsive to digital control signals is disclosed. The motor includes a multiphase wound stator and a permanent magnet rotor. The motor is arranged so that each phase winding, when energized from a DC source, will drive the rotor through a predetermined angular position or step. A commutation signal generator responsive to the shaft position provides a commutation signal for each winding. A programmable control signal generator such as a computer or microprocessor produces individual digital control signals for each phase winding. The control signals and commutation signals associated with each winding are applied to an AND gate for that phase winding. Each gate controls a switch connected in series with the associated phase winding and the DC source so that each phase winding is energized only when the commutation signal and the control signal associated with that phase winding are present. The motor shaft may be advanced one step at a time to a desired position by applying a predetermined number of control signals in the proper sequence to the AND gates and the torque generated by the motor be regulated by applying a separate control signal and each AND gate which is pulse width modulated to control the total time that each switch connects its associated winding to the DC source during each commutation period.

Neuromodelling based on evolutionary robotics: on the importance of motor control for spatial attention.

PubMed

Gigliotta, Onofrio; Bartolomeo, Paolo; Miglino, Orazio

2015-09-01

Mainstream approaches to modelling cognitive processes have typically focused on (1) reproducing their neural underpinning, without regard to sensory-motor systems and (2) producing a single, ideal computational model. Evolutionary robotics is an alternative possibility to bridge the gap between neural substrate and behavior by means of a sensory-motor apparatus, and a powerful tool to build a population of individuals rather than a single model. We trained 4 populations of neurorobots, equipped with a pan/tilt/zoom camera, and provided with different types of motor control in order to perform a cancellation task, often used to tap spatial cognition. Neurorobots' eye movements were controlled by (a) position, (b) velocity, (c) simulated muscles and (d) simulated muscles with fixed level of zoom. Neurorobots provided with muscle and velocity control showed better performances than those controlled in position. This is an interesting result since muscle control can be considered a particular type of position control. Finally, neurorobots provided with muscle control and zoom outperformed those without zooming ability.

Fast-acting nuclear reactor control device

DOEpatents

Kotlyar, Oleg M.; West, Phillip B.

1993-01-01

A fast-acting nuclear reactor control device for moving and positioning a fety control rod to desired positions within the core of the reactor between a run position in which the safety control rod is outside the reactor core, and a shutdown position in which the rod is fully inserted in the reactor core. The device employs a hydraulic pump/motor, an electric gear motor, and solenoid valve to drive the safety control rod into the reactor core through the entire stroke of the safety control rod. An overrunning clutch allows the safety control rod to freely travel toward a safe position in the event of a partial drive system failure.

Research on motor rotational speed measurement in regenerative braking system of electric vehicle

NASA Astrophysics Data System (ADS)

Pan, Chaofeng; Chen, Liao; Chen, Long; Jiang, Haobin; Li, Zhongxing; Wang, Shaohua

2016-01-01

Rotational speed signals acquisition and processing techniques are widely used in rotational machinery. In order to realized precise and real-time control of motor drive and regenerative braking process, rotational speed measurement techniques are needed in electric vehicles. Obtaining accurate motor rotational speed signal will contribute to the regenerative braking force control steadily and realized higher energy recovery rate. This paper aims to develop a method that provides instantaneous speed information in the form of motor rotation. It addresses principles of motor rotational speed measurement in the regenerative braking systems of electric vehicle firstly. The paper then presents ideal and actual Hall position sensor signals characteristics, the relation between the motor rotational speed and the Hall position sensor signals is revealed. Finally, Hall position sensor signals conditioning and processing circuit and program for motor rotational speed measurement have been carried out based on measurement error analysis.

Design and application of a novel high precision and low cost electronic tachogenerator for sensor-based brushless direct current motor drivers.

PubMed

Ozgenel, Mehmet Cihat; Bal, Gungor; Uygun, Durmus

2017-03-01

This study presents a precise speed control method for Brushless Direct Current (BLDC) Motors using an electronic tachogenerator (ETg) instead of an electro-mechanical tachogenerator. Most commonly used three-phase BLDC motors have three position sensors for rotor position data to provide commutation among stator windings. Aforementioned position sensors are usually Hall-effect sensors delivering binary-high and binary-low data as long as the motor rotates. These binary sets from three Hall-effect sensors can be used as an analogue rotor speed signal for closed loop applications. Each position sensor signal is apart from 120 electrical degrees. By using an electronic circuitry, a combination of position sensor signals is converted to the analogue signal providing an input to a PI speed controller. To implement this, a frequency to voltage converter has been used in this study. Then, the analogue speed signal has been evaluated as rotor speed data in comparison with the reference speed. So, an ETg system has been successfully achieved in place of an electro-mechanical tachogenerator for BLDC motor speed control. The proposed ETg has been tested under various speed conditions on an experimental setup. Employed tests and obtained results show that the proposed low-cost speed feedback sub-system can be effectively used in BLDC motor drive systems. Through the proved method and designed sub-system, a new motor controller chip with a speed feedback capability has been aimed.

Design and application of a novel high precision and low cost electronic tachogenerator for sensor-based brushless direct current motor drivers

NASA Astrophysics Data System (ADS)

Ozgenel, Mehmet Cihat; Bal, Gungor; Uygun, Durmus

2017-03-01

This study presents a precise speed control method for Brushless Direct Current (BLDC) Motors using an electronic tachogenerator (ETg) instead of an electro-mechanical tachogenerator. Most commonly used three-phase BLDC motors have three position sensors for rotor position data to provide commutation among stator windings. Aforementioned position sensors are usually Hall-effect sensors delivering binary-high and binary-low data as long as the motor rotates. These binary sets from three Hall-effect sensors can be used as an analogue rotor speed signal for closed loop applications. Each position sensor signal is apart from 120 electrical degrees. By using an electronic circuitry, a combination of position sensor signals is converted to the analogue signal providing an input to a PI speed controller. To implement this, a frequency to voltage converter has been used in this study. Then, the analogue speed signal has been evaluated as rotor speed data in comparison with the reference speed. So, an ETg system has been successfully achieved in place of an electro-mechanical tachogenerator for BLDC motor speed control. The proposed ETg has been tested under various speed conditions on an experimental setup. Employed tests and obtained results show that the proposed low-cost speed feedback sub-system can be effectively used in BLDC motor drive systems. Through the proved method and designed sub-system, a new motor controller chip with a speed feedback capability has been aimed.

Openstage: A Low-Cost Motorized Microscope Stage with Sub-Micron Positioning Accuracy

PubMed Central

Campbell, Robert A. A.; Eifert, Robert W.; Turner, Glenn C.

2014-01-01

Recent progress in intracellular calcium sensors and other fluorophores has promoted the widespread adoption of functional optical imaging in the life sciences. Home-built multiphoton microscopes are easy to build, highly customizable, and cost effective. For many imaging applications a 3-axis motorized stage is critical, but commercially available motorization hardware (motorized translators, controller boxes, etc) are often very expensive. Furthermore, the firmware on commercial motor controllers cannot easily be altered and is not usually designed with a microscope stage in mind. Here we describe an open-source motorization solution that is simple to construct, yet far cheaper and more customizable than commercial offerings. The cost of the controller and motorization hardware are under $1000. Hardware costs are kept low by replacing linear actuators with high quality stepper motors. Electronics are assembled from commonly available hobby components, which are easy to work with. Here we describe assembly of the system and quantify the positioning accuracy of all three axes. We obtain positioning repeatability of the order of in X/Y and in Z. A hand-held control-pad allows the user to direct stage motion precisely over a wide range of speeds ( to ), rapidly store and return to different locations, and execute “jumps” of a fixed size. In addition, the system can be controlled from a PC serial port. Our “OpenStage” controller is sufficiently flexible that it could be used to drive other devices, such as micro-manipulators, with minimal modifications. PMID:24586468

Electric motor designs for attenuating torque disturbance in sensitive space mechanisms

NASA Astrophysics Data System (ADS)

Marks, David B.; Fink, Richard A.

2003-09-01

When a motion control system introduces unwanted torque jitter and motion anomalies into sensitive space flight optical or positioning mechanisms, the pointing accuracy, positioning capability, or scanning resolution of the mission suffers. Special motion control technology must be employed to provide attenuation of the harmful torque disturbances. Brushless DC (BLDC) Motors with low torque disturbance characteristics have been successfully used on such notable missions as the Hubble Space Telescope when conventional approaches to motor design would not work. Motor designs for low disturbance mechanisms can include two and three phase sinusoidal BLDC motors, BLDC motors without iron teeth, and sometimes skewed or non-integral slot designs for motors commutated with Hall effect devices. The principal components of motor torque disturbance, successful BLDC motor designs for attenuating disturbances, and design trade-offs for optimum performance are examined.

Position measurement of the direct drive motor of Large Aperture Telescope

NASA Astrophysics Data System (ADS)

Li, Ying; Wang, Daxing

2010-07-01

Along with the development of space and astronomy science, production of large aperture telescope and super large aperture telescope will definitely become the trend. It's one of methods to solve precise drive of large aperture telescope using direct drive technology unified designed of electricity and magnetism structure. A direct drive precise rotary table with diameter of 2.5 meters researched and produced by us is a typical mechanical & electrical integration design. This paper mainly introduces position measurement control system of direct drive motor. In design of this motor, position measurement control system requires having high resolution, and precisely aligning the position of rotor shaft and making measurement, meanwhile transferring position information to position reversing information corresponding to needed motor pole number. This system has chosen high precision metal band coder and absolute type coder, processing information of coders, and has sent 32-bit RISC CPU making software processing, and gained high resolution composite coder. The paper gives relevant laboratory test results at the end, indicating the position measurement can apply to large aperture telescope control system. This project is subsidized by Chinese National Natural Science Funds (10833004).

Heat engine and electric motor torque distribution strategy for a hybrid electric vehicle

DOEpatents

Boberg, Evan S.; Gebby, Brian P.

1999-09-28

A method is provided for controlling a power train system for a hybrid electric vehicle. The method includes a torque distribution strategy for controlling the engine and the electric motor. The engine and motor commands are determined based upon the accelerator position, the battery state of charge and the amount of engine and motor torque available. The amount of torque requested for the engine is restricted by a limited rate of rise in order to reduce the emissions from the engine. The limited engine torque is supplemented by motor torque in order to meet a torque request determined based upon the accelerator position.

POSITIONING MEANS FOR THE CONTROL ROD IN A NUCLEAR REACTOR

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bell, F.R.

1963-09-26

An electric motor and transmission means for adjusting the position of the control rod in relation to the reactor core to control the level of activity in either sense and a lock that is retained in a locking condition by a longitudinal force derived electrically from the motor but arranged to be released when the electrical force is removed to allow the control rod in an emergency to drop into its shut-down position are described. (Gmelin Inst.)

Brushless DC motor control system responsive to control signals generated by a computer or the like

NASA Technical Reports Server (NTRS)

Packard, Douglas T. (Inventor); Schmitt, Donald E. (Inventor)

1987-01-01

A control system for a brushless DC motor responsive to digital control signals is disclosed. The motor includes a multiphase wound stator and a permanent magnet rotor. The rotor is arranged so that each phase winding, when energized from a DC source, will drive the rotor through a predetermined angular position or step. A commutation signal generator responsive to the shaft position provides a commutation signal for each winding. A programmable control signal generator such as a computer or microprocessor produces individual digital control signals for each phase winding. The control signals and commutation signals associated with each winding are applied to an AND gate for that phase winding. Each gate controls a switch connected in series with the associated phase winding and the DC source so that each phase winding is energized only when the commutation signal and the control signal associated with that phase winding are present. The motor shaft may be advanced one step at a time to a desired position by applying a predetermined number of control signals in the proper sequence to the AND gates and the torque generated by the motor may be regulated by applying a separate control signal to each AND gate which is pulse width modulated to control the total time that each switch connects its associated winding to the DC source during each commutation period.

Control of a multidegree of freedom standing wave ultrasonic motor driven precise positioning system

NASA Astrophysics Data System (ADS)

Ferreira, Antoine; Minotti, Patrice

1997-04-01

A newly developed positioning system incorporating a multidegree of freedom standing wave ultrasonic motor (SWUM) is presented and its advantageous features, operating principles, and some experimental results are described. The principle of motorization is based on the conversion, through frictional contact, of a stationary bending vibration sustained in a slotted metallic resonator, into rigid body displacements. A small autonomous multidegree of freedom nanopositioner using a SWUM motor is presented for fine positioning in scanning tunneling microscopy. The positioning system is achieved via the simultaneous operation of two identical pulse width modulation servo-control systems, each having a laser vibrometer position feedback loop. The closed loop position schemes are theoretically considered and their results are demonstrated and evaluated in practice. Evaluations of experimental tests indicate that a positioning resolution less than 100 nm are successfully achieved for an unlimited X-Y travel range with linear speeds between 1 mm s-1 and few cm s-1.

Linear motor drive system for continuous-path closed-loop position control of an object

DOEpatents

Barkman, William E.

1980-01-01

A precision numerical controlled servo-positioning system is provided for continuous closed-loop position control of a machine slide or platform driven by a linear-induction motor. The system utilizes filtered velocity feedback to provide system stability required to operate with a system gain of 100 inches/minute/0.001 inch of following error. The filtered velocity feedback signal is derived from the position output signals of a laser interferometer utilized to monitor the movement of the slide. Air-bearing slides mounted to a stable support are utilized to minimize friction and small irregularities in the slideway which would tend to introduce positioning errors. A microprocessor is programmed to read command and feedback information and converts this information into the system following error signal. This error signal is summed with the negative filtered velocity feedback signal at the input of a servo amplifier whose output serves as the drive power signal to the linear motor position control coil.

Video image position determination

DOEpatents

Christensen, Wynn; Anderson, Forrest L.; Kortegaard, Birchard L.

1991-01-01

An optical beam position controller in which a video camera captures an image of the beam in its video frames, and conveys those images to a processing board which calculates the centroid coordinates for the image. The image coordinates are used by motor controllers and stepper motors to position the beam in a predetermined alignment. In one embodiment, system noise, used in conjunction with Bernoulli trials, yields higher resolution centroid coordinates.

Sensorless position estimation and control of permanent-magnet synchronous motors using a saturation model

NASA Astrophysics Data System (ADS)

Kassem Jebai, Al; Malrait, François; Martin, Philippe; Rouchon, Pierre

2016-03-01

Sensorless control of permanent-magnet synchronous motors at low velocity remains a challenging task. A now well-established method consists of injecting a high-frequency signal and using the rotor saliency, both geometric and magnetic-saturation induced. This paper proposes a clear and original analysis based on second-order averaging of how to recover the position information from signal injection; this analysis blends well with a general model of magnetic saturation. It also proposes a simple parametric model of the saturated motor, based on an energy function which simply encompasses saturation and cross-saturation effects. Experimental results on a surface-mounted motor and an interior magnet motor illustrate the relevance of the approach.

A Finger-Pressing Position Detector for Assisting People with Developmental Disabilities to Control Their Environmental Stimulation through Fine Motor Activities with a Standard Keyboard

ERIC Educational Resources Information Center

Shih, Ching-Hsiang

2012-01-01

This study used a standard keyboard with a newly developed finger-pressing position detection program (FPPDP), i.e. a new software program, which turns a standard keyboard into a finger-pressing position detector, to evaluate whether two people with developmental disabilities would be able to actively perform fine motor activities to control their…

Modeling of R/C Servo Motor and Application to Underactuated Mechanical Systems

NASA Astrophysics Data System (ADS)

Ishikawa, Masato; Kitayoshi, Ryohei; Wada, Takashi; Maruta, Ichiro; Sugie, Toshiharu

An R/C servo motor is a compact package of a DC geard-motor associated with a position servo controller. They are widely used in small-sized robotics and mechatronics by virtue of their compactness, easiness-to-use and high/weight ratio. However, it is crucial to clarify their internal model (including the embedded position servo) in order to improve control performance of mechatronic systems using R/C servo motors, such as biped robots or underactuted sysyems. In this paper, we propose a simple and realistic internal model of the R/C servo motors including the embedded servo controller, and estimate their physical parameters using continuous-time system identification method. We also provide a model of reference-to-torque transfer function so that we can estimate the internal torque acting on the load.

Advanced simulation model for IPM motor drive with considering phase voltage and stator inductance

NASA Astrophysics Data System (ADS)

Lee, Dong-Myung; Park, Hyun-Jong; Lee, Ju

2016-10-01

This paper proposes an advanced simulation model of driving system for Interior Permanent Magnet (IPM) BrushLess Direct Current (BLDC) motors driven by 120-degree conduction method (two-phase conduction method, TPCM) that is widely used for sensorless control of BLDC motors. BLDC motors can be classified as SPM (Surface mounted Permanent Magnet) and IPM motors. Simulation model of driving system with SPM motors is simple due to the constant stator inductance regardless of the rotor position. Simulation models of SPM motor driving system have been proposed in many researches. On the other hand, simulation models for IPM driving system by graphic-based simulation tool such as Matlab/Simulink have not been proposed. Simulation study about driving system of IPMs with TPCM is complex because stator inductances of IPM vary with the rotor position, as permanent magnets are embedded in the rotor. To develop sensorless scheme or improve control performance, development of control algorithm through simulation study is essential, and the simulation model that accurately reflects the characteristic of IPM is required. Therefore, this paper presents the advanced simulation model of IPM driving system, which takes into account the unique characteristic of IPM due to the position-dependent inductances. The validity of the proposed simulation model is validated by comparison to experimental and simulation results using IPM with TPCM control scheme.

Neural control of computer cursor velocity by decoding motor cortical spiking activity in humans with tetraplegia*

PubMed Central

Kim, Sung-Phil; Simeral, John D; Hochberg, Leigh R; Donoghue, John P; Black, Michael J

2010-01-01

Computer-mediated connections between human motor cortical neurons and assistive devices promise to improve or restore lost function in people with paralysis. Recently, a pilot clinical study of an intracortical neural interface system demonstrated that a tetraplegic human was able to obtain continuous two-dimensional control of a computer cursor using neural activity recorded from his motor cortex. This control, however, was not sufficiently accurate for reliable use in many common computer control tasks. Here, we studied several central design choices for such a system including the kinematic representation for cursor movement, the decoding method that translates neuronal ensemble spiking activity into a control signal and the cursor control task used during training for optimizing the parameters of the decoding method. In two tetraplegic participants, we found that controlling a cursor's velocity resulted in more accurate closed-loop control than controlling its position directly and that cursor velocity control was achieved more rapidly than position control. Control quality was further improved over conventional linear filters by using a probabilistic method, the Kalman filter, to decode human motor cortical activity. Performance assessment based on standard metrics used for the evaluation of a wide range of pointing devices demonstrated significantly improved cursor control with velocity rather than position decoding. PMID:19015583

Motor Control Abnormalities in Parkinson’s Disease

PubMed Central

Mazzoni, Pietro; Shabbott, Britne; Cortés, Juan Camilo

2012-01-01

The primary manifestations of Parkinson’s disease are abnormalities of movement, including movement slowness, difficulties with gait and balance, and tremor. We know a considerable amount about the abnormalities of neuronal and muscle activity that correlate with these symptoms. Motor symptoms can also be described in terms of motor control, a level of description that explains how movement variables, such as a limb’s position and speed, are controlled and coordinated. Understanding motor symptoms as motor control abnormalities means to identify how the disease disrupts normal control processes. In the case of Parkinson’s disease, movement slowness, for example, would be explained by a disruption of the control processes that determine normal movement speed. Two long-term benefits of understanding the motor control basis of motor symptoms include the future design of neural prostheses to replace the function of damaged basal ganglia circuits, and the rational design of rehabilitation strategies. This type of understanding, however, remains limited, partly because of limitations in our knowledge of normal motor control. In this article, we review the concept of motor control and describe a few motor symptoms that illustrate the challenges in understanding such symptoms as motor control abnormalities. PMID:22675667

Research on Control System of Three - phase Brushless DC Motor for Electric Vehicle

NASA Astrophysics Data System (ADS)

Wang, Zhiwei; Jin, Hai; Guo, Jie; Su, Jie; Wang, Miao

2017-12-01

In order to study the three-phase brushless motor control system of electric vehicle, Freescale9S12XS128 chip is used as the control core, and the power MOSFET is used as the inverter device. The software is compiled by Codewarrior software. The speed control link adopts open-loop control, and the control chip collects the external sensor signal voltage Change control PWM signal output control three-phase brushless DC motor speed. The whole system consists of Hall position detection module, current detection module, power drive module and voltage detection module. The basic functions of three-phase brushless DC motor drive control are realized.

Study on the precision of the guide control system of independent wheel

NASA Astrophysics Data System (ADS)

ji, Y.; Ren, L.; Li, R.; Sun, W.

2016-09-01

The torque ripple of permanent magnet synchronous motor vector with active control is studied in this paper. The ripple appears because of the impact of position detection and current detection, the error generated in inverter and the influence of motor ontology (magnetic chain harmonic and the cogging effect and so on). Then, the simulation dynamic model of bogie with permanent magnet synchronous motor vector control system is established with MATLAB/Simulink. The stability of bogie with steering control is studied. The relationship between the error of the motor and the precision of the control system is studied. The result shows that the existing motor does not meet the requirements of the control system.

Drive control and position measurement of RailCab vehicles driven by linear motors

NASA Astrophysics Data System (ADS)

Pottharst, Andreas; Henke, Christian; Schneider, Tobias; Böcker, Joachim; Grotstollen, Horst

2006-11-01

The novel railway system RailCab makes use of autonomous vehicles which are driven by an AC linear motor. Depending on the track-side motor part, long-stator or short-stator operations are possible. The paper deals with the operation of the doubly-fed induction motor which is used for motion control and for transferring the energy required onboard the vehicle. This type of linear motor synchronization of the traveling fields generated by the stationary primary and moving secondary windings is an important and demanding task because the instantaneous positions of the vehicle or the primary traveling wave must be determined with high accuracy. The paper shows how this task is solved at the moment and what improvements are under development.

Changes in Voice Onset Time and Motor Speech Skills in Children following Motor Speech Therapy: Evidence from /pa/ productions

PubMed Central

Yu, Vickie Y.; Kadis, Darren S.; Oh, Anna; Goshulak, Debra; Namasivayam, Aravind; Pukonen, Margit; Kroll, Robert; De Nil, Luc F.; Pang, Elizabeth W.

2016-01-01

This study evaluated changes in motor speech control and inter-gestural coordination for children with speech sound disorders (SSD) subsequent to PROMPT (Prompts for Restructuring Oral Muscular Phonetic Targets) intervention. We measured the distribution patterns of voice onset time (VOT) for a voiceless stop (/p/) to examine the changes in inter-gestural coordination. Two standardized tests were used (VMPAC, GFTA-2) to assess the changes in motor speech skills and articulation. Data showed positive changes in patterns of VOT with a lower pattern of variability. All children showed significantly higher scores for VMPAC, but only some children showed higher scores for GFTA-2. Results suggest that the proprioceptive feedback provided through PROMPT had a positive influence on motor speech control and inter-gestural coordination in voicing behavior. This set of VOT data for children with SSD adds to our understanding of the speech characteristics underlying motor speech control. Directions for future studies are discussed. PMID:24446799

Automatic inoculating apparatus. [includes movable carraige, drive motor, and swabbing motor

NASA Technical Reports Server (NTRS)

Wilkins, J. R.; Mills, S. M. (Inventor)

1974-01-01

An automatic inoculating apparatus for agar trays is described and using a simple inoculating element, such as a cotton swab or inoculating loop. The apparatus includes a movable carriage for supporting the tray to be inoculated, a drive motor for moving the tray along a trackway, and a swabbing motor for automatically swabbing the tray during the movement. An actuator motor controls lowering of the inoculating element onto the tray and lifting of the inoculating element. An electrical control system, including limit microswitches, enables automatic control of the actuator motor and return of the carriage to the initial position after inoculating is completed.

Design of permanent magnet synchronous motor speed control system based on SVPWM

NASA Astrophysics Data System (ADS)

Wu, Haibo

2017-04-01

The control system is designed to realize TMS320F28335 based on the permanent magnet synchronous motor speed control system, and put it to quoting all electric of injection molding machine. The system of the control method used SVPWM, through the sampling motor current and rotating transformer position information, realize speed, current double closed loop control. Through the TMS320F28335 hardware floating-point processing core, realize the application for permanent magnet synchronous motor in the floating point arithmetic, to replace the past fixed-point algorithm, and improve the efficiency of the code.

An adaptive nonlinear internal-model control for the speed control of homopolar salient-pole BLDC motor

NASA Astrophysics Data System (ADS)

CheshmehBeigi, Hassan Moradi

2018-05-01

In this paper, a novel speed control method for Homopolar Brushless DC (HBLDC) motor based on the adaptive nonlinear internal-model control (ANIMC) is presented. Rotor position information is obtained online by the Hall-Effect sensors placed on the motor's shaft, and is used to calculate the accurate model and accurate inverse model of the HBLDC motor. The online inverse model of the motor is used in the controller structure. To suppress the reference ? error, the negative feedback of difference between the motor speed and its model output ? is applied in the proposed controller. An appropriate signal is the output of the controller, which drives the power switches to converge the motor speed to the constant desired speed. Simulations and experiments are carried out on a ? three-phase HBLDC motor. The proposed drive system operates well in the speed response and has good robustness with respect to the disturbances. To validate the theoretical analysis, several experimental results are discussed in this paper.

Elastic actuator for precise force control

DOEpatents

Pratt, G.A.; Williamson, M.M.

1997-07-22

The invention provides an elastic actuator consisting of a motor and a motor drive transmission connected at an output of the motor. An elastic element is connected in series with the motor drive transmission, and this elastic element is positioned to alone support the full weight of any load connected at an output of the actuator. A single force transducer is positioned at a point between a mount for the motor and an output of the actuator. This force transducer generates a force signal, based on deflection of the elastic element, that indicates force applied by the elastic element to an output of the actuator. An active feedback force control loop is connected between the force transducer and the motor for controlling the motor. This motor control is based on the force signal to deflect the elastic element an amount that produces a desired actuator output force. The produced output force is substantially independent of load motion. The invention also provides a torsional spring consisting of a flexible structure having at least three flat sections each connected integrally with and extending radially from a central section. Each flat section extends axially along the central section from a distal end of the central section to a proximal end of the central section. 30 figs.

Elastic actuator for precise force control

DOEpatents

Pratt, Gill A.; Williamson, Matthew M.

1997-07-22

The invention provides an elastic actuator consisting of a motor and a motor drive transmission connected at an output of the motor. An elastic element is connected in series with the motor drive transmission, and this elastic element is positioned to alone support the full weight of any load connected at an output of the actuator. A single force transducer is positioned at a point between a mount for the motor and an output of the actuator. This force transducer generates a force signal, based on deflection of the elastic element, that indicates force applied by the elastic element to an output of the actuator. An active feedback force control loop is connected between the force transducer and the motor for controlling the motor. This motor control is based on the force signal to deflect the elastic element an amount that produces a desired actuator output force. The produced output force is substantially independent of load motion. The invention also provides a torsional spring consisting of a flexible structure having at least three flat sections each connected integrally with and extending radially from a central section. Each flat section extends axially along the central section from a distal end of the central section to a proximal end of the central section.

Electromechanical actuator for the tongs of a servomanipulator

DOEpatents

Martin, H. Lee; Killough, Stephen M.

1986-01-01

Computer-augmented electromechanical system is provided for controlling the tongs of a servomanipulator. The mechanical tongs are motor-driven through the remote slave arm of the manipulator, and the motor control current is supplied by a position sensor which senses the position of a spring-loaded trigger in the master arm handle on the manipulator. The actuator for the tongs provides the operator with artificial force reflection in a unilateral force-force control loop.

Motorized support jack

DOEpatents

Haney, Steven J.; Herron, Donald Joe

2003-05-13

A compact, vacuum compatible motorized jack for supporting heavy loads and adjusting their positions is provided. The motorized jack includes: (a) a housing having a base; (b) a first roller device that provides a first slidable surface and that is secured to the base; (c) a second roller device that provides a second slidable surface and that has an upper surface; (d) a wedge that is slidably positioned between the first roller device and the second roller device so that the wedge is in contact with the first slidable surface and the second slidable surface; (e) a motor; and (d) a drive mechanism that connects the motor and the wedge to cause the motor to controllably move the wedge forwards or backwards. Individual motorized jacks can support and lift of an object at an angle. Two or more motorized jacks can provide tip, tilt and vertical position adjustment capabilities.

Motorized support jack

DOEpatents

Haney, Steven J.; Herron, Donald Joe

2001-01-01

A compact, vacuum compatible motorized jack for supporting heavy loads and adjusting their positions is provided. The motorized jack includes: (a) a housing having a base; (b) a first roller device that provides a first slidable surface and that is secured to the base; (c) a second roller device that provides a second slidable surface and that has an upper surface; (d) a wedge that is slidably positioned between the first roller device and the second roller device so that the wedge is in contact with the first slidable surface and the second slidable surface; (e) a motor; and (d) a drive mechanism that connects the motor and the wedge to cause the motor to controllably move the wedge forwards or backwards. Individual motorized jacks can support and lift of an object at an angle. Two or more motorized jacks can provide tip, tilt and vertical position adjustment capabilities.

Cross-shaped torsional spring

DOEpatents

Williamson, Matthew M.; Pratt, Gill A.

1999-06-08

The invention provides an elastic actuator consisting of a motor and a motor drive transmission connected at an output of the motor. An elastic element is connected in series with the motor drive transmission, and this elastic element is positioned to alone support the full weight of any load connected at an output of the actuator. A single force transducer is positioned at a point between a mount for the motor and an output of the actuator. This force transducer generates a force signal, based on deflection of the elastic element, that indicates force applied by the elastic element to an output of the actuator. An active feedback force control loop is connected between the force transducer and the motor for controlling the motor. This motor control is based on the force signal to deflect the elastic element an amount that produces a desired actuator output force. The produced output force is substantially independent of load motion. The invention also provides a torsional spring consisting of a flexible structure having at least three flat sections each connected integrally with and extending radially from a central section. Each flat section extends axially along the central section from a distal end of the central section to a proximal end of the central section.

Design of motion adjusting system for space camera based on ultrasonic motor

NASA Astrophysics Data System (ADS)

Xu, Kai; Jin, Guang; Gu, Song; Yan, Yong; Sun, Zhiyuan

2011-08-01

Drift angle is a transverse intersection angle of vector of image motion of the space camera. Adjusting the angle could reduce the influence on image quality. Ultrasonic motor (USM) is a new type of actuator using ultrasonic wave stimulated by piezoelectric ceramics. They have many advantages in comparison with conventional electromagnetic motors. In this paper, some improvement was designed for control system of drift adjusting mechanism. Based on ultrasonic motor T-60 was designed the drift adjusting system, which is composed of the drift adjusting mechanical frame, the ultrasonic motor, the driver of Ultrasonic Motor, the photoelectric encoder and the drift adjusting controller. The TMS320F28335 DSP was adopted as the calculation and control processor, photoelectric encoder was used as sensor of position closed loop system and the voltage driving circuit designed as generator of ultrasonic wave. It was built the mathematic model of drive circuit of the ultrasonic motor T-60 using matlab modules. In order to verify the validity of the drift adjusting system, was introduced the source of the disturbance, and made simulation analysis. It designed the control systems of motor drive for drift adjusting system with the improved PID control. The drift angle adjusting system has such advantages as the small space, simple configuration, high position control precision, fine repeatability, self locking property and low powers. It showed that the system could accomplish the mission of drift angle adjusting excellent.

Behavioral Reactivity and Approach-Withdrawal Bias in Infancy

PubMed Central

Hane, Amie Ashley; Fox, Nathan A.; Henderson, Heather A.; Marshall, Peter J.

2008-01-01

Seven hundred and seventy nine infants were screened at 4 months of age for motor and emotional reactivity. At age 9 months, infants who showed extreme patterns of motor and negative (n = 75) or motor and positive (n = 73) reactivity and an unselected control group (n = 86) were administered the Laboratory Temperament Assessment Battery (Lab-TAB), and baseline electroencephalogram (EEG) data were collected. Negatively reactive infants showed significantly more avoidance than positively reactive infants and displayed a pattern of right frontal EEG asymmetry. Positively reactive infants exhibited significantly more approach behavior than controls and exhibited a pattern of left frontal asymmetry. Results support the notion that approach-withdrawal bias underlies reactivity in infancy. PMID:18793079

A novel robust speed controller scheme for PMBLDC motor.

PubMed

Thirusakthimurugan, P; Dananjayan, P

2007-10-01

The design of speed and position controllers for permanent magnet brushless DC motor (PMBLDC) drive remains as an open problem in the field of motor drives. A precise speed control of PMBLDC motor is complex due to nonlinear coupling between winding currents and rotor speed. In addition, the nonlinearity present in the developed torque due to magnetic saturation of the rotor further complicates this issue. This paper presents a novel control scheme to the conventional PMBLDC motor drive, which aims at improving the robustness by complete decoupling of the design besides minimizing the mutual influence among the speed and current control loops. The interesting feature of this robust control scheme is its suitability for both static and dynamic aspects. The effectiveness of the proposed robust speed control scheme is verified through simulations.

Additional Drive Circuitry for Piezoelectric Screw Motors

NASA Technical Reports Server (NTRS)

Smythe, Robert; Palmer, Dean; Gursel, Yekta; Reder, Leonard; Savedra, Raymond

2004-01-01

Modules of additional drive circuitry have been developed to enhance the functionality of a family of commercially available positioning motors (Picomotor . or equivalent) that provide linear motion controllable, in principle, to within increments .30 nm. A motor of this type includes a piezoelectric actuator that turns a screw. Unlike traditional piezoelectrically actuated mechanisms, a motor of this type does not rely on the piezoelectric transducer to hold position: the screw does not turn except when the drive signal is applied to the actuator.

Children who had congenital torticollis as infants are not at higher risk for a delay in motor development at preschool age.

PubMed

Öhman, Anna; Beckung, Eva

2013-10-01

To investigate whether congenital muscular torticollis (CMT) or the time in a prone position as an infant had any influence on motor development at preschool age. A case-control study. Eighty-one children who had participated in a previous study that investigated motor development in infants with CMT and a control group of infants without CMT. A follow-up at the age of 3.5-5 years; the Movement Assessment Battery for Children was used with the earlier CMT group and the control group to assess their motor development. An independent physiotherapist, who was blinded of the children's previous group belonging, assessed the children. Percentile scores of motor development. Multiple regression showed no impact on earlier group belonging or the amount of time spent in a prone position as an infant. The left-handed children had a significantly (P < .01) lower percentile in the Movement Assessment Battery for Children. Neither CMT nor spending limited periods of time as an infant in the prone position when awake have any significant long-term effects on motor development. Children who had CMT as infants were not at higher risk for a delay in motor development at preschool age. Copyright © 2013 American Academy of Physical Medicine and Rehabilitation. Published by Elsevier Inc. All rights reserved.

The Technique of Changing the Drive Method of Micro Step Drive and Sensorless Drive for Hybrid Stepping Motor

NASA Astrophysics Data System (ADS)

Yoneda, Makoto; Dohmeki, Hideo

The position control system with the advantage large torque, low vibration, and high resolution can be obtained by the constant current micro step drive applied to hybrid stepping motor. However loss is large, in order not to be concerned with load torque but to control current uniformly. As the one technique of a position control system in which high efficiency is realizable, the same sensorless control as a permanent magnet motor is effective. But, it was the purpose that the control method proposed until now controls speed. Then, this paper proposed changing the drive method of micro step drive and sensorless drive. The change of the drive method was verified from the simulation and the experiment. On no load, it was checked not producing change of a large speed at the time of a change by making electrical angle and carrying out zero reset of the integrator. On load, it was checked that a large speed change arose. The proposed system could change drive method by setting up the initial value of an integrator using the estimated result, without producing speed change. With this technique, the low loss position control system, which employed the advantage of the hybrid stepping motor, has been built.

Actual motor performance and self-perceived motor competence in children with attention-deficit hyperactivity disorder compared with healthy siblings and peers.

PubMed

Fliers, Ellen A; de Hoog, Marieke L A; Franke, Barbara; Faraone, Stephen V; Rommelse, Nanda N J; Buitelaar, Jan K; Nijhuis-van der Sanden, Maria W G

2010-01-01

: Children with attention-deficit hyperactivity disorder (ADHD) frequently experience comorbid motor problems, developmental coordination disorder. Also, children with ADHD are said to overestimate their abilities in the cognitive and social domain, the so-called "Positive Illusory Bias." In this cross-sectional study, the relationship between actual motor performance and perceived motor competence was examined. Motor performance was assessed using the Movement Assessment Battery for Children in 100 children and adolescents (age 6-17 years), including 32 children with ADHD combined type, 18 unaffected siblings, and 50 healthy control children. ADHD was diagnosed using Parent and Teacher questionnaires and a clinical interview. Perceived motor competence and interest in the motor domain were rated with the Dutch supplement scale to Harters' Self-Perception Profile for Children, especially focusing on the motor domain (m-CBSK). Children with ADHD had poorer motor performance than unaffected siblings and control children, especially in the field of manual dexterity. However, no relationship was found between motor performance and perceived motor competence. Only children with the very lowest motor performance had a significantly lowered perception of their motor competence. Interest in the motor domain and motor self-perception was positively correlated. Children with ADHD performed poorer on the Movement Assessment Battery for Children, but generally overestimated their own motor competence.

Computer simulation of a cruise missile using brushless dc motor fin control

NASA Astrophysics Data System (ADS)

Franklin, G. C.

1985-03-01

This thesis describes a computer simulation developed in order to provide a method of establishing the potential of brushless dc motors for applications to tactical cruise missile control surface positioning. In particular, an altitude hold controller has been developed that provides an operational load test condition for the evaluation of the electromechanical actuator. A proportional integral control scheme in conjunction with tachometer feedback provides the position control for the missile tailfin surfaces. The fin control system is further imbedded in a cruise missile model to allow altitude control of the missile. The load on the fin is developed from the dynamic fluid environment that the missile will be operating in and is proportional to such factors as fin size and air density. The program written in CSMP language is suitable for parametric studies including motor and torque load characteristics, and missile and control system parameters.

A brushless dc spin motor for momentum exchange altitude control

NASA Technical Reports Server (NTRS)

Stern, D.; Rosenlieb, J. W.

1972-01-01

Brushless dc spin motor is designed to use Hall effect probes as means of revolving rotor position and controlling motor winding currents. This results in 3 to 1 reduction in watt-hours required for wheel acceleration, a 2 to 1 reduction in power to run wheel, and a 10 to 1 reduction in the electronics size and weight.

Implementation of a sliding-mode-based position sensorless drive for high-speed micro permanent-magnet synchronous motors.

PubMed

Chi, Wen-Chun; Cheng, Ming-Yang

2014-03-01

Due to issues such as limited space, it is difficult if it is not impossible to employ a position sensor in the drive control of high-speed micro PMSMs. In order to alleviate this problem, this paper analyzes and implements a simple and robust position sensorless field-oriented control method of high-speed micro PMSMs based on the sliding-mode observer. In particular, the angular position and velocity of the rotor of the high-speed micro PMSM are estimated using the sliding-mode observer. This observer is able to accurately estimate rotor position in the low speed region and guarantee fast convergence of the observer in the high speed region. The proposed position sensorless control method is suitable for electric dental handpiece motor drives where a wide speed range operation is essential. The proposed sensorless FOC method is implemented using a cost-effective 16-bit microcontroller and tested in a prototype electric dental handpiece motor. Several experiments are performed to verify the effectiveness of the proposed method. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Light-controlled intracellular transport in Caenorhabditis elegans.

PubMed

Harterink, Martin; van Bergeijk, Petra; Allier, Calixte; de Haan, Bart; van den Heuvel, Sander; Hoogenraad, Casper C; Kapitein, Lukas C

2016-02-22

To establish and maintain their complex morphology and function, neurons and other polarized cells exploit cytoskeletal motor proteins to distribute cargoes to specific compartments. Recent studies in cultured cells have used inducible motor protein recruitment to explore how different motors contribute to polarized transport and to control the subcellular positioning of organelles. Such approaches also seem promising avenues for studying motor activity and organelle positioning within more complex cellular assemblies, but their applicability to multicellular in vivo systems has so far remained unexplored. Here, we report the development of an optogenetic organelle transport strategy in the in vivo model system Caenorhabditis elegans. We demonstrate that movement and pausing of various organelles can be achieved by recruiting the proper cytoskeletal motor protein with light. In neurons, we find that kinesin and dynein exclusively target the axon and dendrite, respectively, revealing the basic principles for polarized transport. In vivo control of motor attachment and organelle distributions will be widely useful in exploring the mechanisms that govern the dynamic morphogenesis of cells and tissues, within the context of a developing animal. Copyright © 2016 Elsevier Ltd. All rights reserved.

Neural control of computer cursor velocity by decoding motor cortical spiking activity in humans with tetraplegia

NASA Astrophysics Data System (ADS)

Kim, Sung-Phil; Simeral, John D.; Hochberg, Leigh R.; Donoghue, John P.; Black, Michael J.

2008-12-01

Computer-mediated connections between human motor cortical neurons and assistive devices promise to improve or restore lost function in people with paralysis. Recently, a pilot clinical study of an intracortical neural interface system demonstrated that a tetraplegic human was able to obtain continuous two-dimensional control of a computer cursor using neural activity recorded from his motor cortex. This control, however, was not sufficiently accurate for reliable use in many common computer control tasks. Here, we studied several central design choices for such a system including the kinematic representation for cursor movement, the decoding method that translates neuronal ensemble spiking activity into a control signal and the cursor control task used during training for optimizing the parameters of the decoding method. In two tetraplegic participants, we found that controlling a cursor's velocity resulted in more accurate closed-loop control than controlling its position directly and that cursor velocity control was achieved more rapidly than position control. Control quality was further improved over conventional linear filters by using a probabilistic method, the Kalman filter, to decode human motor cortical activity. Performance assessment based on standard metrics used for the evaluation of a wide range of pointing devices demonstrated significantly improved cursor control with velocity rather than position decoding. Disclosure. JPD is the Chief Scientific Officer and a director of Cyberkinetics Neurotechnology Systems (CYKN); he holds stock and receives compensation. JDS has been a consultant for CYKN. LRH receives clinical trial support from CYKN.

Adaptive reference voltage generator for firing angle control of line-commutated inverters

NASA Technical Reports Server (NTRS)

Dolland, C. R. (Inventor)

1983-01-01

A control system for a permanent-magnet motor driven by a multiphase line-commulated inverter is described. It is provided with integrators for integrating the back EMF of each phase of the motor for use in generating system control signals for an inverter gate logic using a sync and firing angle control generator connected to the outputs of the integrators. The firing angle control signals are produced by the control generator by means for combining 120 deg segments of the integrated back EMF signals symmetrical about their maxima into composite positive and negative waveforms, and means for sampling the maxima of each waveform every 120 deg. These samples are then used as positive and negative firing angle control signals. Whereby any change in amplitude of the integrated back EMF signals will not affect a change in the operating power factor of the motor and inverter.

Motor Controller System For Large Dynamic Range of Motor Operation

NASA Technical Reports Server (NTRS)

Howard, David E. (Inventor); Alhorn, Dean C. (Inventor); Smith, Dennis A. (Inventor); Dutton, Kenneth R. (Inventor); Paulson, Mitchell Scott (Inventor)

2006-01-01

A motor controller system uses a rotary sensor with a plurality of signal conditioning units, coupled to the rotary sensor. Each of these units, which is associated with a particular range of motor output shaft rotation rates, generate a feedback signal indicative of the position of the motor s output shaft. A controller (i) converts a selected motor output shaft rotation rate to a corresponding incremental amount of rotational movement for a selected fixed time period, (ii) selects, at periodic completions of the selected fixed time period, the feedback signal from one of the signal conditioning units for which the particular range of motor output shaft rotation rates associated therewith encompasses the selected motor output shaft rotation rate, and (iii) generates a motor drive signal based on a difference between the incremental amount of rotational movement and the feedback signal from the selected one of the signal conditioning Units.

Cross-shaped torsional spring

DOEpatents

Williamson, M.M.; Pratt, G.A.

1999-06-08

The invention provides an elastic actuator consisting of a motor and a motor drive transmission connected at an output of the motor. An elastic element is connected in series with the motor drive transmission, and this elastic element is positioned to alone support the full weight of any load connected at an output of the actuator. A single force transducer is positioned at a point between a mount for the motor and an output of the actuator. This force transducer generates a force signal, based on deflection of the elastic element, that indicates force applied by the elastic element to an output of the actuator. An active feedback force control loop is connected between the force transducer and the motor for controlling the motor. This motor control is based on the force signal to deflect the elastic element an amount that produces a desired actuator output force. The produced output force is substantially independent of load motion. The invention also provides a torsional spring consisting of a flexible structure having at least three flat sections each connected integrally with and extending radially from a central section. Each flat section extends axially along the central section from a distal end of the central section to a proximal end of the central section. 30 figs.

Learning fuzzy logic control system

NASA Technical Reports Server (NTRS)

Lung, Leung Kam

1994-01-01

The performance of the Learning Fuzzy Logic Control System (LFLCS), developed in this thesis, has been evaluated. The Learning Fuzzy Logic Controller (LFLC) learns to control the motor by learning the set of teaching values that are generated by a classical PI controller. It is assumed that the classical PI controller is tuned to minimize the error of a position control system of the D.C. motor. The Learning Fuzzy Logic Controller developed in this thesis is a multi-input single-output network. Training of the Learning Fuzzy Logic Controller is implemented off-line. Upon completion of the training process (using Supervised Learning, and Unsupervised Learning), the LFLC replaces the classical PI controller. In this thesis, a closed loop position control system of a D.C. motor using the LFLC is implemented. The primary focus is on the learning capabilities of the Learning Fuzzy Logic Controller. The learning includes symbolic representation of the Input Linguistic Nodes set and Output Linguistic Notes set. In addition, we investigate the knowledge-based representation for the network. As part of the design process, we implement a digital computer simulation of the LFLCS. The computer simulation program is written in 'C' computer language, and it is implemented in DOS platform. The LFLCS, designed in this thesis, has been developed on a IBM compatible 486-DX2 66 computer. First, the performance of the Learning Fuzzy Logic Controller is evaluated by comparing the angular shaft position of the D.C. motor controlled by a conventional PI controller and that controlled by the LFLC. Second, the symbolic representation of the LFLC and the knowledge-based representation for the network are investigated by observing the parameters of the Fuzzy Logic membership functions and the links at each layer of the LFLC. While there are some limitations of application with this approach, the result of the simulation shows that the LFLC is able to control the angular shaft position of the D.C. motor. Furthermore, the LFLC has better performance in rise time, settling time and steady state error than to the conventional PI controller. This abstract accurately represents the content of the candidate's thesis. I recommend its publication.

Electromechanical flight control actuator, volume 1

NASA Technical Reports Server (NTRS)

1978-01-01

An electromechanical actuator was developed that will follow a proportional control command with minimum wasted energy to demonstrate the feasibility of meeting space vehicle actuator requirements using advanced electromechanical concepts. The approach was restricted to a four-channel redundant configuration. Each channel has independent drive and control electronics, a brushless electric motor with brake, and velocity and position feedback transducers. A differential gearbox sums the output velocities of the motors. Normally, two motors are active and the other two are braked.

Scissor thrust valve actuator

DOEpatents

DeWall, Kevin G.; Watkins, John C; Nitzel, Michael E.

2006-08-29

Apparatus for actuating a valve includes a support frame and at least one valve driving linkage arm, one end of which is rotatably connected to a valve stem of the valve and the other end of which is rotatably connected to a screw block. A motor connected to the frame is operatively connected to a motor driven shaft which is in threaded screw driving relationship with the screw block. The motor rotates the motor driven shaft which drives translational movement of the screw block which drives rotatable movement of the valve driving linkage arm which drives translational movement of the valve stem. The valve actuator may further include a sensory control element disposed in operative relationship with the valve stem, the sensory control element being adapted to provide control over the position of the valve stem by at least sensing the travel and/or position of the valve stem.

Motorization of a surgical microscope for intra-operative navigation and intuitive control.

PubMed

Finke, M; Schweikard, A

2010-09-01

During surgical procedures, various medical systems, e.g. microscope or C-arm, are used. Their precise and repeatable manual positioning can be very cumbersome and interrupts the surgeon's work flow. Robotized systems can assist the surgeon but they require suitable kinematics and control. However, positioning must be fast, flexible and intuitive. We describe a fully motorized surgical microscope. Hardware components as well as implemented applications are specified. The kinematic equations are described and a novel control concept is proposed. Our microscope combines fast manual handling with accurate, automatic positioning. Intuitive control is provided by a small remote control mounted to one of the surgical instruments. Positioning accuracy and repeatability are < 1 mm and vibrations caused by automatic movements fade away in about 1 s. The robotic system assists the surgeon, so that he can position the microscope precisely and repeatedly without interrupting the clinical workflow. The combination of manual und automatic control guarantees fast and flexible positioning during surgical procedures. Copyright 2010 John Wiley & Sons, Ltd.

Synchronization controller design of two coupling permanent magnet synchronous motors system with nonlinear constraints.

PubMed

Deng, Zhenhua; Shang, Jing; Nian, Xiaohong

2015-11-01

In this paper, two coupling permanent magnet synchronous motors system with nonlinear constraints is studied. First of all, the mathematical model of the system is established according to the engineering practices, in which the dynamic model of motor and the nonlinear coupling effect between two motors are considered. In order to keep the two motors synchronization, a synchronization controller based on load observer is designed via cross-coupling idea and interval matrix. Moreover, speed, position and current signals of two motor all are taken as self-feedback signal as well as cross-feedback signal in the proposed controller, which is conducive to improving the dynamical performance and the synchronization performance of the system. The proposed control strategy is verified by simulation via Matlab/Simulink program. The simulation results show that the proposed control method has a better control performance, especially synchronization performance, than that of the conventional PI controller. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Nuclear Organization in the Spinal Cord Depends on Motor Neuron Lamination Orchestrated by Catenin and Afadin Function.

PubMed

Dewitz, Carola; Pimpinella, Sofia; Hackel, Patrick; Akalin, Altuna; Jessell, Thomas M; Zampieri, Niccolò

2018-02-13

Motor neurons in the spinal cord are found grouped in nuclear structures termed pools, whose position is precisely orchestrated during development. Despite the emerging role of pool organization in the assembly of spinal circuits, little is known about the morphogenetic programs underlying the patterning of motor neuron subtypes. We applied three-dimensional analysis of motor neuron position to reveal the roles and contributions of cell adhesive function by inactivating N-cadherin, catenin, and afadin signaling. Our findings reveal that nuclear organization of motor neurons is dependent on inside-out positioning, orchestrated by N-cadherin, catenin, and afadin activities, controlling cell body layering on the medio-lateral axis. In addition to this lamination-like program, motor neurons undergo a secondary, independent phase of organization. This process results in segregation of motor neurons along the dorso-ventral axis of the spinal cord, does not require N-cadherin or afadin activity, and can proceed even when medio-lateral positioning is perturbed. Copyright © 2018 The Author(s). Published by Elsevier Inc. All rights reserved.

Test Platform for Advanced Digital Control of Brushless DC Motors (MSFC Center Director's Discretionary Fund)

NASA Technical Reports Server (NTRS)

Gwaltney, D. A.

2002-01-01

A FY 2001 Center Director's Discretionary Fund task to develop a test platform for the development, implementation. and evaluation of adaptive and other advanced control techniques for brushless DC (BLDC) motor-driven mechanisms is described. Important applications for BLDC motor-driven mechanisms are the translation of specimens in microgravity experiments and electromechanical actuation of nozzle and fuel valves in propulsion systems. Motor-driven aerocontrol surfaces are also being utilized in developmental X vehicles. The experimental test platform employs a linear translation stage that is mounted vertically and driven by a BLDC motor. Control approaches are implemented on a digital signal processor-based controller for real-time, closed-loop control of the stage carriage position. The goal of the effort is to explore the application of advanced control approaches that can enhance the performance of a motor-driven actuator over the performance obtained using linear control approaches with fixed gains. Adaptive controllers utilizing an exact model knowledge controller and a self-tuning controller are implemented and the control system performance is illustrated through the presentation of experimental results.

High resolution optical shaft encoder for motor speed control based on an optical disk pick-up

NASA Astrophysics Data System (ADS)

Yeh, Wei-Hung; Bletscher, Warren; Mansuripur, M.

1998-08-01

Using a three-beam optical pick-up from a compact disk player and a flexible, shaft-mounted diffraction grating, we obtain information about the rotation speed and angular position of the motor's spindle. This information may be used for feedback to the motor for smooth operation. Due to the small size of the focused spot and the built-in auto-focus mechanism of the optical head, the proposed encoder can achieve submicrometer resolution. With high resolution, reliable operation, and low-cost elements, the proposed method is suitable for rotary and linear motion control where accurate positioning of an object is required.

Synchronous Control Method and Realization of Automated Pharmacy Elevator

NASA Astrophysics Data System (ADS)

Liu, Xiang-Quan

Firstly, the control method of elevator's synchronous motion is provided, the synchronous control structure of double servo motor based on PMAC is accomplished. Secondly, synchronous control program of elevator is implemented by using PMAC linear interpolation motion model and position error compensation method. Finally, the PID parameters of servo motor were adjusted. The experiment proves the control method has high stability and reliability.

[Anticipatory postural adjustment in bimanual unloading: role of the motor cortex in motor learning].

PubMed

Kazennikov, O V; Solopova, I A; Talis, V L; Ioffe, M E

2006-01-01

The role of the motor cortex was investigated during learning unusual postural adjustment. Healthy subjects held their right (postural) forearm in a horizontal position while supporting a 1-kG load via an electromagnet. The postural forearm position was perturbed by the load release triggered by other elbow voluntary movement. Repetition of the imposed unloading test resulted in a progressive reduction of the maximal forearm rotation, accompanied by the anticipatory decrease in m. biceps brachii activity (learning). Control situation consisted of the voluntary forearm loading. Using the transcranial magnetic stimulation we examined changes in the motor evoked potential of the m. biceps brahii at the beginning and at the end of learning. The evoked potential amplitude did not significantly change in process of the decrease of m. biceps brachii activity. At the end of learning, motor evoked potential / baseline electromyogram ratio increased as compared to the beginning of learning and to the control situation. The results highlight the fundamental role of the motor cortex in suppression of synergies which interfere with formation of a new coordination during motor learning.

Master-slave micromanipulator apparatus

DOEpatents

Morimoto, A.K.; Kozlowski, D.M.; Charles, S.T.; Spalding, J.A.

1999-08-31

An apparatus is disclosed based on precision X-Y stages that are stacked. Attached to arms projecting from each X-Y stage are a set of two axis gimbals. Attached to the gimbals is a rod, which provides motion along the axis of the rod and rotation around its axis. A dual-planar apparatus that provides six degrees of freedom of motion precise to within microns of motion. Precision linear stages along with precision linear motors, encoders, and controls provide a robotics system. The motors can be positioned in a remote location by incorporating a set of bellows on the motors and can be connected through a computer controller that will allow one to be a master and the other one to be a slave. Position information from the master can be used to control the slave. Forces of interaction of the slave with its environment can be reflected back to the motor control of the master to provide a sense of force sensed by the slave. Forces import onto the master by the operator can be fed back into the control of the slave to reduce the forces required to move it. 12 figs.

Master-slave micromanipulator apparatus

DOEpatents

Morimoto, Alan K.; Kozlowski, David M.; Charles, Steven T.; Spalding, James A.

1999-01-01

An apparatus based on precision X-Y stages that are stacked. Attached to arms projecting from each X-Y stage are a set of two axis gimbals. Attached to the gimbals is a rod, which provides motion along the axis of the rod and rotation around its axis. A dual-planar apparatus that provides six degrees of freedom of motion precise to within microns of motion. Precision linear stages along with precision linear motors, encoders, and controls provide a robotics system. The motors can be positioned in a remote location by incorporating a set of bellows on the motors and can be connected through a computer controller that will allow one to be a master and the other one to be a slave. Position information from the master can be used to control the slave. Forces of interaction of the slave with its environment can be reflected back to the motor control of the master to provide a sense of force sensed by the slave. Forces import onto the master by the operator can be fed back into the control of the slave to reduce the forces required to move it.

Application of drive circuit based on L298N in direct current motor speed control system

NASA Astrophysics Data System (ADS)

Yin, Liuliu; Wang, Fang; Han, Sen; Li, Yuchen; Sun, Hao; Lu, Qingjie; Yang, Cheng; Wang, Quanzhao

2016-10-01

In the experiment of researching the nanometer laser interferometer, our design of laser interferometer circuit system is up to the wireless communication technique of the 802.15.4 IEEE standard, and we use the RF TI provided by Basic to receive the data on speed control system software. The system's hardware is connected with control module and the DC motor. However, in the experiment, we found that single chip microcomputer control module is very difficult to drive the DC motor directly. The reason is that the DC motor's starting and braking current is larger than the causing current of the single chip microcomputer control module. In order to solve this problem, we add a driving module that control board can transmit PWM wave signal through I/O port to drive the DC motor, the driving circuit board can come true the function of the DC motor's positive and reversal rotation and speed adjustment. In many various driving module, the L298N module's integrated level is higher compared with other driver module. The L298N model is easy to control, it not only can control the DC motor, but also achieve motor speed control by modulating PWM wave that the control panel output. It also has the over-current protection function, when the motor lock, the L298N model can protect circuit and motor. So we use the driver module based on L298N to drive the DC motor. It is concluded that the L298N driver circuit module plays a very important role in the process of driving the DC motor in the DC motor speed control system.

Industrial robot

NASA Astrophysics Data System (ADS)

Prakashan, A.; Mukunda, H. S.; Samuel, S. D.; Colaco, J. C.

1992-11-01

This paper addresses the design and development of a four degree of freedom industrial manipulator, with three liner axes in the positioning mechanism and one rotary axis in the orientation mechanism. The positioning mechanism joints are driven with dc servo motors fitted with incremental shaft encoders. The rotary joint of the orientation mechanism is driven by a stepping motor. The manipulator is controlled by an IBM 386 PC/AT. Microcomputer based interface cards have been developed for independent joint control. PID controllers for dc motors have been designed. Kinematic modeling, dynamic modeling, and path planning have been carried out to generate the control sequence to accomplish a given task with reference to source and destination state constraints. This project has been sponsored by the Department of Science and Technology, Government of India, New Delhi, and has been executed in collaboration with M/s Larsen & Toubro Ltd, Mysore, India.

Implicit and explicit motor sequence learning in children born very preterm.

PubMed

Jongbloed-Pereboom, Marjolein; Janssen, Anjo J W M; Steiner, K; Steenbergen, Bert; Nijhuis-van der Sanden, Maria W G

2017-01-01

Motor skills can be learned explicitly (dependent on working memory (WM)) or implicitly (relatively independent of WM). Children born very preterm (VPT) often have working memory deficits. Explicit learning may be compromised in these children. This study investigated implicit and explicit motor learning and the role of working memory in VPT children and controls. Three groups (6-9 years) participated: 20 VPT children with motor problems, 20 VPT children without motor problems, and 20 controls. A nine button sequence was learned implicitly (pressing the lighted button as quickly as possible) and explicitly (discovering the sequence via trial-and-error). Children learned implicitly and explicitly, evidenced by decreased movement duration of the sequence over time. In the explicit condition, children also reduced the number of errors over time. Controls made more errors than VPT children without motor problems. Visual WM had positive effects on both explicit and implicit performance. VPT birth and low motor proficiency did not negatively affect implicit or explicit learning. Visual WM was positively related to both implicit and explicit performance, but did not influence learning curves. These findings question the theoretical difference between implicit and explicit learning and the proposed role of visual WM therein. Copyright © 2016 Elsevier Ltd. All rights reserved.

CONTROL IN NUCLEAR REACTORS

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bell, F.R.

1963-01-16

An arrangement was described for scramming a reactor in an emergency. Control rods were position adjusted by an electric motor and transmission. A locking system kept the control rods in position but was arranged to be released in an emergency to allow the rods to drop into their shutdown position. (C.E.S.)

The role of the medial caudate nucleus, but not the hippocampus, in a matching-to sample task for a motor response.

PubMed

Kesner, Raymond P; Gilbert, Paul E

2006-04-01

A delayed-match-to-sample task was used to assess memory for motor responses in rats with control, hippocampus, or medial caudate nucleus (MCN) lesions. All testing was conducted on a cheeseboard maze in complete darkness using an infrared camera. A start box was positioned in the centre of the maze facing a randomly determined direction on each trial. On the sample phase, a phosphorescent object was randomly positioned to cover a baited food well in one of five equally spaced positions around the circumference of the maze forming a 180-degree arc 60 cm from the box. The rat had to displace the object to receive food and return to the start box. The box was then rotated to face a different direction. An identical baited phosphorescent object was placed in the same position relative to the start box. A second identical object was positioned to cover a different unbaited well. On the choice phase, the rat must remember the motor response made on the sample phase and make the same motor response on the choice phase to receive a reward. Hippocampus lesioned and control rats improved as a function of increased angle separation used to separate the correct object from the foil (45, 90, 135, and 180 degrees) and matched the performance of controls. However, rats with MCN lesions were impaired across all separations. Results suggest that the MCN, but not the hippocampus, supports working memory and/or a process aimed at reducing interference for motor response selection based on vector angle information.

Suspension force control of bearingless permanent magnet slice motor based on flux linkage identification.

PubMed

Zhu, Suming; Zhu, Huangqiu

2015-07-01

The control accuracy and dynamic performance of suspension force are confined in the traditional bearingless permanent magnet slice motor (BPMSM) control strategies because the suspension force control is indirectly achieved by adopting a closed loop of displacement only. Besides, the phase information in suspension force control relies on accurate measurement of rotor position, making the control system more complex. In this paper, a new suspension force control strategy with displacement and radial suspension force double closed loops is proposed, the flux linkage of motor windings is identified based on voltage-current model and the flexibility of motor control can be improved greatly. Simulation and experimental results show that the proposed suspension force control strategy is effective to realize the stable operation of the BPMSM. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Balanced bridge feedback control system

NASA Technical Reports Server (NTRS)

Lurie, Boris J. (Inventor)

1990-01-01

In a system having a driver, a motor, and a mechanical plant, a multiloop feedback control apparatus for controlling the movement and/or positioning of a mechanical plant, the control apparatus has a first local bridge feedback loop for feeding back a signal representative of a selected ratio of voltage and current at the output driver, and a second bridge feedback loop for feeding back a signal representative of a selected ratio of force and velocity at the output of the motor. The control apparatus may further include an outer loop for feeding back a signal representing the angular velocity and/or position of the mechanical plant.

A Principle and Winding Design of Consequent-Pole Bearingless Motors

NASA Astrophysics Data System (ADS)

Takenaga, Tomohiro; Kubota, Yutaka; Chiba, Akira; Fukao, Tadashi

Recently, bearingless motors have been developed to enhance motor drive systems with magnetic suspension. Several types of motors have been proposed as bearingless motors, such as induction, surface mounted permanent magnet, inset permanent magnet, interior permanent magnet, buried permanent magnet, homopolar, hybrid, and switched reluctance bearingless motors. Permanent magnet bearingless motors have been attracting more interests in these years because of the high efficiency. In this paper, a consequent-pole bearingless motor is proposed. A rotor has buried permanent magnets, of which polarities are like. The radial force of a consequent-pole bearingless motor is generated by dc current. Thus, rotational angular position is not needed in a magnetic suspension controller. Radial force variations caused by a rotor rotation are minimized by improving arrangement of stator suspension conductors. A prototype bearingless motor and its controller are built. In experiment, principles of magnetic suspension in the proposed consequent-pole bearingless drive are confirmed.

The increase in the starting torque of PMSM motor by applying of FOC method

NASA Astrophysics Data System (ADS)

Plachta, Kamil

2017-05-01

The article presents field oriented control method of synchronous permanent magnet motor equipped in optical sensors. This method allows for a wide range regulation of torque and rotational speed of the electric motor. The paper presents mathematical model of electric motor and vector control method. Optical sensors have shorter time response as compared to the inductive sensors, which allow for faster response of the electronic control system to changes of motor loads. The motor driver is based on the digital signal processor which performs advanced mathematical operations in real time. The appliance of Clark and Park transformation in the software defines the angle of rotor position. The presented solution provides smooth adjustment of the rotational speed in the first operating zone and reduces the dead zone of the torque in the second and third operating zones.

Experimental examination of the effects of televised motor vehicle commercials on risk-positive attitudes, emotions and risky driving inclinations.

PubMed

Vingilis, Evelyn; Roseborough, James E W; Wiesenthal, David L; Vingilis-Jaremko, Larissa; Nuzzo, Valentina; Fischer, Peter; Mann, Robert E

2015-02-01

This study examined the short-term effects of risky driving motor vehicle television commercials on risk-positive attitudes, emotions and risky driving inclinations in video-simulated critical road traffic situations among males and females, within an experimental design. Participants were randomly assigned to one of three televised commercial advertising conditions embedded in a television show: a risky driving motor vehicle commercial condition, a non-risky driving motor vehicle commercial condition and a control non-motor vehicle commercial condition. Participants subsequently completed the Implicit Attitude Test (IAT) to measure risk-positive attitudes, Driver Thrill Seeking Scale (DTSS) to measure risk-positive emotions and the Vienna Risk-Taking Test - Traffic (WRBTV) to measure risky driving inclinations. ANOVA analyses indicated that type of commercial participants watched did not affect their performance on the IAT, DTSS or WRBTV. However, a main effect of heightened risk-positive emotions and risky driving inclinations was found for males. Despite public and governmental concern that risky driving motor vehicle commercials may increase the likelihood that people exposed to these commercials engage in risky driving, this experimental study found no immediate effect of brief exposure to a risky driving motor vehicle commercial on risk-positive attitudes, emotions or risky driving inclinations. Subsequent research should examine the effects of cumulative exposure to risky driving motor vehicle television commercials and print advertisements. Copyright © 2014 Elsevier Ltd. All rights reserved.

Rotatable non-circular forebody flow controller

NASA Technical Reports Server (NTRS)

Moskovitz, Cary A. (Inventor)

1991-01-01

The invention is a rotatable, non-circular forebody flow controller. The apparatus comprises a small geometric device located at a nose of a forebody of an aircraft and a non-circular cross-sectional area that extends toward the apex of the aircraft. The device is symmetrical about a reference plane and preferably attaches to an axle which in turn attaches to a rotating motor. The motor rotates the device about an axis of rotation. Preferably, a control unit connected to an aircraft flight control computer signals to the rotating motor the proper rotational positioning of the geometric device.

Action observation has a positive impact on rehabilitation of motor deficits after stroke.

PubMed

Ertelt, Denis; Small, Steven; Solodkin, Ana; Dettmers, Christian; McNamara, Adam; Binkofski, Ferdinand; Buccino, Giovanni

2007-01-01

Evidence exists that the observation of actions activates the same cortical motor areas that are involved in the performance of the observed actions. The neural substrate for this is the mirror neuron system. We harness this neuronal system and its ability to re-enact stored motor representations as a means for rehabilitating motor control. We combined observation of daily actions with concomitant physical training of the observed actions in a new neurorehabilitative program (action observation therapy). Eight stroke patients with moderate, chronic motor deficit of the upper limb as a consequence of medial artery infarction participated. A significant improvement of motor functions in the course of a 4-week treatment, as compared to the stable pre-treatment baseline, and compared with a control group have been found. The improvement lasted for at least 8 weeks after the end of the intervention. Additionally, the effects of action observation therapy on the reorganization of the motor system were investigated by functional magnetic resonance imaging (fMRI), using an independent sensorimotor task consisting of object manipulation. The direct comparison of neural activations between experimental and control groups after training with those elicited by the same task before training yielded a significant rise in activity in the bilateral ventral premotor cortex, bilateral superior temporal gyrus, the supplementary motor area (SMA) and the contralateral supramarginal gyrus. Our results provide pieces of evidence that action observation has a positive additional impact on recovery of motor functions after stroke by reactivation of motor areas, which contain the action observation/action execution matching system.

Combining Load and Motor Encoders to Compensate Nonlinear Disturbances for High Precision Tracking Control of Gear-Driven Gimbal

PubMed Central

Tang, Tao; Chen, Sisi; Huang, Xuanlin; Yang, Tao; Qi, Bo

2018-01-01

High-performance position control can be improved by the compensation of disturbances for a gear-driven control system. This paper presents a mode-free disturbance observer (DOB) based on sensor-fusion to reduce some errors related disturbances for a gear-driven gimbal. This DOB uses the rate deviation to detect disturbances for implementation of a high-gain compensator. In comparison with the angular position signal the rate deviation between load and motor can exhibits the disturbances exiting in the gear-driven gimbal quickly. Due to high bandwidth of the motor rate closed loop, the inverse model of the plant is not necessary to implement DOB. Besides, this DOB requires neither complex modeling of plant nor the use of additive sensors. Without rate sensors providing angular rate, the rate deviation is easily detected by encoders mounted on the side of motor and load, respectively. Extensive experiments are provided to demonstrate the benefits of the proposed algorithm. PMID:29498643

Combining Load and Motor Encoders to Compensate Nonlinear Disturbances for High Precision Tracking Control of Gear-Driven Gimbal.

PubMed

Tang, Tao; Chen, Sisi; Huang, Xuanlin; Yang, Tao; Qi, Bo

2018-03-02

High-performance position control can be improved by the compensation of disturbances for a gear-driven control system. This paper presents a mode-free disturbance observer (DOB) based on sensor-fusion to reduce some errors related disturbances for a gear-driven gimbal. This DOB uses the rate deviation to detect disturbances for implementation of a high-gain compensator. In comparison with the angular position signal the rate deviation between load and motor can exhibits the disturbances exiting in the gear-driven gimbal quickly. Due to high bandwidth of the motor rate closed loop, the inverse model of the plant is not necessary to implement DOB. Besides, this DOB requires neither complex modeling of plant nor the use of additive sensors. Without rate sensors providing angular rate, the rate deviation is easily detected by encoders mounted on the side of motor and load, respectively. Extensive experiments are provided to demonstrate the benefits of the proposed algorithm.

Differences in Visuo-Motor Control in Skilled vs. Novice Martial Arts Athletes during Sustained and Transient Attention Tasks: A Motor-Related Cortical Potential Study

PubMed Central

Sanchez-Lopez, Javier; Fernandez, Thalia; Silva-Pereyra, Juan; Martinez Mesa, Juan A.; Di Russo, Francesco

2014-01-01

Cognitive and motor processes are essential for optimal athletic performance. Individuals trained in different skills and sports may have specialized cognitive abilities and motor strategies related to the characteristics of the activity and the effects of training and expertise. Most studies have investigated differences in motor-related cortical potential (MRCP) during self-paced tasks in athletes but not in stimulus-related tasks. The aim of the present study was to identify the differences in performance and MRCP between skilled and novice martial arts athletes during two different types of tasks: a sustained attention task and a transient attention task. Behavioral and electrophysiological data from twenty-two martial arts athletes were obtained while they performed a continuous performance task (CPT) to measure sustained attention and a cued continuous performance task (c-CPT) to measure transient attention. MRCP components were analyzed and compared between groups. Electrophysiological data in the CPT task indicated larger prefrontal positive activity and greater posterior negativity distribution prior to a motor response in the skilled athletes, while novices showed a significantly larger response-related P3 after a motor response in centro-parietal areas. A different effect occurred in the c-CPT task in which the novice athletes showed strong prefrontal positive activity before a motor response and a large response-related P3, while in skilled athletes, the prefrontal activity was absent. We propose that during the CPT, skilled athletes were able to allocate two different but related processes simultaneously according to CPT demand, which requires controlled attention and controlled motor responses. On the other hand, in the c-CPT, skilled athletes showed better cue facilitation, which permitted a major economy of resources and “automatic” or less controlled responses to relevant stimuli. In conclusion, the present data suggest that motor expertise enhances neural flexibility and allows better adaptation of cognitive control to the requested task. PMID:24621480

Differences in visuo-motor control in skilled vs. novice martial arts athletes during sustained and transient attention tasks: a motor-related cortical potential study.

PubMed

Sanchez-Lopez, Javier; Fernandez, Thalia; Silva-Pereyra, Juan; Martinez Mesa, Juan A; Di Russo, Francesco

2014-01-01

Cognitive and motor processes are essential for optimal athletic performance. Individuals trained in different skills and sports may have specialized cognitive abilities and motor strategies related to the characteristics of the activity and the effects of training and expertise. Most studies have investigated differences in motor-related cortical potential (MRCP) during self-paced tasks in athletes but not in stimulus-related tasks. The aim of the present study was to identify the differences in performance and MRCP between skilled and novice martial arts athletes during two different types of tasks: a sustained attention task and a transient attention task. Behavioral and electrophysiological data from twenty-two martial arts athletes were obtained while they performed a continuous performance task (CPT) to measure sustained attention and a cued continuous performance task (c-CPT) to measure transient attention. MRCP components were analyzed and compared between groups. Electrophysiological data in the CPT task indicated larger prefrontal positive activity and greater posterior negativity distribution prior to a motor response in the skilled athletes, while novices showed a significantly larger response-related P3 after a motor response in centro-parietal areas. A different effect occurred in the c-CPT task in which the novice athletes showed strong prefrontal positive activity before a motor response and a large response-related P3, while in skilled athletes, the prefrontal activity was absent. We propose that during the CPT, skilled athletes were able to allocate two different but related processes simultaneously according to CPT demand, which requires controlled attention and controlled motor responses. On the other hand, in the c-CPT, skilled athletes showed better cue facilitation, which permitted a major economy of resources and "automatic" or less controlled responses to relevant stimuli. In conclusion, the present data suggest that motor expertise enhances neural flexibility and allows better adaptation of cognitive control to the requested task.

Ultraprecision XY stage using a hybrid bolt-clamped Langevin-type ultrasonic linear motor for continuous motion.

PubMed

Lee, Dong-Jin; Lee, Sun-Kyu

2015-01-01

This paper presents a design and control system for an XY stage driven by an ultrasonic linear motor. In this study, a hybrid bolt-clamped Langevin-type ultrasonic linear motor was manufactured and then operated at the resonance frequency of the third longitudinal and the sixth lateral modes. These two modes were matched through the preload adjustment and precisely tuned by the frequency matching method based on the impedance matching method with consideration of the different moving weights. The XY stage was evaluated in terms of position and circular motion. To achieve both fine and stable motion, the controller consisted of a nominal characteristics trajectory following (NCTF) control for continuous motion, dead zone compensation, and a switching controller based on the different NCTFs for the macro- and micro-dynamics regimes. The experimental results showed that the developed stage enables positioning and continuous motion with nanometer-level accuracy.

33 CFR 183.220 - Preconditioning for tests.

Code of Federal Regulations, 2010 CFR

2010-07-01

... motor and controls and for the submerged weight or the battery, respectively. (e) Permanent fuel tanks must be filled with fuel and each external opening into the fuel tank must be sealed. (f) The boat must... be placed in the normal operating position of the motor and controls and the battery in lieu of this...

Are infants with torticollis at risk of a delay in early motor milestones compared with a control group of healthy infants?

PubMed

Ohman, Anna; Nilsson, Staffan; Lagerkvist, Anna-Lena; Beckung, Eva

2009-07-01

Recently it has been claimed that infants with congenital muscular torticollis (CMT) are at risk of a delay in early motor milestones. The aim of the present study was to investigate whether infants with CMT are indeed at risk in comparison with a control group of healthy infants. A second aim was to investigate whether the time spent in a prone position and plagiocephaly had any influence on motor development. Eighty-two infants with CMT (35 females and 47 males) were compared with 40 healthy infants (18 females and 22 males). Motor development was assessed with the Alberta Infant Motor scale (AIMS). Multiple regression showed that infants in the CMT group had a significantly lower AIMS score than the control group at 2 months (p=0.03) and 6 months of age (p=0.05). Infants who spent at least three occasions daily in a prone position when awake had significantly higher AIMS scores than infants who spent less time prone at 2 months (p=0.001), 6 months (p<0.001), and 10 months of age (p<0.001). The CMT group achieved early motor milestones significantly later than the control group until the age of 10 months, but the risk of delay seems to be more strongly associated with little or no time prone when awake than with CMT.

Learning visuomotor transformations for gaze-control and grasping.

PubMed

Hoffmann, Heiko; Schenck, Wolfram; Möller, Ralf

2005-08-01

For reaching to and grasping of an object, visual information about the object must be transformed into motor or postural commands for the arm and hand. In this paper, we present a robot model for visually guided reaching and grasping. The model mimics two alternative processing pathways for grasping, which are also likely to coexist in the human brain. The first pathway directly uses the retinal activation to encode the target position. In the second pathway, a saccade controller makes the eyes (cameras) focus on the target, and the gaze direction is used instead as positional input. For both pathways, an arm controller transforms information on the target's position and orientation into an arm posture suitable for grasping. For the training of the saccade controller, we suggest a novel staged learning method which does not require a teacher that provides the necessary motor commands. The arm controller uses unsupervised learning: it is based on a density model of the sensor and the motor data. Using this density, a mapping is achieved by completing a partially given sensorimotor pattern. The controller can cope with the ambiguity in having a set of redundant arm postures for a given target. The combined model of saccade and arm controller was able to fixate and grasp an elongated object with arbitrary orientation and at arbitrary position on a table in 94% of trials.

Cognitive Control Reflects Context Monitoring, Not Motoric Stopping, in Response Inhibition

PubMed Central

Chatham, Christopher H.; Claus, Eric D.; Kim, Albert; Curran, Tim; Banich, Marie T.; Munakata, Yuko

2012-01-01

The inhibition of unwanted behaviors is considered an effortful and controlled ability. However, inhibition also requires the detection of contexts indicating that old behaviors may be inappropriate – in other words, inhibition requires the ability to monitor context in the service of goals, which we refer to as context-monitoring. Using behavioral, neuroimaging, electrophysiological and computational approaches, we tested whether motoric stopping per se is the cognitively-controlled process supporting response inhibition, or whether context-monitoring may fill this role. Our results demonstrate that inhibition does not require control mechanisms beyond those involved in context-monitoring, and that such control mechanisms are the same regardless of stopping demands. These results challenge dominant accounts of inhibitory control, which posit that motoric stopping is the cognitively-controlled process of response inhibition, and clarify emerging debates on the frontal substrates of response inhibition by replacing the centrality of controlled mechanisms for motoric stopping with context-monitoring. PMID:22384038

A new development on measurement and control software of SANS BATAN spectrometer (SMARTer) in Serpong, Indonesia

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bharoto,; Suparno, Nadi; Putra, Edy Giri Rachman

In 2005, the main computer for data acquisition and control system of Small-angle Neutron Scattering (SANS) BATAN Spectrometer (SMARTer) was replaced since it halted to operate the spectrometer. According to this replacement, the new software for data acquisition and control system has been developed in-house. Visual Basic programming language is used in developing the software. In the last two years, many developments have been made both in the hardware and also the software to conduct the experiment is more effective and efficient. Lately, the previous motor controller card (ISA Card) was replaced with the programmable motor controller card (PCI Card)more » for driving one motor of position sensitive detector (PSD), eight motors of four collimators, and six motors of six pinhole discs. This new control system software makes all motors can be moved simultaneously, then it reduces significantly the consuming time of setting up the instrument before running the experiment. Along with that development, the new data acquisition software under MS Windows operating system is also developed to drive a beam stopper in X-Y directions as well as to read the equipment status such as position of the collimators and PSD, to acquire neutron counts on monitor and PSD detectors, and also to manage 12 samples position automatically. A timer object which is set in one second to read the equipment status via serial port of the computer (RS232C), and general purpose interface board (GPIB) for reading the total counts of each pixel of the PSD from histogram memory was used in this new software. The experiment result displayed in real time on the main window, and the data is saved in the special format for further data reduction and analysis. The new software has been implemented and performed for experiment using a preset count or preset time mode for absolute scattering intensity method.« less

A new development on measurement and control software of SANS BATAN spectrometer (SMARTer) in Serpong, Indonesia

NASA Astrophysics Data System (ADS)

Bharoto, Suparno, Nadi; Putra, Edy Giri Rachman

2015-04-01

In 2005, the main computer for data acquisition and control system of Small-angle Neutron Scattering (SANS) BATAN Spectrometer (SMARTer) was replaced since it halted to operate the spectrometer. According to this replacement, the new software for data acquisition and control system has been developed in-house. Visual Basic programming language is used in developing the software. In the last two years, many developments have been made both in the hardware and also the software to conduct the experiment is more effective and efficient. Lately, the previous motor controller card (ISA Card) was replaced with the programmable motor controller card (PCI Card) for driving one motor of position sensitive detector (PSD), eight motors of four collimators, and six motors of six pinhole discs. This new control system software makes all motors can be moved simultaneously, then it reduces significantly the consuming time of setting up the instrument before running the experiment. Along with that development, the new data acquisition software under MS Windows operating system is also developed to drive a beam stopper in X-Y directions as well as to read the equipment status such as position of the collimators and PSD, to acquire neutron counts on monitor and PSD detectors, and also to manage 12 samples position automatically. A timer object which is set in one second to read the equipment status via serial port of the computer (RS232C), and general purpose interface board (GPIB) for reading the total counts of each pixel of the PSD from histogram memory was used in this new software. The experiment result displayed in real time on the main window, and the data is saved in the special format for further data reduction and analysis. The new software has been implemented and performed for experiment using a preset count or preset time mode for absolute scattering intensity method.

MTPA control of mechanical sensorless IPMSM based on adaptive nonlinear control.

PubMed

Najjar-Khodabakhsh, Abbas; Soltani, Jafar

2016-03-01

In this paper, an adaptive nonlinear control scheme has been proposed for implementing maximum torque per ampere (MTPA) control strategy corresponding to interior permanent magnet synchronous motor (IPMSM) drive. This control scheme is developed in the rotor d-q axis reference frame using adaptive input-output state feedback linearization (AIOFL) method. The drive system control stability is supported by Lyapunov theory. The motor inductances are online estimated by an estimation law obtained by AIOFL. The estimation errors of these parameters are proved to be asymptotically converged to zero. Based on minimizing the motor current amplitude, the MTPA control strategy is performed by using the nonlinear optimization technique while considering the online reference torque. The motor reference torque is generated by a conventional rotor speed PI controller. By performing MTPA control strategy, the generated online motor d-q reference currents were used in AIOFL controller to obtain the SV-PWM reference voltages and the online estimation of the motor d-q inductances. In addition, the stator resistance is online estimated using a conventional PI controller. Moreover, the rotor position is detected using the online estimation of the stator flux and online estimation of the motor q-axis inductance. Simulation and experimental results obtained prove the effectiveness and the capability of the proposed control method. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Linear Motor With Air Slide

NASA Technical Reports Server (NTRS)

Johnson, Bruce G.; Gerver, Michael J.; Hawkey, Timothy J.; Fenn, Ralph C.

1993-01-01

Improved linear actuator comprises air slide and linear electric motor. Unit exhibits low friction, low backlash, and more nearly even acceleration. Used in machinery in which positions, velocities, and accelerations must be carefully controlled and/or vibrations must be suppressed.

Actively suspended counter-rotating machine

NASA Technical Reports Server (NTRS)

Studer, Philip A. (Inventor)

1983-01-01

A counter-rotating machine, such as a positive displacement pump having a pair of meshed, non-contacting helical screws (10,12), subjects its rotating members to axial and radial thrust forces when used for such purposes as compression of liquid or gaseous phase fluids while transporting them through a pump cavity (11,13). Each helical screw (10,12) has a shaft (17,17') which is actively suspended at opposite ends (11a,11b) of the pump cavity by a servo-controlled magnetic bearing assembly (19) and a servo-controlled rotary drive motor (20). Both bearing assemblies and drive motors are mounted on the outside of the pump cavity (11,13). Opto-electric angular position sensors (250) provide synchronization between radial orientation of the drive motors. The bearing assemblies and drive motors conjugately provide axial stabilization and radial centering of the helical screws during volumetric compression of aspirated liquid or gaseous phase fluids.

Grasping Motor Impairments in Autism: Not Action Planning but Movement Execution Is Deficient

ERIC Educational Resources Information Center

Stoit, Astrid M. B.; van Schie, Hein T.; Slaats-Willemse, Dorine I. E.; Buitelaar, Jan K.

2013-01-01

Different views on the origin of deficits in action chaining in autism spectrum disorders (ASD) have been posited, ranging from functional impairments in action planning to internal models supporting motor control. Thirty-one children and adolescents with ASD and twenty-nine matched controls participated in a two-choice reach-to-grasp paradigm…

Motor function and perception in children with neuropsychiatric and conduct problems: results from a population based twin study.

PubMed

Gustafsson, Peik; Kerekes, Nóra; Anckarsäter, Henrik; Lichtenstein, Paul; Gillberg, Christopher; Råstam, Maria

2014-01-01

Children with early symptomatic psychiatric disorders such as Attention-Deficit/Hyperactivity Disorder (ADHD) and Autism Spectrum Disorder (ASD) have been found to have high rates of motor and/or perception difficulties. However, there have been few large-scale studies reporting on the association between Conduct Disorder (CD) and motor/perception functions. The aim of the present study was to investigate how motor function and perception relate to measures of ADHD, ASD, and CD. Parents of 16,994 Swedish twins (ages nine and twelve years) were interviewed using the Autism-Tics, ADHD and other Comorbidities inventory (A-TAC), which has been validated as a screening instrument for early onset child psychiatric disorders and symptoms. Associations between categorical variables of scoring above previously validated cut-off values for diagnosing ADHD, ASD, and CD on the one hand and motor and/or perception problems on the other hand were analysed using cross-tabulations, and the Fisher exact test. Associations between the continuous scores for ADHD, ASD, CD, and the subdomains Concentration/Attention, Impulsiveness/Activity, Flexibility, Social Interaction and Language, and the categorical factors age and gender, on the one hand, and the dependent dichotomic variables Motor control and Perception problems, on the other hand, were analysed using binary logistic regression in general estimated equation models. Male gender was associated with increased risk of Motor control and/or Perception problems. Children scoring above the cut-off for ADHD, ASD, and/or CD, but not those who were 'CD positive' but 'ADHD/ASD negative', had more Motor control and/or Perception problems, compared with children who were screen-negative for all three diagnoses. In the multivariable model, CD and Impulsiveness/Activity had no positive associations with Motor control and/or Perception problems. CD symptoms or problems with Impulsiveness/Activity were associated with Motor control or Perception problems only in the presence of ASD symptoms and/or symptoms of inattention. Our results indicate that children with CD but without ASD or inattention do not show a deviant development of motor and perceptual functions. Therefore, all children with CD should be examined concerning motor control and perception. If problems are present, a suspicion of ADHD and/or ASD should be raised.

Motor skills training promotes motor functional recovery and induces synaptogenesis in the motor cortex and striatum after intracerebral hemorrhage in rats.

PubMed

Tamakoshi, Keigo; Ishida, Akimasa; Takamatsu, Yasuyuki; Hamakawa, Michiru; Nakashima, Hiroki; Shimada, Haruka; Ishida, Kazuto

2014-03-01

We investigated the effects of motor skills training on several types of motor function and synaptic plasticity following intracerebral hemorrhage (ICH) in rats. Male Wistar rats were injected with collagenase into the left striatum to induce ICH, and they were randomly assigned to the ICH or sham groups. Each group was divided into the motor skills training (acrobatic training) and control (no exercise) groups. The acrobatic group performed acrobatic training from 4 to 28 days after surgery. Motor functions were assessed by motor deficit score, the horizontal ladder test and the wide or narrow beam walking test at several time points after ICH. The number of ΔFosB-positive cells was counted using immunohistochemistry to examine neuronal activation, and the PSD95 protein levels were analyzed by Western blotting to examine synaptic plasticity in the bilateral sensorimotor cortices and striata at 14 and 29 days after ICH. Motor skills training following ICH significantly improved gross motor function in the early phase after ICH and skilled motor coordinated function in the late phase. The number of ΔFosB-positive cells in the contralateral sensorimotor cortex in the acrobatic group significantly increased compared to the control group. PSD95 protein expression in the motor cortex significantly increased in the late phase, and in the striatum, the protein level significantly increased in the early phase by motor skills training after ICH compared to no training after ICH. We demonstrated that motor skills training improved motor function after ICH in rats and enhanced the neural activity and synaptic plasticity in the striatum and sensorimotor cortex. Copyright © 2013 Elsevier B.V. All rights reserved.

To move or not to move: subthalamic deep brain stimulation effects on implicit motor simulation.

PubMed

Tomasino, Barbara; Marin, Dario; Eleopra, Roberto; Rinaldo, Sara; Cristian, Lettieri; Marco, Mucchiut; Enrico, Belgrado; Zanier, Monica; Budai, Riccardo; Mondani, Massimo; D'Auria, Stanislao; Skrap, Miran; Fabbro, Franco

2014-07-29

We explored implicit motor simulation processes in Parkinson's Disease (PD) patients with ON-OFF subthalamic deep brain stimulation (DBS) of the sub-thalamic nucleus (STN). Participants made lexical decisions about hand action-related verbs, abstract verbs, and pseudowords presented either within a positive (e.g., "Do …") or a negative (e.g., "Don't …") sentence context. Healthy controls showed significantly slower responses for hand-action verbs (vs. abstract verbs) in the negative (vs. positive) context, which suggests that negative contexts may suppress motor simulation or preparation processes. The STN-DBS improves cortical motor functions, thus patients are expected to perform at the same level as unimpaired subjects in the ON condition. By contrast, the 50% reduced DBS is expected to result in a reduced activation for motor information, which in turn might cause a reduced, if not absent, context modulation. PD patients exhibited the same pattern as controls when their DBS was at 100% ON; however, reducing the DBS to 50% had a deleterious outcome on the positive faster than negative context effect, suggesting that the altered inhibition mechanism in PD could be responsible for the missed effect. In addition, our results confirm the view that implicit motor simulation mechanisms behind action-related verb processing are flexible and context-dependent. Copyright © 2014 Elsevier B.V. All rights reserved.

Electrohydraulic linear actuator with two stepping motors controlled by overshoot-free algorithm

NASA Astrophysics Data System (ADS)

Milecki, Andrzej; Ortmann, Jarosław

2017-11-01

The paper describes electrohydraulic spool valves with stepping motors used as electromechanical transducers. A new concept of a proportional valve in which two stepping motors are working differentially is introduced. Such valve changes the fluid flow proportionally to the sum or difference of the motors' steps numbers. The valve design and principle of its operation is described. Theoretical equations and simulation models are proposed for all elements of the drive, i.e., the stepping motor units, hydraulic valve and cylinder. The main features of the valve and drive operation are described; some specific problem areas covering the nature of stepping motors and their differential work in the valve are also considered. The whole servo drive non-linear model is proposed and used further for simulation investigations. The initial simulation investigations of the drive with a new valve have shown that there is a significant overshoot in the drive step response, which is not allowed in positioning process. Therefore additional effort is spent to reduce the overshoot and in consequence reduce the settling time. A special predictive algorithm is proposed to this end. Then the proposed control method is tested and further improved in simulations. Further on, the model is implemented in reality and the whole servo drive system is tested. The investigation results presented in this paper, are showing an overshoot-free positioning process which enables high positioning accuracy.

QUICK RELEASABLE DRIVE

DOEpatents

Dickson, J.J.

1958-07-01

A quick releasable mechanical drive system suitable for use in a nuclear reactor is described. A small reversible motor positions a control rod by means of a worm and gear speed reducer, a magnetic torque clutch, and a bell crank. As the control rod is raised to the operating position, a heavy coil spring is compressed. In the event of an emergency indicated by either a''scram'' signal or a power failure, the current to the magnetic clutch is cut off, thereby freeing the coil spring and the bell crank positioner from the motor and speed reduction gearing. The coil spring will immediately act upon the bell crank to cause the insertion of the control rod. This arrangement will allow the slow, accurate positioning of the control rod during reactor operation, while providing an independent force to rapidly insert the rod in the event of an emergency.

Approximation-Based Discrete-Time Adaptive Position Tracking Control for Interior Permanent Magnet Synchronous Motors.

PubMed

Yu, Jinpeng; Shi, Peng; Yu, Haisheng; Chen, Bing; Lin, Chong

2015-07-01

This paper considers the problem of discrete-time adaptive position tracking control for a interior permanent magnet synchronous motor (IPMSM) based on fuzzy-approximation. Fuzzy logic systems are used to approximate the nonlinearities of the discrete-time IPMSM drive system which is derived by direct discretization using Euler method, and a discrete-time fuzzy position tracking controller is designed via backstepping approach. In contrast to existing results, the advantage of the scheme is that the number of the adjustable parameters is reduced to two only and the problem of coupling nonlinearity can be overcome. It is shown that the proposed discrete-time fuzzy controller can guarantee the tracking error converges to a small neighborhood of the origin and all the signals are bounded. Simulation results illustrate the effectiveness and the potentials of the theoretic results obtained.

Position and speed control of brushless DC motors using sensorless techniques and application trends.

PubMed

Gamazo-Real, José Carlos; Vázquez-Sánchez, Ernesto; Gómez-Gil, Jaime

2010-01-01

This paper provides a technical review of position and speed sensorless methods for controlling Brushless Direct Current (BLDC) motor drives, including the background analysis using sensors, limitations and advances. The performance and reliability of BLDC motor drivers have been improved because the conventional control and sensing techniques have been improved through sensorless technology. Then, in this paper sensorless advances are reviewed and recent developments in this area are introduced with their inherent advantages and drawbacks, including the analysis of practical implementation issues and applications. The study includes a deep overview of state-of-the-art back-EMF sensing methods, which includes Terminal Voltage Sensing, Third Harmonic Voltage Integration, Terminal Current Sensing, Back-EMF Integration and PWM strategies. Also, the most relevant techniques based on estimation and models are briefly analysed, such as Sliding-mode Observer, Extended Kalman Filter, Model Reference Adaptive System, Adaptive observers (Full-order and Pseudoreduced-order) and Artificial Neural Networks.

Subcortical electrostimulation to identify network subserving motor control.

PubMed

Schucht, Philippe; Moritz-Gasser, Sylvie; Herbet, Guillaume; Raabe, Andreas; Duffau, Hugues

2013-11-01

Recent anatomical-functional studies have transformed our understanding of cerebral motor control away from a hierarchical structure and toward parallel and interconnected specialized circuits. Subcortical electrical stimulation during awake surgery provides a unique opportunity to identify white matter tracts involved in motor control. For the first time, this study reports the findings on motor modulatory responses evoked by subcortical stimulation and investigates the cortico-subcortical connectivity of cerebral motor control. Twenty-one selected patients were operated while awake for frontal, insular, and parietal diffuse low-grade gliomas. Subcortical electrostimulation mapping was used to search for interference with voluntary movements. The corresponding stimulation sites were localized on brain schemas using the anterior and posterior commissures method. Subcortical negative motor responses were evoked in 20/21 patients, whereas acceleration of voluntary movements and positive motor responses were observed in three and five patients, respectively. The majority of the stimulation sites were detected rostral of the corticospinal tract near the vertical anterior-commissural line, and additional sites were seen in the frontal and parietal white matter. The diverse interferences with motor function resulting in inhibition and acceleration imply a modulatory influence of the detected fiber network. The subcortical stimulation sites were distributed veil-like, anterior to the primary motor fibers, suggesting descending pathways originating from premotor areas known for negative motor response characteristics. Further stimulation sites in the parietal white matter as well as in the anterior arm of the internal capsule indicate a large-scale fronto-parietal motor control network. Copyright © 2012 Wiley Periodicals, Inc.

Influence of stimulant medication and response speed on lateralization of movement-related potentials in attention-deficit/hyperactivity disorder.

PubMed

Bender, Stephan; Resch, Franz; Klein, Christoph; Renner, Tobias; Fallgatter, Andreas J; Weisbrod, Matthias; Romanos, Marcel

2012-01-01

Hyperactivity is one of the core symptoms in attention deficit hyperactivity disorder (ADHD). However, it remains unclear in which way the motor system itself and its development are affected by the disorder. Movement-related potentials (MRP) can separate different stages of movement execution, from the programming of a movement to motor post-processing and memory traces. Pre-movement MRP are absent or positive during early childhood and display a developmental increase of negativity. We examined the influences of response-speed, an indicator of the level of attention, and stimulant medication on lateralized MRP in 16 children with combined type ADHD compared to 20 matched healthy controls. We detected a significantly diminished lateralisation of MRP over the pre-motor and primary motor cortex during movement execution (initial motor potential peak, iMP) in patients with ADHD. Fast reactions (indicating increased visuo-motor attention) led to increased lateralized negativity during movement execution only in healthy controls, while in children with ADHD faster reaction times were associated with more positive amplitudes. Even though stimulant medication had some effect on attenuating group differences in lateralized MRP, this effect was insufficient to normalize lateralized iMP amplitudes. A reduced focal (lateralized) motor cortex activation during the command to muscle contraction points towards an immature motor system and a maturation delay of the (pre-) motor cortex in children with ADHD. A delayed maturation of the neuronal circuitry, which involves primary motor cortex, may contribute to ADHD pathophysiology.

Airplane automatic control force trimming device for asymmetric engine failures

NASA Technical Reports Server (NTRS)

Stewart, Eric C. (Inventor)

1987-01-01

The difference in dynamic pressure in the propeller slipstreams as measured by sensors is divided by the freestream dynamic pressure generating a quantity proportional to the differential thrust coefficient. This quantity is used to command an electric trim motor to change the position of trim tab thereby retrimming the airplane to the new asymmetric power condition. The change in position of the trim tab produced by the electric trim motor is summed with the pilot's input to produce the actual trim tab position.

SOLARTRAK. Solar Array Tracking Control

DOE Office of Scientific and Technical Information (OSTI.GOV)

Manish, A.B.; Dudley, J.

1995-06-01

SolarTrak used in conjunction with various versions of 68HC11-based SolarTrack hardware boards provides control system for one or two axis solar tracking arrays. Sun position is computed from stored position data and time from an on-board clock/calendar chip. Position feedback can be by one or two offset motor turn counter square wave signals per axis, or by a position potentiometer. A limit of 256 counts resolution is imposed by the on-board analog to digital (A/D) convertor. Control is provided for one or two motors. Numerous options are provided to customize the controller for specific applications. Some options are imposed atmore » compile time, some are setable during operation. Software and hardware board designs are provided for Control Board and separate User Interface Board that accesses and displays variables from Control Board. Controller can be used with range of sensor options ranging from a single turn count sensor per motor to systems using dual turn-count sensors, limit sensors, and a zero reference sensor. Dual axis trackers oriented azimuth elevation, east west, north south, or polar declination can be controlled. Misalignments from these orientations can also be accommodated. The software performs a coordinate transformation using six parameters to compute sun position in misaligned coordinates of the tracker. Parameters account for tilt of tracker in two directions, rotation about each axis, and gear ration errors in each axis. The software can even measure and compute these prameters during an initial setup period if current from a sun position sensor or output from photovoltaic array is available as an anlog voltage to the control board`s A/D port. Wind or emergency stow to aj present position is available triggered by digital or analog signals. Night stow is also available. Tracking dead band is adjustable from narrow to wide. Numerous features of the hardware and software conserve energy for use with battery powered systems.« less

Solar Array Tracking Control

DOE Office of Scientific and Technical Information (OSTI.GOV)

Maish, Alexander

1995-06-22

SolarTrak used in conjunction with various versions of 68HC11-based SolarTrack hardware boards provides control system for one or two axis solar tracking arrays. Sun position is computed from stored position data and time from an on-board clock/calendar chip. Position feedback can be by one or two offset motor turn counter square wave signals per axis, or by a position potentiometer. A limit of 256 counts resolution is imposed by the on-board analog to digital (A/D) convertor. Control is provided for one or two motors. Numerous options are provided to customize the controller for specific applications. Some options are imposed atmore » compile time, some are setable during operation. Software and hardware board designs are provided for Control Board and separate User Interface Board that accesses and displays variables from Control Board. Controller can be used with range of sensor options ranging from a single turn count sensor per motor to systems using dual turn-count sensors, limit sensors, and a zero reference sensor. Dual axis trackers oriented azimuth elevation, east west, north south, or polar declination can be controlled. Misalignments from these orientations can also be accommodated. The software performs a coordinate transformation using six parameters to compute sun position in misaligned coordinates of the tracker. Parameters account for tilt of tracker in two directions, rotation about each axis, and gear ration errors in each axis. The software can even measure and compute these prameters during an initial setup period if current from a sun position sensor or output from photovoltaic array is available as an anlog voltage to the control board''s A/D port. Wind or emergency stow to aj present position is available triggered by digital or analog signals. Night stow is also available. Tracking dead band is adjustable from narrow to wide. Numerous features of the hardware and software conserve energy for use with battery powered systems.« less

Tyramine Actions on Drosophila Flight Behavior Are Affected by a Glial Dehydrogenase/Reductase.

PubMed

Ryglewski, Stefanie; Duch, Carsten; Altenhein, Benjamin

2017-01-01

The biogenic amines octopamine (OA) and tyramine (TA) modulate insect motor behavior in an antagonistic manner. OA generally enhances locomotor behaviors such as Drosophila larval crawling and flight, whereas TA decreases locomotor activity. However, the mechanisms and cellular targets of TA modulation of locomotor activity are incompletely understood. This study combines immunocytochemistry, genetics and flight behavioral assays in the Drosophila model system to test the role of a candidate enzyme for TA catabolism, named Nazgul (Naz), in flight motor behavioral control. We hypothesize that the dehydrogenase/reductase Naz represents a critical step in TA catabolism. Immunocytochemistry reveals that Naz is localized to a subset of Repo positive glial cells with cell bodies along the motor neuropil borders and numerous positive Naz arborizations extending into the synaptic flight motor neuropil. RNAi knock down of Naz in Repo positive glial cells reduces Naz protein level below detection level by Western blotting. The resulting consequence is a reduction in flight durations, thus mimicking known motor behavioral phenotypes as resulting from increased TA levels. In accord with the interpretation that reduced TA degradation by Naz results in increased TA levels in the flight motor neuropil, the motor behavioral phenotype can be rescued by blocking TA receptors. Our findings indicate that TA modulates flight motor behavior by acting on central circuitry and that TA is normally taken up from the central motor neuropil by Repo-positive glial cells, desaminated and further degraded by Naz.

Tyramine Actions on Drosophila Flight Behavior Are Affected by a Glial Dehydrogenase/Reductase

PubMed Central

Ryglewski, Stefanie; Duch, Carsten; Altenhein, Benjamin

2017-01-01

The biogenic amines octopamine (OA) and tyramine (TA) modulate insect motor behavior in an antagonistic manner. OA generally enhances locomotor behaviors such as Drosophila larval crawling and flight, whereas TA decreases locomotor activity. However, the mechanisms and cellular targets of TA modulation of locomotor activity are incompletely understood. This study combines immunocytochemistry, genetics and flight behavioral assays in the Drosophila model system to test the role of a candidate enzyme for TA catabolism, named Nazgul (Naz), in flight motor behavioral control. We hypothesize that the dehydrogenase/reductase Naz represents a critical step in TA catabolism. Immunocytochemistry reveals that Naz is localized to a subset of Repo positive glial cells with cell bodies along the motor neuropil borders and numerous positive Naz arborizations extending into the synaptic flight motor neuropil. RNAi knock down of Naz in Repo positive glial cells reduces Naz protein level below detection level by Western blotting. The resulting consequence is a reduction in flight durations, thus mimicking known motor behavioral phenotypes as resulting from increased TA levels. In accord with the interpretation that reduced TA degradation by Naz results in increased TA levels in the flight motor neuropil, the motor behavioral phenotype can be rescued by blocking TA receptors. Our findings indicate that TA modulates flight motor behavior by acting on central circuitry and that TA is normally taken up from the central motor neuropil by Repo-positive glial cells, desaminated and further degraded by Naz. PMID:29021745

Robust feedback zoom tracking for digital video surveillance.

PubMed

Zou, Tengyue; Tang, Xiaoqi; Song, Bao; Wang, Jin; Chen, Jihong

2012-01-01

Zoom tracking is an important function in video surveillance, particularly in traffic management and security monitoring. It involves keeping an object of interest in focus during the zoom operation. Zoom tracking is typically achieved by moving the zoom and focus motors in lenses following the so-called "trace curve", which shows the in-focus motor positions versus the zoom motor positions for a specific object distance. The main task of a zoom tracking approach is to accurately estimate the trace curve for the specified object. Because a proportional integral derivative (PID) controller has historically been considered to be the best controller in the absence of knowledge of the underlying process and its high-quality performance in motor control, in this paper, we propose a novel feedback zoom tracking (FZT) approach based on the geometric trace curve estimation and PID feedback controller. The performance of this approach is compared with existing zoom tracking methods in digital video surveillance. The real-time implementation results obtained on an actual digital video platform indicate that the developed FZT approach not only solves the traditional one-to-many mapping problem without pre-training but also improves the robustness for tracking moving or switching objects which is the key challenge in video surveillance.

[Motor skills and safety of patients with bi- or trimalleolar ankle injury : Comparison with healthy, active, age-matched control subjects].

PubMed

Loudovici-Krug, Dana; Benkenstein, Monique; Derlien, Steffen; Best, Norman

2018-06-01

Do patients with bi- or trimalleolar ankle injury show differences in motor skills and safety in comparison with healthy, active, age-matched control subjects? Prospective controlled cross-sectional study. Inclusion of 17 patients with bi- or trimalleolar ankle injury (mean 1.5 years postsurgery) and 23 healthy, active subjects of comparable age (fitness studio). Measurement instruments: motor test procedures and questionnaires. Comparison of patients and control subjects by routine daily motor function: patients < controls with the "timed 'Up & Go' test" (TUG, p = 0.011), the chair rising test and a coordination test using a gymnastic hoop (CRT and GR p > 0.05), fear of falling: patients > controls (p = 0.003) and physical activity: patients < controls (p = 0.032). There were no significant motor deficits in activities of daily life between the patients and controls, only tendencies; however, the patients showed definite limitations with an increased fear of falling and a reduced physical activity compared with the healthy control group. The resulting differences should be positively influenced by appropriate enhancement of training or participation in sports courses. The aim is to achieve a similar quality of life by a perception of safety and trust in one's own motor skills.

Ultraprecision XY stage using a hybrid bolt-clamped Langevin-type ultrasonic linear motor for continuous motion

DOE Office of Scientific and Technical Information (OSTI.GOV)

Lee, Dong-Jin; Lee, Sun-Kyu, E-mail: skyee@gist.ac.kr

2015-01-15

This paper presents a design and control system for an XY stage driven by an ultrasonic linear motor. In this study, a hybrid bolt-clamped Langevin-type ultrasonic linear motor was manufactured and then operated at the resonance frequency of the third longitudinal and the sixth lateral modes. These two modes were matched through the preload adjustment and precisely tuned by the frequency matching method based on the impedance matching method with consideration of the different moving weights. The XY stage was evaluated in terms of position and circular motion. To achieve both fine and stable motion, the controller consisted of amore » nominal characteristics trajectory following (NCTF) control for continuous motion, dead zone compensation, and a switching controller based on the different NCTFs for the macro- and micro-dynamics regimes. The experimental results showed that the developed stage enables positioning and continuous motion with nanometer-level accuracy.« less

Power tong torque control

DOE Office of Scientific and Technical Information (OSTI.GOV)

Buck, D.A.; James, R.N.

1987-10-20

Torque controlled powered pipe tongs, are described the apparatus comprises: (a) a power tong powered by a fluid motor; (b) a fluid power source connected to the motor; (c) a force conducting element attached to the power tong, situated to oppose reaction torque from the tongs when torque is applied to pipe; (d) force sensing means operatively associated with the force conducting element situated to sense at least part of the force experienced by the force conducting element, arranged to produce a pressure signal proportional to force sensed; and (e) a fluid by-pass valve, adjustably biased toward a closed position,more » responsive to the signal to tend to move toward an open position, the by-pass valve connected between the fluid power source and the motor.« less

Impacts of autonomy-supportive versus controlling instructional language on motor learning.

PubMed

Hooyman, Andrew; Wulf, Gabriele; Lewthwaite, Rebecca

2014-08-01

The authors examined the influence of autonomy-supportive (ASL), controlling (CL), and neutral instructional language (NL) on motor skill learning (cricket bowling action). Prior to and several times during the practice phase, participants watched the same video demonstration of the bowling action but with different voice-over instructions. The instructions were designed to provide the same technical information but to vary in terms of the degree of choice performers would perceive when executing the task. In addition to measurements of throwing accuracy (i.e., deviation from the target), perceived choice, self-efficacy, and positive and negative affect were assessed at the end of the practice phase and after a retention test without demonstrations and instructions on Day 2. ASL resulted in perceptions of greater choice, higher self-efficacy, and more positive affect during practice than CL, and enhanced learning as demonstrated by retention test performance. Thus, granting learners autonomy appeared to endow them with confidence in their ability, diminished needs for control of negative emotional responses, and created more positive affect, which may help consolidate motor memories. Copyright © 2014 Elsevier B.V. All rights reserved.

Magnetically suspended stepping motors for clean room and vacuum environments

NASA Technical Reports Server (NTRS)

Higuchi, Toshiro

1994-01-01

To answer the growing needs for super-clean or contact free actuators for uses in clean rooms, vacuum chambers, and space, innovative actuators which combine the functions of stepping motors and magnetic bearings in one body were developed. The rotor of the magnetically suspended stepping motor is suspended like a magnetic bearing and rotated and positioned like a stepping motor. The important trait of the motor is that it is not a simple mixture or combination of a stepping motor and conventional magnetic bearing, but an amalgam of a stepping motor and a magnetic bearing. Owing to optimal design and feed-back control, a toothed stator and rotor are all that are needed structurewise for stable suspension. More than ten types of motors such as linear type, high accuracy rotary type, two-dimensional type, and high vacuum type were built and tested. This paper describes the structure and design of these motors and their performance for such applications as precise positioning rotary table, linear conveyor system, and theta-zeta positioner for clean room and high vacuum use.

Analysis and Design Considerations of a High-Power Density, Dual Air Gap, Axial-Field Brushless, Permanent Magnet Motor.

NASA Astrophysics Data System (ADS)

Cho, Chahee Peter

1995-01-01

Until recently, brush dc motors have been the dominant drive system because they provide easily controlled motor speed over a wide range, rapid acceleration and deceleration, convenient control of position, and lower product cost. Despite these capabilities, the brush dc motor configuration does not satisfy the design requirements for the U.S. Navy's underwater propulsion applications. Technical advances in rare-earth permanent magnet materials, in high-power semiconductor transistor technology, and in various rotor position-sensing devices have made using brushless permanent magnet motors a viable alternative. This research investigates brushless permanent magnet motor technology, studying the merits of dual-air gap, axial -field, brushless, permanent magnet motor configuration in terms of power density, efficiency, and noise/vibration levels. Because the design objectives for underwater motor applications include high-power density, high-performance, and low-noise/vibration, the traditional, simplified equivalent circuit analysis methods to assist in meeting these goals were inadequate. This study presents the development and verification of detailed finite element analysis (FEA) models and lumped parameter circuit models that can calculate back electromotive force waveforms, inductance, cogging torque, energized torque, and eddy current power losses. It is the first thorough quantification of dual air-gap, axial -field, brushless, permanent magnet motor parameters and performance characteristics. The new methodology introduced in this research not only facilitates the design process of an axial field, brushless, permanent magnet motor but reinforces the idea that the high-power density, high-efficiency, and low-noise/vibration motor is attainable.

HTS flywheel energy storage system with rotor shaft stabilized by feed-back control of armature currents of motor-generator

NASA Astrophysics Data System (ADS)

Tsukamoto, O.; Utsunomiya, A.

2007-10-01

We propose an HTS bulk bearing flywheel energy system (FWES) with rotor shaft stabilization system using feed-back control of the armature currents of the motor-generator. In the proposed system the rotor shift has a pivot bearing at one end of the shaft and an HTS bulk bearing (SMB) at the other end. The fluctuation of the rotor shaft with SMB is damped by feed-back control of the armature currents of the motor-generator sensing the position of the rotor shaft. The method has merits that the fluctuations are damped without active control magnet bearings and extra devices which may deteriorate the energy storage efficiency and need additional costs. The principle of the method was demonstrated by an experiment using a model permanent magnet motor.

The affective modulation of motor awareness in anosognosia for hemiplegia: Behavioural and lesion evidence

PubMed Central

Besharati, Sahba; Forkel, Stephanie J.; Kopelman, Michael; Solms, Mark; Jenkinson, Paul M.; Fotopoulou, Aikaterini

2014-01-01

The possible role of emotion in anosognosia for hemiplegia (i.e., denial of motor deficits contralateral to a brain lesion), has long been debated between psychodynamic and neurocognitive theories. However, there are only a handful of case studies focussing on this topic, and the precise role of emotion in anosognosia for hemiplegia requires empirical investigation. In the present study, we aimed to investigate how negative and positive emotions influence motor awareness in anosognosia. Positive and negative emotions were induced under carefully-controlled experimental conditions in right-hemisphere stroke patients with anosognosia for hemiplegia (n = 11) and controls with clinically normal awareness (n = 10). Only the negative, emotion induction condition resulted in a significant improvement of motor awareness in anosognosic patients compared to controls; the positive emotion induction did not. Using lesion overlay and voxel-based lesion-symptom mapping approaches, we also investigated the brain lesions associated with the diagnosis of anosognosia, as well as with performance on the experimental task. Anatomical areas that are commonly damaged in AHP included the right-hemisphere motor and sensory cortices, the inferior frontal cortex, and the insula. Additionally, the insula, putamen and anterior periventricular white matter were associated with less awareness change following the negative emotion induction. This study suggests that motor unawareness and the observed lack of negative emotions about one's disabilities cannot be adequately explained by either purely motivational or neurocognitive accounts. Instead, we propose an integrative account in which insular and striatal lesions result in weak interoceptive and motivational signals. These deficits lead to faulty inferences about the self, involving a difficulty to personalise new sensorimotor information, and an abnormal adherence to premorbid beliefs about the body. PMID:25481471

The affective modulation of motor awareness in anosognosia for hemiplegia: behavioural and lesion evidence.

PubMed

Besharati, Sahba; Forkel, Stephanie J; Kopelman, Michael; Solms, Mark; Jenkinson, Paul M; Fotopoulou, Aikaterini

2014-12-01

The possible role of emotion in anosognosia for hemiplegia (i.e., denial of motor deficits contralateral to a brain lesion), has long been debated between psychodynamic and neurocognitive theories. However, there are only a handful of case studies focussing on this topic, and the precise role of emotion in anosognosia for hemiplegia requires empirical investigation. In the present study, we aimed to investigate how negative and positive emotions influence motor awareness in anosognosia. Positive and negative emotions were induced under carefully-controlled experimental conditions in right-hemisphere stroke patients with anosognosia for hemiplegia (n = 11) and controls with clinically normal awareness (n = 10). Only the negative, emotion induction condition resulted in a significant improvement of motor awareness in anosognosic patients compared to controls; the positive emotion induction did not. Using lesion overlay and voxel-based lesion-symptom mapping approaches, we also investigated the brain lesions associated with the diagnosis of anosognosia, as well as with performance on the experimental task. Anatomical areas that are commonly damaged in AHP included the right-hemisphere motor and sensory cortices, the inferior frontal cortex, and the insula. Additionally, the insula, putamen and anterior periventricular white matter were associated with less awareness change following the negative emotion induction. This study suggests that motor unawareness and the observed lack of negative emotions about one's disabilities cannot be adequately explained by either purely motivational or neurocognitive accounts. Instead, we propose an integrative account in which insular and striatal lesions result in weak interoceptive and motivational signals. These deficits lead to faulty inferences about the self, involving a difficulty to personalise new sensorimotor information, and an abnormal adherence to premorbid beliefs about the body. Copyright © 2014 Elsevier Ltd. All rights reserved.

76 FR 77183 - Federal Motor Vehicle Safety Standards; Theft Protection and Rollaway Prevention

Federal Register 2010, 2011, 2012, 2013, 2014

2011-12-12

...: Attempts to shut down the propulsion system without first moving the gear selection control to the ``park... selection control to ``park'' (for vehicles with a ``park'' position), or exits a vehicle without first... without first moving the gear selection control to the ``park'' position (for vehicles with a ``park...

The Effect of Self-Regulated and Experimenter-Imposed Practice Schedules on Motor Learning for Tasks of Varying Difficulty

ERIC Educational Resources Information Center

Keetch, Katherine M.; Lee, Timothy D.

2007-01-01

Research suggests that allowing individuals to control their own practice schedule has a positive effect on motor learning. In this experiment we examined the effect of task difficulty and self-regulated practice strategies on motor learning. The task was to move a mouse-operated cursor through pattern arrays that differed in two levels of…

Behavioral responses of trained squirrel and rhesus monkeys during oculomotor tasks

PubMed Central

Heiney, Shane A.; Blazquez, Pablo M.

2018-01-01

The oculomotor system is the motor system of choice for many neuroscientists studying motor control and learning because of its simplicity, easy control of inputs (e.g., visual stimulation), and precise control and measurement of motor outputs (eye position). This is especially true in primates, which are easily trained to perform oculomotor tasks. Here we provide the first detailed characterization of the oculomotor performance of trained squirrel monkeys, primates used extensively in oculomotor physiology, during saccade and smooth pursuit tasks, and compare it to that of the rhesus macaque. We found that both primates have similar oculomotor behavior but the rhesus shows a larger oculomotor range, better performance for horizontal saccades above 10 degrees, and better horizontal smooth pursuit gain to target velocities above 15 deg/s. These results are important for interspecies comparisons and necessary when selecting the best stimuli to study motor control and motor learning in the oculomotor systems of these primates. PMID:21656216

Solar receiver heliostat reflector having a linear drive and position information system

DOEpatents

Horton, Richard H.

1980-01-01

A heliostat for a solar receiver system comprises an improved drive and control system for the heliostat reflector assembly. The heliostat reflector assembly is controllably driven in a predetermined way by a light-weight drive system so as to be angularly adjustable in both elevation and azimuth to track the sun and efficiently continuously reflect the sun's rays to a focal zone, i.e., heat receiver, which forms part of a solar energy utilization system, such as a solar energy fueled electrical power generation system. The improved drive system includes linear stepping motors which comprise low weight, low cost, electronic pulse driven components. One embodiment comprises linear stepping motors controlled by a programmed, electronic microprocessor. Another embodiment comprises a tape driven system controlled by a position control magnetic tape.

Specific interpretation of augmented feedback changes motor performance and cortical processing.

PubMed

Lauber, Benedikt; Keller, Martin; Leukel, Christian; Gollhofer, Albert; Taube, Wolfgang

2013-05-01

It is well established that the presence of external feedback, also termed augmented feedback, can be used to improve performance of a motor task. The present study aimed to elucidate whether differential interpretation of the external feedback signal influences the time to task failure of a sustained submaximal contraction and modulates motor cortical activity. In Experiment 1, subjects had to maintain a submaximal contraction (30% of maximum force) performed with their thumb and index finger. Half of the tested subjects were always provided with feedback about joint position (pF-group), whereas the other half of the subjects were always provided with feedback about force (fF-group). Subjects in the pF-group were led to belief in half of their trials that they would receive feedback about the applied force, and subjects in the fF-group to receive feedback about the position. In both groups (fF and pF), the time to task failure was increased when subjects thought to receive feedback about the force. In Experiment 2, subthreshold transcranial magnetic stimulation was applied over the right motor cortex and revealed an increased motor cortical activity when subjects thought to receive feedback about the joint position. The results showed that the interpretation of feedback influences motor behavior and alters motor cortical activity. The current results support previous studies suggesting a distinct neural control of force and position.

Influence of a high vacuum on the precise positioning using an ultrasonic linear motor.

PubMed

Kim, Wan-Soo; Lee, Dong-Jin; Lee, Sun-Kyu

2011-01-01

This paper presents an investigation of the ultrasonic linear motor stage for use in a high vacuum environment. The slider table is driven by the hybrid bolt-clamped Langevin-type ultrasonic linear motor, which is excited with its different modes of natural frequencies in both lateral and longitudinal directions. In general, the friction behavior in a vacuum environment becomes different from that in an environment of atmospheric pressure and this difference significantly affects the performance of the ultrasonic linear motor. In this paper, to consistently provide stable and high power of output in a high vacuum, frequency matching was conducted. Moreover, to achieve the fine control performance in the vacuum environment, a modified nominal characteristic trajectory following control method was adopted. Finally, the stage was operated under high vacuum condition, and the operating performances were investigated compared with that of a conventional PI compensator. As a result, robustness of positioning was accomplished in a high vacuum condition with nanometer-level accuracy.

Golgi Positioning

PubMed Central

Yadav, Smita; Linstedt, Adam D.

2011-01-01

The Golgi apparatus in mammalian cells is positioned near the centrosome-based microtubule-organizing center (Fig. 1). Secretory cargo moves inward in membrane carriers for delivery to Golgi membranes in which it is processed and packaged for transport outward to the plasma membrane. Cytoplasmic dynein motor proteins (herein termed dynein) primarily mediate inward cargo carrier movement and Golgi positioning. These motors move along microtubules toward microtubule minus-ends embedded in centrosomes. Centripetal motility is controlled by a host of regulators whose precise functions remain to be determined. Significantly, a specific Golgi receptor for dynein has not been identified. This has impaired progress toward elucidation of membrane-motor-microtubule attachment in the periphery and, after inward movement, recycling of the motor for another round. Pericentrosomal positioning of the Golgi apparatus is dynamic. It is regulated during critical cellular processes such as mitosis, differentiation, cell polarization, and cell migration. Positioning is also important as it aligns the Golgi along an axis of cell polarity. In certain cell types, this promotes secretion directed to the proximal plasma membrane domain thereby maintaining specializations critical for diverse processes including wound healing, immunological synapse formation, and axon determination. PMID:21504874

Are gross motor skills and sports participation related in children with intellectual disabilities?

PubMed

Westendorp, Marieke; Houwen, Suzanne; Hartman, Esther; Visscher, Chris

2011-01-01

This study compared the specific gross motor skills of 156 children with intellectual disabilities (ID) (50 ≤ IQ ≥ 79) with that of 255 typically developing children, aged 7-12 years. Additionally, the relationship between the specific gross motor skills and organized sports participation was examined in both groups. The Test of Gross Motor Development-2 and a self-report measure were used to assess children's gross motor skills and sports participation, respectively. The children with ID scored significantly lower on almost all specific motor skill items than the typically developing children. Children with mild ID scored lower on the locomotor skills than children with borderline ID. Furthermore, we found in all groups that children with higher object-control scores participated more in organized sports than children with lower object-control scores. Our results support the importance of attention for well-developed gross motor skills in children with borderline and mild ID, especially to object-control skills, which might contribute positively to their sports participation. Copyright © 2011 Elsevier Ltd. All rights reserved.

A case for motor network contributions to schizophrenia symptoms: Evidence from resting-state connectivity.

PubMed

Bernard, Jessica A; Goen, James R M; Maldonado, Ted

2017-09-01

Though schizophrenia (SCZ) is classically defined based on positive symptoms and the negative symptoms of the disease prove to be debilitating for many patients, motor deficits are often present as well. A growing literature highlights the importance of motor systems and networks in the disease, and it may be the case that dysfunction in motor networks relates to the pathophysiology and etiology of SCZ. To test this and build upon recent work in SCZ and in at-risk populations, we investigated cortical and cerebellar motor functional networks at rest in SCZ and controls using publically available data. We analyzed data from 82 patients and 88 controls. We found key group differences in resting-state connectivity patterns that highlight dysfunction in motor circuits and also implicate the thalamus. Furthermore, we demonstrated that in SCZ, these resting-state networks are related to both positive and negative symptom severity. Though the ventral prefrontal cortex and corticostriatal pathways more broadly have been implicated in negative symptom severity, here we extend these findings to include motor-striatal connections, as increased connectivity between the primary motor cortex and basal ganglia was associated with more severe negative symptoms. Together, these findings implicate motor networks in the symptomatology of psychosis, and we speculate that these networks may be contributing to the etiology of the disease. Overt motor deficits in SCZ may signal underlying network dysfunction that contributes to the overall disease state. Hum Brain Mapp 38:4535-4545, 2017. © 2017 Wiley Periodicals, Inc. © 2017 Wiley Periodicals, Inc.

Position versus force control: using the 2-DOF robotic ankle trainer to assess ankle's motor control.

PubMed

Farjadian, Amir B; Nabian, Mohsen; Hartman, Amber; Corsino, Johnathan; Mavroidis, Constantinos; Holden, Maureen K

2014-01-01

An estimated of 2,000,000 acute ankle sprains occur annually in the United States. Furthermore, ankle disabilities are caused by neurological impairments such as traumatic brain injury, cerebral palsy and stroke. The virtually interfaced robotic ankle and balance trainer (vi-RABT) was introduced as a cost-effective platform-based rehabilitation robot to improve overall ankle/balance strength, mobility and control. The system is equipped with 2 degrees of freedom (2-DOF) controlled actuation along with complete means of angle and torque measurement mechanisms. Vi-RABT was used to assess ankle strength, flexibility and motor control in healthy human subjects, while playing interactive virtual reality games on the screen. The results suggest that in the task with 2-DOF, subjects have better control over ankle's position vs. force.

Redundant unbalance compensation of an active magnetic bearing system

NASA Astrophysics Data System (ADS)

Hutterer, Markus; Kalteis, Gerald; Schrödl, Manfred

2017-09-01

To achieve a good running behavior of a magnetic levitated rotor, a well-developed position controller and different compensation methods are required. Two very important structures in this context are the reduction of the gyroscopic effect and the unbalance vibration. Both structures have in common that they need the angular velocity information for calculation. For industrial applications this information is normally provided by an angle sensor which is fixed on the rotor. The angle information is also necessary for the field oriented control of the electrical drive. The main drawback of external position sensors are the case of a breakdown or an error of the motor controller. Therefore, the magnetic bearing can get unstable, because no angular velocity information is provided. To overcome this problem the presented paper describes the development of a selfsensing unbalance rejection in combination with a selfsensing speed control of the motor controller. Selfsensing means in this context that no angle sensor is required for the unbalance or torque control. With such structures two redundant speed and angle information sources are available and can be used for the magnetic bearing and the motor controller without the usage of an angle sensor.

Electromechanically Actuated Valve for Controlling Flow Rate

NASA Technical Reports Server (NTRS)

Patterson, Paul

2007-01-01

A proposed valve for controlling the rate of flow of a fluid would include an electric-motor-driven ball-screw mechanism for adjusting the seating element of the valve to any position between fully closed and fully open. The motor would be of a type that can be electronically controlled to rotate to a specified angular position and to rotate at a specified rate, and the ball screw would enable accurate linear positioning of the seating element as a function of angular position of the motor. Hence, the proposed valve would enable fine electronic control of the rate of flow and the rate of change of flow. The uniqueness of this valve lies in a high degree of integration of the actuation mechanism with the flow-control components into a single, relatively compact unit. A notable feature of this integration is that in addition to being a major part of the actuation mechanism, the ball screw would also be a flow-control component: the ball screw would be hollow so as to contain part of the main flow passage, and one end of the ball screw would be the main seating valve element. The relationships among the components of the valve are best understood by reference to the figure, which presents meridional cross sections of the valve in the fully closed and fully open positions. The motor would be supported by a bracket bolted to the valve body. By means of gears or pulleys and a timing belt, motor drive would be transmitted to a sleeve that would rotate on bearings in the valve body. A ball nut inside the sleeve would be made to rotate with the sleeve by use of a key. The ball screw would pass through and engage the ball nut. A key would prevent rotation of the ball screw in the valve body while allowing the ball screw to translate axially when driven by the ball nut. The outer surface of the ball screw would be threaded only in a mid-length region: the end regions of the outer surface of the ball screw would be polished so that they could act as dynamic sealing surfaces. The inlet end (the right end as depicted in the figure) of the ball screw would be the main seating valve element: in the fully closed position, it would be pressed against the valve seat, as depicted in the upper part of the figure. A retainer would hold the valve seat in an inlet fitting. In addition, the retainer would be contoured to obtain a specified flow rate as a function of axial position of the ball screw. In the fully closed position, little force would be needed to press the ball screw against the seat because the push bore area upon which the upstream pressure would act would be small. The motor would position and hold the ball screw against the seat, providing the force necessary for sealing. To open the valve to a particular position, the motor would be commanded to rotate to a particular angular position (equivalently, a particular number of revolutions) at a particular rate of rotation within its torque limitations. Once the valve was open, fluid would flow through the inlet fitting and the chamber in the inlet housing, past the seat and its retainer, along the hollow core of the ball screw, and through the outlet housing and outlet fitting. The net force generated from fluid pressure in the open position would be small because the pressure exposed to the push bore areas at the inlet and outlet are nearly equal and the forces generated would be in opposing directions.

High-precision planar magnetic levitation

NASA Astrophysics Data System (ADS)

Kim, Won-Jong

1997-11-01

This thesis presents the design and implementation of a high-precision magnetically levitated stage with large planar motion capability. This stage is the first which is capable of providing all the motions required for photolithography in semiconductor manufacturing with only one moving part, namely the platen. The platen is driven in all six-degree-of-freedom motions with small adjustments for focusing and alignment and with large planar motions for positioning across the wafer surface. The underlying electromechanical modeling and analysis, mechanical and electrical design, and real-time control of such a high-precision planar magnetic levitator are presented. The platen is levitated without contact by four novel permanent-magnet linear motors that provide both suspension and drive forces. The linear motors consist of Halbach-type magnet arrays attached to the underside of the levitated platen, and coil sets attached to the fixed machine platform. Since all the motor coils are fixed, no wires need to be connected to the moving part. The platen mass of 5.6 kg is supported against gravity by the combined forces of the four motors. Each motor consumes about 5.4 W to lift the platen. Two of the motors drive the stage in the x-direction, and the two other motors drive in the y-direction. The motor forces are coordinated appropriately to control the remaining four degrees of freedom. The present design has a travel of 50 mm in x and y, a travel of 400 μm in z, and is capable of milliradian-scale rotations about each of these three axes. The stage position in the plane is measured with three laser interferometers with sub-nanometer resolution. The stage position out of the plane is measured by three capacitance probes with nanometer resolution. The stage operates with a position noise of 5 nm rms in x and y, and is demonstrating acceleration capabilities in excess of 10 m/s2 (1 g). The control bandwidth of the system is 50 Hz. This design can readily be scaled to travel on the order of 300 mm for the future needs of lithographic systems. (Copies available exclusively from MIT Libraries, Rm. 14-0551, Cambridge, MA 02139-4307. Ph. 617-253-5668; Fax 617-253-1690.)

Vct system having closed loop control employing spool valve actuated by a stepper motor

DOE Office of Scientific and Technical Information (OSTI.GOV)

Quin, S.B. Jr.; Siemon, E.C.

1993-06-15

An internal combustion engine is described comprising: a crankshaft, the crankshaft being rotable about an axis; a cam shaft, the cam shaft being rotatable about a second axis, the second axis being parallel to the axis, the cam shaft being subject to torque reversals during the rotation thereof; a vane, the vane having at least one lobe, the vane being attached to the cam shaft, being rotatable with the cam shaft and being non-oscillatable with respect to the cam shaft; a housing, the housing being rotatable with the cam shaft and being oscillatable with respect to the cam shaft, themore » housing having at least one recess, the recess receiving the lobe, the lobe being oscillatable within the recess; rotary movement transmitting means for transmitting rotary movement from the crankshaft to the housing; actuating means for varying the position of the housing relative to the cam shaft in reaction to torque reversals in the cam shaft, the actuating means comprising a stepper motor, a lead screw and a proportional spool valve, the position of the spool valve being controlled by the position of the lead screw driven by the stepper motor, the actuating means also delivering hydraulic fluid to the vane; and processing means for controlling the position of the actuating means.« less

Calculation of cogging force in a novel slotted linear tubular brushless permanent magnet motor

DOE Office of Scientific and Technical Information (OSTI.GOV)

Zhu, Z.Q.; Hor, P.J.; Howe, D.

1997-09-01

There is an increasing requirement for controlled linear motion over short and long strokes, in the factory automation and packaging industries, for example. Linear brushless PM motors could offer significant advantages over conventional actuation technologies, such as motor driven cams and linkages and pneumatic rams--in terms of efficiency, operating bandwidth, speed and thrust control, stroke and positional accuracy, and indeed over other linear motor technologies, such as induction motors. Here, a finite element/analytical based technique for the prediction of cogging force in a novel topology of slotted linear brushless permanent magnet motor has been developed and validated. The various forcemore » components, which influence cogging are pre-calculated by the finite element analysis of some basic magnetic structures, facilitate the analytical synthesis of the resultant cogging force. The technique can be used to aid design for the minimization of cogging.« less

Pull-pull position control of dual motor wire rope transmission.

PubMed

Guo, Quan; Jiao, Zongxia; Yan, Liang; Yu, Qian; Shang, Yaoxing

2016-08-01

Wire rope transmission is very efficient because of the small total moving object mass. The wire rope could only transmit pulling force. Therefore it has to be kept in a tightened state during transmission; in high speed applications the dynamic performance depends on the rope's stiffness, which can be adjusted by the wire rope tension. To improve the system dynamic performance output, this paper proposes a novel pull-pull method based on dual motors connected by wire ropes, for precise, high speed position control applications. The method can regulate target position and wire rope tension simultaneously. Wire ropes remain in a pre-tightening state at all times, which prevents the influence of elasticity and reduces the position tracking error in the changing direction process. Simulations and experiments were conducted; the results indicate that both position precision and superior dynamic performance can be synchronously achieved. The research is relevant to space craft precision pointing instruments.

Effect of biased feedback on motor imagery learning in BCI-teleoperation system.

PubMed

Alimardani, Maryam; Nishio, Shuichi; Ishiguro, Hiroshi

2014-01-01

Feedback design is an important issue in motor imagery BCI systems. Regardless, to date it has not been reported how feedback presentation can optimize co-adaptation between a human brain and such systems. This paper assesses the effect of realistic visual feedback on users' BCI performance and motor imagery skills. We previously developed a tele-operation system for a pair of humanlike robotic hands and showed that BCI control of such hands along with first-person perspective visual feedback of movements can arouse a sense of embodiment in the operators. In the first stage of this study, we found that the intensity of this ownership illusion was associated with feedback presentation and subjects' performance during BCI motion control. In the second stage, we probed the effect of positive and negative feedback bias on subjects' BCI performance and motor imagery skills. Although the subject specific classifier, which was set up at the beginning of experiment, detected no significant change in the subjects' online performance, evaluation of brain activity patterns revealed that subjects' self-regulation of motor imagery features improved due to a positive bias of feedback and a possible occurrence of ownership illusion. Our findings suggest that in general training protocols for BCIs, manipulation of feedback can play an important role in the optimization of subjects' motor imagery skills.

Identification and Reconfigurable Control of Impaired Multi-Rotor Drones

NASA Technical Reports Server (NTRS)

Stepanyan, Vahram; Krishnakumar, Kalmanje; Bencomo, Alfredo

2016-01-01

The paper presents an algorithm for control and safe landing of impaired multi-rotor drones when one or more motors fail simultaneously or in any sequence. It includes three main components: an identification block, a reconfigurable control block, and a decisions making block. The identification block monitors each motor load characteristics and the current drawn, based on which the failures are detected. The control block generates the required total thrust and three axis torques for the altitude, horizontal position and/or orientation control of the drone based on the time scale separation and nonlinear dynamic inversion. The horizontal displacement is controlled by modulating the roll and pitch angles. The decision making algorithm maps the total thrust and three torques into the individual motor thrusts based on the information provided by the identification block. The drone continues the mission execution as long as the number of functioning motors provide controllability of it. Otherwise, the controller is switched to the safe mode, which gives up the yaw control, commands a safe landing spot and descent rate while maintaining the horizontal attitude.

Nondestructive Evaluation of Metallized Tape Bonds Formed by Tape Automated Bonding (TAB)

DTIC Science & Technology

1989-04-01

powered by micro-positioning linear actuators. 3) Interchangeable sample-holding fixtures mounted upon top of slide assembly. 4) Coverslip gantry mounted...Controller Unit 1) Motor power supplies 2) Motor output servo driver amplifiers 3) "Macro-language" command Interpreter 4) Two-way cormunications with...adjustments are manual knobs giving approximately one degree of tilt adjustment per turn. The servo controller has self-contained power supplies for

Mechatronic Aeropendulum: Demonstration of Linear and Nonlinear Feedback Control Principles with MATLAB/Simulink Real-Time Windows Target

ERIC Educational Resources Information Center

Enikov, E. T.; Campa, G.

2012-01-01

This paper presents a low-cost hands-on experiment for a classical undergraduate controls course for non-electrical engineering majors. The setup consists of a small dc electrical motor attached to one of the ends of a light rod. The motor drives a 2-in propeller and allows the rod to swing. Angular position is measured by a potentiometer attached…

Robust Feedback Zoom Tracking for Digital Video Surveillance

PubMed Central

Zou, Tengyue; Tang, Xiaoqi; Song, Bao; Wang, Jin; Chen, Jihong

2012-01-01

Zoom tracking is an important function in video surveillance, particularly in traffic management and security monitoring. It involves keeping an object of interest in focus during the zoom operation. Zoom tracking is typically achieved by moving the zoom and focus motors in lenses following the so-called “trace curve”, which shows the in-focus motor positions versus the zoom motor positions for a specific object distance. The main task of a zoom tracking approach is to accurately estimate the trace curve for the specified object. Because a proportional integral derivative (PID) controller has historically been considered to be the best controller in the absence of knowledge of the underlying process and its high-quality performance in motor control, in this paper, we propose a novel feedback zoom tracking (FZT) approach based on the geometric trace curve estimation and PID feedback controller. The performance of this approach is compared with existing zoom tracking methods in digital video surveillance. The real-time implementation results obtained on an actual digital video platform indicate that the developed FZT approach not only solves the traditional one-to-many mapping problem without pre-training but also improves the robustness for tracking moving or switching objects which is the key challenge in video surveillance. PMID:22969388

Limb Dominance Results from Asymmetries in Predictive and Impedance Control Mechanisms

PubMed Central

Yadav, Vivek; Sainburg, Robert L.

2014-01-01

Handedness is a pronounced feature of human motor behavior, yet the underlying neural mechanisms remain unclear. We hypothesize that motor lateralization results from asymmetries in predictive control of task dynamics and in control of limb impedance. To test this hypothesis, we present an experiment with two different force field environments, a field with a predictable magnitude that varies with the square of velocity, and a field with a less predictable magnitude that varies linearly with velocity. These fields were designed to be compatible with controllers that are specialized in predicting limb and task dynamics, and modulating position and velocity dependent impedance, respectively. Because the velocity square field does not change the form of the equations of motion for the reaching arm, we reasoned that a forward dynamic-type controller should perform well in this field, while control of linear damping and stiffness terms should be less effective. In contrast, the unpredictable linear field should be most compatible with impedance control, but incompatible with predictive dynamics control. We measured steady state final position accuracy and 3 trajectory features during exposure to these fields: Mean squared jerk, Straightness, and Movement time. Our results confirmed that each arm made straighter, smoother, and quicker movements in its compatible field. Both arms showed similar final position accuracies, which were achieved using more extensive corrective sub-movements when either arm performed in its incompatible field. Finally, each arm showed limited adaptation to its incompatible field. Analysis of the dependence of trajectory errors on field magnitude suggested that dominant arm adaptation occurred by prediction of the mean field, thus exploiting predictive mechanisms for adaptation to the unpredictable field. Overall, our results support the hypothesis that motor lateralization reflects asymmetries in specific motor control mechanisms associated with predictive control of limb and task dynamics, and modulation of limb impedance. PMID:24695543

Unilateral nasal obstruction affects motor representation development within the face primary motor cortex in growing rats.

PubMed

Abe, Yasunori; Kato, Chiho; Uchima Koecklin, Karin Harumi; Okihara, Hidemasa; Ishida, Takayoshi; Fujita, Koichi; Yabushita, Tadachika; Kokai, Satoshi; Ono, Takashi

2017-06-01

Postnatal growth is influenced by genetic and environmental factors. Nasal obstruction during growth alters the electromyographic activity of orofacial muscles. The facial primary motor area represents muscles of the tongue and jaw, which are essential in regulating orofacial motor functions, including chewing and jaw opening. This study aimed to evaluate the effect of chronic unilateral nasal obstruction during growth on the motor representations within the face primary motor cortex (M1). Seventy-two 6-day-old male Wistar rats were randomly divided into control ( n = 36) and experimental ( n = 36) groups. Rats in the experimental group underwent unilateral nasal obstruction after cauterization of the external nostril at 8 days of age. Intracortical microstimulation (ICMS) mapping was performed when the rats were 5, 7, 9, and 11 wk old in control and experimental groups ( n = 9 per group per time point). Repeated-measures multivariate ANOVA was used for intergroup and intragroup statistical comparisons. In the control and experimental groups, the total number of positive ICMS sites for the genioglossus and anterior digastric muscles was significantly higher at 5, 7, and 9 wk, but there was no significant difference between 9 and 11 wk of age. Moreover, the total number of positive ICMS sites was significantly smaller in the experimental group than in the control at each age. It is possible that nasal obstruction induced the initial changes in orofacial motor behavior in response to the altered respiratory pattern, which eventually contributed to face-M1 neuroplasticity. NEW & NOTEWORTHY Unilateral nasal obstruction in rats during growth periods induced changes in arterial oxygen saturation (SpO 2 ) and altered development of the motor representation within the face primary cortex. Unilateral nasal obstruction occurring during growth periods may greatly affect not only respiratory function but also craniofacial function in rats. Nasal obstruction should be treated as soon as possible to avoid adverse effects on normal growth, development, and physiological functions. Copyright © 2017 the American Physiological Society.

An Adapting Auditory-motor Feedback Loop Can Contribute to Generating Vocal Repetition

PubMed Central

Brainard, Michael S.; Jin, Dezhe Z.

2015-01-01

Consecutive repetition of actions is common in behavioral sequences. Although integration of sensory feedback with internal motor programs is important for sequence generation, if and how feedback contributes to repetitive actions is poorly understood. Here we study how auditory feedback contributes to generating repetitive syllable sequences in songbirds. We propose that auditory signals provide positive feedback to ongoing motor commands, but this influence decays as feedback weakens from response adaptation during syllable repetitions. Computational models show that this mechanism explains repeat distributions observed in Bengalese finch song. We experimentally confirmed two predictions of this mechanism in Bengalese finches: removal of auditory feedback by deafening reduces syllable repetitions; and neural responses to auditory playback of repeated syllable sequences gradually adapt in sensory-motor nucleus HVC. Together, our results implicate a positive auditory-feedback loop with adaptation in generating repetitive vocalizations, and suggest sensory adaptation is important for feedback control of motor sequences. PMID:26448054

Control method for peak power delivery with limited DC-bus voltage

DOEpatents

Edwards, John; Xu, Longya; Bhargava, Brij B.

2006-09-05

A method for driving a neutral point-clamped multi-level voltage source inverter supplying a synchronous motor is provided. A DC current is received at a neutral point-clamped multi-level voltage source inverter. The inverter has first, second, and third output nodes. The inverter also has a plurality of switches. A desired speed of a synchronous motor connected to the inverter by the first second and third nodes is received by the inverter. The synchronous motor has a rotor and the speed of the motor is defined by the rotational rate of the rotor. A position of the rotor is sensed, current flowing to the motor out of at least two of the first, second, and third output nodes is sensed, and predetermined switches are automatically activated by the inverter responsive to the sensed rotor position, the sensed current, and the desired speed.

Position and Speed Control of Brushless DC Motors Using Sensorless Techniques and Application Trends

PubMed Central

Gamazo-Real, José Carlos; Vázquez-Sánchez, Ernesto; Gómez-Gil, Jaime

2010-01-01

This paper provides a technical review of position and speed sensorless methods for controlling Brushless Direct Current (BLDC) motor drives, including the background analysis using sensors, limitations and advances. The performance and reliability of BLDC motor drivers have been improved because the conventional control and sensing techniques have been improved through sensorless technology. Then, in this paper sensorless advances are reviewed and recent developments in this area are introduced with their inherent advantages and drawbacks, including the analysis of practical implementation issues and applications. The study includes a deep overview of state-of-the-art back-EMF sensing methods, which includes Terminal Voltage Sensing, Third Harmonic Voltage Integration, Terminal Current Sensing, Back-EMF Integration and PWM strategies. Also, the most relevant techniques based on estimation and models are briefly analysed, such as Sliding-mode Observer, Extended Kalman Filter, Model Reference Adaptive System, Adaptive observers (Full-order and Pseudoreduced-order) and Artificial Neural Networks. PMID:22163582

SERVOMOTOR CONTROL SYSTEM

DOEpatents

MacNeille, S.M.

1958-12-01

Control systems for automatic positioning of an electric motor operated vapor valve are described which is operable under the severe conditions existing in apparatus for electro-magnetlcally separating isotopes. In general, the system includes a rotor for turning the valve comprising two colls mounted mutually perpendicular to each other and also perpendicular to the magnetic field of the isotope separating apparatus. The coils are furnished with both a-c and d- c current by assoclate control circuitry and a position control is provided for varying the ratlo of the a-c currents in the coils and at the same time, but in an inverse manner, the ratio between the d-c currents in the coils is varied. With the present system the magnitude of the motor torque is constant for all valves of the rotor orientatlon angle.

Influence of facial feedback during a cooperative human-robot task in schizophrenia.

PubMed

Cohen, Laura; Khoramshahi, Mahdi; Salesse, Robin N; Bortolon, Catherine; Słowiński, Piotr; Zhai, Chao; Tsaneva-Atanasova, Krasimira; Di Bernardo, Mario; Capdevielle, Delphine; Marin, Ludovic; Schmidt, Richard C; Bardy, Benoit G; Billard, Aude; Raffard, Stéphane

2017-11-03

Rapid progress in the area of humanoid robots offers tremendous possibilities for investigating and improving social competences in people with social deficits, but remains yet unexplored in schizophrenia. In this study, we examined the influence of social feedbacks elicited by a humanoid robot on motor coordination during a human-robot interaction. Twenty-two schizophrenia patients and twenty-two matched healthy controls underwent a collaborative motor synchrony task with the iCub humanoid robot. Results revealed that positive social feedback had a facilitatory effect on motor coordination in the control participants compared to non-social positive feedback. This facilitatory effect was not present in schizophrenia patients, whose social-motor coordination was similarly impaired in social and non-social feedback conditions. Furthermore, patients' cognitive flexibility impairment and antipsychotic dosing were negatively correlated with patients' ability to synchronize hand movements with iCub. Overall, our findings reveal that patients have marked difficulties to exploit facial social cues elicited by a humanoid robot to modulate their motor coordination during human-robot interaction, partly accounted for by cognitive deficits and medication. This study opens new perspectives for comprehension of social deficits in this mental disorder.

Nonlinear analysis of dynamic signature

NASA Astrophysics Data System (ADS)

Rashidi, S.; Fallah, A.; Towhidkhah, F.

2013-12-01

Signature is a long trained motor skill resulting in well combination of segments like strokes and loops. It is a physical manifestation of complex motor processes. The problem, generally stated, is that how relative simplicity in behavior emerges from considerable complexity of perception-action system that produces behavior within an infinitely variable biomechanical and environmental context. To solve this problem, we present evidences which indicate that motor control dynamic in signing process is a chaotic process. This chaotic dynamic may explain a richer array of time series behavior in motor skill of signature. Nonlinear analysis is a powerful approach and suitable tool which seeks for characterizing dynamical systems through concepts such as fractal dimension and Lyapunov exponent. As a result, they can be analyzed in both horizontal and vertical for time series of position and velocity. We observed from the results that noninteger values for the correlation dimension indicates low dimensional deterministic dynamics. This result could be confirmed by using surrogate data tests. We have also used time series to calculate the largest Lyapunov exponent and obtain a positive value. These results constitute significant evidence that signature data are outcome of chaos in a nonlinear dynamical system of motor control.

Adaptive Postural Control for Joint Immobilization during Multitask Performance

PubMed Central

Hsu, Wei-Li

2014-01-01

Motor abundance is an essential feature of adaptive control. The range of joint combinations enabled by motor abundance provides the body with the necessary freedom to adopt different positions, configurations, and movements that allow for exploratory postural behavior. This study investigated the adaptation of postural control to joint immobilization during multi-task performance. Twelve healthy volunteers (6 males and 6 females; 21–29 yr) without any known neurological deficits, musculoskeletal conditions, or balance disorders participated in this study. The participants executed a targeting task, alone or combined with a ball-balancing task, while standing with free or restricted joint motions. The effects of joint configuration variability on center of mass (COM) stability were examined using uncontrolled manifold (UCM) analysis. The UCM method separates joint variability into two components: the first is consistent with the use of motor abundance, which does not affect COM position (VUCM); the second leads to COM position variability (VORT). The analysis showed that joints were coordinated such that their variability had a minimal effect on COM position. However, the component of joint variability that reflects the use of motor abundance to stabilize COM (VUCM) was significant decreased when the participants performed the combined task with immobilized joints. The component of joint variability that leads to COM variability (VORT) tended to increase with a reduction in joint degrees of freedom. The results suggested that joint immobilization increases the difficulty of stabilizing COM when multiple tasks are performed simultaneously. These findings are important for developing rehabilitation approaches for patients with limited joint movements. PMID:25329477

WE-G-213CD-06: Implementation of Real-Time Tumor Tracking Using Robotic Couch.

PubMed

Buzurovic, I; Yu, Y; Podder, T

2012-06-01

The purpose of this study was to present a novel method for real- time tumor tracking using a commercially available robotic treatment couch, and to evaluate tumor tracking accuracy. Commercially available robotic couches are capable of positioning patients with high level of accuracy; however, currently there is no provision for compensating tumor motion using these systems. Elekta's existing commercial couch (PreciseTM Table) was used without changing its design. To establish the real-time couch motion for tracking, a novel control system was developed and implemented. The tabletop could be moved in horizontal plane (laterally and longitudinally) using two Maxon-24V motors with gearbox combination. Vertical motion was obtained using robust 70V-Rockwell Automation motor. For vertical motor position sensing, we used Model 755A-Accu- Coder encoder. Two Baumer-ITD_01_4mm shaft encoders were used for the lateral and longitudinal motions of the couch. Motors were connected to the Advance Motion Controls (AMC) amplifiers: for the vertical motion, motor AMC-20A20-INV amplifier was used, and two AMC-Z6A8 amplifiers were applied for the lateral and longitudinal couch motions. The Galil DMC-4133 controller was connected to standard PC computer using USB port. The system had two independent power supplies: Galil PSR-12- 24-12A, 24vdc power supply with diodes for controller and 24vdc motors and amplifiers, and Galil-PS300W72 72vdc power supply for vertical motion. Control algorithms were developed for position and velocity adjustment. The system was tested for real-time tracking in the range of 50mm in all 3 directions (superior-inferior, lateral, anterior- posterior). Accuracies were 0.15, 0.20, and 0.18mm, respectively. Repeatability of the desired motion was within ± 0.2mm. Experimental results of couch tracking show feasibility of real-time tumor tracking with high level of accuracy (within sub-millimeter range). This tracking technique potentially offers a simple and effective method to minimize healthy tissues irradiation.Acknowledgement: Study supported by Elekta,Ltd. Study supported by Elekta, Ltd. © 2012 American Association of Physicists in Medicine.

Motor Control of Two Flywheels Enabling Combined Attitude Control and Bus Regulation

NASA Technical Reports Server (NTRS)

Kenny, Barbara H.

2004-01-01

This presentation discussed the flywheel technology development work that is ongoing at NASA GRC with a particular emphasis on the flywheel system control. The "field orientation" motor/generator control algorithm was discussed and explained. The position-sensorless angle and speed estimation algorithm was presented. The motor current response to a step change in command at low (10 kRPM) and high (60 kRPM) was discussed. The flywheel DC bus regulation control was explained and experimental results presented. Finally, the combined attitude control and energy storage algorithm that controls two flywheels simultaneously was presented. Experimental results were shown that verified the operational capability of the algorithm. shows high speed flywheel energy storage (60,000 RPM) and the successful implementation of an algorithm to simultaneously control both energy storage and a single axis of attitude with two flywheels. Overall, the presentation demonstrated that GRC has an operational facility that

Arduino-based automation of a DNA extraction system.

PubMed

Kim, Kyung-Won; Lee, Mi-So; Ryu, Mun-Ho; Kim, Jong-Won

2015-01-01

There have been many studies to detect infectious diseases with the molecular genetic method. This study presents an automation process for a DNA extraction system based on microfluidics and magnetic bead, which is part of a portable molecular genetic test system. This DNA extraction system consists of a cartridge with chambers, syringes, four linear stepper actuators, and a rotary stepper actuator. The actuators provide a sequence of steps in the DNA extraction process, such as transporting, mixing, and washing for the gene specimen, magnetic bead, and reagent solutions. The proposed automation system consists of a PC-based host application and an Arduino-based controller. The host application compiles a G code sequence file and interfaces with the controller to execute the compiled sequence. The controller executes stepper motor axis motion, time delay, and input-output manipulation. It drives the stepper motor with an open library, which provides a smooth linear acceleration profile. The controller also provides a homing sequence to establish the motor's reference position, and hard limit checking to prevent any over-travelling. The proposed system was implemented and its functionality was investigated, especially regarding positioning accuracy and velocity profile.

Position and orientation determination system and method

DOE Office of Scientific and Technical Information (OSTI.GOV)

Harpring, Lawrence J.; Farfan, Eduardo B.; Gordon, John R.

A position determination system and method is provided that may be used for obtaining position and orientation information of a detector in a contaminated room. The system includes a detector, a sensor operably coupled to the detector, and a motor coupled to the sensor to move the sensor around the detector. A CPU controls the operation of the motor to move the sensor around the detector and determines distance and angle data from the sensor to an object. The method includes moving a sensor around the detector and measuring distance and angle data from the sensor to an object atmore » incremental positions around the detector.« less

A Bidirectional Brain-Machine Interface Algorithm That Approximates Arbitrary Force-Fields

PubMed Central

Semprini, Marianna; Mussa-Ivaldi, Ferdinando A.; Panzeri, Stefano

2014-01-01

We examine bidirectional brain-machine interfaces that control external devices in a closed loop by decoding motor cortical activity to command the device and by encoding the state of the device by delivering electrical stimuli to sensory areas. Although it is possible to design this artificial sensory-motor interaction while maintaining two independent channels of communication, here we propose a rule that closes the loop between flows of sensory and motor information in a way that approximates a desired dynamical policy expressed as a field of forces acting upon the controlled external device. We previously developed a first implementation of this approach based on linear decoding of neural activity recorded from the motor cortex into a set of forces (a force field) applied to a point mass, and on encoding of position of the point mass into patterns of electrical stimuli delivered to somatosensory areas. However, this previous algorithm had the limitation that it only worked in situations when the position-to-force map to be implemented is invertible. Here we overcome this limitation by developing a new non-linear form of the bidirectional interface that can approximate a virtually unlimited family of continuous fields. The new algorithm bases both the encoding of position information and the decoding of motor cortical activity on an explicit map between spike trains and the state space of the device computed with Multi-Dimensional-Scaling. We present a detailed computational analysis of the performance of the interface and a validation of its robustness by using synthetic neural responses in a simulated sensory-motor loop. PMID:24626393

Surmounting retraining limits in musicians' dystonia by transcranial stimulation.

PubMed

Furuya, Shinichi; Nitsche, Michael A; Paulus, Walter; Altenmüller, Eckart

2014-05-01

Abnormal cortical excitability is evident in various movement disorders that compromise fine motor control. Here we tested whether skilled finger movements can be restored in musicians with focal hand dystonia through behavioral training assisted by transcranial direct current stimulation to the motor cortex of both hemispheres. The bilateral motor cortices of 20 pianists (10 with focal dystonia, 10 healthy controls) were electrically stimulated noninvasively during bimanual mirrored finger movements. We found improvement in the rhythmic accuracy of sequential finger movements with the affected hand during and after cathodal stimulation over the affected cortex and simultaneous anodal stimulation over the unaffected cortex. The improvement was retained 4 days after intervention. Neither a stimulation with the reversed montage of electrodes nor sham stimulation yielded any improvement. Furthermore, the amount of improvement was positively correlated with the severity of the symptoms. Bihemispheric stimulation without concurrent motor training failed to improve fine motor control, underlining the importance of combined retraining and stimulation for restoring the dystonic symptoms. For the healthy pianists, none of the stimulation protocols enhanced movement accuracy. These results suggest a therapeutic potential of behavioral training assisted by bihemispheric, noninvasive brain stimulation in restoring fine motor control in focal dystonia. © 2014 American Neurological Association.

Method for spinning up a three-axis controlled spacecraft

NASA Technical Reports Server (NTRS)

Vorlicek, Preston L. (Inventor)

1988-01-01

A three-axis controlled spacecraft (1), typically a satellite, is spun up about its roll axis (20) prior to firing a motor (2), i.e., a perigee kick motor, to achieve the requisite degree of angular momentum stiffness. Thrusters (21) for imparting rotation about the roll axis (20) are activated in open-loop fashion, typically at less than full duty cycle. Cross-axis torques induced by this rotational motion are compensated for by means of closed control loops for each of the pitch and yaw axes (30, 40, respectively). Each closed control loop combines a prebias torque (72) with torques (75, 74) representative of position and rate feedback information, respectively. A deadband (52) within each closed control loop can be widened during the spinup, to conserve fuel. Position feedback information (75) in each of the control loops is disabled upon saturation of the gyroscope associated with the roll axis (20).

Design of a prototype position actuator for the primary mirror segments of the European Extremely Large Telescope

NASA Astrophysics Data System (ADS)

Jiménez, A.; Morante, E.; Viera, T.; Núñez, M.; Reyes, M.

2010-07-01

European Extremely Large Telescope (E-ELT) based in 984 primary mirror segments achieving required optical performance; they must position relatively to adjacent segments with relative nanometer accuracy. CESA designed M1 Position Actuators (PACT) to comply with demanding performance requirements of EELT. Three PACT are located under each segment controlling three out of the plane degrees of freedom (tip, tilt, piston). To achieve a high linear accuracy in long operational displacements, PACT uses two stages in series. First stage based on Voice Coil Actuator (VCA) to achieve high accuracies in very short travel ranges, while second stage based on Brushless DC Motor (BLDC) provides large stroke ranges and allows positioning the first stage closer to the demanded position. A BLDC motor is used achieving a continuous smoothly movement compared to sudden jumps of a stepper. A gear box attached to the motor allows a high reduction of power consumption and provides a great challenge for sizing. PACT space envelope was reduced by means of two flat springs fixed to VCA. Its main characteristic is a low linear axial stiffness. To achieve best performance for PACT, sensors have been included in both stages. A rotary encoder is included in BLDC stage to close position/velocity control loop. An incremental optical encoder measures PACT travel range with relative nanometer accuracy and used to close the position loop of the whole actuator movement. For this purpose, four different optical sensors with different gratings will be evaluated. Control strategy show different internal closed loops that work together to achieve required performance.

Matrin 3 Is a Component of Neuronal Cytoplasmic Inclusions of Motor Neurons in Sporadic Amyotrophic Lateral Sclerosis.

PubMed

Tada, Mikiko; Doi, Hiroshi; Koyano, Shigeru; Kubota, Shun; Fukai, Ryoko; Hashiguchi, Shunta; Hayashi, Noriko; Kawamoto, Yuko; Kunii, Misako; Tanaka, Kenichi; Takahashi, Keita; Ogawa, Yuki; Iwata, Ryo; Yamanaka, Shoji; Takeuchi, Hideyuki; Tanaka, Fumiaki

2018-02-01

Mutations in the MATR3 gene have been identified as a cause of familial amyotrophic lateral sclerosis, but involvement of the matrin 3 (MATR3) protein in sporadic amyotrophic lateral sclerosis (SALS) pathology has not been fully assessed. We immunohistochemically analyzed MATR3 pathology in the spinal cords of SALS and control autopsy specimens. MATR3 immunostaining of the motor neuron nuclei revealed two distinct patterns: mild and strong staining. There were no differences in the ratio of mild versus strong nuclear staining between the SALS and control cases. MATR3-containing neuronal cytoplasmic inclusions (NCIs) were observed in 60% of SALS cases. Most motor neurons with MATR3-positive NCIs exhibited a mild nuclear staining pattern. Although 16.8% of NCIs positive for transactivating response region DNA-binding protein 43 (TDP-43) were estimated as double-labeled by MATR3, no MATR3-positive or TDP-43-negative NCIs were observed. Although a previous study found that MATR3-positive NCIs are present only in cases with C9orf72 hexanucleotide repeat expansion, ubiquitin-positive granular NCIs were not observed in the cerebellum, which have been reported as specific to C9orf72-related ALS. Six ALS cases were confirmed to be negative for the GGGGCC hexanucleotide. Our results reveal that MATR3 is a component of TDP-43-positive NCIs in motor neurons, even in SALS, and indicate the broader involvement of MATR3 in ALS pathology and the heterogeneity of TDP-43-positive NCIs. Copyright © 2018 American Society for Investigative Pathology. Published by Elsevier Inc. All rights reserved.

An automated two-dimensional optical force clamp for single molecule studies.

PubMed Central

Lang, Matthew J; Asbury, Charles L; Shaevitz, Joshua W; Block, Steven M

2002-01-01

We constructed a next-generation optical trapping instrument to study the motility of single motor proteins, such as kinesin moving along a microtubule. The instrument can be operated as a two-dimensional force clamp, applying loads of fixed magnitude and direction to motor-coated microscopic beads moving in vitro. Flexibility and automation in experimental design are achieved by computer control of both the trap position, via acousto-optic deflectors, and the sample position, using a three-dimensional piezo stage. Each measurement is preceded by an initialization sequence, which includes adjustment of bead height relative to the coverslip using a variant of optical force microscopy (to +/-4 nm), a two-dimensional raster scan to calibrate position detector response, and adjustment of bead lateral position relative to the microtubule substrate (to +/-3 nm). During motor-driven movement, both the trap and stage are moved dynamically to apply constant force while keeping the trapped bead within the calibrated range of the detector. We present details of force clamp operation and preliminary data showing kinesin motor movement subject to diagonal and forward loads. PMID:12080136

Ultra-Compact Motor Controller

NASA Technical Reports Server (NTRS)

Townsend, William T.; Cromwell, Adam; Hauptman, Traveler; Pratt, Gill Andrews

2012-01-01

This invention is an electronically commutated brushless motor contro ller that incorporates Hall-array sensing in a small, 42-gram packag e that provides 4096 absolute counts per motor revolution position s ensing. The unit is the size of a miniature hockey puck, and is a 44 -pin male connector that provides many I/O channels, including CANbus , RS-232 communications, general-purpose analog and digital I/O (GPI O), analog and digital Hall inputs, DC power input (18-90 VDC, 0-l0 A), three-phase motor outputs, and a strain gauge amplifier.

Position Between Trunk and Pelvis During Gait Depending on the Gross Motor Function Classification System.

PubMed

Sanz-Mengibar, Jose Manuel; Altschuck, Natalie; Sanchez-de-Muniain, Paloma; Bauer, Christian; Santonja-Medina, Fernando

2017-04-01

To understand whether there is a trunk postural control threshold in the sagittal plane for the transition between the Gross Motor Function Classification System (GMFCS) levels measured with 3-dimensional gait analysis. Kinematics from 97 children with spastic bilateral cerebral palsy from spine angles according to Plug-In Gait model (Vicon) were plotted relative to their GMFCS level. Only average and minimum values of the lumbar spine segment correlated with GMFCS levels. Maximal values at loading response correlated independently with age at all functional levels. Average and minimum values were significant when analyzing age in combination with GMFCS level. There are specific postural control patterns in the average and minimum values for the position between trunk and pelvis in the sagittal plane during gait, for the transition among GMFCS I-III levels. Higher classifications of gross motor skills correlate with more extended spine angles.

Motor Control and Regulation for a Flywheel Energy Storage System

NASA Technical Reports Server (NTRS)

Kenny, Barbara; Lyons, Valerie

2003-01-01

This talk will focus on the motor control algorithms used to regulate the flywheel system at the NASA Glenn Research Center. First a discussion of the inner loop torque control technique will be given. It is based on the principle of field orientation and is implemented without a position or speed sensor (sensorless control). Then the outer loop charge and discharge algorithm will be presented. This algorithm controls the acceleration of the flywheel during charging and the deceleration while discharging. The algorithm also allows the flywheel system to regulate the DC bus voltage during the discharge cycle.

Single-Stage Step up/down Driver for Permanent-Magnet Synchronous Machines

NASA Astrophysics Data System (ADS)

Chen, T. R.; Juan, Y. L.; Huang, C. Y.; Kuo, C. T.

2017-11-01

The two-stage circuit composed of a step up/down dc converter and a three-phase voltage source inverter is usually adopted as the electric vehicle’s motor driver. The conventional topology is more complicated. Additional power loss resulted from twice power conversion would also cause lower efficiency. A single-stage step up/down Permanent-Magnet Synchronous Motor driver for Brushless DC (BLDC) Motor is proposed in this study. The number components and circuit complexity are reduced. The low frequency six-step square-wave control is used to reduce the switching losses. In the proposed topology, only one active switch is gated with a high frequency PWM signal for adjusting the rotation speed. The rotor position signals are fed back to calculate the motor speed for digital close-loop control in a MCU. A 600W prototype circuit is constructed to drive a BLDC motor with rated speed 3000 rpm, and can control the speed of six sections.

A Ball Skills Intervention in Preschoolers: The CHAMP Randomized Controlled Trial.

PubMed

Robinson, Leah E; Veldman, Sanne L C; Palmer, Kara K; Okely, Anthony D

2017-11-01

Fundamental motor skills (FMS) contribute to positive health trajectories. A high level of competence in ball skills (a subset of FMS) is a predictor for time spent in moderate- to vigorous-intensity physical activity during adolescence. This study examined the effects of a ball skills intervention on ball skill competence among preschool-aged boys and girls. This is a two-armed randomized controlled trial. A total of 124 preschoolers (Mage ± SD = 48.14 ± 6.62 months) were randomly assigned to one of two groups, the Children's Health Activity Motor Program (CHAMP; n = 81) or control (n = 43). FMS were measured before, after (9 wk), and at retention (18 wk) using the object control subscale of the Test of Gross Motor Development, Second Edition. Changes in ball skill scores were calculated (pretest-posttest, pretest-retention, posttest-retention) and were compared using one-way ANOVAs with post hoc Scheffe analysis. Findings support that groups demonstrated significantly different rates of change from pretest to posttest (F3,117 = 179.45, P < 0.001), pretest to retention (F3,113 = 95.8, P < 0.001), and posttest to retention (F3,113 = 189.89, P < 0.001). Compared with their control group peers, CHAMP boys and girls had greater positive rates of change from pretest to posttest and pretest to retention as well as greater negative rates of change from posttest to retention. CHAMP was effective in improving and maintaining ball skills in preschool-age boys and girls. Findings support that providing a high-quality motor skill program in early childhood settings could potentially be a sustainable public health approach to promoting FMS and positive developmental trajectories for health.

Development of kinesthetic-motor and auditory-motor representations in school-aged children.

PubMed

Kagerer, Florian A; Clark, Jane E

2015-07-01

In two experiments using a center-out task, we investigated kinesthetic-motor and auditory-motor integrations in 5- to 12-year-old children and young adults. In experiment 1, participants moved a pen on a digitizing tablet from a starting position to one of three targets (visuo-motor condition), and then to one of four targets without visual feedback of the movement. In both conditions, we found that with increasing age, the children moved faster and straighter, and became less variable in their feedforward control. Higher control demands for movements toward the contralateral side were reflected in longer movement times and decreased spatial accuracy across all age groups. When feedforward control relies predominantly on kinesthesia, 7- to 10-year-old children were more variable, indicating difficulties in switching between feedforward and feedback control efficiently during that age. An inverse age progression was found for directional endpoint error; larger errors increasing with age likely reflect stronger functional lateralization for the dominant hand. In experiment 2, the same visuo-motor condition was followed by an auditory-motor condition in which participants had to move to acoustic targets (either white band or one-third octave noise). Since in the latter directional cues come exclusively from transcallosally mediated interaural time differences, we hypothesized that auditory-motor representations would show age effects. The results did not show a clear age effect, suggesting that corpus callosum functionality is sufficient in children to allow them to form accurate auditory-motor maps already at a young age.

Development of kinesthetic-motor and auditory-motor representations in school-aged children

PubMed Central

Clark, Jane E.

2015-01-01

In two experiments using a center-out task, we investigated kinesthetic-motor and auditory-motor integrations in 5- to 12-year-old children and young adults. In experiment 1, participants moved a pen on a digitizing tablet from a starting position to one of three targets (visuo-motor condition), and then to one of four targets without visual feedback of the movement. In both conditions, we found that with increasing age, the children moved faster and straighter, and became less variable in their feedforward control. Higher control demands for movements toward the contralateral side were reflected in longer movement times and decreased spatial accuracy across all age groups. When feedforward control relies predominantly on kinesthesia, 7- to 10-year-old children were more variable, indicating difficulties in switching between feedforward and feedback control efficiently during that age. An inverse age progression was found for directional endpoint error; larger errors increasing with age likely reflect stronger functional lateralization for the dominant hand. In experiment 2, the same visuo-motor condition was followed by an auditory-motor condition in which participants had to move to acoustic targets (either white band or one-third octave noise). Since in the latter directional cues come exclusively from transcallosally mediated interaural time differences, we hypothesized that auditory-motor representations would show age effects. The results did not show a clear age effect, suggesting that corpus callosum functionality is sufficient in children to allow them to form accurate auditory-motor maps already at a young age. PMID:25912609

Classification of Movement and Inhibition Using a Hybrid BCI.

PubMed

Chmura, Jennifer; Rosing, Joshua; Collazos, Steven; Goodwin, Shikha J

2017-01-01

Brain-computer interfaces (BCIs) are an emerging technology that are capable of turning brain electrical activity into commands for an external device. Motor imagery (MI)-when a person imagines a motion without executing it-is widely employed in BCI devices for motor control because of the endogenous origin of its neural control mechanisms, and the similarity in brain activation to actual movements. Challenges with translating a MI-BCI into a practical device used outside laboratories include the extensive training required, often due to poor user engagement and visual feedback response delays; poor user flexibility/freedom to time the execution/inhibition of their movements, and to control the movement type (right arm vs. left leg) and characteristics (reaching vs. grabbing); and high false positive rates of motion control. Solutions to improve sensorimotor activation and user performance of MI-BCIs have been explored. Virtual reality (VR) motor-execution tasks have replaced simpler visual feedback (smiling faces, arrows) and have solved this problem to an extent. Hybrid BCIs (hBCIs) implementing an additional control signal to MI have improved user control capabilities to a limited extent. These hBCIs either fail to allow the patients to gain asynchronous control of their movements, or have a high false positive rate. We propose an immersive VR environment which provides visual feedback that is both engaging and immediate, but also uniquely engages a different cognitive process in the patient that generates event-related potentials (ERPs). These ERPs provide a key executive function for the users to execute/inhibit movements. Additionally, we propose signal processing strategies and machine learning algorithms to move BCIs toward developing long-term signal stability in patients with distinctive brain signals and capabilities to control motor signals. The hBCI itself and the VR environment we propose would help to move BCI technology outside laboratory environments for motor rehabilitation in hospitals, and potentially for controlling a prosthetic.

Classification of Movement and Inhibition Using a Hybrid BCI

PubMed Central

Chmura, Jennifer; Rosing, Joshua; Collazos, Steven; Goodwin, Shikha J.

2017-01-01

Brain-computer interfaces (BCIs) are an emerging technology that are capable of turning brain electrical activity into commands for an external device. Motor imagery (MI)—when a person imagines a motion without executing it—is widely employed in BCI devices for motor control because of the endogenous origin of its neural control mechanisms, and the similarity in brain activation to actual movements. Challenges with translating a MI-BCI into a practical device used outside laboratories include the extensive training required, often due to poor user engagement and visual feedback response delays; poor user flexibility/freedom to time the execution/inhibition of their movements, and to control the movement type (right arm vs. left leg) and characteristics (reaching vs. grabbing); and high false positive rates of motion control. Solutions to improve sensorimotor activation and user performance of MI-BCIs have been explored. Virtual reality (VR) motor-execution tasks have replaced simpler visual feedback (smiling faces, arrows) and have solved this problem to an extent. Hybrid BCIs (hBCIs) implementing an additional control signal to MI have improved user control capabilities to a limited extent. These hBCIs either fail to allow the patients to gain asynchronous control of their movements, or have a high false positive rate. We propose an immersive VR environment which provides visual feedback that is both engaging and immediate, but also uniquely engages a different cognitive process in the patient that generates event-related potentials (ERPs). These ERPs provide a key executive function for the users to execute/inhibit movements. Additionally, we propose signal processing strategies and machine learning algorithms to move BCIs toward developing long-term signal stability in patients with distinctive brain signals and capabilities to control motor signals. The hBCI itself and the VR environment we propose would help to move BCI technology outside laboratory environments for motor rehabilitation in hospitals, and potentially for controlling a prosthetic. PMID:28860986

Work zone positive protection guidelines for Idaho.

DOT National Transportation Integrated Search

2014-12-01

The Code of Federal Regulation (CFR) Title 23 Part 630 Subpart K - Temporary Traffic Control (630.1102630.1110) rule states : that positive protection shall be considered where work zone conditions place workers at increased risk from motorized : ...

Electric motor/controller design tradeoffs for noise, weight, and efficiency

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kopp, N.L.; Brown, G.W.

1994-12-31

It is common for an AUV [Autonomous Underwater Vehicle] designer to be put in the position of a subsystem hardware integrator. In the case of electric motors and controllers this may be more by necessity than choice because a suitable subsystems supplier cannot be found. As a result, motors and controllers are purchased from various manufacturers who may optimize the design of each part but hold system performance secondary in importance. Unlike hydraulics, an electric motor/controller system presents significant opportunities to improve noise, weight, and efficiency. But, these opportunities can best be recognized by a single source who not onlymore » understands the technology but has the ability to implement them in the development and manufacture of the product. An analysis is presented which explains the various design considerations of noise, weight and efficiency of electric motors and controllers for submersible AUV`s. In concert with the design considerations, their interrelationships are discussed as to how they affect each other in the overall optimization of the system. In conclusion, a matrix is created which shows how the resultant system parameters of noise, weight, and efficiency may be ``traded off`` to tailor the best overall system for the application. 1 ref.« less

Functional MRI evidence for fine motor praxis dysfunction in children with persistent speech disorders

PubMed Central

Redle, Erin; Vannest, Jennifer; Maloney, Thomas; Tsevat, Rebecca K.; Eikenberry, Sarah; Lewis, Barbara; Shriberg, Lawrence D.; Tkach, Jean; Holland, Scott K.

2014-01-01

Children with persistent speech disorders (PSD) often present with overt or subtle motor deficits; the possibility that speech disorders and motor deficits could arise from a shared neurological base is currently unknown. Functional MRI (fMRI) was used to examine the brain networks supporting fine motor praxis in children with PSD and without clinically identified fine motor deficits. Methods This case-control study included 12 children with PSD (mean age 7.42 years, 4 female) and 12 controls (mean age 7.44 years, 4 female). Children completed behavioral evaluations using standardized motor assessments and parent reported functional measures. During fMRI scanning, participants completed a cued finger tapping task contrasted passive listening. A general linear model approach identified brain regions associated with finger tapping in each group and regions that differed between groups. The relationship between regional fMRI activation and fine motor skill was assessed using a regression analysis. Results Children with PSD had significantly poorer results for rapid speech production and fine motor praxis skills, but did not differ on classroom functional skills. Functional MRI results showed that children with PSD had significantly more activation in the cerebellum during finger tapping. Positive correlations between performance on a fine motor praxis test and activation multiple cortical regions were noted for children with PSD but not for controls. Conclusions Over-activation in the cerebellum during a motor task may reflect a subtle abnormality in the non-speech motor neural circuitry in children with PSD. PMID:25481413

Architecture of Vagal Motor Units Controlling Striated Muscle of Esophagus: Peripheral Elements Patterning Peristalsis?

PubMed Central

Powley, Terry L.; Mittal, Ravinder K.; Baronowsky, Elizabeth A.; Hudson, Cherie N.; Martin, Felecia N.; McAdams, Jennifer L.; Mason, Jacqueline K.; Phillips, Robert J.

2013-01-01

Little is known about the architecture of the vagal motor units that control esophageal striated muscle, in spite of the fact that these units are necessary, and responsible, for peristalsis. The present experiment was designed to characterize the motor neuron projection fields and terminal arbors forming esophageal motor units. Nucleus ambiguus compact formation neurons of the rat were labeled by bilateral intracranial injections of the anterograde tracer dextran biotin. After tracer transport, thoracic and abdominal esophagi were removed and prepared as whole mounts of muscle wall without mucosa or submucosa. Labeled terminal arbors of individual vagal motor neurons (n = 78) in the esophageal wall were inventoried, digitized and analyzed morphometrically. The size of individual vagal motor units innervating striated muscle, throughout thoracic and abdominal esophagus, averaged 52 endplates per motor neuron, a value indicative of fine motor control. A majority (77%) of the motor terminal arbors also issued one or more collateral branches that contacted neurons, including nitric oxide synthase-positive neurons, of local myenteric ganglia. Individual motor neuron terminal arbors co-innervated, or supplied endplates in tandem to, both longitudinal and circular muscle fibers in roughly similar proportions (i.e., two endplates to longitudinal for every three endplates to circular fibers). Both the observation that vagal motor unit collaterals project to myenteric ganglia and the fact that individual motor units co-innervate longitudinal and circular muscle layers are consistent with the hypothesis that elements contributing to peristaltic programming inhere, or are “hardwired,” in the peripheral architecture of esophageal motor units. PMID:24044976

Architecture of vagal motor units controlling striated muscle of esophagus: peripheral elements patterning peristalsis?

PubMed

Powley, Terry L; Mittal, Ravinder K; Baronowsky, Elizabeth A; Hudson, Cherie N; Martin, Felecia N; McAdams, Jennifer L; Mason, Jacqueline K; Phillips, Robert J

2013-12-01

Little is known about the architecture of the vagal motor units that control esophageal striated muscle, in spite of the fact that these units are necessary, and responsible, for peristalsis. The present experiment was designed to characterize the motor neuron projection fields and terminal arbors forming esophageal motor units. Nucleus ambiguus compact formation neurons of the rat were labeled by bilateral intracranial injections of the anterograde tracer dextran biotin. After tracer transport, thoracic and abdominal esophagi were removed and prepared as whole mounts of muscle wall without mucosa or submucosa. Labeled terminal arbors of individual vagal motor neurons (n=78) in the esophageal wall were inventoried, digitized and analyzed morphometrically. The size of individual vagal motor units innervating striated muscle, throughout thoracic and abdominal esophagus, averaged 52 endplates per motor neuron, a value indicative of fine motor control. A majority (77%) of the motor terminal arbors also issued one or more collateral branches that contacted neurons, including nitric oxide synthase-positive neurons, of local myenteric ganglia. Individual motor neuron terminal arbors co-innervated, or supplied endplates in tandem to, both longitudinal and circular muscle fibers in roughly similar proportions (i.e., two endplates to longitudinal for every three endplates to circular fibers). Both the observation that vagal motor unit collaterals project to myenteric ganglia and the fact that individual motor units co-innervate longitudinal and circular muscle layers are consistent with the hypothesis that elements contributing to peristaltic programming inhere, or are "hardwired," in the peripheral architecture of esophageal motor units. © 2013.

Fine Motor Differences and Prenatal Serotonin Reuptake Inhibitors Exposure.

PubMed

Partridge, Marie-Claire A E; Salisbury, Amy L; LaGasse, Linda L

2016-08-01

To examine fine motor differences between preschoolers with prenatal exposure to serotonin reuptake inhibitor (SRI) and children of mothers with major depressive disorder. A subset of children (N = 40) from a larger study on the effects of prenatal SRI and untreated major depressive disorder participated in a kinematic task of visual motor and fine motor functions at ages 4-5 years: exposure to SRI (n = 15), untreated major depressive disorder exposure (n = 10), and the control group (n = 15). The task was to reach and secure a peg, then drop it in a small hole near the start position in the light condition with full visibility or in the glow condition in which a phosphorescent peg glows in the dark. Movement-tracking software measured the positioning of the moving hand and fingers. In the glow condition, the group exposed to SRIs had a greater proportion of maximum aperture than the group with major depressive disorder, and the group exposed to SRIs was slower than the group with major depressive disorder to drop the peg into the hole. In the glow condition, the trajectory of the group exposed to SRI was less straight than the group with major depressive disorder, and the group with major depressive disorder had a straighter trajectory than the control group. This study provides evidence that preschool aged children with prenatal SRI exposure have poorer fine motor and visual-motor control compared with those with prenatal untreated major depressive disorder. Copyright © 2016 Elsevier Inc. All rights reserved.

Growth hormone therapy, muscle thickness, and motor development in Prader-Willi syndrome: an RCT.

PubMed

Reus, Linda; Pillen, Sigrid; Pelzer, Ben J; van Alfen-van der Velden, Janielle A A E M; Hokken-Koelega, Anita C S; Zwarts, Machiel; Otten, Barto J; Nijhuis-van der Sanden, Maria W G

2014-12-01

To investigate the effect of physical training combined with growth hormone (GH) on muscle thickness and its relationship with muscle strength and motor development in infants with Prader-Willi syndrome (PWS). In a randomized controlled trial, 22 infants with PWS (12.9 ± 7.1 months) were followed over 2 years to compare a treatment group (n = 10) with a waiting-list control group (n = 12). Muscle thickness of 4 muscle groups was measured by using ultrasound. Muscle strength was evaluated by using the Infant Muscle Strength meter. Motor performance was measured with the Gross Motor Function Measurement. Analyses of variance were used to evaluate between-group effects of GH on muscle thickness at 6 months and to compare pre- and posttreatment (after 12 months of GH) values. Multilevel analyses were used to evaluate effects of GH on muscle thickness over time, and multilevel bivariate analyses were used to test relationships between muscle thickness, muscle strength, and motor performance. A significant positive effect of GH on muscle thickness (P < .05) was found. Positive relationships were found between muscle thickness and muscle strength (r = 0.61, P < .001), muscle thickness and motor performance (r = 0.81, P < .001), and muscle strength and motor performance (r = 0.76, P < .001). GH increased muscle thickness, which was related to muscle strength and motor development in infants with PWS. Catch-up growth was faster in muscles that are most frequently used in early development. Because this effect was independent of GH, it suggests a training effect. Copyright © 2014 by the American Academy of Pediatrics.

Integrated High-Speed Torque Control System for a Robotic Joint

NASA Technical Reports Server (NTRS)

Davis, Donald R. (Inventor); Radford, Nicolaus A. (Inventor); Permenter, Frank Noble (Inventor); Valvo, Michael C. (Inventor); Askew, R. Scott (Inventor)

2013-01-01

A control system for achieving high-speed torque for a joint of a robot includes a printed circuit board assembly (PCBA) having a collocated joint processor and high-speed communication bus. The PCBA may also include a power inverter module (PIM) and local sensor conditioning electronics (SCE) for processing sensor data from one or more motor position sensors. Torque control of a motor of the joint is provided via the PCBA as a high-speed torque loop. Each joint processor may be embedded within or collocated with the robotic joint being controlled. Collocation of the joint processor, PIM, and high-speed bus may increase noise immunity of the control system, and the localized processing of sensor data from the joint motor at the joint level may minimize bus cabling to and from each control node. The joint processor may include a field programmable gate array (FPGA).

A synergy-driven approach to a myoelectric hand.

PubMed

Godfrey, S B; Ajoudani, A; Catalano, M; Grioli, G; Bicchi, A

2013-06-01

In this paper, we present the Pisa/IIT SoftHand with myoelectric control as a synergy-driven approach for a prosthetic hand. Commercially available myoelectric hands are more expensive, heavier, and less robust than their body-powered counterparts; however, they can offer greater freedom of motion and a more aesthetically pleasing appearance. The Pisa/IIT SoftHand is built on the motor control principle of synergies through which the immense complexity of the hand is simplified into distinct motor patterns. As the SoftHand grasps, it follows a synergistic path with built-in flexibility to allow grasping of a wide variety of objects with a single motor. Here we test, as a proof-of-concept, 4 myoelectric controllers: a standard controller in which the EMG signal is used only as a position reference, an impedance controller that determines both position and stiffness references from the EMG input, a standard controller with vibrotactile force feedback, and finally a combined vibrotactile-impedance (VI) controller. Four healthy subjects tested the control algorithms by grasping various objects. All controllers were sufficient for basic grasping, however the impedance and vibrotactile controllers reduced the physical and cognitive load on the user, while the combined VI mode was the easiest to use of the four. While these results need to be validated with amputees, they suggest a low-cost, robust hand employing hardware-based synergies is a viable alternative to traditional myoelectric prostheses.

Bright light therapy and melatonin in motor restless behaviour in dementia: a placebo-controlled study.

PubMed

Haffmans, P M; Sival, R C; Lucius, S A; Cats, Q; van Gelder, L

2001-01-01

The purpose of this study was to evaluate the effects of bright light therapy combined with melatonin on motor restless behaviour in dementia. Double-blind, placebo-controlled, cross-over trial consisting of four periods. One week wash-out was followed by a 2-week period of light therapy in combination with placebo or melatonin. The second wash-out period of 1 week was followed by 2 weeks of treatment (cross-over). Twenty-four bed medium-stay psychogeriatric ward at a Dutch psychiatric teaching hospital. Ten patients, who met the criteria for dementia (DSM-IV) and motor restless behaviour (subscale 10 of the GIP), were included. Informed consent was obtained by proxy. All subjects were exposed during 2x5 consecutive days for 30 minutes to 10,000 lux bright light and randomly administered 2.5 mg melatonin or placebo at 22.00 h. Clinical Global Impression (CGI), Dutch version of the geriatric behavioural observation scale (GIP), Social Dysfunction and Aggression Scale (SDAS) were assessed after each wash-out and treatment period. Outcome criteria were CGI, assessing motor restless behaviour, the SDAS, measuring extrovert aggression and the GIP, assessing social, psychomotor and emotional behaviour. Six demented inpatients completed the trial. Positive effects were found for the treatment combined with placebo. Patients were less restless and more co-operative. The condition with melatonin showed no additional positive effects, additionally, patients became more aggressive and showed the same or more disturbed behaviour. Bright light therapy has a positive effect on motor restless behaviour. Light therapy in combination with melatonin has no positive effects. The results might be explained by a possible overshoot of chronobiological synchronisation or the timing of the melatonin intake. Copyright 2001 John Wiley & Sons, Ltd.

Equilibrium point control of a monkey arm simulator by a fast learning tree structured artificial neural network.

PubMed

Dornay, M; Sanger, T D

1993-01-01

A planar 17 muscle model of the monkey's arm based on realistic biomechanical measurements was simulated on a Symbolics Lisp Machine. The simulator implements the equilibrium point hypothesis for the control of arm movements. Given initial and final desired positions, it generates a minimum-jerk desired trajectory of the hand and uses the backdriving algorithm to determine an appropriate sequence of motor commands to the muscles (Flash 1987; Mussa-Ivaldi et al. 1991; Dornay 1991b). These motor commands specify a temporal sequence of stable (attractive) equilibrium positions which lead to the desired hand movement. A strong disadvantage of the simulator is that it has no memory of previous computations. Determining the desired trajectory using the minimum-jerk model is instantaneous, but the laborious backdriving algorithm is slow, and can take up to one hour for some trajectories. The complexity of the required computations makes it a poor model for biological motor control. We propose a computationally simpler and more biologically plausible method for control which achieves the benefits of the backdriving algorithm. A fast learning, tree-structured network (Sanger 1991c) was trained to remember the knowledge obtained by the backdriving algorithm. The neural network learned the nonlinear mapping from a 2-dimensional cartesian planar hand position (x,y) to a 17-dimensional motor command space (u1, . . ., u17). Learning 20 training trajectories, each composed of 26 sample points [[x,y], [u1, . . ., u17] took only 20 min on a Sun-4 Sparc workstation. After the learning stage, new, untrained test trajectories as well as the original trajectories of the hand were given to the neural network as input. The network calculated the required motor commands for these movements. The resulting movements were close to the desired ones for both the training and test cases.

Thermal Powered Reciprocating-Force Motor

NASA Technical Reports Server (NTRS)

Tatum, III, Paul F. (Inventor); McDow Elliott, Amelia (Inventor)

2015-01-01

A thermal-powered reciprocating-force motor includes a shutter switchable between a first position that passes solar energy and a second position that blocks solar energy. A shape memory alloy (SMA) actuator is coupled to the shutter to control switching thereof between the shutter's first and second position. The actuator is positioned with respect to the shutter such that (1) solar energy impinges on the SMA when the shutter is in its first position so that the SMA experiences contraction in length until the shutter is switched to its second position, and (2) solar energy is impeded from impingement on the SMA when the shutter is in its second position so that the SMA experiences extension in length. Elastic members coupled to the actuator apply a force to the SMA that aids in its extension in length until the shutter is switched to its first position.

Patterns of Spinal Sensory-Motor Connectivity Prescribed by a Dorsoventral Positional Template

PubMed Central

Sürmeli, Gülşen; Akay, Turgay; Ippolito, Gregory; Tucker, Philip W; Jessell, Thomas M

2011-01-01

Summary Sensory-motor circuits in the spinal cord are constructed with a fine specificity that coordinates motor behavior, but the mechanisms that direct sensory connections with their motor neuron partners remain unclear. The dorsoventral settling position of motor pools in the spinal cord is known to match the distal-to-proximal position of their muscle targets in the limb, but the significance of invariant motor neuron positioning is unknown. An analysis of sensory-motor connectivity patterns in FoxP1 mutant mice, where motor neuron position has been scrambled, shows that the final pattern of sensory-motor connections is initiated by the projection of sensory axons to discrete dorsoventral domains of the spinal cord without regard for motor neuron subtype, or indeed, the presence of motor neurons. By implication, the clustering and dorsoventral settling position of motor neuron pools serves as a determinant of the pattern of sensory input specificity, and thus motor coordination. PMID:22036571

No Proprioceptive Deficits in Autism despite Movement-Related Sensory and Execution Impairments

ERIC Educational Resources Information Center

Fuentes, Christina T.; Mostofsky, Stewart H.; Bastian, Amy J.

2011-01-01

Autism spectrum disorder (ASD) often involves sensory and motor problems, yet the proprioceptive sense of limb position has not been directly assessed. We used three tasks to assess proprioception in adolescents with ASD who had motor and sensory perceptual abnormalities, and compared them to age- and IQ-matched controls. Results showed no group…

Auto-positioning ultrasonic transducer system

NASA Technical Reports Server (NTRS)

Buchanan, Randy K. (Inventor)

2010-01-01

An ultrasonic transducer apparatus and process for determining the optimal transducer position for flow measurement along a conduit outer surface. The apparatus includes a transmitting transducer for transmitting an ultrasonic signal, said transducer affixed to a conduit outer surface; a guide rail attached to a receiving transducer for guiding movement of a receiving transducer along the conduit outer surface, wherein the receiving transducer receives an ultrasonic signal from the transmitting transducer and sends a signal to a data acquisition system; and a motor for moving the receiving transducer along the guide rail, wherein the motor is controlled by a controller. The method includes affixing a transmitting transducer to an outer surface of a conduit; moving a receiving transducer on the conduit outer surface, wherein the receiving transducer is moved along a guide rail by a motor; transmitting an ultrasonic signal from the transmitting transducer that is received by the receiving transducer; communicating the signal received by the receiving transducer to a data acquisition and control system; and repeating the moving, transmitting, and communicating along a length of the conduit.

Improved Speed Control System for the 87,000 HP Wind Tunnel Drive

NASA Technical Reports Server (NTRS)

Becks, Edward A.; Bencic, Timothy J.; Blumenthal, Philip Z.

1995-01-01

This paper describes the design, installation, and integrated systems tests for a new drive motor speed control system which was part of a recent rehab project for the NASA Lewis 8x6 Supersonic Wind Tunnel. The tunnel drive consists of three mechanically-coupled 29,000 HP wound rotor induction motors driving an axial flow compressor. Liquid rheostats are used to vary the impedance of the rotor circuits, thus varying the speed of the drive system. The new design utilizes a distributed digital control system with a dual touch screen CRT operator console to provide alarm monitoring, logging, and trending. The liquid rheostats are driven by brushtype servomotor systems with magnetostrictive linear displacement transducers used for position feedback. The new system achieved all goals for speed variations with load, motor load balance, and control of total power.

Improved speed control system for the 87,000 HP wind tunnel drive

NASA Astrophysics Data System (ADS)

Becks, Edward A.; Bencic, Timothy J.; Blumenthal, Philip Z.

1995-01-01

This paper describes the design, installation, and integrated systems tests for a new drive motor speed control system which was part of a recent rehab project for the NASA Lewis 8x6 Supersonic Wind Tunnel. The tunnel drive consists of three mechanically-coupled 29,000 HP wound rotor induction motors driving an axial flow compressor. Liquid rheostats are used to vary the impedance of the rotor circuits, thus varying the speed of the drive system. The new design utilizes a distributed digital control system with a dual touch screen CRT operator console to provide alarm monitoring, logging, and trending. The liquid rheostats are driven by brushtype servomotor systems with magnetostrictive linear displacement transducers used for position feedback. The new system achieved all goals for speed variations with load, motor load balance, and control of total power.

Contralesional motor deficits after unilateral stroke reflect hemisphere-specific control mechanisms

PubMed Central

Mani, Saandeep; Mutha, Pratik K.; Przybyla, Andrzej; Haaland, Kathleen Y.; Good, David C.

2013-01-01

We have proposed a model of motor lateralization, in which the left and right hemispheres are specialized for different aspects of motor control: the left hemisphere for predicting and accounting for limb dynamics and the right hemisphere for stabilizing limb position through impedance control mechanisms. Our previous studies, demonstrating different motor deficits in the ipsilesional arm of stroke patients with left or right hemisphere damage, provided a critical test of our model. However, motor deficits after stroke are most prominent on the contralesional side. Post-stroke rehabilitation has also, naturally, focused on improving contralesional arm impairment and function. Understanding whether contralesional motor deficits differ depending on the hemisphere of damage is, therefore, of vital importance for assessing the impact of brain damage on function and also for designing rehabilitation interventions specific to laterality of damage. We, therefore, asked whether motor deficits in the contralesional arm of unilateral stroke patients reflect hemisphere-dependent control mechanisms. Because our model of lateralization predicts that contralesional deficits will differ depending on the hemisphere of damage, this study also served as an essential assessment of our model. Stroke patients with mild to moderate hemiparesis in either the left or right arm because of contralateral stroke and healthy control subjects performed targeted multi-joint reaching movements in different directions. As predicted, our results indicated a double dissociation; although left hemisphere damage was associated with greater errors in trajectory curvature and movement direction, errors in movement extent were greatest after right hemisphere damage. Thus, our results provide the first demonstration of hemisphere specific motor control deficits in the contralesional arm of stroke patients. Our results also suggest that it is critical to consider the differential deficits induced by right or left hemisphere lesions to enhance post-stroke rehabilitation interventions. PMID:23358602

Chaotic operation and chaos control of travelling wave ultrasonic motor.

PubMed

Shi, Jingzhuo; Zhao, Fujie; Shen, Xiaoxi; Wang, Xiaojie

2013-08-01

The travelling wave ultrasonic motor, which is a nonlinear dynamic system, has complex chaotic phenomenon with some certain choices of system parameters and external inputs, and its chaotic characteristics have not been studied until now. In this paper, the preliminary study of the chaos phenomenon in ultrasonic motor driving system has been done. The experiment of speed closed-loop control is designed to obtain several groups of time sampling data sequence of the amplitude of driving voltage, and phase-space reconstruction is used to analyze the chaos characteristics of these time sequences. The largest Lyapunov index is calculated and the result is positive, which shows that the travelling wave ultrasonic motor has chaotic characteristics in a certain working condition Then, the nonlinear characteristics of travelling wave ultrasonic motor are analyzed which includes Lyapunov exponent map, the bifurcation diagram and the locus of voltage relative to speed based on the nonlinear chaos model of a travelling wave ultrasonic motor. After that, two kinds of adaptive delay feedback controllers are designed in this paper to control and suppress chaos in USM speed control system. Simulation results show that the method can control unstable periodic orbits, suppress chaos in USM control system. Proportion-delayed feedback controller was designed following and arithmetic of fuzzy logic was used to adaptively adjust the delay time online. Simulation results show that this method could fast and effectively change the chaos movement into periodic or fixed-point movement and make the system enter into stable state from chaos state. Finally the chaos behavior was controlled. Copyright © 2013 Elsevier B.V. All rights reserved.

Hip position and sex differences in motor unit firing patterns of the vastus medialis and vastus medialis oblique in healthy individuals.

PubMed

Peng, Yi-Ling; Tenan, Matthew S; Griffin, Lisa

2018-06-01

Weakness of the vastus medialis oblique (VMO) has been proposed to explain the high prevalence of knee pain in female subjects. Clinicians commonly use exercises in an attempt to preferentially activate the VMO. Recently, our group found evidence to support clinical theory that the VMO is neurologically distinct from the vastus medialis (VM). However, the ability to voluntarily activate these muscle subsections is still disputed. The aim of this study was to determine if VM and VMO activation varies between sexes and if control of the two muscles is different between rehabilitation exercises. Thirteen men and 13 women performed isometric straight leg raises in two hip positions, neutral hip rotation and 30 degrees lateral hip rotation. Bipolar intramuscular fine-wire electrodes were inserted into the VM and VMO to obtain motor unit recruitment thresholds and initial firing rates at recruitment. Linear mixed models and Tukey post hoc tests were used to assess significant differences in 654 motor units. Women demonstrated faster motor unit firing rate at recruitment, 1.18 ± 0.56 Hz higher than men. Motor units fired 0.47 ± 0.19 Hz faster during neutral hip rotation compared with lateral hip rotation. The VMO motor units were recruited 2.92 ± 1.28% earlier than the VM. All motor units were recruited 3.74 ± 1.27% earlier during neutral hip rotation than lateral hip rotation. Thus the VM and the VMO can be activated differentially, and their motor unit recruitment properties are affected by sex and hip position. NEW & NOTEWORTHY This is the first study to reveal differential activation of the vastus medialis oblique from the vastus medialis in clinical exercise protocols. Our research group used fine-wire electrodes to examine EMG signals of the vastus medialis oblique and vastus medialis to avoid possible cross talk. We also consider the effect of sex on motor unit firing patterns because of higher prevalence of knee pain in women, and yet few studies evaluating the sex differences in neuromuscular control.

Altered motor control patterns in whiplash and chronic neck pain.

PubMed

Woodhouse, Astrid; Vasseljen, Ottar

2008-06-20

Persistent whiplash associated disorders (WAD) have been associated with alterations in kinesthetic sense and motor control. The evidence is however inconclusive, particularly for differences between WAD patients and patients with chronic non-traumatic neck pain. The aim of this study was to investigate motor control deficits in WAD compared to chronic non-traumatic neck pain and healthy controls in relation to cervical range of motion (ROM), conjunct motion, joint position error and ROM-variability. Participants (n = 173) were recruited to three groups: 59 patients with persistent WAD, 57 patients with chronic non-traumatic neck pain and 57 asymptomatic volunteers. A 3D motion tracking system (Fastrak) was used to record maximal range of motion in the three cardinal planes of the cervical spine (sagittal, frontal and horizontal), and concurrent motion in the two associated cardinal planes relative to each primary plane were used to express conjunct motion. Joint position error was registered as the difference in head positions before and after cervical rotations. Reduced conjunct motion was found for WAD and chronic neck pain patients compared to asymptomatic subjects. This was most evident during cervical rotation. Reduced conjunct motion was not explained by current pain or by range of motion in the primary plane. Total conjunct motion during primary rotation was 13.9 degrees (95% CI; 12.2-15.6) for the WAD group, 17.9 degrees (95% CI; 16.1-19.6) for the chronic neck pain group and 25.9 degrees (95% CI; 23.7-28.1) for the asymptomatic group. As expected, maximal cervical range of motion was significantly reduced among the WAD patients compared to both control groups. No group differences were found in maximal ROM-variability or joint position error. Altered movement patterns in the cervical spine were found for both pain groups, indicating changes in motor control strategies. The changes were not related to a history of neck trauma, nor to current pain, but more likely due to long-lasting pain. No group differences were found for kinaesthetic sense.

Altered motor control patterns in whiplash and chronic neck pain

PubMed Central

Woodhouse, Astrid; Vasseljen, Ottar

2008-01-01

Background Persistent whiplash associated disorders (WAD) have been associated with alterations in kinesthetic sense and motor control. The evidence is however inconclusive, particularly for differences between WAD patients and patients with chronic non-traumatic neck pain. The aim of this study was to investigate motor control deficits in WAD compared to chronic non-traumatic neck pain and healthy controls in relation to cervical range of motion (ROM), conjunct motion, joint position error and ROM-variability. Methods Participants (n = 173) were recruited to three groups: 59 patients with persistent WAD, 57 patients with chronic non-traumatic neck pain and 57 asymptomatic volunteers. A 3D motion tracking system (Fastrak) was used to record maximal range of motion in the three cardinal planes of the cervical spine (sagittal, frontal and horizontal), and concurrent motion in the two associated cardinal planes relative to each primary plane were used to express conjunct motion. Joint position error was registered as the difference in head positions before and after cervical rotations. Results Reduced conjunct motion was found for WAD and chronic neck pain patients compared to asymptomatic subjects. This was most evident during cervical rotation. Reduced conjunct motion was not explained by current pain or by range of motion in the primary plane. Total conjunct motion during primary rotation was 13.9° (95% CI; 12.2–15.6) for the WAD group, 17.9° (95% CI; 16.1–19.6) for the chronic neck pain group and 25.9° (95% CI; 23.7–28.1) for the asymptomatic group. As expected, maximal cervical range of motion was significantly reduced among the WAD patients compared to both control groups. No group differences were found in maximal ROM-variability or joint position error. Conclusion Altered movement patterns in the cervical spine were found for both pain groups, indicating changes in motor control strategies. The changes were not related to a history of neck trauma, nor to current pain, but more likely due to long-lasting pain. No group differences were found for kinaesthetic sense. PMID:18570647

Master-slave micromanipulator method

DOEpatents

Morimoto, Alan K.; Kozlowski, David M.; Charles, Steven T.; Spalding, James A.

1999-01-01

A method based on precision X-Y stages that are stacked. Attached to arms projecting from each X-Y stage are a set of two axis gimbals. Attached to the gimbals is a rod, which provides motion along the axis of the rod and rotation around its axis. A dual-planar apparatus that provides six degrees of freedom of motion precise to within microns of motion. Precision linear stages along with precision linear motors, encoders, and controls provide a robotics system. The motors can be remotized by incorporating a set of bellows on the motors and can be connected through a computer controller that will allow one to be a master and the other one to be a slave. Position information from the master can be used to control the slave. Forces of interaction of the slave with its environment can be reflected back to the motor control of the master to provide a sense of force sensed by the slave. Forces import onto the master by the operator can be fed back into the control of the slave to reduce the forces required to move it.

Control Code for Bearingless Switched-Reluctance Motor

NASA Technical Reports Server (NTRS)

Morrison, Carlos R.

2007-01-01

A computer program has been devised for controlling a machine that is an integral combination of magnetic bearings and a switched-reluctance motor. The motor contains an eight-pole stator and a hybrid rotor, which has both (1) a circular lamination stack for levitation and (2) a six-pole lamination stack for rotation. The program computes drive and levitation currents for the stator windings with real-time feedback control. During normal operation, two of the four pairs of opposing stator poles (each pair at right angles to the other pair) levitate the rotor. The remaining two pairs of stator poles exert torque on the six-pole rotor lamination stack to produce rotation. This version is executable in a control-loop time of 40 s on a Pentium (or equivalent) processor that operates at a clock speed of 400 MHz. The program can be expanded, by addition of logic blocks, to enable control of position along additional axes. The code enables adjustment of operational parameters (e.g., motor speed and stiffness, and damping parameters of magnetic bearings) through computer keyboard key presses.

Cognitive Resources Necessary for Motor Control in Older Adults Are Reduced by Walking and Coordination Training

PubMed Central

Godde, Ben; Voelcker-Rehage, Claudia

2017-01-01

We examined if physical exercise interventions were effective to reduce cognitive brain resources recruited while performing motor control tasks in older adults. Forty-three older adults (63–79 years of age) participated in either a walking (n = 17) or a motor coordination (n = 15) intervention (1 year, 3 times per week) or were assigned to a control group (n = 11) doing relaxation and stretching exercises. Pre and post the intervention period, we applied functional MRI to assess brain activation during imagery of forward and backward walking and during counting backwards from 100 as control task. In both experimental groups, activation in the right dorsolateral prefrontal cortex (DLPFC) during imagery of forward walking decreased from pre- to post-test (Effect size: −1.55 and −1.16 for coordination and walking training, respectively; Cohen’s d). Regression analysis revealed a significant positive association between initial motor status and activation change in the right DLPFC (R2 = 0.243, F(3,39) = 4.18, p = 0.012). Participants with lowest motor status at pretest profited most from the interventions. Data suggest that physical training in older adults is effective to free up cognitive resources otherwise needed for the control of locomotion. Training benefits may become particularly apparent in so-called dual-task situations where subjects must perform motor and cognitive tasks concurrently. PMID:28443006

A universal six-joint robot controller

NASA Technical Reports Server (NTRS)

Bihn, D. G.; Hsia, T. C.

1987-01-01

A general purpose six-axis robotic manipulator controller was designed and implemented to serve as a research tool for the investigation of the practical and theoretical aspects of various control strategies in robotics. A 80286-based Intel System 310 running the Xenix operating servo software as well as the higher level software (e.g., kinematics and path planning) were employed. A Multibus compatible interface board was designed and constructed to handle I/O signals from the robot manipulator's joint motors. From the design point of view, the universal controller is capable of driving robot manipulators equipped with D.C. joint motors and position optical encoders. To test its functionality, the controller is connected to the joint motor D.C. power amplifier of a PUMA 560 arm bypassing completely the manufacturer-supplied Unimation controller. A controller algorithm consisting of local PD control laws was written and installed into the Xenix operating system. Additional software drivers were implemented to allow application programs access to the interface board. All software was written in the C language.

Wire Rope Failure on the Guppy Winch

NASA Technical Reports Server (NTRS)

Figert, John

2016-01-01

On January 6, 2016 at El Paso, the Guppy winch motor was changed. After completion of the operational checks, the load bar was being reinstalled on the cargo pallet when the motor control FORWARD relay failed in the energized position. The pallet was pinned at all locations (each pin has a load capacity of 16,000 lbs.) while the winch was running. The wire rope snapped before aircraft power could be removed. After disassembly, the fractured wire rope was shipped to ES4 lab for further characterization of the wire rope portion of the failure. The system was being operated without a clear understanding of the system capability and function. The proximate cause was the failure of the K48 -Forward Winch Control Relay in the energized position, which allowed the motor to continuously run without command from the hand controller, and operation of the winch system with both controllers connected to the system. This prevented the emergency stop feature on the hand controller from functioning as designed. An electrical checkout engineering work instruction was completed and identified the failed relay and confirmed the emergency stop only paused the system when the STOP button on both connected hand controllers were depressed simultaneously. The winch system incorporates a torque limiting clutch. It is suspected that the clutch did not slip and the motor did not stall or overload the current limiter. Aircraft Engineering is looking at how to change the procedures to provide a checkout of the clutch and set to a slip torque limit appropriate to support operations.

Increased reward in ankle robotics training enhances motor control and cortical efficiency in stroke.

PubMed

Goodman, Ronald N; Rietschel, Jeremy C; Roy, Anindo; Jung, Brian C; Diaz, Jason; Macko, Richard F; Forrester, Larry W

2014-01-01

Robotics is rapidly emerging as a viable approach to enhance motor recovery after disabling stroke. Current principles of cognitive motor learning recognize a positive relationship between reward and motor learning. Yet no prior studies have established explicitly whether reward improves the rate or efficacy of robotics-assisted rehabilitation or produces neurophysiologic adaptations associated with motor learning. We conducted a 3 wk, 9-session clinical pilot with 10 people with chronic hemiparetic stroke, randomly assigned to train with an impedance-controlled ankle robot (anklebot) under either high reward (HR) or low reward conditions. The 1 h training sessions entailed playing a seated video game by moving the paretic ankle to hit moving onscreen targets with the anklebot only providing assistance as needed. Assessments included paretic ankle motor control, learning curves, electroencephalograpy (EEG) coherence and spectral power during unassisted trials, and gait function. While both groups exhibited changes in EEG, the HR group had faster learning curves (p = 0.05), smoother movements (p

Impulsivity, self-control, and hypnotic suggestibility.

PubMed

Ludwig, V U; Stelzel, C; Krutiak, H; Prunkl, C E; Steimke, R; Paschke, L M; Kathmann, N; Walter, H

2013-06-01

Hypnotic responding might be due to attenuated frontal lobe functioning after the hypnotic induction. Little is known about whether personality traits linked with frontal functioning are associated with responsiveness to hypnotic suggestions. We assessed whether hypnotic suggestibility is related to the traits of self-control and impulsivity in 154 participants who completed the Brief Self-Control Scale, the Self-Regulation Scale, the Barratt Impulsiveness Scale (BIS-11), and the Harvard Group Scale of Hypnotic Susceptibility (HGSHS:A). BIS-11 non-planning impulsivity correlated positively with HGSHS:A (Bonferroni-corrected). Furthermore, in the best model emerging from a stepwise multiple regression, both non-planning impulsivity and self-control positively predicted hypnotic suggestibility, and there was an interaction of BIS-11 motor impulsivity with gender. For men only, motor impulsivity tended to predict hypnotic suggestibility. Hypnotic suggestibility is associated with personality traits linked with frontal functioning, and hypnotic responding in men and women might differ. Copyright © 2013 Elsevier Inc. All rights reserved.

Functional MRI evidence for fine motor praxis dysfunction in children with persistent speech disorders.

PubMed

Redle, Erin; Vannest, Jennifer; Maloney, Thomas; Tsevat, Rebecca K; Eikenberry, Sarah; Lewis, Barbara; Shriberg, Lawrence D; Tkach, Jean; Holland, Scott K

2015-02-09

Children with persistent speech disorders (PSD) often present with overt or subtle motor deficits; the possibility that speech disorders and motor deficits could arise from a shared neurological base is currently unknown. Functional MRI (fMRI) was used to examine the brain networks supporting fine motor praxis in children with PSD and without clinically identified fine motor deficits. This case-control study included 12 children with PSD (mean age 7.42 years, four female) and 12 controls (mean age 7.44 years, four female). Children completed behavioral evaluations using standardized motor assessments and parent reported functional measures. During fMRI scanning, participants completed a cued finger tapping task contrasted passive listening. A general linear model approach identified brain regions associated with finger tapping in each group and regions that differed between groups. The relationship between regional fMRI activation and fine motor skill was assessed using a regression analysis. Children with PSD had significantly poorer results for rapid speech production and fine motor praxis skills, but did not differ on classroom functional skills. Functional MRI results showed that children with PSD had significantly more activation in the cerebellum during finger tapping. Positive correlations between performance on a fine motor praxis test and activation multiple cortical regions were noted for children with PSD but not for controls. Over-activation in the cerebellum during a motor task may reflect a subtle abnormality in the non-speech motor neural circuitry in children with PSD. Copyright © 2014 Elsevier B.V. All rights reserved.

Electric drive motors for industrial robots

NASA Astrophysics Data System (ADS)

Fichtner, K.

1985-04-01

In robotized industrial plants it is possible to use electric motors in the technological process and also for control, assembly, transport, testing, and measurements. Particularly suitable for these applications are permanent-magnet d.c. motors. A new special series was developed for industrial robots with hinge joints in kinematic pairs. The complete drive includes thyristors or transistor controls with regulators and, if necessary, a line transformer as well as a servomotor with tachometer and odometer for speed, current, and position control. The drive is coupled to a robot tong through mechanical torque and force converters. In addition to a 0 to 4000 rpm speed regulation, without wobble at low speeds, and a high torque-to-weight ratio for repetitive short-time heavy duty, these low-inertia motors develop high starting and accelerating torques over the entire speed range. They operate from a 1 to O 220 V a.c. line through a rectifier. The motors are totally enclosed, or of open construction for better ventilation. Their windings have class F insulation for operation at ambient temperatures up to 40 C.

The Small GTP-Binding Protein Rhes Influences Nigrostriatal-Dependent Motor Behavior During Aging.

PubMed

Pinna, Annalisa; Napolitano, Francesco; Pelosi, Barbara; Di Maio, Anna; Wardas, Jadwiga; Casu, Maria Antonietta; Costa, Giulia; Migliarini, Sara; Calabresi, Paolo; Pasqualetti, Massimo; Morelli, Micaela; Usiello, Alessandro

2016-04-01

Here we aimed to evaluate: (1) Rhes mRNA expression in mouse midbrain, (2) the effect of Rhes deletion on the number of dopamine neurons, (3) nigrostriatal-sensitive behavior during aging in knockout mice. Radioactive in situ hybridization was assessed in adult mice. The beam-walking test was executed in 3-, 6- and 12-month-old mice. Immunohistochemistry of midbrain tyrosine hydroxylase (TH)-positive neurons was performed in 6- and 12-month-old mice. Rhes mRNA is expressed in TH-positive neurons of SNpc and the ventral tegmental area. Moreover, lack of Rhes leads to roughly a 20% loss of nigral TH-positive neurons in both 6- and 12-month-old mutants, when compared with their age-matched controls. Finally, lack of Rhes triggers subtle alterations in motor performance and coordination during aging. Our findings indicate a fine-tuning role of Rhes in regulating the number of TH-positive neurons of the substantia nigra and nigrostriatal-sensitive motor behavior during aging. © 2016 International Parkinson and Movement Disorder Society.

Evaluation of Motor Control Using Haptic Device

NASA Astrophysics Data System (ADS)

Nuruki, Atsuo; Kawabata, Takuro; Shimozono, Tomoyuki; Yamada, Masafumi; Yunokuchi, Kazutomo

When the kinesthesia and the touch act at the same time, such perception is called haptic perception. This sense has the key role in motor information on the force and position control. The haptic perception is important in the field where the evaluation of the motor control is needed. The purpose of this paper is to evaluate the motor control, perception of heaviness and distance in normal and fatigue conditions using psychophysical experiment. We used a haptic device in order to generate precise force and distance, but the precedent of the evaluation system with the haptic device has been few. Therefore, it is another purpose to examine whether the haptic device is useful as evaluation system for the motor control. The psychophysical quantity of force and distance was measured by two kinds of experiments. Eight healthy subjects participated in this study. The stimulation was presented by haptic device [PHANTOM Omni: SensAble Company]. The subjects compared between standard and test stimulation, and answered it had felt which stimulation was strong. In the result of the psychophysical quantity of force, just noticeable difference (JND) had a significant difference, and point of subjective equality (PSE) was not different between normal and muscle fatigue. On the other hand, in the result of the psychophysical quantity of distance, JND and PSE were not difference between normal and muscle fatigue. These results show that control of force was influenced, but control of distance was not influenced in muscle fatigue. Moreover, these results suggested that the haptic device is useful as the evaluation system for the motor control.

Neck motion, motor control, pain and disability: A longitudinal study of associations in neck pain patients in physiotherapy treatment.

PubMed

Meisingset, Ingebrigt; Stensdotter, Ann-Katrin; Woodhouse, Astrid; Vasseljen, Ottar

2016-04-01

Neck pain is associated with several alterations in neck motion and motor control, but most of the findings are based on cross-sectional studies. The aim of this study was to investigate associations between changes in neck motion and motor control, and changes in neck pain and disability in physiotherapy patients during a course of treatment. Prospective cohort study. Subjects with non-specific neck pain (n = 71) participated in this study. Neck flexibility, joint position error (JPE), head steadiness, trajectory movement control and postural sway were recorded before commencement of physiotherapy (baseline), at 2 weeks, and at 2 months. Numerical Rating Scale and Neck Disability Index were used to measure neck pain and disability at the day of testing. To analyze within subjects effects in neck motion and motor control, neck pain, and disability over time we used fixed effects linear regression analysis. Changes in neck motion and motor control occurred primarily within 2 weeks. Reduction in neck pain was associated with increased cervical range of motion in flexion-/extension and increased postural sway when standing with eyes open. Decreased neck disability was associated with some variables for neck flexibility and trajectory movement control. Cervical range of motion in flexion-/extension was the only variable associated with changes in both neck pain and neck disability. This study shows that few of the variables for neck motion and motor control were associated with changes neck pain and disability over a course of 2 months with physiotherapy treatment. Copyright © 2015 Elsevier Ltd. All rights reserved.

Getting the fundamentals of movement: a meta-analysis of the effectiveness of motor skill interventions in children.

PubMed

Logan, S W; Robinson, L E; Wilson, A E; Lucas, W A

2012-05-01

The development of fundamental movement skills (FMS) is associated with positive health-related outcomes. Children do not develop FMS naturally through maturational processes. These skills need to be learned, practised and reinforced. The objective was to determine the effectiveness of motor skill interventions in children. The following databases were searched for relevant articles: Academic Search Premier, PsycArticles, PsycInfo, SportDiscus and ERIC. No date range was specified and each search was conducted to include all possible years of publication specific to each database. Key terms for the search included motor, skill, movement, intervention, programme or children. Searches were conducted using single and combined terms. Pertinent journals and article reference lists were also manually searched. (1) implementation of any type of motor skill intervention; (2) pre- and post-qualitative assessment of FMS; and (3) availability of means and standard deviations of motor performance. A significant positive effect of motor skill interventions on the improvement of FMS in children was found (d= 0.39, P < 0.001). Results indicate that object control (d= 0.41, P < 0.001) and locomotor skills (d= 0.45, P < 0.001) improved similarly from pre- to post-intervention. The overall effect size for control groups (i.e. free play) was not significant (d= 0.06, P= 0.33). A Pearson correlation indicated a non-significant (P= 0.296), negative correlation (r=-0.18) between effect size of pre- to post-improvement of FMS and the duration of the intervention (in minutes). Motor skill interventions are effective in improving FMS in children. Early childhood education centres should implement 'planned' movement programmes as a strategy to promote motor skill development in children. © 2011 Blackwell Publishing Ltd.

Longitudinal Psychiatric Symptoms in Prodromal Huntington's Disease: A Decade of Data.

PubMed

Epping, Eric A; Kim, Ji-In; Craufurd, David; Brashers-Krug, Thomas M; Anderson, Karen E; McCusker, Elizabeth; Luther, Jolene; Long, Jeffrey D; Paulsen, Jane S

2016-02-01

Psychiatric symptoms are a significant aspect of Huntington's disease, an inherited neurodegenerative illness. The presentation of these symptoms is highly variable, and their course does not fully correlate with motor or cognitive disease progression. The authors sought to better understand the development and longitudinal course of psychiatric manifestations in individuals who carry the Huntington's disease mutation, starting from the prodromal period prior to motor diagnosis. Longitudinal measures for up to 10 years of psychiatric symptoms from the Symptom Checklist-90-Revised were obtained from 1,305 participants (1,007 carrying the Huntington's disease mutation and 298 without [classified as controls]) and 1,235 companions enrolled in the Neurobiological Predictors of Huntington's Disease (PREDICT-HD) study. Participants with the mutation were stratified into three groups according to probability of motor diagnosis within 5 years. Using linear mixed-effects regression models, differences in psychiatric symptoms at baseline and over time between the mutation-positive groups and the controls were compared, as well as between ratings by mutation-positive participants and their companions. Nineteen of 24 psychiatric measures (12 participant ratings and 12 companion ratings) were significantly higher at baseline and showed significant increases longitudinally in the individuals with the Huntington's disease mutation compared with controls. The differences were greatest in comparisons of symptom reports from companions compared with self-reports, especially in participants who were closest to motor diagnosis. The results indicate that psychiatric manifestations develop more often than previously thought in the Huntington's disease prodrome. Symptoms also increase with progression of disease severity. Greater symptom ratings by companions than by mutation-positive participants suggest decreasing awareness in those affected.

Child, family and environmental correlates of children's motor skill proficiency.

PubMed

Barnett, Lisa; Hinkley, Trina; Okely, Anthony D; Salmon, Jo

2013-07-01

To identify factors associated with children's motor skills. Cross-sectional. Australian preschool-aged children were recruited in 2009 as part of a larger study. Parent proxy-report of child factors (age, sex, parent perception of child skill, participation in unstructured and structured activity), self-report of parent factors (confidence in their own skills to support child's activity, parent-child physical activity interaction, parent physical activity) and perceived environmental factors (play space visits, equipment at home) were collected. Moderate to vigorous physical activity (MVPA) (ActiGraph GT1M accelerometer) and motor skills (Test of Gross Motor Development-2) were also assessed. After age adjustment, variables were checked for association with raw object control and locomotor scores. Variables with associations of p<0.20 were entered into two multiple regression models with locomotor/object control as respective outcome variables. Motor skills were assessed for 76 children (42 female), mean [SD] age=4.1 [0.68]; 71 completed parent proxy-report and 53 had valid MVPA data. Child age, swimming lessons, and home equipment were positively associated explaining 20% of locomotor skill variance, but only age was significant (β=0.36, p=0.002). Child age and sex, unstructured activity participation, MVPA%, parent confidence, home equipment (all positively associated), and dance participation (inversely associated) explained 32% object control variance. But only age (β=0.67, p<0.0001), MVPA% (β=0.37, p=0.038) and no dance (β=-0.34, p=0.028) were significant. Motor skill correlates differ according to skill category and are context specific with child level correlates appearing more important. Copyright © 2012 Sports Medicine Australia. Published by Elsevier Ltd. All rights reserved.

The Effect of Balance Training on Postural Control in Patients with Parkinson's Disease Using a Virtual Rehabilitation System.

PubMed

Albiol-Pérez, Sergio; Gil-Gómez, José-Antonio; Muñoz-Tomás, María-Teresa; Gil-Gómez, Hermenegildo; Vial-Escolano, Raquel; Lozano-Quilis, José-Antonio

2017-03-23

Parkinson's disease (PD) is a progressive neurodegenerative disorder characterized by motor clinical alterations among others. Postural problems have serious consequences for patients, not only limiting their daily life but also increasing some risks, like the risk of fall. Inadequate postural control and postural instability is a major problem in PD patients. A Virtual Motor Rehabilitation System (VMR) has been tested in patients with PD in the intervention period. Our purpose was to analyze the evolution of the spatial postural control during the intervention period, to see if there are any changes caused precisely by this intervention. Ten people with PD carried out 15 virtual rehabilitation sessions. We tested a groundbreaking system based on Virtual Motor Rehabilitation in two periods of time (baseline evaluation and final evaluation). In the training sessions, the participants performed a customizable treatment using a low-cost system, the Active Balance Rehabilitation system (ABAR). We stored the pressure performed by the participants every five hundredths of a second, and we analyzed the patients' pressure when they maintained their body on the left, on the right, and in the center in sitting position. Our system was able to measure postural control in every patient in each of the virtual rehabilitation sessions. There are no significant differences in the performance of postural control in any of the positions evaluated throughout the sessions. Moreover, the results show a trend to an improvement in all positions. This improvement is especially remarkable in the left/right positions, which are the most important positions in order to avoid problems such as the risk of fall. With regard to the suitability of the ABAR system, we have found outstanding results in enjoyment, success, clarity, and helpfulness. Although PD is a progressive neurodegenerative disorder, the results demonstrate that patients with PD maintain or even improve their postural control in all positions. We think that the main factor influencing these results is that patients use more of their available cognitive processing to improve their postural control. The ABAR system allows us to make this assumption because the system requires the continuous attention of patients, promoting cognitive processing.

The Influence of Motor Impairment on Autonomic Heart Rate Modulation among Children with Cerebral Palsy

ERIC Educational Resources Information Center

Zamuner, Antonio Roberto; Cunha, Andrea Baraldi; da Silva, Ester; Negri, Ana Paola; Tudella, Eloisa; Moreno, Marlene Aparecida

2011-01-01

The study of heart rate variability is an important tool for a noninvasive evaluation of the neurocardiac integrity. The present study aims to evaluate the autonomic heart rate modulation in supine and standing positions in 12 children diagnosed with cerebral palsy and 16 children with typical motor development (control group), as well as to…

Influence of automatic word reading on motor control.

PubMed

Gentilucci, M; Gangitano, M

1998-02-01

We investigated the possible influence of automatic word reading on processes of visuo-motor transformation. Six subjects were required to reach and grasp a rod on whose visible face the word 'long' or 'short' was printed. Word reading was not explicitly required. In order to induce subjects to visually analyse the object trial by trial, object position and size were randomly varied during the experimental session. The kinematics of the reaching component was affected by word presentation. Peak acceleration, peak velocity, and peak deceleration of arm were higher for the word 'long' with respect to the word 'short'. That is, during the initial movement phase subjects automatically associated the meaning of the word with the distance to be covered and activated a motor program for a farther and/or nearer object position. During the final movement phase, subjects modified the braking forces (deceleration) in order to correct the initial error. No effect of the words on the grasp component was observed. These results suggest a possible influence of cognitive functions on motor control and seem to contrast with the notion that the analyses executed in the ventral and dorsal cortical visual streams are different and independent.

A window of opportunity? Motor skills and perceptions of competence of children in Kindergarten

PubMed Central

2012-01-01

Background Our aim was to examine the relationship between motor skill proficiency and perceptions of competence of children in their first year of school. We also explored gender-based differences. Findings Participants were 260 kindergarten children (mean age = 5y 9 m; boys = 52%) from eight schools; representing 78% of eligible children in those schools. Motor skills were measured using the Test of Gross Motor Development-2 and perceptions of physical competence were assessed using the Pictorial Scale of Perceived Competence and Social Acceptance for Young Children. Motor skill scores were generally low (percentile ranks ranged from 16 - 24) but perceptions of physical competence were positive (boys = 18.1/24.0, girls = 19.5/24.0). A MANOVA showed a significant overall effect for gender (Wilk's lambda = .84 with F (3, 254) = 15.84, p < 0.001) and univariate F tests were significant for all outcome variables. The relationship between object control skills and perceptions of physical competence among girls was not significant; however all other correlations were modest but significant. Conclusions Although motor skill levels were quite low, the children generally held positive perceptions of their physical competence. These positive perceptions provide a window of opportunity for fostering skillfulness. The modest relationships between perceptions of competence and motor skill proficiency suggest that the children are beginning to make self-judgments at a young age. Accordingly, opportunities for children to become and feel physically competent need to occur early in their school or preschool life. PMID:22420534

A window of opportunity? Motor skills and perceptions of competence of children in kindergarten.

PubMed

LeGear, Mark; Greyling, Lizette; Sloan, Erin; Bell, Rick I; Williams, Buffy-Lynne; Naylor, Patti-Jean; Temple, Viviene A

2012-03-15

Our aim was to examine the relationship between motor skill proficiency and perceptions of competence of children in their first year of school. We also explored gender-based differences. Participants were 260 kindergarten children (mean age = 5y 9 m; boys = 52%) from eight schools; representing 78% of eligible children in those schools. Motor skills were measured using the Test of Gross Motor Development-2 and perceptions of physical competence were assessed using the Pictorial Scale of Perceived Competence and Social Acceptance for Young Children. Motor skill scores were generally low (percentile ranks ranged from 16 - 24) but perceptions of physical competence were positive (boys = 18.1/24.0, girls = 19.5/24.0). A MANOVA showed a significant overall effect for gender (Wilk's lambda = .84 with F (3, 254) = 15.84, p < 0.001) and univariate F tests were significant for all outcome variables. The relationship between object control skills and perceptions of physical competence among girls was not significant; however all other correlations were modest but significant. Although motor skill levels were quite low, the children generally held positive perceptions of their physical competence. These positive perceptions provide a window of opportunity for fostering skillfulness. The modest relationships between perceptions of competence and motor skill proficiency suggest that the children are beginning to make self-judgments at a young age. Accordingly, opportunities for children to become and feel physically competent need to occur early in their school or preschool life.

Advanced Motor Control Test Facility for NASA GRC Flywheel Energy Storage System Technology Development Unit

NASA Technical Reports Server (NTRS)

Kenny, Barbara H.; Kascak, Peter E.; Hofmann, Heath; Mackin, Michael; Santiago, Walter; Jansen, Ralph

2001-01-01

This paper describes the flywheel test facility developed at the NASA Glenn Research Center with particular emphasis on the motor drive components and control. A four-pole permanent magnet synchronous machine, suspended on magnetic bearings, is controlled with a field orientation algorithm. A discussion of the estimation of the rotor position and speed from a "once around signal" is given. The elimination of small dc currents by using a concurrent stationary frame current regulator is discussed and demonstrated. Initial experimental results are presented showing the successful operation and control of the unit at speeds up to 20,000 rpm.

Altered cortico-basal ganglia motor pathways reflect reduced volitional motor activity in schizophrenia.

PubMed

Bracht, Tobias; Schnell, Susanne; Federspiel, Andrea; Razavi, Nadja; Horn, Helge; Strik, Werner; Wiest, Roland; Dierks, Thomas; Müller, Thomas J; Walther, Sebastian

2013-02-01

Little is known about the neurobiology of hypokinesia in schizophrenia. Therefore, the aim of this study was to investigate alterations of white matter motor pathways in schizophrenia and to relate our findings to objectively measured motor activity. We examined 21 schizophrenia patients and 21 healthy controls using diffusion tensor imaging and actigraphy. We applied a probabilistic fibre tracking approach to investigate pathways connecting the dorsolateral prefrontal cortex (dlPFC), the rostral anterior cingulate cortex (rACC), the pre-supplementary motor area (pre-SMA), the supplementary motor area proper (SMA-proper), the primary motor cortex (M1), the caudate nucleus, the striatum, the pallidum and the thalamus. Schizophrenia patients had lower activity levels than controls. In schizophrenia we found higher probability indices forming part of a bundle of interest (PIBI) in pathways connecting rACC, pre-SMA and SMA-proper as well as in pathways connecting M1 and pre-SMA with caudate nucleus, putamen, pallidum and thalamus and a reduced spatial extension of motor pathways in schizophrenia. There was a positive correlation between PIBI and activity level in the right pre-SMA-pallidum and the left M1-thalamus connection in healthy controls, and in the left pre-SMA-SMA-proper pathway in schizophrenia. Our results point to reduced volitional motor activity and altered motor pathway organisation in schizophrenia. The identified associations between the amount of movement and structural connectivity of motor pathways suggest dysfunction of cortico-basal ganglia pathways in the pathophysiology of hypokinesia in schizophrenia. Schizophrenia patients may use cortical pathways involving the supplementary motor area to compensate for basal ganglia dysfunction. Copyright © 2012 Elsevier B.V. All rights reserved.

MDMA (Ecstasy) association with impaired fMRI BOLD thalamic coherence and functional connectivity*

PubMed Central

Salomon, Ronald M.; Karageorgiou, John; Dietrich, Mary S.; McLellan, Jessica Y.; Charboneau, Evonne J.; Blackford, Jennifer U.; Cowan, Ronald L.

2011-01-01

Background MDMA exposure is associated with chronic serotonergic dysfunction in preclinical and clinical studies. A recent functional magnetic resonance imaging (fMRI) comparison of past MDMA users to non-MDMA-using controls revealed increased spatial extent and amplitude of activation in the supplementary motor area during motor tasks (Karageorgiou et al., 2009). Blood oxygenation level dependent (BOLD) data from that study were reanalyzed for intraregional coherence and for inter-regional temporal correlations between time series, as functional connectivity. Methods Fourteen MDMA users and ten controls reporting similar non-MDMA abuse performed finger taps during fMRI. Fourteen motor pathway regions plus a pontine raphé region were examined. Coherence was expressed as percent of voxels positively correlated with an intraregional index voxel. Functional connectivity was determined using wavelet correlations. Results Intraregional thalamic coherence was significantly diminished at low frequencies in MDMA users compared to controls (p=0.009). Inter-regional functional connectivity was significantly weaker for right thalamo - left caudate (p=0.002), right thalamo - left thalamus (p=0.007), right caudate - right postcentral (p=0.007) and right supplementary motor area - right precentral gyrus (p=0.011) region pairs compared to controls. When stratified by lifetime exposure, significant negative associations were observed between cumulative MDMA use and functional connectivity in seven other region-pairs, while only one region-pair showed a positive association. Conclusions Reported prior MDMA use was associated with deficits in BOLD intraregional coherence and inter-regional functional connectivity, even among functionally robust pathways involving motor regions. This suggests that MDMA use is associated with long-lasting effects on brain neurophysiology beyond the cognitive domain. PMID:21807471

Investigation of mechanical field weakening of axial flux permanent magnet motor

NASA Astrophysics Data System (ADS)

Syaifuddin Mohd, M.; Aziz, A. Rashid A.; Syafiq Mohd, M.

2015-12-01

An investigation of axial flux permanent magnet motor (AFPM) characteristics was conducted with a proposed mechanical field weakening control mechanisms (by means of stator-rotor force manipulation) on the motor through modeling and experimentation. By varying the air gap between at least two bistable positions, the peak torque and top speed of the motor can be extended. The motor high efficiency region can also be extended to cover greater part of the motor operating points. An analytical model of the motor had been developed to study the correlation between the total attraction force (between the rotor and the stator) and the operating parameters of the motor. The test results shows that the motor output complies with the prediction of the research hypothesis and it is likely that a spring locking mechanism can be built to dynamically adjust the air gap of the motor to increase the operating range and could be applied in electric drivetrain applications to improve overall efficiency of electric and hybrid electric vehicles.

A randomised trial into the effect of an isolated hip abductor strengthening programme and a functional motor control programme on knee kinematics and hip muscle strength.

PubMed

Palmer, Kathryn; Hebron, Clair; Williams, Jonathan M

2015-05-03

Dynamic knee valgus and internal femoral rotation are proposed to be contributory risk factors for patellofemoral pain and anterior cruciate ligament injuries. Multimodal interventions including hip abductor strengthening or functional motor control programmes have a positive impact of pain, however their effect on knee kinematics and muscle strength is less clear. The aim of this study was to examine the effect of isolated hip abductor strengthening and a functional motor control exercise on knee kinematics and hip abductor strength. This prospective, randomised, repeated measures design included 29 asymptomatic volunteers presenting with increase knee valgus and femoral internal rotation. Participants completed either isolated hip abductor strengthening or a functional motor control exercise for 5 weeks. Knee kinematics were measured using inertial sensors during 2 functional activities and hip abductor strength measured using a load cell during isometric hip abduction. There were no significant differences in dynamic knee valgus and internal rotation following the isolated hip abductor or functional motor control intervention, and no significant differences between the groups for knee angles. Despite this, the actual magnitude of reduction in valgus was 10° and 5° for the functional motor control group and strengthening group respectively. The actual magnitude of reduction in internal rotation was 9° and 18° for the functional motor control group and strengthening group respectively. Therefore there was a tendency towards clinically significant improvements in knee kinematics in both exercise groups. A statistically significant improvement in hip abductor strength was evident for the functional motor control group (27% increase; p = 0.008) and strengthening group (35% increase; p = 0.009) with no significant difference between the groups being identified (p = 0.475). Isolated hip strengthening and functional motor control exercises resulted in non-statistically significant changes in knee kinematics, however there was a clear trend towards clinically meaningful reductions in valgus and internal rotation. Both groups demonstrated similar significant gains in hip abductor strength suggesting either approach could be used to strengthen the hip abductors.

From the motor cortex to the movement and back again.

PubMed

Teka, Wondimu W; Hamade, Khaldoun C; Barnett, William H; Kim, Taegyo; Markin, Sergey N; Rybak, Ilya A; Molkov, Yaroslav I

2017-01-01

The motor cortex controls motor behaviors by generating movement-specific signals and transmitting them through spinal cord circuits and motoneurons to the muscles. Precise and well-coordinated muscle activation patterns are necessary for accurate movement execution. Therefore, the activity of cortical neurons should correlate with movement parameters. To investigate the specifics of such correlations among activities of the motor cortex, spinal cord network and muscles, we developed a model for neural control of goal-directed reaching movements that simulates the entire pathway from the motor cortex through spinal cord circuits to the muscles controlling arm movements. In this model, the arm consists of two joints (shoulder and elbow), whose movements are actuated by six muscles (4 single-joint and 2 double-joint flexors and extensors). The muscles provide afferent feedback to the spinal cord circuits. Cortical neurons are defined as cortical "controllers" that solve an inverse problem based on a proposed straight-line trajectory to a target position and a predefined bell-shaped velocity profile. Thus, the controller generates a motor program that produces a task-specific activation of low-level spinal circuits that in turn induce the muscle activation realizing the intended reaching movement. Using the model, we describe the mechanisms of correlation between cortical and motoneuronal activities and movement direction and other movement parameters. We show that the directional modulation of neuronal activity in the motor cortex and the spinal cord may result from direction-specific dynamics of muscle lengths. Our model suggests that directional modulation first emerges at the level of muscle forces, augments at the motoneuron level, and further increases at the level of the motor cortex due to the dependence of frictional forces in the joints, contractility of the muscles and afferent feedback on muscle lengths and/or velocities.

Schema generation in recurrent neural nets for intercepting a moving target.

PubMed

Fleischer, Andreas G

2010-06-01

The grasping of a moving object requires the development of a motor strategy to anticipate the trajectory of the target and to compute an optimal course of interception. During the performance of perception-action cycles, a preprogrammed prototypical movement trajectory, a motor schema, may highly reduce the control load. Subjects were asked to hit a target that was moving along a circular path by means of a cursor. Randomized initial target positions and velocities were detected in the periphery of the eyes, resulting in a saccade toward the target. Even when the target disappeared, the eyes followed the target's anticipated course. The Gestalt of the trajectories was dependent on target velocity. The prediction capability of the motor schema was investigated by varying the visibility range of cursor and target. Motor schemata were determined to be of limited precision, and therefore visual feedback was continuously required to intercept the moving target. To intercept a target, the motor schema caused the hand to aim ahead and to adapt to the target trajectory. The control of cursor velocity determined the point of interception. From a modeling point of view, a neural network was developed that allowed the implementation of a motor schema interacting with feedback control in an iterative manner. The neural net of the Wilson type consists of an excitation-diffusion layer allowing the generation of a moving bubble. This activation bubble runs down an eye-centered motor schema and causes a planar arm model to move toward the target. A bubble provides local integration and straightening of the trajectory during repetitive moves. The schema adapts to task demands by learning and serves as forward controller. On the basis of these model considerations the principal problem of embedding motor schemata in generalized control strategies is discussed.

Electric vehicle drive train with contactor protection

DOEpatents

Konrad, Charles E.; Benson, Ralph A.

1994-01-01

A drive train for an electric vehicle includes a traction battery, a power drive circuit, a main contactor for connecting and disconnecting the traction battery and the power drive circuit, a voltage detector across contacts of the main contactor, and a controller for controlling the main contactor to prevent movement of its contacts to the closed position when the voltage across the contacts exceeds a predetermined threshold, to thereby protect the contacts of the contactor. The power drive circuit includes an electric traction motor and a DC-to-AC inverter with a capacitive input filter. The controller also inhibits the power drive circuit from driving the motor and thereby discharging the input capacitor if the contacts are inadvertently opened during motoring. A precharging contactor is controlled to charge the input filter capacitor prior to closing the main contactor to further protect the contacts of the main contactor.

Electric vehicle drive train with contactor protection

DOEpatents

Konrad, C.E.; Benson, R.A.

1994-11-29

A drive train for an electric vehicle includes a traction battery, a power drive circuit, a main contactor for connecting and disconnecting the traction battery and the power drive circuit, a voltage detector across contacts of the main contactor, and a controller for controlling the main contactor to prevent movement of its contacts to the closed position when the voltage across the contacts exceeds a predetermined threshold, to thereby protect the contacts of the contactor. The power drive circuit includes an electric traction motor and a DC-to-AC inverter with a capacitive input filter. The controller also inhibits the power drive circuit from driving the motor and thereby discharging the input capacitor if the contacts are inadvertently opened during motoring. A precharging contactor is controlled to charge the input filter capacitor prior to closing the main contactor to further protect the contacts of the main contactor. 3 figures.

Multiple Language Use Influences Oculomotor Task Performance: Neurophysiological Evidence of a Shared Substrate between Language and Motor Control

PubMed Central

Heidlmayr, Karin; Doré-Mazars, Karine; Aparicio, Xavier; Isel, Frédéric

2016-01-01

In the present electroencephalographical study, we asked to which extent executive control processes are shared by both the language and motor domain. The rationale was to examine whether executive control processes whose efficiency is reinforced by the frequent use of a second language can lead to a benefit in the control of eye movements, i.e. a non-linguistic activity. For this purpose, we administrated to 19 highly proficient late French-German bilingual participants and to a control group of 20 French monolingual participants an antisaccade task, i.e. a specific motor task involving control. In this task, an automatic saccade has to be suppressed while a voluntary eye movement in the opposite direction has to be carried out. Here, our main hypothesis is that an advantage in the antisaccade task should be observed in the bilinguals if some properties of the control processes are shared between linguistic and motor domains. ERP data revealed clear differences between bilinguals and monolinguals. Critically, we showed an increased N2 effect size in bilinguals, thought to reflect better efficiency to monitor conflict, combined with reduced effect sizes on markers reflecting inhibitory control, i.e. cue-locked positivity, the target-locked P3 and the saccade-locked presaccadic positivity (PSP). Moreover, effective connectivity analyses (dynamic causal modelling; DCM) on the neuronal source level indicated that bilinguals rely more strongly on ACC-driven control while monolinguals rely on PFC-driven control. Taken together, our combined ERP and effective connectivity findings may reflect a dynamic interplay between strengthened conflict monitoring, associated with subsequently more efficient inhibition in bilinguals. Finally, L2 proficiency and immersion experience constitute relevant factors of the language background that predict efficiency of inhibition. To conclude, the present study provided ERP and effective connectivity evidence for domain-general executive control involvement in handling multiple language use, leading to a control advantage in bilingualism. PMID:27832065

Once more on the equilibrium-point hypothesis (lambda model) for motor control.

PubMed

Feldman, A G

1986-03-01

The equilibrium control hypothesis (lambda model) is considered with special reference to the following concepts: (a) the length-force invariant characteristic (IC) of the muscle together with central and reflex systems subserving its activity; (b) the tonic stretch reflex threshold (lambda) as an independent measure of central commands descending to alpha and gamma motoneurons; (c) the equilibrium point, defined in terms of lambda, IC and static load characteristics, which is associated with the notion that posture and movement are controlled by a single mechanism; and (d) the muscle activation area (a reformulation of the "size principle")--the area of kinematic and command variables in which a rank-ordered recruitment of motor units takes place. The model is used for the interpretation of various motor phenomena, particularly electromyographic patterns. The stretch reflex in the lambda model has no mechanism to follow-up a certain muscle length prescribed by central commands. Rather, its task is to bring the system to an equilibrium, load-dependent position. Another currently popular version defines the equilibrium point concept in terms of alpha motoneuron activity alone (the alpha model). Although the model imitates (as does the lambda model) spring-like properties of motor performance, it nevertheless is inconsistent with a substantial data base on intact motor control. An analysis of alpha models, including their treatment of motor performance in deafferented animals, reveals that they suffer from grave shortcomings. It is concluded that parameterization of the stretch reflex is a basis for intact motor control. Muscle deafferentation impairs this graceful mechanism though it does not remove the possibility of movement.

Versatile, low-cost, computer-controlled, sample positioning system for vacuum applications

NASA Technical Reports Server (NTRS)

Vargas-Aburto, Carlos; Liff, Dale R.

1991-01-01

A versatile, low-cost, easy to implement, microprocessor-based motorized positioning system (MPS) suitable for accurate sample manipulation in a Second Ion Mass Spectrometry (SIMS) system, and for other ultra-high vacuum (UHV) applications was designed and built at NASA LeRC. The system can be operated manually or under computer control. In the latter case, local, as well as remote operation is possible via the IEEE-488 bus. The position of the sample can be controlled in three linear orthogonal and one angular coordinates.

Basal Ganglia Contributions to Motor Control: A Vigorous Tutor

PubMed Central

Turner, Robert S.; Desmurget, Michel

2010-01-01

SUMMARY OF RECENT ADVANCES The roles of the basal ganglia (BG) in motor control are much debated. Many influential hypotheses have grown from studies in which output signals of the BG were not blocked, but pathologically-disturbed. A weakness of that approach is that the resulting behavioral impairments reflect degraded function of the BG per se mixed together with secondary dysfunctions of BG-recipient brain areas. To overcome that limitation, several studies have focused on the main skeletomotor output region of the BG, the globus pallidus internus (GPi). Using single-cell recording and inactivation protocols these studies provide consistent support for two hypotheses: the BG modulates movement performance (“vigor”) according to motivational factors (i.e., context-specific cost/reward functions) and the BG contributes to motor learning. Results from these studies also add to the problems that confront theories positing that the BG selects movement, inhibits unwanted motor responses, corrects errors online, or stores and produces well-learned motor skills. PMID:20850966

The MYO6 interactome reveals adaptor complexes coordinating early endosome and cytoskeletal dynamics.

PubMed

O'Loughlin, Thomas; Masters, Thomas A; Buss, Folma

2018-04-01

The intracellular functions of myosin motors requires a number of adaptor molecules, which control cargo attachment, but also fine-tune motor activity in time and space. These motor-adaptor-cargo interactions are often weak, transient or highly regulated. To overcome these problems, we use a proximity labelling-based proteomics strategy to map the interactome of the unique minus end-directed actin motor MYO6. Detailed biochemical and functional analysis identified several distinct MYO6-adaptor modules including two complexes containing RhoGEFs: the LIFT (LARG-Induced F-actin for Tethering) complex that controls endosome positioning and motility through RHO-driven actin polymerisation; and the DISP (DOCK7-Induced Septin disPlacement) complex, a novel regulator of the septin cytoskeleton. These complexes emphasise the role of MYO6 in coordinating endosome dynamics and cytoskeletal architecture. This study provides the first in vivo interactome of a myosin motor protein and highlights the power of this approach in uncovering dynamic and functionally diverse myosin motor complexes. © 2018 The Authors. Published under the terms of the CC BY 4.0 license.

Controlled clockwise and anticlockwise rotational switching of a molecular motor.

PubMed

Perera, U G E; Ample, F; Kersell, H; Zhang, Y; Vives, G; Echeverria, J; Grisolia, M; Rapenne, G; Joachim, C; Hla, S-W

2013-01-01

The design of artificial molecular machines often takes inspiration from macroscopic machines. However, the parallels between the two systems are often only superficial, because most molecular machines are governed by quantum processes. Previously, rotary molecular motors powered by light and chemical energy have been developed. In electrically driven motors, tunnelling electrons from the tip of a scanning tunnelling microscope have been used to drive the rotation of a simple rotor in a single direction and to move a four-wheeled molecule across a surface. Here, we show that a stand-alone molecular motor adsorbed on a gold surface can be made to rotate in a clockwise or anticlockwise direction by selective inelastic electron tunnelling through different subunits of the motor. Our motor is composed of a tripodal stator for vertical positioning, a five-arm rotor for controlled rotations, and a ruthenium atomic ball bearing connecting the static and rotational parts. The directional rotation arises from sawtooth-like rotational potentials, which are solely determined by the internal molecular structure and are independent of the surface adsorption site.

Special-Purpose High-Torque Permanent-Magnet Motors

NASA Technical Reports Server (NTRS)

Doane, George B., III

1995-01-01

Permanent-magnet brushless motors that must provide high commanded torques and satisfy unusual heat-removal requirement are developed. Intended for use as thrust-vector-control actuators in large rocket engines. Techniques and concepts used to design improved motors for special terrestrial applications. Conceptual motor design calls for use of rotor containing latest high-energy-product rare-earth permanent magnets so that motor produces required torque while drawing smallest possible currents from power supply. Torque generated by electromagnetic interaction between stator and permanent magnets in rotor when associated electronic circuits applied appropriately temporally and spatially phased currents to stator windings. Phase relationships needed to produce commanded torque computed in response to torque command and to electronically sensed angular position of rotor relative to stator.

Control of acceleration during sudden ankle supination in people with unstable ankles.

PubMed

Vaes, P; Van Gheluwe, B; Duquet, W

2001-12-01

Comparative study of differences in functional control during ankle supination in the standing position in matched stable and unstable ankles (ex post facto design). To document acceleration and deceleration during ankle supination in the standing position and to determine differences in control of supination perturbation between stable and unstable ankles. Repetitive ankle sprain can be explained by mechanical instability only in a minority of cases. Exercise therapy for ankle instability is based on clinical experience. Joint stability has not yet been measured in dynamic situations that are similar to the situations leading to a traumatic sprain. The process of motor control during accelerating ankle supination has not been adequately addressed in the literature. Patients with complaints of ankle instability (16 unstable ankles) and nonimpaired controls (18 stable ankles) were examined (N = 17 subjects, 10 women and 7 men). The average age was 23.7 +/- 5.0 years (range, 20-41 y). Control of supination speed was studied during 50 degrees of ankle supination in the standing position using accelerometry (total supination time and deceleration times) and electromyography (latency time). Timing of motor response was estimated by measuring electromechanical delay. The presence of an early, sudden, and presumably passive slowdown of ankle supination in the standing position was observed. Peroneal muscle motor response was detected before the end of the supination. Unstable ankles showed significantly shorter total supination time (109.3 ms versus 124.1 ms) and significantly longer latency time (58.9 ms versus 47.7 ms). Functional control in unstable ankles is less efficient in decelerating the ankle during the supination test procedures used in our study. Our conclusions are based on significantly faster total supination and significantly slower electromyogram response in unstable ankles. The results support the hypothesis that both decelerating the total supination movement during balance disturbance and enhancing the speed of evertor activation through exercise can be specific therapy goals.

Neural control of finger movement via intracortical brain-machine interface

NASA Astrophysics Data System (ADS)

Irwin, Z. T.; Schroeder, K. E.; Vu, P. P.; Bullard, A. J.; Tat, D. M.; Nu, C. S.; Vaskov, A.; Nason, S. R.; Thompson, D. E.; Bentley, J. N.; Patil, P. G.; Chestek, C. A.

2017-12-01

Objective. Intracortical brain-machine interfaces (BMIs) are a promising source of prosthesis control signals for individuals with severe motor disabilities. Previous BMI studies have primarily focused on predicting and controlling whole-arm movements; precise control of hand kinematics, however, has not been fully demonstrated. Here, we investigate the continuous decoding of precise finger movements in rhesus macaques. Approach. In order to elicit precise and repeatable finger movements, we have developed a novel behavioral task paradigm which requires the subject to acquire virtual fingertip position targets. In the physical control condition, four rhesus macaques performed this task by moving all four fingers together in order to acquire a single target. This movement was equivalent to controlling the aperture of a power grasp. During this task performance, we recorded neural spikes from intracortical electrode arrays in primary motor cortex. Main results. Using a standard Kalman filter, we could reconstruct continuous finger movement offline with an average correlation of ρ  =  0.78 between actual and predicted position across four rhesus macaques. For two of the monkeys, this movement prediction was performed in real-time to enable direct brain control of the virtual hand. Compared to physical control, neural control performance was slightly degraded; however, the monkeys were still able to successfully perform the task with an average target acquisition rate of 83.1%. The monkeys’ ability to arbitrarily specify fingertip position was also quantified using an information throughput metric. During brain control task performance, the monkeys achieved an average 1.01 bits s-1 throughput, similar to that achieved in previous studies which decoded upper-arm movements to control computer cursors using a standard Kalman filter. Significance. This is, to our knowledge, the first demonstration of brain control of finger-level fine motor skills. We believe that these results represent an important step towards full and dexterous control of neural prosthetic devices.

Dimensional reduction in sensorimotor systems: A framework for understanding muscle coordination of posture

PubMed Central

Ting, Lena H.

2014-01-01

The simple act of standing up is an important and essential motor behavior that most humans and animals achieve with ease. Yet, maintaining standing balance involves complex sensorimotor transformations that must continually integrate a large array of sensory inputs and coordinate multiple motor outputs to muscles throughout the body. Multiple, redundant local sensory signals are integrated to form an estimate of a few global, task-level variables important to postural control, such as body center of mass position and body orientation with respect to Earth-vertical. Evidence suggests that a limited set of muscle synergies, reflecting preferential sets of muscle activation patterns, are used to move task variables such as center of mass position in a predictable direction following a postural perturbations. We propose a hierarchal feedback control system that allows the nervous system the simplicity of performing goal-directed computations in task-variable space, while maintaining the robustness afforded by redundant sensory and motor systems. We predict that modulation of postural actions occurs in task-variable space, and in the associated transformations between the low-dimensional task-space and high-dimensional sensor and muscle spaces. Development of neuromechanical models that reflect these neural transformations between low and high-dimensional representations will reveal the organizational principles and constraints underlying sensorimotor transformations for balance control, and perhaps motor tasks in general. This framework and accompanying computational models could be used to formulate specific hypotheses about how specific sensory inputs and motor outputs are generated and altered following neural injury, sensory loss, or rehabilitation. PMID:17925254

Magnetically Suspended Linear Pulse Motor for Semiconductor Wafer Transfer in Vacuum Chamber

NASA Technical Reports Server (NTRS)

Moriyama, Shin-Ichi; Hiraki, Naoji; Watanabe, Katsuhide; Kanemitsu, Yoichi

1996-01-01

This paper describes a magnetically suspended linear pulse motor for a semiconductor wafer transfer robot in a vacuum chamber. The motor can drive a wafer transfer arm horizontally without mechanical contact. In the construction of the magnetic suspension system, four pairs of linear magnetic bearings for the lift control are used for the guidance control as well. This approach allows us to make the whole motor compact in size and light in weight. The tested motor consists of a double-sided stator and a transfer arm with a width of 50 mm and a total length of 700 mm. The arm, like a ladder in shape, is designed as the floating element with a tooth width of 4 mm (a tooth pitch of 8 mm). The mover mass is limited to about 1.6 kg by adopting such an arm structure, and the ratio of thrust to mover mass reaches to 3.2 N/kg under a broad air gap (1 mm) between the stator teeth and the mover teeth. The performance testing was carried out with a transfer distance less than 450 mm and a transfer speed less than 560 mm/s. The attitude of the arm was well controlled by the linear magnetic bearings with a combined use, and consequently the repeatability on the positioning of the arm reached to about 2 micron. In addition, the positioning accuracy was improved up to about 30 micron through a compensation of the 128-step wave current which was used for the micro-step drive with a step increment of 62.5 micron.

Brain correlates of stuttering and syllable production. A PET performance-correlation analysis.

PubMed

Fox, P T; Ingham, R J; Ingham, J C; Zamarripa, F; Xiong, J H; Lancaster, J L

2000-10-01

To distinguish the neural systems of normal speech from those of stuttering, PET images of brain blood flow were probed (correlated voxel-wise) with per-trial speech-behaviour scores obtained during PET imaging. Two cohorts were studied: 10 right-handed men who stuttered and 10 right-handed, age- and sex-matched non-stuttering controls. Ninety PET blood flow images were obtained in each cohort (nine per subject as three trials of each of three conditions) from which r-value statistical parametric images (SPI¿r¿) were computed. Brain correlates of stutter rate and syllable rate showed striking differences in both laterality and sign (i.e. positive or negative correlations). Stutter-rate correlates, both positive and negative, were strongly lateralized to the right cerebral and left cerebellar hemispheres. Syllable correlates in both cohorts were bilateral, with a bias towards the left cerebral and right cerebellar hemispheres, in keeping with the left-cerebral dominance for language and motor skills typical of right-handed subjects. For both stutters and syllables, the brain regions that were correlated positively were those of speech production: the mouth representation in the primary motor cortex; the supplementary motor area; the inferior lateral premotor cortex (Broca's area); the anterior insula; and the cerebellum. The principal difference between syllable-rate and stutter-rate positive correlates was hemispheric laterality. A notable exception to this rule was that cerebellar positive correlates for syllable rate were far more extensive in the stuttering cohort than in the control cohort, which suggests a specific role for the cerebellum in enabling fluent utterances in persons who stutter. Stutters were negatively correlated with right-cerebral regions (superior and middle temporal gyrus) associated with auditory perception and processing, regions which were positively correlated with syllables in both the stuttering and control cohorts. These findings support long-held theories that the brain correlates of stuttering are the speech-motor regions of the non-dominant (right) cerebral hemisphere, and extend this theory to include the non-dominant (left) cerebellar hemisphere. The present findings also indicate a specific role of the cerebellum in the fluent utterances of persons who stutter. Support is also offered for theories that implicate auditory processing problems in stuttering.

Miniature Rocket Motor for Aircraft Stall/Spin Recovery

NASA Technical Reports Server (NTRS)

Lucy, M. H.

1985-01-01

Design accommodates different thrust levels and burn times with minimum weight. Different thrust levels achieved by substituting other propellants of different diameter and burn-rate characteristics. Different burn times achieved by simply changing length of grain/tube assembly. Grain bond material also acts as insulator for fiberglass tube. Rocket motor attached to aircraft model and ignited from radio-controlled 4.8-volt power source. Device provides more than twice energy available in previous designs at only 60 percent of weight. Rocket motor used to identify energy requirements for aircraft stall/spin recovery positive propulsion system.

High Precision Piezoelectric Linear Motors for Operations at Cryogenic Temperatures and Vacuum

NASA Technical Reports Server (NTRS)

Wong, D.; Carman, G.; Stam, M.; Bar-Cohen, Y.; Sen, A.; Henry, P.; Bearman, G.; Moacanin, J.

1995-01-01

The Jet Propulsion Laboratory evaluated the use of an electromechanical device for optically positioning a mirror system during the pre-project phase of the Pluto-Fast-Flyby (PFF) mission. The device under consideration was a piezoelectric driven linear motor functionally dependent upon a time varying electric field which induces displacements ranging from submicrons to millimeters with positioning accuracy within nanometers. Using a control package, the mirror system provides image motion compensation and mosaicking capabilities. While this device offers unique advantages, there were concerns pertaining to its operational capabilities for the PFF mission. The issues include irradiation effects and thermal concerns. A literature study indicated that irradiation effects will not significantly impact the linear motor's operational characteristics. On the other hand, thermal concerns necessitated an in depth study.

Faster but Less Careful Prehension in Presence of High, Rather than Low, Social Status Attendees

PubMed Central

Rigutti, Sara; Piccoli, Valentina; Sommacal, Elena; Carnaghi, Andrea

2016-01-01

Ample evidence attests that social intention, elicited through gestures explicitly signaling a request of communicative intention, affects the patterning of hand movement kinematics. The current study goes beyond the effect of social intention and addresses whether the same action of reaching to grasp an object for placing it in an end target position within or without a monitoring attendee’s peripersonal space, can be moulded by pure social factors in general, and by social facilitation in particular. A motion tracking system (Optotrak Certus) was used to record motor acts. We carefully avoided the usage of communicative intention by keeping constant both the visual information and the positional uncertainty of the end target position, while we systematically varied the social status of the attendee (a high, or a low social status) in separated blocks. Only thirty acts performed in the presence of a different social status attendee, revealed a significant change of kinematic parameterization of hand movement, independently of the attendee's distance. The amplitude of peak velocity reached by the hand during the reach-to-grasp and the lift-to-place phase of the movement was larger in the high rather than in the low social status condition. By contrast, the deceleration time of the reach-to-grasp phase and the maximum grasp aperture was smaller in the high rather than in the low social status condition. These results indicated that the hand movement was faster but less carefully shaped in presence of a high, but not of a low social status attendee. This kinematic patterning suggests that being monitored by a high rather than a low social status attendee might lead participants to experience evaluation apprehension that informs the control of motor execution. Motor execution would rely more on feedforward motor control in the presence of a high social status human attendee, vs. feedback motor control, in the presence of a low social status attendee. PMID:27351978

Faster but Less Careful Prehension in Presence of High, Rather than Low, Social Status Attendees.

PubMed

Fantoni, Carlo; Rigutti, Sara; Piccoli, Valentina; Sommacal, Elena; Carnaghi, Andrea

2016-01-01

Ample evidence attests that social intention, elicited through gestures explicitly signaling a request of communicative intention, affects the patterning of hand movement kinematics. The current study goes beyond the effect of social intention and addresses whether the same action of reaching to grasp an object for placing it in an end target position within or without a monitoring attendee's peripersonal space, can be moulded by pure social factors in general, and by social facilitation in particular. A motion tracking system (Optotrak Certus) was used to record motor acts. We carefully avoided the usage of communicative intention by keeping constant both the visual information and the positional uncertainty of the end target position, while we systematically varied the social status of the attendee (a high, or a low social status) in separated blocks. Only thirty acts performed in the presence of a different social status attendee, revealed a significant change of kinematic parameterization of hand movement, independently of the attendee's distance. The amplitude of peak velocity reached by the hand during the reach-to-grasp and the lift-to-place phase of the movement was larger in the high rather than in the low social status condition. By contrast, the deceleration time of the reach-to-grasp phase and the maximum grasp aperture was smaller in the high rather than in the low social status condition. These results indicated that the hand movement was faster but less carefully shaped in presence of a high, but not of a low social status attendee. This kinematic patterning suggests that being monitored by a high rather than a low social status attendee might lead participants to experience evaluation apprehension that informs the control of motor execution. Motor execution would rely more on feedforward motor control in the presence of a high social status human attendee, vs. feedback motor control, in the presence of a low social status attendee.

Adaptive nonsingular terminal sliding mode controller for micro/nanopositioning systems driven by linear piezoelectric ceramic motors.

PubMed

Safa, Alireza; Abdolmalaki, Reza Yazdanpanah; Shafiee, Saeed; Sadeghi, Behzad

2018-06-01

In the field of nanotechnology, there is a growing demand to provide precision control and manipulation of devices with the ability to interact with complex and unstructured environments at micro/nano-scale. As a result, ultrahigh-precision positioning stages have been turned into a key requirement of nanotechnology. In this paper, linear piezoelectric ceramic motors (LPCMs) are adopted to drive micro/nanopositioning stages since they have the ability to achieve high precision in addition to being versatile to be implemented over a wide range of applications. In the establishment of a control scheme for such manipulation systems, the presence of friction, parameter uncertainties, and external disturbances prevent the systems from providing the desired positioning accuracy. The work in this paper focuses on the development of a control framework that addresses these issues as it uses the nonsingular terminal sliding mode technique for the precise position tracking problem of an LPCM-driven positioning stage with friction, uncertain parameters, and external disturbances. The developed control algorithm exhibits the following two attractive features. First, upper bounds of system uncertainties/perturbations are adaptively estimated in the proposed controller; thus, prior knowledge about uncertainty/disturbance bounds is not necessary. Second, the discontinuous signum function is transferred to the time derivative of the control input and the continuous control signal is obtained after integration; consequently, the chattering phenomenon, which presents a major handicap to the implementation of conventional sliding mode control in real applications, is alleviated without deteriorating the robustness of the system. The stability of the controlled system is analyzed, and the convergence of the position tracking error to zero is analytically proven. The proposed control strategy is experimentally validated and compared to the existing control approaches. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Proprioceptive feedback and brain computer interface (BCI) based neuroprostheses.

PubMed

Ramos-Murguialday, Ander; Schürholz, Markus; Caggiano, Vittorio; Wildgruber, Moritz; Caria, Andrea; Hammer, Eva Maria; Halder, Sebastian; Birbaumer, Niels

2012-01-01

Brain computer interface (BCI) technology has been proposed for motor neurorehabilitation, motor replacement and assistive technologies. It is an open question whether proprioceptive feedback affects the regulation of brain oscillations and therefore BCI control. We developed a BCI coupled on-line with a robotic hand exoskeleton for flexing and extending the fingers. 24 healthy participants performed five different tasks of closing and opening the hand: (1) motor imagery of the hand movement without any overt movement and without feedback, (2) motor imagery with movement as online feedback (participants see and feel their hand, with the exoskeleton moving according to their brain signals, (3) passive (the orthosis passively opens and closes the hand without imagery) and (4) active (overt) movement of the hand and rest. Performance was defined as the difference in power of the sensorimotor rhythm during motor task and rest and calculated offline for different tasks. Participants were divided in three groups depending on the feedback receiving during task 2 (the other tasks were the same for all participants). Group 1 (n = 9) received contingent positive feedback (participants' sensorimotor rhythm (SMR) desynchronization was directly linked to hand orthosis movements), group 2 (n = 8) contingent "negative" feedback (participants' sensorimotor rhythm synchronization was directly linked to hand orthosis movements) and group 3 (n = 7) sham feedback (no link between brain oscillations and orthosis movements). We observed that proprioceptive feedback (feeling and seeing hand movements) improved BCI performance significantly. Furthermore, in the contingent positive group only a significant motor learning effect was observed enhancing SMR desynchronization during motor imagery without feedback in time. Furthermore, we observed a significantly stronger SMR desynchronization in the contingent positive group compared to the other groups during active and passive movements. To summarize, we demonstrated that the use of contingent positive proprioceptive feedback BCI enhanced SMR desynchronization during motor tasks.

IUSThrust Vector Control (TVC) servo system

NASA Technical Reports Server (NTRS)

Conner, G. E.

1979-01-01

The IUS TVC SERVO SYSTEM which consists of four electrically redundant electromechanical actuators, four potentiometer assemblies, and two controllers to provide movable nozzle control on both IUS solid rocket motors is developed. An overview of the more severe IUS TVC servo system design requirements, the system and component designs, and test data acquired on a preliminary development unit is presented. Attention is focused on the unique methods of sensing movable nozzle position and providing for redundant position locks.

Prior MDMA (Ecstasy) use is associated with increased basal ganglia–thalamocortical circuit activation during motor task performance in humans: An fMRI study

PubMed Central

Karageorgiou, John; Dietrich, Mary S.; Charboneau, Evonne J.; Woodward, Neil D.; Blackford, Jennifer U.; Salomon, Ronald M.; Cowan, Ronald L.

2009-01-01

MDMA (3,4-methylenedioxymethamphetamine; Ecstasy) is a popular recreational drug that produces long-lasting serotonin (5-HT) neurotoxicity consisting of reductions in markers for 5-HT axons. 5-HT innervates cortical and subcortical brain regions mediating motor function, predicting that MDMA users will have altered motor system neurophysiology. We used functional magnetic resonance imaging (fMRI) to assay motor task performance-associated brain activation changes in MDMA and non-MDMA users. 24 subjects (14 MDMA users and 10 controls) performed an event-related motor tapping task (1, 2 or 4 taps) during fMRI at 3 T. Motor regions of interest were used to measure percent signal change (PSC) and percent activated voxels (PAV) in bilateral motor cortex, sensory cortex, supplementary motor area (SMA), caudate, putamen, pallidum and thalamus. We used SPM5 to measure brain activation via three methods: T-maps, PSC and PAV. There was no statistically significant difference in reaction time between the two groups. For the Tap 4 condition, MDMA users had more activation than controls in the right SMA for T-score (p = 0.02), PSC (p = 0.04) and PAV (p = 0.03). Lifetime episodes of MDMA use were positively correlated with PSC for the Tap 4 condition on the right for putamen and pallidum; with PAV in the right motor and sensory cortex and bilateral thalamus. In conclusion, we found a group difference in the right SMA and positive dose–response association between lifetime exposure to MDMA and signal magnitude and extent in several brain regions. This evidence is consistent with MDMA-induced alterations in basal ganglia–thalamocortical circuit neurophysiology and is potentially secondary to neurotoxic effects on 5-HT signaling. Further studies examining behavioral correlates and the specific neurophysiological basis of the observed findings are warranted. PMID:19264142

PID position regulation in one-degree-of-freedom Euler-Lagrange systems actuated by a PMSM

NASA Astrophysics Data System (ADS)

Verastegui-Galván, J.; Hernández-Guzmán, V. M.; Orrante-Sakanassi, J.

2018-02-01

This paper is concerned with position regulation in one-degree-of-freedom Euler-Lagrange Systems. We consider that the mechanical subsystem is actuated by a permanent magnet synchronous motor (PMSM). Our proposal consists of a Proportional-Integral-Derivative (PID) controller for the mechanical subsystem and a slight variation of field oriented control for the PMSM. We take into account the motor electric dynamics during the stability analysis. We present, for the first time, a global asymptotic stability proof for such a control scheme without requiring the mechanical subsystem to naturally possess viscous friction. Finally, as a corollary of our main result we prove global asymptotic stability for output feedback PID regulation of one-degree-of-freedom Euler-Lagrange systems when generated torque is considered as the system input, i.e. when the electric dynamics of PMSM's is not taken into account.

Implementation of a MFAC based position sensorless drive for high speed BLDC motors with nonideal back EMF.

PubMed

Li, Haitao; Ning, Xin; Li, Wenzhuo

2017-03-01

In order to improve the reliability and reduce power consumption of the high speed BLDC motor system, this paper presents a model free adaptive control (MFAC) based position sensorless drive with only a dc-link current sensor. The initial commutation points are obtained by detecting the phase of EMF zero-crossing point and then delaying 30 electrical degrees. According to the commutation error caused by the low pass filter (LPF) and other factors, the relationship between commutation error angle and dc-link current is analyzed, a corresponding MFAC based control method is proposed, and the commutation error can be corrected by the controller in real time. Both the simulation and experimental results show that the proposed correction method can achieve ideal commutation effect within the entire operating speed range. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

[Relationship between the prone position and achieving head control at 3 months].

PubMed

Pérez-Machado, J L; Rodríguez-Fuentes, G

2013-10-01

Owing to the significant increase of mild motor delays and the strong intolerance of infants to be placed on prone position observed in the Physiotherapy Unit of the Maternal and Children's University Hospital of the Canaries (HUMIC), a study was conducted to determine whether positioning infants in the prone position while awake affected the achievement and quality of head control at three months. A prospective comparative practice-based study of a representative sample of 67 healthy infants born in the HUMIC, and divided into an experimental group (n = 35) and control group (n = 32). The Alberta Infant Motor Scale (AIMS) and a parent questionnaire were used as measurement tools. The intervention consisted of regular home visits to the experimental group (from the first to the third month). The two groups were evaluated in their homes at the end of 3 months. The differences in mean raw score of the AIMS at 3 months were, 16.26 in the experimental group and 10.38 in control group (P<.001). The percentile mean was 94 in the experimental group, and less than 50 (42) in the control group. All of the experimental group babies achieved the head control, with only 8 in the control group (25%). The significant findings suggest a direct relationship between the time spent in the prone position when the baby is awake and the achievement of head control at three months. Copyright © 2012 Asociación Española de Pediatría. Published by Elsevier Espana. All rights reserved.

Robotic real-time translational and rotational head motion correction during frameless stereotactic radiosurgery

DOE Office of Scientific and Technical Information (OSTI.GOV)

Liu, Xinmin; Belcher, Andrew H.; Grelewicz, Zachary

Purpose: To develop a control system to correct both translational and rotational head motion deviations in real-time during frameless stereotactic radiosurgery (SRS). Methods: A novel feedback control with a feed-forward algorithm was utilized to correct for the coupling of translation and rotation present in serial kinematic robotic systems. Input parameters for the algorithm include the real-time 6DOF target position, the frame pitch pivot point to target distance constant, and the translational and angular Linac beam off (gating) tolerance constants for patient safety. Testing of the algorithm was done using a 4D (XY Z + pitch) robotic stage, an infrared headmore » position sensing unit and a control computer. The measured head position signal was processed and a resulting command was sent to the interface of a four-axis motor controller, through which four stepper motors were driven to perform motion compensation. Results: The control of the translation of a brain target was decoupled with the control of the rotation. For a phantom study, the corrected position was within a translational displacement of 0.35 mm and a pitch displacement of 0.15° 100% of the time. For a volunteer study, the corrected position was within displacements of 0.4 mm and 0.2° over 98.5% of the time, while it was 10.7% without correction. Conclusions: The authors report a control design approach for both translational and rotational head motion correction. The experiments demonstrated that control performance of the 4D robotic stage meets the submillimeter and subdegree accuracy required by SRS.« less

Reinforcement Learning of Two-Joint Virtual Arm Reaching in a Computer Model of Sensorimotor Cortex

PubMed Central

Neymotin, Samuel A.; Chadderdon, George L.; Kerr, Cliff C.; Francis, Joseph T.; Lytton, William W.

2014-01-01

Neocortical mechanisms of learning sensorimotor control involve a complex series of interactions at multiple levels, from synaptic mechanisms to cellular dynamics to network connectomics. We developed a model of sensory and motor neocortex consisting of 704 spiking model neurons. Sensory and motor populations included excitatory cells and two types of interneurons. Neurons were interconnected with AMPA/NMDA and GABAA synapses. We trained our model using spike-timing-dependent reinforcement learning to control a two-joint virtual arm to reach to a fixed target. For each of 125 trained networks, we used 200 training sessions, each involving 15 s reaches to the target from 16 starting positions. Learning altered network dynamics, with enhancements to neuronal synchrony and behaviorally relevant information flow between neurons. After learning, networks demonstrated retention of behaviorally relevant memories by using proprioceptive information to perform reach-to-target from multiple starting positions. Networks dynamically controlled which joint rotations to use to reach a target, depending on current arm position. Learning-dependent network reorganization was evident in both sensory and motor populations: learned synaptic weights showed target-specific patterning optimized for particular reach movements. Our model embodies an integrative hypothesis of sensorimotor cortical learning that could be used to interpret future electrophysiological data recorded in vivo from sensorimotor learning experiments. We used our model to make the following predictions: learning enhances synchrony in neuronal populations and behaviorally relevant information flow across neuronal populations, enhanced sensory processing aids task-relevant motor performance and the relative ease of a particular movement in vivo depends on the amount of sensory information required to complete the movement. PMID:24047323

Effect of transcranial direct current stimulation (tDCS) during complex whole body motor skill learning.

PubMed

Kaminski, Elisabeth; Hoff, Maike; Sehm, Bernhard; Taubert, Marco; Conde, Virginia; Steele, Christopher J; Villringer, Arno; Ragert, Patrick

2013-09-27

The aim of the study was to investigate tDCS effects on motor skill learning in a complex whole body dynamic balance task (DBT). We hypothesized that tDCS over the supplementary motor area (SMA), a region that is known to be involved in the control of multi-joint whole body movements, will result in polarity specific changes in DBT learning. In a randomized sham-controlled, double-blinded parallel design, we applied 20 min of tDCS over the supplementary motor area (SMA) and prefrontal cortex (PFC) while subjects performed a DBT. Anodal tDCS over SMA with the cathode placed over contralateral PFC impaired motor skill learning of the DBT compared to sham. This effect was still present on the second day of training. Reversing the polarity (cathode over SMA, anode over PFC) did not affect motor skill learning neither on the first nor on the second day of training. To better disentangle whether the impaired motor skill learning was due to a modulation of SMA or PFC, we performed an additional control experiment. Here, we applied anodal tDCS over SMA together with a larger and presumably more ineffective electrode (cathode) over PFC. Interestingly this alternative tDCS electrode setup did not affect the outcome of DBT learning. Our results provide novel evidence that a modulation of the (right) PFC seems to impair complex multi-joint motor skill learning. Hence, future studies should take the positioning of both tDCS electrodes into account when investigating complex motor skill learning. Copyright © 2013 Elsevier Ireland Ltd. All rights reserved.

Association between sleep position and early motor development.

PubMed

Majnemer, Annette; Barr, Ronald G

2006-11-01

To compare motor performance in infants sleeping in prone versus supine positions. Healthy 4-month-olds (supine: n = 71, prone: n = 12) and 6-month olds (supine: n = 50, prone: n = 22) were evaluated with the Alberta Infant Motor Scale (AIMS) and Peabody Developmental Motor Scale (PDMS), and parents completed a positioning diary. Infants were reassessed at 15 months. At 4 months, motor scores were lower in the supine group and were less likely to achieve prone extension (P < .05). At 6 months, there were wide discrepancies on the AIMS (supine: 44.5 +/- 21.6, prone: 60.0 +/- 18.8, P = .005) and the gross motor PDMS (supine: 85.7 +/- 7.6, prone: 90.2 +/- 9.5, P = .03). Motor delays were documented in 22% of babies sleeping supine. Prone sleep-positioned infants were more likely to sit and roll. Daily exposure to awake prone positioning was predictive of motor performance in infants sleeping supine. At 15 months, sleep position continued to predict motor performance. Infants sleeping supine may exhibit early motor lags, associated with less time in prone while awake. This has implications for accurate interpretation of assessment of infants at risk and prevention of inappropriate referrals. Rate of infant motor development appears influenced by extrinsic factors such as positioning practices.

Motor planning modulates sensory-motor control of collision avoidance behavior in the bullfrog, Rana catesbeiana

PubMed Central

Nakagawa, Hideki; Nishida, Yuuya

2012-01-01

Summary In this study, we examined the collision avoidance behavior of the frog, Rana catesbeiana to an approaching object in the upper visual field. The angular velocity of the frog's escape turn showed a significant positive correlation with the turn angle (r2 = 0.5741, P<0.05). A similar mechanism of velocity control has been known in head movements of the owl and in human saccades. By analogy, this suggests that the frog planned its escape velocity in advance of executing the turn, to make the duration of the escape behavior relatively constant. For escape turns less than 60°, the positive correlation was very strong (r2 = 0.7097, P<0.05). Thus, the frog controlled the angular velocity of small escape turns very accurately and completed the behavior within a constant time. On the other hand, for escape turns greater than 60°, the same correlation was not significant (r2 = 0.065, P>0.05). Thus, the frog was not able to control the velocity of the large escape turns accurately and did not complete the behavior within a constant time. In the latter case, there was a small but significant positive correlation between the threshold angular size and the angular velocity (r2 = 0.1459, P<0.05). This suggests that the threshold is controlled to compensate for the insufficient escape velocity achieved during large turn angles, and could explain a significant negative correlation between the turn angle and the threshold angular size (r2 = 0.1145, P<0.05). Thus, it is likely that the threshold angular size is also controlled by the turn angle and is modulated by motor planning. PMID:23213389

The effect of sensory uncertainty due to amblyopia (lazy eye) on the planning and execution of visually-guided 3D reaching movements.

PubMed

Niechwiej-Szwedo, Ewa; Goltz, Herbert C; Chandrakumar, Manokaraananthan; Wong, Agnes M F

2012-01-01

Impairment of spatiotemporal visual processing in amblyopia has been studied extensively, but its effects on visuomotor tasks have rarely been examined. Here, we investigate how visual deficits in amblyopia affect motor planning and online control of visually-guided, unconstrained reaching movements. Thirteen patients with mild amblyopia, 13 with severe amblyopia and 13 visually-normal participants were recruited. Participants reached and touched a visual target during binocular and monocular viewing. Motor planning was assessed by examining spatial variability of the trajectory at 50-100 ms after movement onset. Online control was assessed by examining the endpoint variability and by calculating the coefficient of determination (R(2)) which correlates the spatial position of the limb during the movement to endpoint position. Patients with amblyopia had reduced precision of the motor plan in all viewing conditions as evidenced by increased variability of the reach early in the trajectory. Endpoint precision was comparable between patients with mild amblyopia and control participants. Patients with severe amblyopia had reduced endpoint precision along azimuth and elevation during amblyopic eye viewing only, and along the depth axis in all viewing conditions. In addition, they had significantly higher R(2) values at 70% of movement time along the elevation and depth axes during amblyopic eye viewing. Sensory uncertainty due to amblyopia leads to reduced precision of the motor plan. The ability to implement online corrections depends on the severity of the visual deficit, viewing condition, and the axis of the reaching movement. Patients with mild amblyopia used online control effectively to compensate for the reduced precision of the motor plan. In contrast, patients with severe amblyopia were not able to use online control as effectively to amend the limb trajectory especially along the depth axis, which could be due to their abnormal stereopsis.

The Effect of Sensory Uncertainty Due to Amblyopia (Lazy Eye) on the Planning and Execution of Visually-Guided 3D Reaching Movements

PubMed Central

Niechwiej-Szwedo, Ewa; Goltz, Herbert C.; Chandrakumar, Manokaraananthan; Wong, Agnes M. F.

2012-01-01

Background Impairment of spatiotemporal visual processing in amblyopia has been studied extensively, but its effects on visuomotor tasks have rarely been examined. Here, we investigate how visual deficits in amblyopia affect motor planning and online control of visually-guided, unconstrained reaching movements. Methods Thirteen patients with mild amblyopia, 13 with severe amblyopia and 13 visually-normal participants were recruited. Participants reached and touched a visual target during binocular and monocular viewing. Motor planning was assessed by examining spatial variability of the trajectory at 50–100 ms after movement onset. Online control was assessed by examining the endpoint variability and by calculating the coefficient of determination (R2) which correlates the spatial position of the limb during the movement to endpoint position. Results Patients with amblyopia had reduced precision of the motor plan in all viewing conditions as evidenced by increased variability of the reach early in the trajectory. Endpoint precision was comparable between patients with mild amblyopia and control participants. Patients with severe amblyopia had reduced endpoint precision along azimuth and elevation during amblyopic eye viewing only, and along the depth axis in all viewing conditions. In addition, they had significantly higher R2 values at 70% of movement time along the elevation and depth axes during amblyopic eye viewing. Conclusion Sensory uncertainty due to amblyopia leads to reduced precision of the motor plan. The ability to implement online corrections depends on the severity of the visual deficit, viewing condition, and the axis of the reaching movement. Patients with mild amblyopia used online control effectively to compensate for the reduced precision of the motor plan. In contrast, patients with severe amblyopia were not able to use online control as effectively to amend the limb trajectory especially along the depth axis, which could be due to their abnormal stereopsis. PMID:22363549

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kasemir, Kay; Pearson, Matthew R

For several years, the Control System Studio (CS-Studio) Scan System has successfully automated the operation of beam lines at the Oak Ridge National Laboratory (ORNL) High Flux Isotope Reactor (HFIR) and Spallation Neutron Source (SNS). As it is applied to additional beam lines, we need to support simultaneous adjustments of temperatures or motor positions. While this can be implemented via virtual motors or similar logic inside the Experimental Physics and Industrial Control System (EPICS) Input/Output Controllers (IOCs), doing so requires a priori knowledge of experimenters requirements. By adding support for the parallel control of multiple process variables (PVs) to themore » Scan System, we can better support ad hoc automation of experiments that benefit from such simultaneous PV adjustments.« less

Structural Organization of the Laryngeal Motor Cortical Network and Its Implication for Evolution of Speech Production.

PubMed

Kumar, Veena; Croxson, Paula L; Simonyan, Kristina

2016-04-13

The laryngeal motor cortex (LMC) is essential for the production of learned vocal behaviors because bilateral damage to this area renders humans unable to speak but has no apparent effect on innate vocalizations such as human laughing and crying or monkey calls. Several hypotheses have been put forward attempting to explain the evolutionary changes from monkeys to humans that potentially led to enhanced LMC functionality for finer motor control of speech production. These views, however, remain limited to the position of the larynx area within the motor cortex, as well as its connections with the phonatory brainstem regions responsible for the direct control of laryngeal muscles. Using probabilistic diffusion tractography in healthy humans and rhesus monkeys, we show that, whereas the LMC structural network is largely comparable in both species, the LMC establishes nearly 7-fold stronger connectivity with the somatosensory and inferior parietal cortices in humans than in macaques. These findings suggest that important "hard-wired" components of the human LMC network controlling the laryngeal component of speech motor output evolved from an already existing, similar network in nonhuman primates. However, the evolution of enhanced LMC-parietal connections likely allowed for more complex synchrony of higher-order sensorimotor coordination, proprioceptive and tactile feedback, and modulation of learned voice for speech production. The role of the primary motor cortex in the formation of a comprehensive network controlling speech and language has been long underestimated and poorly studied. Here, we provide comparative and quantitative evidence for the significance of this region in the control of a highly learned and uniquely human behavior: speech production. From the viewpoint of structural network organization, we discuss potential evolutionary advances of enhanced temporoparietal cortical connections with the laryngeal motor cortex in humans compared with nonhuman primates that may have contributed to the development of finer vocal motor control necessary for speech production. Copyright © 2016 the authors 0270-6474/16/364170-12$15.00/0.

Motor development from 4 to 8 months corrected age in infants born at or less than 29 weeks' gestation.

PubMed

Pin, Tamis W; Darrer, Tanya; Eldridge, Bev; Galea, Mary P

2009-09-01

Clinically, preterm infants show motor delay and atypical postures compared with their peers born at term. A longitudinal cohort study was designed to describe the motor development of very preterm infants from 4 to 18 months corrected age (CA). The study was also designed to investigate how the atypical postures observed in early infancy in the preterm infants might be related to their later motor development. Here we report the findings in early motor skills from 4 to 8 months CA. Early motor skills were assessed in 62 preterm infants (32 males, 30 females, mean gestation 26.94wks, SD 1.11) and 53 term infants (32 males, 21 females, mean gestation 39.55wks, SD 1.17) using the Alberta Infant Motor Scale (AIMS). The preterm infants demonstrated different motor behaviours from their term peers, with an uneven progression of motor skills in different positions from 4 to 8 months CA. At 8 months CA, 90%of the term infants were able to sit without arm support, but only 56%of the preterm infants could maintain sitting very briefly without arm support. This uneven progression may have been due to an imbalance between the active flexor and extensor strength and hence inadequate postural control in these positions. The AIMS has also been shown to be a valid assessment tool to demonstrate unique characteristics in movement quality in the preterm population.

Performance in complex motor tasks deteriorates in hyperthermic humans.

PubMed

Piil, Jacob F; Lundbye-Jensen, Jesper; Trangmar, Steven J; Nybo, Lars

2017-01-01

Heat stress, leading to elevations in whole-body temperature, has a marked impact on both physical performance and cognition in ecological settings. Lab experiments confirm this for physically demanding activities, whereas observations are inconsistent for tasks involving cognitive processing of information or decision-making prior to responding. We hypothesized that divergences could relate to task complexity and developed a protocol consisting of 1) simple motor task [TARGET_pinch], 2) complex motor task [Visuo-motor tracking], 3) simple math task [MATH_type], 4) combined motor-math task [MATH_pinch]. Furthermore, visuo-motor tracking performance was assessed both in a separate- and a multipart protocol (complex motor tasks alternating with the three other tasks). Following familiarization, each of the 10 male subjects completed separate and multipart protocols in randomized order in the heat (40°C) or control condition (20°C) with testing at baseline (seated rest) and similar seated position, following exercise-induced hyperthermia (core temperature ∼ 39.5°C in the heat and 38.2°C in control condition). All task scores were unaffected by control exercise or passive heat exposure, but visuo-motor tracking performance was reduced by 10.7 ± 6.5% following exercise-induced hyperthermia when integrated in the multipart protocol and 4.4 ± 5.7% when tested separately (both P < 0.05 ). TARGET_pinch precision declined by 2.6 ± 1.3% ( P < 0.05 ), while no significant changes were observed for the math tasks. These results indicate that heat per se has little impact on simple motor or cognitive test performance, but complex motor performance is impaired by hyperthermia and especially so when multiple tasks are combined.

Motor loop dysfunction causes impaired cognitive sequencing in patients suffering from Parkinson's disease.

PubMed

Schönberger, Anna R; Hagelweide, Klara; Pelzer, Esther A; Fink, Gereon R; Schubotz, Ricarda I

2015-10-01

Cognitive impairment in Parkinson's disease (PD) is often attributed to dopamine deficiency in the prefrontal-basal ganglia-thalamo-cortical loops. Although recent studies point to a close interplay between motor and cognitive abilities in PD, the so-called "motor loop" connecting supplementary motor area (SMA) and putamen has been considered solely with regard to the patients' motor impairment. Our study challenges this view by testing patients with the serial prediction task (SPT), a cognitive task that requires participants to predict stimulus sequences and particularly engages premotor sites of the motor loop. We hypothesised that affection of the motor loop causes impaired SPT performance, especially when the internal sequence representation is challenged by suspension of external stimuli. As shown for motor tasks, we further expected this impairment to be compensated by hyperactivity of the lateral premotor cortex (PM). We tested 16 male PD patients ON and OFF dopaminergic medication and 16 male age-matched healthy controls in an functional Magnetic Resonance Imaging study. All subjects performed two versions of the SPT: one with on-going sequences (SPT0), and one with sequences containing non-informative wildcards (SPT+) increasing the demands on mnemonic sequence representation. Patients ON (compared to controls) revealed an impaired performance coming along with hypoactivity of SMA and putamen. Patients OFF compared to ON medication, while showing poorer performance, exhibited a significantly increased PM activity for SPT+ vs. SPT0. Furthermore, patients' performance positively co-varied with PM activity, corroborating a compensatory account. Our data reveal a contribution of the motor loop to cognitive impairment in PD, and suggest a close interplay of SMA and PM beyond motor control. Copyright © 2015 Elsevier Ltd. All rights reserved.

Research of subdivision driving technology for brushless DC motors in optical fiber positioning

NASA Astrophysics Data System (ADS)

Kan, Yi; Gu, Yonggang; Zhu, Ye; Zhai, Chao

2016-07-01

In fiber spectroscopic telescopes, optical fiber positioning units are used to position thousands of fibers on the focal plane quickly and precisely. Stepper motors are used in existing units, however, it has some inherent deficiencies, such as serious heating and low efficiency. In this work, the universally adopted subdivision driving technology for stepper motors is transplanted to brushless DC motors. It keeps the advantages of stepper motors such as high positioning accuracy and resolution, while overcomes the disadvantages mentioned above. Thus, this research mainly focuses on develop a novel subdivision driving technology for brushless DC motor. By the proving of experiments of online debug and subdivision speed and position, the proposed brushless DC motor subdivision technology can achieve the expected functions.

Solar tracking system

NASA Technical Reports Server (NTRS)

White, P. R.; Scott, D. R. (Inventor)

1981-01-01

A solar tracker for a solar collector is described in detail. The collector is angularly oriented by a motor wherein the outputs of two side-by-side photodetectors are discriminated as to three ranges: a first corresponding to a low light or darkness condition; a second corresponding to light intensity lying in an intermediate range; and a third corresponding to light above an intermediate range, direct sunlight. The first output drives the motor to a selected maximum easterly angular position; the second enables the motor to be driven westerly at the Earth rotational rate; and the third output, the separate outputs of the two photodetectors, differentially controls the direction of rotation of the motor to effect actual tracking of the Sun.

Improvement of a Pneumatic Control Valve with Self-Holding Function

NASA Astrophysics Data System (ADS)

Dohta, Shujiro; Akagi, Tetsuya; Kobayashi, Wataru; Shimooka, So; Masago, Yusuke

2017-10-01

The purpose of this study is to develop a small-sized, lightweight and low-cost control valve with low energy consumption and to apply it to the assistive system. We have developed some control valves; a tiny on/off valve using a vibration motor, and an on/off valve with self-holding function. We have also proposed and tested the digital servo valve with self-holding function using permanent magnets and a small-sized servo motor. In this paper, in order to improve the valve, an analytical model of the digital servo valve is proposed. And the simulated results by using the analytical model and identified parameters were compared with the experimental results. Then, the improved digital servo valve was designed based on the calculated results and tested. As a result, we realized the digital servo valve that can control the flow rate more precisely while maintaining its volume and weight compared with the previous valve. As an application of the improved valve, a position control system of rubber artificial muscle was built and the position control was performed successfully.

Recruitment of motor units in the medial gastrocnemius muscle during human quiet standing: is recruitment intermittent? What triggers recruitment?

PubMed Central

Loram, Ian D.; Muceli, Silvia; Merletti, Roberto; Farina, Dario

2012-01-01

The recruitment and the rate of discharge of motor units are determinants of muscle force. Within a motoneuron pool, recruitment and rate coding of individual motor units might be controlled independently, depending on the circumstances. In this study, we tested whether, during human quiet standing, the force of the medial gastrocnemius (MG) muscle is predominantly controlled by recruitment or rate coding. If MG control during standing was mainly due to recruitment, then we further asked what the trigger mechanism is. Is it determined internally, or is it related to body kinematics? While seven healthy subjects stood quietly, intramuscular electromyograms were recorded from the MG muscle with three pairs of wire electrodes. The number of active motor units and their mean discharge rate were compared for different sway velocities and positions. Motor unit discharges occurred more frequently when the body swayed faster and forward (Pearson R = 0.63; P < 0.0001). This higher likelihood of observing motor unit potentials was explained chiefly by the recruitment of additional units. During forward body shifts, the median number of units detected increased from 3 to 11 (P < 0.0001), whereas the discharge rate changed from 8 ± 1.1 (mean ± SD) to 10 ± 0.9 pulses/s (P = 0.001). Strikingly, motor units did not discharge continuously throughout standing. They were recruited within individual, forward sways and intermittently, with a modal rate of two recruitments per second. This modal rate is consistent with previous circumstantial evidence relating the control of standing to an intrinsic, higher level planning process. PMID:21994258

Recruitment of motor units in the medial gastrocnemius muscle during human quiet standing: is recruitment intermittent? What triggers recruitment?

PubMed

Vieira, Taian M M; Loram, Ian D; Muceli, Silvia; Merletti, Roberto; Farina, Dario

2012-01-01

The recruitment and the rate of discharge of motor units are determinants of muscle force. Within a motoneuron pool, recruitment and rate coding of individual motor units might be controlled independently, depending on the circumstances. In this study, we tested whether, during human quiet standing, the force of the medial gastrocnemius (MG) muscle is predominantly controlled by recruitment or rate coding. If MG control during standing was mainly due to recruitment, then we further asked what the trigger mechanism is. Is it determined internally, or is it related to body kinematics? While seven healthy subjects stood quietly, intramuscular electromyograms were recorded from the MG muscle with three pairs of wire electrodes. The number of active motor units and their mean discharge rate were compared for different sway velocities and positions. Motor unit discharges occurred more frequently when the body swayed faster and forward (Pearson R = 0.63; P < 0.0001). This higher likelihood of observing motor unit potentials was explained chiefly by the recruitment of additional units. During forward body shifts, the median number of units detected increased from 3 to 11 (P < 0.0001), whereas the discharge rate changed from 8 ± 1.1 (mean ± SD) to 10 ± 0.9 pulses/s (P = 0.001). Strikingly, motor units did not discharge continuously throughout standing. They were recruited within individual, forward sways and intermittently, with a modal rate of two recruitments per second. This modal rate is consistent with previous circumstantial evidence relating the control of standing to an intrinsic, higher level planning process.

Reactivity, stability, and strength performance capacity in motor sports.

PubMed

Baur, H; Müller, S; Hirschmüller, A; Huber, G; Mayer, F

2006-11-01

Racing drivers require multifaceted cognitive and physical abilities in a multitasking situation. A knowledge of their physical capacities may help to improve fitness and performance. To compare reaction time, stability performance capacity, and strength performance capacity of élite racing drivers with those of age-matched, physically active controls. Eight élite racing drivers and 10 physically active controls matched for age and weight were tested in a reaction and determination test requiring upper and lower extremity responses to visual and audio cues. Further tests comprised evaluation of one-leg postural stability on a two-dimensional moveable platform, measures of maximum strength performance capacity of the extensors of the leg on a leg press, and a test of force capacity of the arms in a sitting position at a steering wheel. An additional arm endurance test consisted of isometric work at the steering wheel at +30 degrees and -30 degrees where an eccentric threshold load of 30 N.m was applied. Subjects had to hold the end positions above this threshold until exhaustion. Univariate one way analysis of variance (alpha = 0.05) including a Bonferroni adjustment was used to detect group differences between the drivers and controls. The reaction time of the racing drivers was significantly faster than the controls (p = 0.004). The following motor reaction time and reaction times in the multiple determination test did not differ between the groups. No significant differences (p>0.05) were found for postural stability, leg extensor strength, or arm strength and endurance. Racing drivers have faster reaction times than age-matched physically active controls. Further development of motor sport-specific test protocols is suggested. According to the requirements of motor racing, strength and sensorimotor performance capacity can potentially be improved.

Temporal Lobe Epilepsy Alters Auditory-motor Integration For Voice Control

PubMed Central

Li, Weifeng; Chen, Ziyi; Yan, Nan; Jones, Jeffery A.; Guo, Zhiqiang; Huang, Xiyan; Chen, Shaozhen; Liu, Peng; Liu, Hanjun

2016-01-01

Temporal lobe epilepsy (TLE) is the most common drug-refractory focal epilepsy in adults. Previous research has shown that patients with TLE exhibit decreased performance in listening to speech sounds and deficits in the cortical processing of auditory information. Whether TLE compromises auditory-motor integration for voice control, however, remains largely unknown. To address this question, event-related potentials (ERPs) and vocal responses to vocal pitch errors (1/2 or 2 semitones upward) heard in auditory feedback were compared across 28 patients with TLE and 28 healthy controls. Patients with TLE produced significantly larger vocal responses but smaller P2 responses than healthy controls. Moreover, patients with TLE exhibited a positive correlation between vocal response magnitude and baseline voice variability and a negative correlation between P2 amplitude and disease duration. Graphical network analyses revealed a disrupted neuronal network for patients with TLE with a significant increase of clustering coefficients and path lengths as compared to healthy controls. These findings provide strong evidence that TLE is associated with an atypical integration of the auditory and motor systems for vocal pitch regulation, and that the functional networks that support the auditory-motor processing of pitch feedback errors differ between patients with TLE and healthy controls. PMID:27356768

Design of a robotic vehicle with self-contained intelligent wheels

NASA Astrophysics Data System (ADS)

Poulson, Eric A.; Jacob, John S.; Gunderson, Robert W.; Abbott, Ben A.

1998-08-01

The Center for Intelligent Systems has developed a small robotic vehicle named the Advanced Rover Chassis 3 (ARC 3) with six identical intelligent wheel units attached to a payload via a passive linkage suspension system. All wheels are steerable, so the ARC 3 can move in any direction while rotating at any rate allowed by the terrain and motors. Each intelligent wheel unit contains a drive motor, steering motor, batteries, and computer. All wheel units are identical, so manufacturing, programing, and spare replacement are greatly simplified. The intelligent wheel concept would allow the number and placement of wheels on the vehicle to be changed with no changes to the control system, except to list the position of all the wheels relative to the vehicle center. The task of controlling the ARC 3 is distributed between one master computer and the wheel computers. Tasks such as controlling the steering motors and calculating the speed of each wheel relative to the vehicle speed in a corner are dependent on the location of a wheel relative to the vehicle center and ar processed by the wheel computers. Conflicts between the wheels are eliminated by computing the vehicle velocity control in the master computer. Various approaches to this distributed control problem, and various low level control methods, have been explored.

Gray Matter Increase in Motor Cortex in Pediatric ADHD: A Voxel-Based Morphometry Study.

PubMed

Sutcubasi Kaya, Bernis; Metin, Baris; Tas, Zeynep Cubukcuoglu; Buyukaslan, Ayse; Soysal, Aysegul; Hatiloglu, Deniz; Tarhan, Nevzat

2018-05-01

Several studies report that ADHD is associated with reduced gray matter (GM), whereas others report no differences in GM volume between ADHD patients and controls, and some even report more GM volume in individuals with ADHD. These conflicting findings suggest that reduced GM is not a universal finding in ADHD, and that more research is needed to delineate with greater accuracy the range of GM alterations. The present study aimed to identify GM alterations in ADHD using pediatric templates. 19 drug-naïve ADHD patients and 18 controls, all aged 7 to 14 years, were scanned using magnetic resonance imaging. Relative to the controls, the ADHD patients had more GM, predominantly in the precentral and supplementary motor areas. Moreover, there were positive correlations between GM volume in these areas and ADHD scale scores. The clinical and pathophysiological significance of increased GM in the motor areas remains to be elucidated by additional research.

Visuomotor Map Determines How Visually Guided Reaching Movements are Corrected Within and Across Trials123

PubMed Central

Hirashima, Masaya

2016-01-01

Abstract When a visually guided reaching movement is unexpectedly perturbed, it is implicitly corrected in two ways: immediately after the perturbation by feedback control (online correction) and in the next movement by adjusting feedforward motor commands (offline correction or motor adaptation). Although recent studies have revealed a close relationship between feedback and feedforward controls, the nature of this relationship is not yet fully understood. Here, we show that both implicit online and offline movement corrections utilize the same visuomotor map for feedforward movement control that transforms the spatial location of visual objects into appropriate motor commands. First, we artificially distorted the visuomotor map by applying opposite visual rotations to the cursor representing the hand position while human participants reached for two different targets. This procedure implicitly altered the visuomotor map so that changes in the movement direction to the target location were more insensitive or more sensitive. Then, we examined how such visuomotor map distortion influenced online movement correction by suddenly changing the target location. The magnitude of online movement correction was altered according to the shape of the visuomotor map. We also examined offline movement correction; the aftereffect induced by visual rotation in the previous trial was modulated according to the shape of the visuomotor map. These results highlighted the importance of the visuomotor map as a foundation for implicit motor control mechanisms and the intimate relationship between feedforward control, feedback control, and motor adaptation. PMID:27275006

Visuomotor Map Determines How Visually Guided Reaching Movements are Corrected Within and Across Trials.

PubMed

Hayashi, Takuji; Yokoi, Atsushi; Hirashima, Masaya; Nozaki, Daichi

2016-01-01

When a visually guided reaching movement is unexpectedly perturbed, it is implicitly corrected in two ways: immediately after the perturbation by feedback control (online correction) and in the next movement by adjusting feedforward motor commands (offline correction or motor adaptation). Although recent studies have revealed a close relationship between feedback and feedforward controls, the nature of this relationship is not yet fully understood. Here, we show that both implicit online and offline movement corrections utilize the same visuomotor map for feedforward movement control that transforms the spatial location of visual objects into appropriate motor commands. First, we artificially distorted the visuomotor map by applying opposite visual rotations to the cursor representing the hand position while human participants reached for two different targets. This procedure implicitly altered the visuomotor map so that changes in the movement direction to the target location were more insensitive or more sensitive. Then, we examined how such visuomotor map distortion influenced online movement correction by suddenly changing the target location. The magnitude of online movement correction was altered according to the shape of the visuomotor map. We also examined offline movement correction; the aftereffect induced by visual rotation in the previous trial was modulated according to the shape of the visuomotor map. These results highlighted the importance of the visuomotor map as a foundation for implicit motor control mechanisms and the intimate relationship between feedforward control, feedback control, and motor adaptation.

The Digital Motion Control System for the Submillimeter Array Antennas

NASA Astrophysics Data System (ADS)

Hunter, T. R.; Wilson, R. W.; Kimberk, R.; Leiker, P. S.; Patel, N. A.; Blundell, R.; Christensen, R. D.; Diven, A. R.; Maute, J.; Plante, R. J.; Riddle, P.; Young, K. H.

2013-09-01

We describe the design and performance of the digital servo and motion control system for the 6-meter parabolic antennas of the Submillimeter Array (SMA) on Mauna Kea, Hawaii. The system is divided into three nested layers operating at a different, appropriate bandwidth. (1) A rack-mounted, real-time Unix system runs the position loop which reads the high resolution azimuth and elevation encoders and sends velocity and acceleration commands at 100 Hz to a custom-designed servo control board (SCB). (2) The microcontroller-based SCB reads the motor axis tachometers and implements the velocity loop by sending torque commands to the motor amplifiers at 558 Hz. (3) The motor amplifiers implement the torque loop by monitoring and sending current to the three-phase brushless drive motors at 20 kHz. The velocity loop uses a traditional proportional-integral-derivative (PID) control algorithm, while the position loop uses only a proportional term and implements a command shaper based on the Gauss error function. Calibration factors and software filters are applied to the tachometer feedback prior to the application of the servo gains in the torque computations. All of these parameters are remotely adjustable in the software. The three layers of the control system monitor each other and are capable of shutting down the system safely if a failure or anomaly occurs. The Unix system continuously relays the antenna status to the central observatory computer via reflective memory. In each antenna, a Palm Vx hand controller displays the complete system status and allows full local control of the drives in an intuitive touchscreen user interface. The hand controller can also be connected outside the cabin, a major convenience during the frequent reconfigurations of the interferometer. Excellent tracking performance ( 0.3‧‧ rms) is achieved with this system. It has been in reliable operation on 8 antennas for over 10 years and has required minimal maintenance.

Linear motion device and method for inserting and withdrawing control rods

DOEpatents

Smith, Jay E.

1984-01-01

A linear motion device, more specifically a control rod drive mechanism (CRDM) for inserting and withdrawing control rods into a reactor core, is capable of independently and sequentially positioning two sets of control rods with a single motor stator and rotor. The CRDM disclosed can control more than one control rod lead screw without incurring a substantial increase in the size of the mechanism.

Increased neuromuscular consistency in gait and balance after partnered, dance-based rehabilitation in Parkinson's disease.

PubMed

Allen, Jessica L; McKay, J Lucas; Sawers, Andrew; Hackney, Madeleine E; Ting, Lena H

2017-07-01

Here we examined changes in muscle coordination associated with improved motor performance after partnered, dance-based rehabilitation in individuals with mild to moderate idiopathic Parkinson's disease. Using motor module (a.k.a. muscle synergy) analysis, we identified changes in the modular control of overground walking and standing reactive balance that accompanied clinically meaningful improvements in behavioral measures of balance, gait, and disease symptoms after 3 wk of daily Adapted Tango classes. In contrast to previous studies that revealed a positive association between motor module number and motor performance, none of the six participants in this pilot study increased motor module number despite improvements in behavioral measures of balance and gait performance. Instead, motor modules were more consistently recruited and distinctly organized immediately after rehabilitation, suggesting more reliable motor output. Furthermore, the pool of motor modules shared between walking and reactive balance increased after rehabilitation, suggesting greater generalizability of motor module function across tasks. Our work is the first to show that motor module distinctness, consistency, and generalizability are more sensitive to improvements in gait and balance function after short-term rehabilitation than motor module number. Moreover, as similar differences in motor module distinctness, consistency, and generalizability have been demonstrated previously in healthy young adults with and without long-term motor training, our work suggests commonalities in the structure of muscle coordination associated with differences in motor performance across the spectrum from motor impairment to expertise. NEW & NOTEWORTHY We demonstrate changes in neuromuscular control of gait and balance in individuals with Parkinson's disease after short-term, dance-based rehabilitation. Our work is the first to show that motor module distinctness, consistency, and generalizability across gait and balance are more sensitive than motor module number to improvements in motor performance following short-term rehabilitation. Our results indicate commonalities in muscle coordination improvements associated with motor skill reacquisition due to rehabilitation and motor skill acquisition in healthy individuals. Copyright © 2017 the American Physiological Society.

Weintek interfaces for controlling the position of a robotic arm

NASA Astrophysics Data System (ADS)

Barz, C.; Ilia, M.; Ilut, T.; Pop-Vadean, A.; Pop, P. P.; Dragan, F.

2016-08-01

The paper presents the use of Weintek panels to control the position of a robotic arm, operated step by step on the three motor axes. PLC control interface is designed with a Weintek touch screen. The HMI Weintek eMT3070a is the user interface in the process command of the PLC. This HMI controls the local PLC, entering the coordinate on the axes X, Y and Z. The subject allows the development in a virtual environment for e-learning and monitoring the robotic arm actions.

The classification of motor neuron defects in the zebrafish embryo toxicity test (ZFET) as an animal alternative approach to assess developmental neurotoxicity.

PubMed

Muth-Köhne, Elke; Wichmann, Arne; Delov, Vera; Fenske, Martina

2012-07-01

Rodents are widely used to test the developmental neurotoxicity potential of chemical substances. The regulatory test procedures are elaborate and the requirement of numerous animals is ethically disputable. Therefore, non-animal alternatives are highly desirable, but appropriate test systems that meet regulatory demands are not yet available. Hence, we have developed a new developmental neurotoxicity assay based on specific whole-mount immunostainings of primary and secondary motor neurons (using the monoclonal antibodies znp1 and zn8) in zebrafish embryos. By classifying the motor neuron defects, we evaluated the severity of the neurotoxic damage to individual primary and secondary motor neurons caused by chemical exposure and determined the corresponding effect concentration values (EC₅₀). In a proof-of-principle study, we investigated the effects of three model compounds thiocyclam, cartap and disulfiram, which show some neurotoxicity-indicating effects in vertebrates, and the positive controls ethanol and nicotine and the negative controls 3,4-dichloroaniline (3,4-DCA) and triclosan. As a quantitative measure of the neurotoxic potential of the test compounds, we calculated the ratios of the EC₅₀ values for motor neuron defects and the cumulative malformations, as determined in a zebrafish embryo toxicity test (zFET). Based on this index, disulfiram was classified as the most potent and thiocyclam as the least potent developmental neurotoxin. The index also confirmed the control compounds as positive and negative neurotoxicants. Our findings demonstrate that this index can be used to reliably distinguish between neurotoxic and non-neurotoxic chemicals and provide a sound estimate for the neurodevelopmental hazard potential of a chemical. The demonstrated method can be a feasible approach to reduce the number of animals used in developmental neurotoxicity evaluation procedures. Copyright © 2012 Elsevier Inc. All rights reserved.

Robot-Aided Mapping of Wrist Proprioceptive Acuity across a 3D Workspace

PubMed Central

Marini, Francesca; Squeri, Valentina; Morasso, Pietro; Konczak, Jürgen; Masia, Lorenzo

2016-01-01

Proprioceptive signals from peripheral mechanoreceptors form the basis for bodily perception and are known to be essential for motor control. However we still have an incomplete understanding of how proprioception differs between joints, whether it differs among the various degrees-of-freedom (DoFs) within a particular joint, and how such differences affect motor control and learning. We here introduce a robot-aided method to objectively measure proprioceptive function: specifically, we systematically mapped wrist proprioceptive acuity across the three DoFs of the wrist/hand complex with the aim to characterize the wrist position sense. Thirty healthy young adults performed an ipsilateral active joint position matching task with their dominant wrist using a haptic robotic exoskeleton. Our results indicate that the active wrist position sense acuity is anisotropic across the joint, with the abduction/adduction DoF having the highest acuity (the error of acuity for flexion/extension is 4.64 ± 0.24°; abduction/adduction: 3.68 ± 0.32°; supination/pronation: 5.15 ± 0.37°) and they also revealed that proprioceptive acuity decreases for smaller joint displacements. We believe this knowledge is imperative in a clinical scenario when assessing proprioceptive deficits and for understanding how such sensory deficits relate to observable motor impairments. PMID:27536882

A positive association between active lifestyle and hemispheric lateralization for motor control and learning in older adults.

PubMed

Wang, Jinsung; D'Amato, Arthur; Bambrough, Jennifer; Swartz, Ann M; Miller, Nora E

2016-11-01

Physical activity (PA) is well known to have general health benefits for older adults, but it is unclear whether it can also positively affect brain function involved in motor control and learning. We have previously shown that interlimb transfer of visuomotor adaptation occurs asymmetrically in young adults, while that occurs symmetrically in older adults, which suggests that the lateralized function of each hemisphere during motor tasks is diminished with aging. Here, we investigated the association between the level of PA and hemispheric motor lateralization by comparing the pattern of interlimb transfer following visuomotor adaptation between physically active and inactive older adults. Subjects were divided into two groups based on their PA level (active, inactive). They were further divided into two groups, such that a half of the subjects in each group adapted to a 30° rotation during targeted reaching movements with the left arm first, then with the right arm; and the other half with the right arm first, then with the left arm. Results indicated asymmetrical transfer (from left to right only) in the active subjects, whereas symmetrical transfer (from left to right, and vice versa) was observed in the inactive subjects. These findings suggest that older adults who maintain active lifestyle have a central nervous system that is more intact in terms of its lateralized motor function as compared with those who are inactive. Copyright © 2016 Elsevier B.V. All rights reserved.

Response to reflected-force feedback to fingers in teleoperations

NASA Technical Reports Server (NTRS)

Sutter, P. H.; Iatridis, J. C.; Thakor, N. V.

1989-01-01

Reflected-force feedback is an important aspect of teleoperations. The objective is to determine the ability of the human operator to respond to that force. Telerobotics operation is simulated by computer control of a motor-driven device with capabilities for programmable force feedback and force measurement. A computer-controlled motor drive is developed that provides forces against the fingers as well as (angular) position control. A load cell moves in a circular arc as it is pushed by a finger and measures reaction forces on the finger. The force exerted by the finger on the load cell and the angular position are digitized and recorded as a function of time by the computer. Flexure forces of the index, long and ring fingers of the human hand in opposition to the motor driven load cell are investigated. Results of the following experiments are presented: (1) Exertion of maximum finger force as a function of angle; (2) Exertion of target finger force against a computer controlled force; and (3) Test of the ability to move to a target force against a force that is a function of position. Averaged over ten individuals, the maximum force that could be exerted by the index or long finger is about 50 Newtons, while that of the ring finger is about 40 Newtons. From the tests of the ability of a subject to exert a target force, it was concluded that reflected-force feedback can be achieved with the direct kinesthetic perception of force without the use of tactile or visual clues.

Development of a prototype magnetically suspended rotor ventricular assist device.

PubMed

Bearnson, G B; Maslen, E H; Olsen, D B; Allaire, P E; Khanwilkar, P S; Long, J W; Kim, H C

1996-01-01

A continuous flow centrifugal blood pump with magnetically suspended impeller has been designed, constructed, and tested. The system can be functionally divided into three subsystem designs: 1) centrifugal pump and flow paths, 2) magnetic bearings, and 3) brushless DC motor. The centrifugal pump is a Francis vane type design with a designed operating point of 6 L/min flow and 100 mmHg pressure rise at 2,300 RPM. Peak hydraulic efficiency is over 50%. The magnetic bearing system is an all active design with five axes of control. Rotor position sensors were developed as part of the system to provide feedback to a proportional-integral-derivative controller. The motor is a sensorless brushless DC motor. Back electromotive force voltage generated by the motor is used to provide commutation for the motor. No slots are employed in the motor design in order to reduce the radial force that the bearings must generate. Tests pumping blood in vitro were very encouraging; an index of hemolysis of 0.0086 +/- 0.0012 was measured. Further design refinement is needed to reduce power dissipation and size of the device. The concept of using magnetic bearings in a blood pump shows promise in a long-term implantable blood pump.

White matter microstructure and volitional motor activity in schizophrenia: A diffusion kurtosis imaging study.

PubMed

Docx, Lise; Emsell, Louise; Van Hecke, Wim; De Bondt, Timo; Parizel, Paul M; Sabbe, Bernard; Morrens, Manuel

2017-02-28

Avolition is a core feature of schizophrenia and may arise from altered brain connectivity. Here we used diffusion kurtosis imaging (DKI) to investigate the association between white matter (WM) microstructure and volitional motor activity. Multi-shell diffusion MRI and 24-h actigraphy data were obtained from 20 right-handed patients with schizophrenia and 16 right-handed age and gender matched healthy controls. We examined correlations between fractional anisotropy (FA), mean diffusivity (MD), mean kurtosis (MK), and motor activity level, as well as group differences in these measures. In the patient group, increasing motor activity level was positively correlated with MK in the inferior, medial and superior longitudinal fasciculus, the corpus callosum, the posterior fronto-occipital fasciculus and the posterior cingulum. This association was not found in control subjects or in DTI measures. These results show that a lack of volitional motor activity in schizophrenia is associated with potentially altered WM microstructure in posterior brain regions associated with cognitive function and motivation. This could reflect both illness related dysconnectivity which through altered cognition, manifests as reduced volitional motor activity, and/or the effects of reduced physical activity on brain WM. Copyright © 2016. Published by Elsevier B.V.

Role of cerebellum in learning postural tasks.

PubMed

Ioffe, M E; Chernikova, L A; Ustinova, K I

2007-01-01

For a long time, the cerebellum has been known to be a structure related to posture and equilibrium control. According to the anatomic structure of inputs and internal structure of the cerebellum, its role in learning was theoretically reasoned and experimentally proved. The hypothesis of an inverse internal model based on feedback-error learning mechanism combines feedforward control by the cerebellum and feedback control by the cerebral motor cortex. The cerebellar cortex is suggested to acquire internal models of the body and objects in the external world. During learning of a new tool the motor cortex receives feedback from the realized movement while the cerebellum produces only feedforward command. To realize a desired movement without feedback of the realized movement, the cerebellum needs to form an inverse model of the hand/arm system. This suggestion was supported by FMRi data. The role of cerebellum in learning new postural tasks mainly concerns reorganization of natural synergies. A learned postural pattern in dogs has been shown to be disturbed after lesions of the cerebral motor cortex or cerebellar nuclei. In humans, learning voluntary control of center of pressure position is greatly disturbed after cerebellar lesions. However, motor cortex and basal ganglia are also involved in the feedback learning postural tasks.

Cortical excitability correlates with the event-related desynchronization during brain-computer interface control

NASA Astrophysics Data System (ADS)

Daly, Ian; Blanchard, Caroline; Holmes, Nicholas P.

2018-04-01

Objective. Brain-computer interfaces (BCIs) based on motor control have been suggested as tools for stroke rehabilitation. Some initial successes have been achieved with this approach, however the mechanism by which they work is not yet fully understood. One possible part of this mechanism is a, previously suggested, relationship between the strength of the event-related desynchronization (ERD), a neural correlate of motor imagination and execution, and corticospinal excitability. Additionally, a key component of BCIs used in neurorehabilitation is the provision of visual feedback to positively reinforce attempts at motor control. However, the ability of visual feedback of the ERD to modulate the activity in the motor system has not been fully explored. Approach. We investigate these relationships via transcranial magnetic stimulation delivered at different moments in the ongoing ERD related to hand contraction and relaxation during BCI control of a visual feedback bar. Main results. We identify a significant relationship between ERD strength and corticospinal excitability, and find that our visual feedback does not affect corticospinal excitability. Significance. Our results imply that efforts to promote functional recovery in stroke by targeting increases in corticospinal excitability may be aided by accounting for the time course of the ERD.

Position of pelvis in the 3rd month of life predicts further motor development.

PubMed

Gajewska, Ewa; Sobieska, Magdalena; Moczko, Jerzy

2018-06-01

The aim of the study is to select elements of motor skills assessed at 3 months that provide the best predictive properties for motor development at 9 months. In all children a physiotherapeutic assessment of the quantitative and qualitative development at the age of 3 months was performed in the prone and supine positions, which was presented in previous papers as the quantitative and qualitative assessment sheet of motor development. The neurological examination at the age of 9 months was based on the Denver Development Screening Test II and the evaluation of reflexes, muscle tone (hypotony and hypertony), and symmetry. The particular elements of motor performance assessment were shown to have distinct predictive value for further motor development (as assessed at 9 months), and the pelvis position was the strongest predictive element. Irrespective of the symptomatic and anamnestic factors the inappropriate motor performance may already be detected in the 3rd month of life and is predictive for further motor development. The assessment of the motor performance should be performed in both supine and prone positions. The proper position of pelvis summarizes the proper positioning of the whole spine and ensures proper further motor development. To our knowledge, the presented motor development assessment sheet allows the earliest prediction of motor disturbances. Copyright © 2018 Elsevier B.V. All rights reserved.

Ultra-Compact Motor Controller

NASA Technical Reports Server (NTRS)

Townsend, William T.; Crowell, Adam; Hauptman, Traveler; Pratt, Gill Andrews

2012-01-01

This invention is an electronically commutated brushless motor controller that incorporates Hall-array sensing in a small, 42-gram package that provides 4096 absolute counts per motor revolution position sensing. The unit is the size of a miniature hockey puck, and is a 44-pin male connector that provides many I/O channels, including CANbus, RS-232 communications, general-purpose analog and digital I/O (GPIO), analog and digital Hall inputs, DC power input (18-90 VDC, 0-l0 A), three-phase motor outputs, and a strain gauge amplifier. This controller replaces air cooling with conduction cooling via a high-thermal-conductivity epoxy casting. A secondary advantage of the relatively good heat conductivity that comes with ultra-small size is that temperature differences within the controller become smaller, so that it is easier to measure the hottest temperature in the controller with fewer temperature sensors, or even one temperature sensor. Another size-sensitive design feature is in the approach to electrical noise immunity. At a very small size, where conduction paths are much shorter than in conventional designs, the ground becomes essentially isopotential, and so certain (space-consuming) electrical noise control components become unnecessary, which helps make small size possible. One winding-current sensor, applied to all of the windings in fast sequence, is smaller and wastes less power than the two or more sensors conventionally used to sense and control winding currents. An unexpected benefit of using only one current sensor is that it actually improves the precision of current control by using the "same" sensors to read each of the three phases. Folding the encoder directly into the controller electronics eliminates a great deal of redundant electronics, packaging, connectors, and hook-up wiring. The reduction of wires and connectors subtracts substantial bulk and eliminates their role in behaving as EMI (electro-magnetic interference) antennas. A shared knowledge by each motor controller of the state of all the motors in the system at 500 Hz also allows parallel processing of higher-level kinematic matrix calculations.

Motion makes sense: an adaptive motor-sensory strategy underlies the perception of object location in rats.

PubMed

Saraf-Sinik, Inbar; Assa, Eldad; Ahissar, Ehud

2015-06-10

Tactile perception is obtained by coordinated motor-sensory processes. We studied the processes underlying the perception of object location in freely moving rats. We trained rats to identify the relative location of two vertical poles placed in front of them and measured at high resolution the motor and sensory variables (19 and 2 variables, respectively) associated with this whiskers-based perceptual process. We found that the rats developed stereotypic head and whisker movements to solve this task, in a manner that can be described by several distinct behavioral phases. During two of these phases, the rats' whiskers coded object position by first temporal and then angular coding schemes. We then introduced wind (in two opposite directions) and remeasured their perceptual performance and motor-sensory variables. Our rats continued to perceive object location in a consistent manner under wind perturbations while maintaining all behavioral phases and relatively constant sensory coding. Constant sensory coding was achieved by keeping one group of motor variables (the "controlled variables") constant, despite the perturbing wind, at the cost of strongly modulating another group of motor variables (the "modulated variables"). The controlled variables included coding-relevant variables, such as head azimuth and whisker velocity. These results indicate that consistent perception of location in the rat is obtained actively, via a selective control of perception-relevant motor variables. Copyright © 2015 the authors 0270-6474/15/358777-13$15.00/0.

[Non-motor symptoms in Parkinson's disease: cognition and behavior].

PubMed

Bonnet, Anne Marie; Czernecki, Virginie

2013-09-01

Although the diagnosis of Parkinson disease is based on motor symptoms, it is now well known that non-motor symptoms are an integral part of this pathology, involving in fact multiple systems. These non-motor symptoms affect large population of patients and can appear sometimes before the motor disorders. The non-motor symptoms include mainly neuropsychological difficulties, neuropsychiatric symptoms, and autonomic disorders, but involve also pain and sleep disturbances for example. Depression may occur at any stage of the disease, and consists in major depressive disorder, minor depressive disorder, and dysthymia. During the course of the disease, 50% of patients experience anxiety. Apathy is present in up to 30-40% of patients, due to loss of motivation, appearing in emotional, intellectual and behavioral domains. Dopamine dysregulation syndrome and impulse control disorders are not rare, and in relation with dopaminergic therapies. Impulse control disorders include pathological gambling, hyper sexuality, compulsive shopping, and eating disorder. Visual hallucinations can occur in 30% of patients, mostly induced by dopaminergic therapies. Often, they have deeper impact on the quality of life than the motor symptoms themselves, which stay the focus of attention during consulting. Identifying those can help in providing better care with a positive impact on the quality of life of the patients.

Genetic identification of a hindbrain nucleus essential for innate vocalization.

PubMed

Hernandez-Miranda, Luis Rodrigo; Ruffault, Pierre-Louis; Bouvier, Julien C; Murray, Andrew J; Morin-Surun, Marie-Pierre; Zampieri, Niccolò; Cholewa-Waclaw, Justyna B; Ey, Elodie; Brunet, Jean-Francois; Champagnat, Jean; Fortin, Gilles; Birchmeier, Carmen

2017-07-25

Vocalization in young mice is an innate response to isolation or mechanical stimulation. Neuronal circuits that control vocalization and breathing overlap and rely on motor neurons that innervate laryngeal and expiratory muscles, but the brain center that coordinates these motor neurons has not been identified. Here, we show that the hindbrain nucleus tractus solitarius (NTS) is essential for vocalization in mice. By generating genetically modified newborn mice that specifically lack excitatory NTS neurons, we show that they are both mute and unable to produce the expiratory drive required for vocalization. Furthermore, the muteness of these newborns results in maternal neglect. We also show that neurons of the NTS directly connect to and entrain the activity of spinal (L1) and nucleus ambiguus motor pools located at positions where expiratory and laryngeal motor neurons reside. These motor neurons control expiratory pressure and laryngeal tension, respectively, thereby establishing the essential biomechanical parameters used for vocalization. In summary, our work demonstrates that the NTS is an obligatory component of the neuronal circuitry that transforms breaths into calls.

AMPA receptor-induced local brain-derived neurotrophic factor signaling mediates motor recovery after stroke.

PubMed

Clarkson, Andrew N; Overman, Justine J; Zhong, Sheng; Mueller, Rudolf; Lynch, Gary; Carmichael, S Thomas

2011-03-09

Stroke is the leading cause of adult disability. Recovery after stroke shares similar molecular and cellular properties with learning and memory. A main component of learning-induced plasticity involves signaling through AMPA receptors (AMPARs). We systematically tested the role of AMPAR function in motor recovery in a mouse model of focal stroke. AMPAR function controls functional recovery beginning 5 d after the stroke. Positive allosteric modulators of AMPARs enhance recovery of limb control when administered after a delay from the stroke. Conversely, AMPAR antagonists impair motor recovery. The contributions of AMPARs to recovery are mediated by release of brain-derived neurotrophic factor (BDNF) in periinfarct cortex, as blocking local BDNF function in periinfarct cortex blocks AMPAR-mediated recovery and prevents the normal pattern of motor recovery. In contrast to a delayed AMPAR role in motor recovery, early administration of AMPAR agonists after stroke increases stroke damage. These findings indicate that the role of glutamate signaling through the AMPAR changes over time in stroke: early potentiation of AMPAR signaling worsens stroke damage, whereas later potentiation of the same signaling system improves functional recovery.

Sensorless Control of Permanent Magnet Machine for NASA Flywheel Technology Development

NASA Technical Reports Server (NTRS)

Kenny, Barbara H.; Kascak, Peter E.

2002-01-01

This paper describes the position sensorless algorithms presently used in the motor control for the NASA "in-house" development work of the flywheel energy storage system. At zero and low speeds a signal injection technique, the self-sensing method, is used to determine rotor position. At higher speeds, an open loop estimate of the back EMF of the machine is made to determine the rotor position. At start up, the rotor is set to a known position by commanding dc into one of the phase windings. Experimental results up to 52,000 rpm are presented.

Learning of Temporal and Spatial Movement Aspects: A Comparison of Four Types of Haptic Control and Concurrent Visual Feedback.

PubMed

Rauter, Georg; Sigrist, Roland; Riener, Robert; Wolf, Peter

2015-01-01

In literature, the effectiveness of haptics for motor learning is controversially discussed. Haptics is believed to be effective for motor learning in general; however, different types of haptic control enhance different movement aspects. Thus, in dependence on the movement aspects of interest, one type of haptic control may be effective whereas another one is not. Therefore, in the current work, it was investigated if and how different types of haptic controllers affect learning of spatial and temporal movement aspects. In particular, haptic controllers that enforce active participation of the participants were expected to improve spatial aspects. Only haptic controllers that provide feedback about the task's velocity profile were expected to improve temporal aspects. In a study on learning a complex trunk-arm rowing task, the effect of training with four different types of haptic control was investigated: position control, path control, adaptive path control, and reactive path control. A fifth group (control) trained with visual concurrent augmented feedback. As hypothesized, the position controller was most effective for learning of temporal movement aspects, while the path controller was most effective in teaching spatial movement aspects of the rowing task. Visual feedback was also effective for learning temporal and spatial movement aspects.

Cerebral motor function in very premature-at-birth adolescents: a brain stimulation exploration of kangaroo mother care effects.

PubMed

Schneider, Cyril; Charpak, Nathalie; Ruiz-Peláez, Juan G; Tessier, Réjean

2012-10-01

  Given that prematurity has deleterious effects on brain networking development beyond childhood, the study explored whether an early intervention such as Kangaroo Mother Care (KMC) in very preterm preemies could have influenced brain motor function up to adolescence.   Transcranial magnetic stimulation (TMS) was applied over the primary motor cortex (M1) of 39 adolescents born very prematurely (<33 weeks' gestational age, 21 having received KMC after birth, 18 Controls with no KMC) and nine adolescents born at term (>37 weeks' gestational age, >2500 g) to assess the functional integrity of motor circuits in each hemisphere (motor planning) and between hemispheres (callosal function).   All TMS outcomes were similar between KMC and term adolescents, with typical values as in healthy adults, and better than in Controls. KMC adolescents presented faster conduction times revealing more efficient M1 cell synchronization (p < 0.05) and interhemispheric transfer time (p < 0.0001), more frequent inhibitory processes with a better control between hemispheres (p < 0.0001).   The enhanced synchronization, conduction times and connectivity of cerebral motor pathways in the KMC group suggests that the Kangaroo Mother Care positively influenced the premature brain networks and synaptic efficacy up to adolescence. © 2012 The Author(s)/Acta Paediatrica © 2012 Foundation Acta Paediatrica.

Closed loop performance of a brushless dc motor powered electromechanical actuator for flight control applications. [computerized simulation for Shuttle Orbiter applications

NASA Technical Reports Server (NTRS)

Demerdash, N. A.; Nehl, T. W.

1980-01-01

A comprehensive digital model for the analysis and possible optimization of the closed loop dynamic (instantaneous) performance of a power conditioner fed, brushless dc motor powered, electromechanical actuator system (EMA) is presented. This model was developed for the simulation of the dynamic performance of an actual prototype EMA built for NASA-JSC as a possible alternative to hydraulic actuators for consideration in Space Shuttle Orbiter applications. Excellent correlation was achieved between numerical model simulation and experimental test results obtained from the actual hardware. These results include: various current and voltage waveforms in the machine-power conditioner (MPC) unit, flap position as well as other control loop variables in response to step commands of change of flap position. These results with consequent conclusions are detailed in the paper.

Motor potential profile and a robust method for extracting it from time series of motor positions.

PubMed

Wang, Hongyun

2006-10-21

Molecular motors are small, and, as a result, motor operation is dominated by high-viscous friction and large thermal fluctuations from the surrounding fluid environment. The small size has hindered, in many ways, the studies of physical mechanisms of molecular motors. For a macroscopic motor, it is possible to observe/record experimentally the internal operation details of the motor. This is not yet possible for molecular motors. The chemical reaction in a molecular motor has many occupancy states, each having a different effect on the motor motion. The overall effect of the chemical reaction on the motor motion can be characterized by the motor potential profile. The potential profile reveals how the motor force changes with position in a motor step, which may lead to insights into how the chemical reaction is coupled to force generation. In this article, we propose a mathematical formulation and a robust method for constructing motor potential profiles from time series of motor positions measured in single molecule experiments. Numerical examples based on simulated data are shown to demonstrate the method. Interestingly, it is the small size of molecular motors (negligible inertia) that makes it possible to recover the potential profile from time series of motor positions. For a macroscopic motor, the variation of driving force within a cycle is smoothed out by the large inertia.

Signal-chip microcomputer control system for a diffraction grating ruling engine

NASA Astrophysics Data System (ADS)

Wang, Xiaolin; Zhang, Yuhua; Yang, Houmin; Guo, Du

1998-08-01

A control system with a chip of 8031 single-chip microcomputer as its nucleus for a diffraction grating ruling engine has been developed, its hardware and software are presented in this paper. A series of techniques such as program-controlled amplifier and interference fringes subdivision as well as motor velocity step governing are adopted to improve the control accuracy. With this control system, 8 kinds of gratings of different spacings can be ruled, the positioning precision of the diffraction grating ruling engine (sigma) equals 3.6 nm, and the maximum positioning error is less than 14.6 nm.

Indirect rotor position sensing in real time for brushless permanent magnet motor drives

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ertugrul, N.; Acarnley, P.P.

1998-07-01

This paper describes a modern solution to real-time rotor position estimation of brushless permanent magnet (PM) motor drives. The position estimation scheme, based on flux linkage and line-current estimation, is implemented in real time by using the abc reference frame, and it is tested dynamically. The position estimation model of the test motor, development of hardware, and basic operation of the digital signal processor (DSP) are discussed. The overall position estimation strategy is accomplished with a fast DSP (TMS320C30). The method is a shaft position sensorless method that is applicable to a wide range of excitation types in brushless PMmore » motors without any restriction on the motor model and the current excitation. Both rectangular and sinewave-excited brushless PM motor drives are examined, and the results are given to demonstrate the effectiveness of the method with dynamic loads in closed estimated position loop.« less

The Pedunculopontine Tegmental Nucleus as a Motor and Cognitive Interface between the Cerebellum and Basal Ganglia.

PubMed

Mori, Fumika; Okada, Ken-Ichi; Nomura, Taishin; Kobayashi, Yasushi

2016-01-01

As an important component of ascending activating systems, brainstem cholinergic neurons in the pedunculopontine tegmental nucleus (PPTg) are involved in the regulation of motor control (locomotion, posture and gaze) and cognitive processes (attention, learning and memory). The PPTg is highly interconnected with several regions of the basal ganglia, and one of its key functions is to regulate and relay activity from the basal ganglia. Together, they have been implicated in the motor control system (such as voluntary movement initiation or inhibition), and modulate aspects of executive function (such as motivation). In addition to its intimate connection with the basal ganglia, projections from the PPTg to the cerebellum have been recently reported to synaptically activate the deep cerebellar nuclei. Classically, the cerebellum and basal ganglia were regarded as forming separated anatomical loops that play a distinct functional role in motor and cognitive behavioral control. Here, we suggest that the PPTg may also act as an interface device between the basal ganglia and cerebellum. As such, part of the therapeutic effect of PPTg deep brain stimulation (DBS) to relieve gait freezing and postural instability in advanced Parkinson's disease (PD) patients might also involve modulation of the cerebellum. We review the anatomical position and role of the PPTg in the pathway of basal ganglia and cerebellum in relation to motor control, cognitive function and PD.

Development of a drive system for a sequential space camera

NASA Technical Reports Server (NTRS)

Sharpsteen, J. T.; Solheim, C. D.; Stoap, L. J.

1976-01-01

An electronically commutated dc motor is reported for driving the camera claw and magazine, and a stepper motor is described for driving the shutter with the two motors synchronized electrically. Subsequent tests on the breadboard positively proved the concept, but further development beyond this study should be done. The breadboard testing also established that the electronically commutated motor can control speed over a wide dynamic range, and has a high torque capability for accelerating loads. This performance suggested the possibility of eliminating the clutch from the system while retaining all of the other mechanical features of the DAC, if the requirement for independent shutter speeds and frame rates can be removed. Therefore, as a final step in the study, the breadboard shutter and shutter drive were returned to the original DAC configuration, while retaining the brushless dc motor drive.

An advanced robust method for speed control of switched reluctance motor

NASA Astrophysics Data System (ADS)

Zhang, Chao; Ming, Zhengfeng; Su, Zhanping; Cai, Zhuang

2018-05-01

This paper presents an advanced robust controller for the speed system of a switched reluctance motor (SRM) in the presence of nonlinearities, speed ripple, and external disturbances. It proposes that the adaptive fuzzy control is applied to regulate the motor speed in the outer loop, and the detector is used to obtain rotor detection in the inner loop. The new fuzzy logic tuning rules are achieved from the experience of the operator and the knowledge of the specialist. The fuzzy parameters are automatically adjusted online according to the error and its change of speed in the transient period. The designed detector can obtain the rotor's position accurately in each phase module. Furthermore, a series of contrastive simulations are completed between the proposed controller and proportion integration differentiation controller including low speed, medium speed, and high speed. Simulations show that the proposed robust controller enables the system reduced by at least 3% in overshoot, 6% in rise time, and 20% in setting time, respectively, and especially under external disturbances. Moreover, an actual SRM control system is constructed at 220 V 370 W. The experiment results further prove that the proposed robust controller has excellent dynamic performance and strong robustness.

Audio-vocal interaction in single neurons of the monkey ventrolateral prefrontal cortex.

PubMed

Hage, Steffen R; Nieder, Andreas

2015-05-06

Complex audio-vocal integration systems depend on a strong interconnection between the auditory and the vocal motor system. To gain cognitive control over audio-vocal interaction during vocal motor control, the PFC needs to be involved. Neurons in the ventrolateral PFC (VLPFC) have been shown to separately encode the sensory perceptions and motor production of vocalizations. It is unknown, however, whether single neurons in the PFC reflect audio-vocal interactions. We therefore recorded single-unit activity in the VLPFC of rhesus monkeys (Macaca mulatta) while they produced vocalizations on command or passively listened to monkey calls. We found that 12% of randomly selected neurons in VLPFC modulated their discharge rate in response to acoustic stimulation with species-specific calls. Almost three-fourths of these auditory neurons showed an additional modulation of their discharge rates either before and/or during the monkeys' motor production of vocalization. Based on these audio-vocal interactions, the VLPFC might be well positioned to combine higher order auditory processing with cognitive control of the vocal motor output. Such audio-vocal integration processes in the VLPFC might constitute a precursor for the evolution of complex learned audio-vocal integration systems, ultimately giving rise to human speech. Copyright © 2015 the authors 0270-6474/15/357030-11$15.00/0.

A CSMP commutation model for design study of a brushless dc motor power conditioner for a cruise missile fin control actuator

NASA Astrophysics Data System (ADS)

MacMillan, P. N.

1985-06-01

Recent improvements in rare earth magnets have made it possible to construct strong, lightweight, high horsepower dc motors. This has occasioned a reassessment of electromechanical actuators as alternatives to comparable pneumatic and hydraulic systems for use as flight control actuators for tactical missiles. A dynamic equivalent circuit model for the analysis of a small four pole brushless dc motor fed by a transistorized power conditioner utilizing high speed switching power transistors as final elements is presented. The influence of electronic commutation on instantaneous dynamic motor performance is particularly demonstrated and good correlation between computer simulation and typical experimentally obtained performance data is achieved. The model is implemented in CSMP language and features more accurate air gap flux representation over previous work. Hall effect sensor rotor position feedback is simulated. Both constant and variable air gap flux is modeled and the variable flux model treats the flux as a fundamental and one harmonic.

The Effect of a Six-Month Dancing Program on Motor-Cognitive Dual-Task Performance in Older Adults.

PubMed

Hamacher, Dennis; Hamacher, Daniel; Rehfeld, Kathrin; Hökelmann, Anita; Schega, Lutz

2015-10-01

Dancing is a complex sensorimotor activity involving physical and mental elements which have positive effects on cognitive functions and motor control. The present randomized controlled trial aims to analyze the effects of a dancing program on the performance on a motor-cognitive dual task. Data of 35 older adults, who were assigned to a dancing group or a health-related exercise group, are presented in the study. In pretest and posttest, we assessed cognitive performance and variability of minimum foot clearance, stride time, and stride length while walking. Regarding the cognitive performance and the stride-to-stride variability of minimum foot clearance, interaction effects have been found, indicating that dancing lowers gait variability to a higher extent than conventional health-related exercise. The data show that dancing improves minimum foot clearance variability and cognitive performance in a dual-task situation. Multi-task exercises (like dancing) might be a powerful tool to improve motor-cognitive dual-task performance.

Green Bank Telescope active surface system

NASA Astrophysics Data System (ADS)

Lacasse, Richard J.

1998-05-01

During the design phase of the Green Bank Telescope (GBT), various means of providing an accurate surface on a large aperture paraboloid, were considered. Automated jacks supporting the primary reflector were selected as the appropriate technology since they promised greater performance and potentially lower costs than a homologous or carbon fiber design, and had certain advantages over an active secondary. The design of the active surface has presented many challenges. Since the actuators are mounted on a tipping structure, it was required that they support a significant side-load. Such devices were not readily available commercially so they had to be developed. Additional actuator requirements include low backlash, repeatable positioning, and an operational life of at least 230 years. Similarly, no control system capable of controlling the 2209 actuators was commercially available. Again a prime requirement was reliability. Maintaining was also a very important consideration. The system architecture is tree-like. An active surface 'master-computer' controls interaction with the telescope control system, and controls ancillary equipment such as power supplies and temperature monitors. Two slave computers interface with the master- computer, and each closes approximately 1100 position loops. For simplicity, the servo is an 'on/off' type, yet achieves a positioning resolution of 25 microns. Each slave computer interfaces with 4 VME I/O cards, which in turn communicate with 140 control modules. The control modules read out the positions of the actuators every 0.1 sec and control the actuators' DC motors. Initial control of the active surface will be based on an elevation dependant structural model. Later, the model will be improved by holographic observations.Surface accuracy will be improved further by using laser ranging system which will actively measure the surface figure. Several tests have been conducted to assure that the system will perform as desired when installed on the telescope. These include actuator life tests, motor life test, position transducer accuracy test, as well as positioning accuracy tests.

Combined pressure regulator and shutoff valve

NASA Technical Reports Server (NTRS)

Koch, E. F. (Inventor)

1974-01-01

A remotely operable pressure regulator and shutoff valve particularly suited for achieving high resolution and flow control, and positive shutoff is described. The valve is characterized by a spring-loaded ball coaxially aligned with a fluid port to be sealed, a spring-loaded pintle extended through the port into engagement with the ball, for controlling the position, a spring-loaded diaphragm for controlling the position of the pintle, and an axially displaceable spring supported by a movable stop which, in turn, is repositioned by a selectively operable stepper motor. Thus, the pressure-response characteristics for the valve can be varied through a selective repositioning of the stop.

Identification and robust control of an experimental servo motor.

PubMed

Adam, E J; Guestrin, E D

2002-04-01

In this work, the design of a robust controller for an experimental laboratory-scale position control system based on a dc motor drive as well as the corresponding identification and robust stability analysis are presented. In order to carry out the robust design procedure, first, a classic closed-loop identification technique is applied and then, the parametrization by internal model control is used. The model uncertainty is evaluated under both parametric and global representation. For the latter case, an interesting discussion about the conservativeness of this description is presented by means of a comparison between the uncertainty disk and the critical perturbation radius approaches. Finally, conclusions about the performance of the experimental system with the robust controller are discussed using comparative graphics of the controlled variable and the Nyquist stability margin as a robustness measurement.

Should the Equilibrium Point Hypothesis (EPH) be Considered a Scientific Theory?

PubMed Central

Sainburg, Robert L.

2017-01-01

The purpose of this commentary is to discuss factors that limit consideration of the equilibrium point hypothesis as a scientific theory. The EPH describes control of motor neuron threshold through the variable lambda, which corresponds to a unique referent configuration for a muscle, joint, or combination of joints. One of the most compelling features of the equilibrium point hypothesis is the integration of posture and movement control into a single mechanism. While the essential core of the hypothesis is based upon spinal circuitry interacting with peripheral mechanics, the proponents have extended the theory to include the higher-level processes that generate lambda, and in doing so, imposed an injunction against the supraspinal nervous system modeling, computing, or predicting dynamics. This limitation contradicts evidence that humans take account of body and environmental dynamics in motor selection, motor control, and motor adaptation processes. A number of unresolved limitations to the EPH have been debated in the literature for many years, including whether muscle resistance to displacement, measured during movement, is adequate to support this form of control, violations in equifinality predictions, spinal circuits that alter the proposed invariant characteristic for muscles, and limitations in the description of how the complexity of spinal circuitry might be integrated to yield a unique and stable equilibrium position for a given motor neuron threshold. In addition, an important empirical limitation of EPH is the measurement of the invariant characteristic, which needs to be done under a constant central state. While there is no question that the EPH is an elegant and generative hypothesis for motor control research, the claim that this hypothesis has reached the status of a scientific theory is premature. PMID:25386681

Should the Equilibrium Point Hypothesis (EPH) be Considered a Scientific Theory?

PubMed

Sainburg, Robert L

2015-04-01

The purpose of this commentary is to discuss factors that limit consideration of the equilibrium point hypothesis as a scientific theory. The EPH describes control of motor neuron threshold through the variable lambda, which corresponds to a unique referent configuration for a muscle, joint, or combination of joints. One of the most compelling features of the equilibrium point hypothesis is the integration of posture and movement control into a single mechanism. While the essential core of the hypothesis is based upon spinal circuitry interacting with peripheral mechanics, the proponents have extended the theory to include the higher-level processes that generate lambda, and in doing so, imposed an injunction against the supraspinal nervous system modeling, computing, or predicting dynamics. This limitation contradicts evidence that humans take account of body and environmental dynamics in motor selection, motor control, and motor adaptation processes. A number of unresolved limitations to the EPH have been debated in the literature for many years, including whether muscle resistance to displacement, measured during movement, is adequate to support this form of control, violations in equifinality predictions, spinal circuits that alter the proposed invariant characteristic for muscles, and limitations in the description of how the complexity of spinal circuitry might be integrated to yield a unique and stable equilibrium position for a given motor neuron threshold. In addition, an important empirical limitation of EPH is the measurement of the invariant characteristic, which needs to be done under a constant central state. While there is no question that the EPH is an elegant and generative hypothesis for motor control research, the claim that this hypothesis has reached the status of a scientific theory is premature.

Asymmetric Brownian motor driven by bubble formation in a hydrophobic channel.

PubMed

Arai, Noriyoshi; Yasuoka, Kenji; Koishi, Takahiro; Ebisuzaki, Toshikazu

2010-10-26

The "asymmetric brownian ratchet model" is a variation of Feynman's ratchet and pawl system proposed. In this model, a system consisting of a motor and a rail has two binding states. One is the random brownian state, and the other is the asymmetric potential state. When the system is alternatively switched between these states, the motor can be driven in one direction. This model is believed to explain nanomotor behavior in biological systems. The feasibility of the model has been demonstrated using electrical and magnetic forces; however, switching of these forces is unlikely to be found in biological systems. In this paper, we propose an original mechanism of transition between states by bubble formation in a nanosized channel surrounded by hydrophobic atoms. This amounts to a nanoscale motor system using bubble propulsion. The motor system consists of a hydrophobic motor and a rail on which hydrophobic patterns are printed. Potential asymmetry can be produced by using a left-right asymmetric pattern shape. Hydrophobic interactions are believed to play an important role in the binding of biomolecules and molecular recognition. The bubble formation is controlled by changing the width of the channel by an atomic distance (∼0.1 nm). Therefore, the motor is potentially more efficient than systems controlled by other forces, in which a much larger change in the motor position is necessary. We have simulated the bubble-powered motor using dissipative particle dynamics and found behavior in good agreement with that of motor proteins. Energy efficiency is as high as 60%.

Resonant Cholinergic Dynamics in Cognitive and Motor Decision-Making: Attention, Category Learning, and Choice in Neocortex, Superior Colliculus, and Optic Tectum.

PubMed

Grossberg, Stephen; Palma, Jesse; Versace, Massimiliano

2015-01-01

Freely behaving organisms need to rapidly calibrate their perceptual, cognitive, and motor decisions based on continuously changing environmental conditions. These plastic changes include sharpening or broadening of cognitive and motor attention and learning to match the behavioral demands that are imposed by changing environmental statistics. This article proposes that a shared circuit design for such flexible decision-making is used in specific cognitive and motor circuits, and that both types of circuits use acetylcholine to modulate choice selectivity. Such task-sensitive control is proposed to control thalamocortical choice of the critical features that are cognitively attended and that are incorporated through learning into prototypes of visual recognition categories. A cholinergically-modulated process of vigilance control determines if a recognition category and its attended features are abstract (low vigilance) or concrete (high vigilance). Homologous neural mechanisms of cholinergic modulation are proposed to focus attention and learn a multimodal map within the deeper layers of superior colliculus. This map enables visual, auditory, and planned movement commands to compete for attention, leading to selection of a winning position that controls where the next saccadic eye movement will go. Such map learning may be viewed as a kind of attentive motor category learning. The article hereby explicates a link between attention, learning, and cholinergic modulation during decision making within both cognitive and motor systems. Homologs between the mammalian superior colliculus and the avian optic tectum lead to predictions about how multimodal map learning may occur in the mammalian and avian brain and how such learning may be modulated by acetycholine.

Resonant Cholinergic Dynamics in Cognitive and Motor Decision-Making: Attention, Category Learning, and Choice in Neocortex, Superior Colliculus, and Optic Tectum

PubMed Central

Grossberg, Stephen; Palma, Jesse; Versace, Massimiliano

2016-01-01

Freely behaving organisms need to rapidly calibrate their perceptual, cognitive, and motor decisions based on continuously changing environmental conditions. These plastic changes include sharpening or broadening of cognitive and motor attention and learning to match the behavioral demands that are imposed by changing environmental statistics. This article proposes that a shared circuit design for such flexible decision-making is used in specific cognitive and motor circuits, and that both types of circuits use acetylcholine to modulate choice selectivity. Such task-sensitive control is proposed to control thalamocortical choice of the critical features that are cognitively attended and that are incorporated through learning into prototypes of visual recognition categories. A cholinergically-modulated process of vigilance control determines if a recognition category and its attended features are abstract (low vigilance) or concrete (high vigilance). Homologous neural mechanisms of cholinergic modulation are proposed to focus attention and learn a multimodal map within the deeper layers of superior colliculus. This map enables visual, auditory, and planned movement commands to compete for attention, leading to selection of a winning position that controls where the next saccadic eye movement will go. Such map learning may be viewed as a kind of attentive motor category learning. The article hereby explicates a link between attention, learning, and cholinergic modulation during decision making within both cognitive and motor systems. Homologs between the mammalian superior colliculus and the avian optic tectum lead to predictions about how multimodal map learning may occur in the mammalian and avian brain and how such learning may be modulated by acetycholine. PMID:26834535

Effect of neck flexion on somatosensory and motor evoked potentials in Hirayama disease.

PubMed

Abraham, A; Gotkine, M; Drory, V E; Blumen, S C

2013-11-15

Hirayama disease (HD) is a rare motor disorder mainly affecting young men, characterized by atrophy and weakness of forearm and hand muscles corresponding to a C7-T1 myotome distribution. The weakness is usually unilateral or asymmetric and progression usually stops within several years. The etiology of HD is not well understood. One hypothesis, mainly based on MRI findings, is that the weakness is a consequence of cervical flexion myelopathy. The aim of this study was to explore the function of corticospinal and ascending somatosensory pathways during neck flexion using evoked responses. 15 men with HD and 7 age-matched control male subjects underwent somatosensory evoked potentials (SSEP) and motor evoked potentials (MEP) studies with the neck in neutral position and fully flexed. SSEP studies included electrical stimulation of median and ulnar nerves at the wrist, and tibial nerve at the ankle with recording over the ipsilateral Erb's point, cervical spine, and contralateral sensory cortex. MEP recordings were obtained by magnetic stimulation of the motor cortex and the cervical lower spinal roots; the evoked responses were recorded from the contralateral thenar and abductor hallucis muscles. MEP recordings demonstrated significant lower amplitudes, and slightly prolonged latencies in HD patients on cervical stimulation, compared to control subjects. During neck flexion, MEP studies also demonstrated a statistically significant drop in mean upper limb amplitude on cervical stimulation in HD patients, as well as in control subjects, although to a lesser degree. In contrast, no significant differences were found in SSEP studies in HD patients compared to control subjects, or between neutral and flexed position in these groups. The study shows a negative effect of cervical flexion on MEP amplitudes in HD patients as well as in control subjects, requiring more studies to investigate its significance. Neck flexion did not have an influence on any SSEP parameters in patients or controls. © 2013 Elsevier B.V. All rights reserved.

Linear Actuator Has Long Stroke and High Resolution

NASA Technical Reports Server (NTRS)

Cook, Brant T.; Moore, Donald M.; Braun, David F.; Koenig, John S.; Hankins, Steve M.

2009-01-01

The term precision linear actuator, direct drive ( PLADD ) refers to a robust linear actuator designed to be capable of repeatedly performing, over a lifetime of the order of 5 to 10 years, positioning maneuvers that include, variously, submicron increments or slews of the order of a centimeter. The PLADD is capable of both long stroke (120 mm) and high resolution (repeatable increments of 20 nm). Unlike precise linear actuators of prior design, the PLADD contains no gears, levers, or hydraulic converters. The PLADD, now at the prototype stage of development, is intended for original use as a coarse-positioning actuator in a spaceborne interferometer. The PLADD could also be adapted to terrestrial applications in which there are requirements for long stroke and high resolution: potential applications include medical imaging and fabrication of semiconductor devices. The PLADD (see figure) includes a commercially available ball-screw actuator driven directly by a commercially available three-phase brushless DC motor. The ball-screw actuator comprises a spring-preloaded ball nut on a ball screw that is restrained against rotation as described below. The motor is coupled directly (that is, without an intervening gear train) to a drive link that, in turn, is coupled to the ball nut. By eliminating the gear train, the direct-drive design eliminates the complexity, backlash, and potential for misalignment associated with a gear train. To prevent inadvertent movement, there is a brake that includes flexured levers compressed against the drive link by preload springs. This is a power-off brake: There are also piezoelectric stacks that can be activated to oppose the springs and push the levers away from the drive link. Hence, power must be applied to the piezoelectric stacks to release the drive link from braking. To help ensure long operational life, all of the mechanical drive components are immersed in an oil bath within hermetically sealed bellows. The outer end of the bellows holds the outer end of the ball screw, thereby preventing rotation of the ball screw. Positioning is controlled by an electronic control system that includes digital and analog subsystems that interact with the motor and brake and with two sensor/encoder units: a Hall-effect-sensor rotation encoder and a linear glass-scale encoder. This system implements a proportional + integral + derivative control algorithm that results in variation of voltage commands to each of the three pairs of windings of the brushless DC motor. In one of two alternative control modes, the voltages are applied to the windings in a trapezoidal commutation scheme on the basis of timing signals obtained from the Hall-effect sensors; this scheme yields relatively coarse positioning - 24 steps per motor revolution. The second control mode involves a sinusoidal commutation scheme in which the output of the linear glass-scale encoder is transposed to rotational increments to yield much finer position feedback - more than 400,000 steps per revolution.

Design and application of electromechanical actuators for deep space missions

NASA Technical Reports Server (NTRS)

Haskew, Tim A.; Wander, John

1993-01-01

The annual report Design and Application of Electromechanical Actuators for Deep Space Missions is presented. The reporting period is 16 Aug. 1992 to 15 Aug. 1993. However, the primary focus will be work performed since submission of our semi-annual progress report in Feb. 1993. Substantial progress was made. We currently feel confident in providing guidelines for motor and control strategy selection in electromechanical actuators to be used in thrust vector control (TVC) applications. A small portion was presented in the semi-annual report. At this point, we have implemented highly detailed simulations of various motor/drive systems. The primary motor candidates were the brushless dc machine, permanent magnet synchronous machine, and the induction machine. The primary control implementations were pulse width modulation and hysteresis current control. Each of the two control strategies were applied to each of the three motor choices. With either pulse width modulation or hysteresis current control, the induction machine was always vector controlled. A standard test position command sequence for system performance evaluation is defined. Currently, we are gathering all of the necessary data for formal presentation of the results. Briefly stated for TVC application, we feel that the brushless dc machine operating under PWM current control is the best option. Substantial details on the topic, with supporting simulation results, will be provided later, in the form of a technical paper prepared for submission and also in the next progress report with more detail than allowed for paper publication.

Quantitative Motor Performance and Sleep Benefit in Parkinson Disease

PubMed Central

van Gilst, Merel M.; van Mierlo, Petra; Bloem, Bastiaan R.; Overeem, Sebastiaan

2015-01-01

Study Objectives: Many people with Parkinson disease experience “sleep benefit”: temporarily improved mobility upon awakening. Here we used quantitative motor tasks to assess the influence of sleep on motor functioning in Parkinson disease. Design: Eighteen Parkinson patients with and 20 without subjective sleep benefit and 20 healthy controls participated. Before and directly after a regular night sleep and an afternoon nap, subjects performed the timed pegboard dexterity task and quantified finger tapping task. Subjective ratings of motor functioning and mood/vigilange were included. Sleep was monitored using polysomnography. Results: On both tasks, patients were overall slower than healthy controls (night: F2,55 = 16.938, P < 0.001; nap: F2,55 = 15.331, P < 0.001). On the pegboard task, there was a small overall effect of night sleep (F1,55 = 9.695, P = 0.003); both patients and controls were on average slightly slower in the morning. However, in both tasks there was no sleep*group interaction for nighttime sleep nor for afternoon nap. There was a modest correlation between the score on the pegboard task and self-rated motor symptoms among patients (rho = 0.233, P = 0.004). No correlations in task performance and mood/vigilance or sleep time/efficiency were found. Conclusions: A positive effect of sleep on motor function is commonly reported by Parkinson patients. Here we show that the subjective experience of sleep benefit is not paralleled by an actual improvement in motor functioning. Sleep benefit therefore appears to be a subjective phenomenon and not a Parkinson-specific reduction in symptoms. Citation: van Gilst MM, van Mierlo P, Bloem BR, Overeem S. Quantitative Motor Performance and Sleep Benefit in Parkinson Disease. SLEEP 2015;38(10):1567–1573. PMID:25902811

Handedness results from Complementary Hemispheric Dominance, not Global Hemispheric Dominance: Evidence from Mechanically Coupled Bilateral Movements.

PubMed

Woytowicz, Elizabeth J; Westlake, Kelly P; Whitall, Jill; Sainburg, Robert L

2018-05-09

Two contrasting views of handedness can be described as 1) complementary dominance, in which each hemisphere is specialized for different aspects of motor control, and 2) global dominance, in which the hemisphere contralateral to the dominant arm is specialized for all aspects of motor control. The present study sought to determine which motor lateralization hypothesis best predicts motor performance during common bilateral task of stabilizing an object (e.g. bread) with one hand while applying forces to the object (e.g. slicing) using the other hand. We designed an experimental equivalent of this task, performed in a virtual environment with the unseen arms supported by frictionless air-sleds. The hands were connected by a spring, and the task was to maintain the position of one hand, while moving the other hand to a target. Thus, the reaching hand was required to take account of the spring load to make smooth and accurate trajectories, while the stabilizer hand was required to impede the spring load to keep a constant position. Right-handed subjects performed two task sessions (right hand reach and left hand stabilize; left hand reach and right hand stabilize) with the order of the sessions counterbalanced between groups. Our results indicate a hand by task-component interaction, such that the right hand showed straighter reaching performance while the left showed more stable holding performance. These findings provide support for the complementary dominance hypothesis and suggest that the specializations of each cerebral hemisphere for impedance and dynamic control mechanisms are expressed during bilateral interactive tasks.

Quantitative Motor Performance and Sleep Benefit in Parkinson Disease.

PubMed

van Gilst, Merel M; van Mierlo, Petra; Bloem, Bastiaan R; Overeem, Sebastiaan

2015-10-01

Many people with Parkinson disease experience "sleep benefit": temporarily improved mobility upon awakening. Here we used quantitative motor tasks to assess the influence of sleep on motor functioning in Parkinson disease. Eighteen Parkinson patients with and 20 without subjective sleep benefit and 20 healthy controls participated. Before and directly after a regular night sleep and an afternoon nap, subjects performed the timed pegboard dexterity task and quantified finger tapping task. Subjective ratings of motor functioning and mood/vigilange were included. Sleep was monitored using polysomnography. On both tasks, patients were overall slower than healthy controls (night: F2,55 = 16.938, P < 0.001; nap: F2,55 = 15.331, P < 0.001). On the pegboard task, there was a small overall effect of night sleep (F1,55 = 9.695, P = 0.003); both patients and controls were on average slightly slower in the morning. However, in both tasks there was no sleep*group interaction for nighttime sleep nor for afternoon nap. There was a modest correlation between the score on the pegboard task and self-rated motor symptoms among patients (rho = 0.233, P = 0.004). No correlations in task performance and mood/vigilance or sleep time/efficiency were found. A positive effect of sleep on motor function is commonly reported by Parkinson patients. Here we show that the subjective experience of sleep benefit is not paralleled by an actual improvement in motor functioning. Sleep benefit therefore appears to be a subjective phenomenon and not a Parkinson-specific reduction in symptoms. © 2015 Associated Professional Sleep Societies, LLC.

Lawrence Livermore National Laboratory ULTRA-350 Test Bed

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hopkins, D J; Wulff, T A; Carlisle, K

2001-04-10

LLNL has many in-house designed high precision machine tools. Some of these tools include the Large Optics Diamond Turning Machine (LODTM) [1], Diamond Turning Machine No.3 (DTM-3) and two Precision Engineering Research Lathes (PERL-1 and PERL-11). These machines have accuracy in the sub-micron range and in most cases position resolution in the couple of nanometers range. All of these machines are built with similar underlying technologies. The machines use capstan drive technology, laser interferometer position feedback, tachometer velocity feedback, permanent magnet (PM) brush motors and analog velocity and position loop servo compensation [2]. The machine controller does not perform anymore » servo compensation it simply computes the differences between the commanded position and the actual position (the following error) and sends this to a D/A for the analog servo position loop. LLNL is designing a new high precision diamond turning machine. The machine is called the ULTRA 350 [3]. In contrast to many of the proven technologies discussed above, the plan for the new machine is to use brushless linear motors, high precision linear scales, machine controller motor commutation and digital servo compensation for the velocity and position loops. Although none of these technologies are new and have been in use in industry, applications of these technologies to high precision diamond turning is limited. To minimize the risks of these technologies in the new machine design, LLNL has established a test bed to evaluate these technologies for application in high precision diamond turning. The test bed is primarily composed of commercially available components. This includes the slide with opposed hydrostatic bearings, the oil system, the brushless PM linear motor, the two-phase input three-phase output linear motor amplifier and the system controller. The linear scales are not yet commercially available but use a common electronic output format. As of this writing, the final verdict for the use of these technologies is still out but the first part of the work has been completed with promising results. The goal of this part of the work was to close a servo position loop around a slide incorporating these technologies and to measure the performance. This paper discusses the tests that were setup for system evaluation and the results of the measurements made. Some very promising results include; slide positioning to nanometer level and slow speed slide direction reversal at less than 100nm/min with no observed discontinuities. This is very important for machine contouring in diamond turning. As a point of reference, at 100 nm/min it would take the slide almost 7 years to complete the full designed travel of 350 mm. This speed has been demonstrated without the use of a velocity sensor. The velocity is derived from the position sensor. With what has been learned on the test bed, the paper finishes with a brief comparison of the old and new technologies. The emphasis of this comparison will be on the servo performance as illustrated with bode plot diagrams.« less

Lawrence Livermore National Laboratory ULTRA-350 Test Bed

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hopkins, D J; Wulff, T A; Carlisle, K

2001-04-10

LLNL has many in-house designed high precision machine tools. Some of these tools include the Large Optics Diamond Turning Machine (LODTM) [1], Diamond Turning Machine No.3 (DTM-3) and two Precision Engineering Research Lathes (PERL-I and PERL-II). These machines have accuracy in the sub-micron range and in most cases position resolution in the couple of nanometers range. All of these machines are built with similar underlying technologies. The machines use capstan drive technology, laser interferometer position feedback, tachometer velocity feedback, permanent magnet (PM) brush motors and analog velocity and position loop servo compensation [2]. The machine controller does not perform anymore » servo compensation it simply computes the differences between the commanded position and the actual position (the following error) and sends this to a D/A for the analog servo position loop. LLNL is designing a new high precision diamond turning machine. The machine is called the ULTRA 350 [3]. In contrast to many of the proven technologies discussed above, the plan for the new machine is to use brushless linear motors, high precision linear scales, machine controller motor commutation and digital servo compensation for the velocity and position loops. Although none of these technologies are new and have been in use in industry, applications of these technologies to high precision diamond turning is limited. To minimize the risks of these technologies in the new machine design, LLNL has established a test bed to evaluate these technologies for application in high precision diamond turning. The test bed is primarily composed of commercially available components. This includes the slide with opposed hydrostatic bearings, the oil system, the brushless PM linear motor, the two-phase input three-phase output linear motor amplifier and the system controller. The linear scales are not yet commercially available but use a common electronic output format. As of this writing, the final verdict for the use of these technologies is still out but the first part of the work has been completed with promising results. The goal of this part of the work was to close a servo position loop around a slide incorporating these technologies and to measure the performance. This paper discusses the tests that were setup for system evaluation and the results of the measurements made. Some very promising results include; slide positioning to nanometer level and slow speed slide direction reversal at less than 100nm/min with no observed discontinuities. This is very important for machine contouring in diamond turning. As a point of reference, at 100 nm/min it would take the slide almost 7 years to complete the full designed travel of 350 mm. This speed has been demonstrated without the use of a velocity sensor. The velocity is derived from the position sensor. With what has been learned on the test bed, the paper finishes with a brief comparison of the old and new technologies. The emphasis of this comparison will be on the servo performance as illustrated with bode plot diagrams.« less

Results from the 2008 Drug and Alcohol Testing Survey

DOT National Transportation Integrated Search

2010-01-01

This report summarizes the results of the 2008 Federal Motor Carrier Safety Administration Drug and Alcohol Testing Survey. This annual survey measures the percentage of drivers with commercial drivers licenses who test positive for controlled sub...

Linear motion device and method for inserting and withdrawing control rods

DOEpatents

Smith, J.E.

Disclosed is a linear motion device and more specifically a control rod drive mechanism (CRDM) for inserting and withdrawing control rods into a reactor core. The CRDM and method disclosed is capable of independently and sequentially positioning two sets of control rods with a single motor stator and rotor. The CRDM disclosed can control more than one control rod lead screw without incurring a substantial increase in the size of the mechanism.

Role of brain hemispheric dominance in anticipatory postural control strategies.

PubMed

Cioncoloni, David; Rosignoli, Deborah; Feurra, Matteo; Rossi, Simone; Bonifazi, Marco; Rossi, Alessandro; Mazzocchio, Riccardo

2016-07-01

Most of the cerebral functions are asymmetrically represented in the two hemispheres. Moreover, dexterity and coordination of the distal segment of the dominant limbs depend on cortico-motor lateralization. In this study, we investigated whether postural control may be also considered a lateralized hemispheric brain function. To this aim, 15 young subjects were tested in standing position by measuring center of pressure (COP) shifts along the anteroposterior axis (COP-Y) during dynamic posturography before and after continuous Theta Burst Stimulation (cTBS) intervention applied to the dominant or non-dominant M1 hand area as well as to the vertex. We show that when subjects were expecting a forward platform translation, the COP-Y was positioned significantly backward or forward after dominant or non-dominant M1 stimulation, respectively. We postulate that cTBS applied on M1 may have disrupted the functional connectivity between intra- and interhemispheric areas implicated in the anticipatory control of postural stability. This study suggests a functional asymmetry between the two homologous primary motor areas, with the dominant hemisphere playing a critical role in the selection of the appropriate postural control strategy.

Therapeutic effects of a horse riding simulator in children with cerebral palsy.

PubMed

Silva e Borges, Maria Beatriz; Werneck, Maria José da Silva; da Silva, Maria de Lourdes; Gandolfi, Lenora; Pratesi, Riccardo

2011-10-01

To evaluate the efficacy of horse ridding simulator on the sitting postural control of children with spastic diplegia. Forty children were randomly divided in a group using the simulator (RS) and a group performing conventional physical therapy (CT). FScan/Fmat equipment was used to register maximal displacement in antero-posterior (AP) and medio-lateral (ML) directions with children in sitting position. At the pre and post intervention stage both groups were classified according to the Gross Motor Function Classification System (GMFCS) and, after intervention, by the AUQEI questionnaire (Autoquestionnaire Qualité de vie Enfant Image). Comparison between groups disclosed statistically significant pos-intervention improvement both in the AP (p<0.0001) as in the ML (p<0.0069) direction in the RS group. The horse ridding simulator produced significant improvement in the postural control of children in sitting position, additionally showing a higher motor functionality and a better acceptance of the therapeutic intervention.

Can motor imagery and hypnotic susceptibility explain Conversion Disorder with motor symptoms?

PubMed

Srzich, Alexander J; Byblow, Winston D; Stinear, James W; Cirillo, John; Anson, J Greg

2016-08-01

Marked distortions in sense of agency can be induced by hypnosis in susceptible individuals, including alterations in subjective awareness of movement initiation and control. These distortions, with associated disability, are similar to those experienced with Conversion Disorder (CD), an observation that has led to the hypothesis that hypnosis and CD share causal mechanisms. The purpose of this review is to explore the relationships among motor imagery (MI), hypnotic susceptibility, and CD, then to propose how MI ability may contribute to hypnotic responding and CD. Studies employing subjective assessments of mental imagery have found little association between imagery abilities and hypnotic susceptibility. A positive association between imagery abilities and hypnotic susceptibility becomes apparent when objective measures of imagery ability are employed. A candidate mechanism to explain motor responses during hypnosis is kinaesthetic MI, which engages a strategy that involves proprioception or the "feel" of movement when no movement occurs. Motor suppression imagery (MSI), a strategy involving inhibition of movement, may provide an alternate objective measurable phenomenon that underlies both hypnotic susceptibility and CD. Evidence to date supports the idea that there may be a positive association between kinaesthetic MI ability and hypnotic susceptibility. Additional evidence supports a positive association between hypnotic susceptibility and CD. Disturbances in kinaesthetic MI performance in CD patients indicate that MI mechanisms may also underlie CD symptoms. Further investigation of the above relationships is warranted to explain these phenomena, and establish theoretical explanations underlying sense of agency. Copyright © 2016. Published by Elsevier Ltd.

Sensor-less pseudo-sinusoidal drive for a permanent-magnet brushless ac motor

NASA Astrophysics Data System (ADS)

Liu, Li-Hsiang; Chern, Tzuen-Lih; Pan, Ping-Lung; Huang, Tsung-Mou; Tsay, Der-Min; Kuang, Jao-Hwa

2012-04-01

The precise rotor-position information is required for a permanent-magnet brushless ac motor (BLACM) drive. In the conventional sinusoidal drive method, either an encoder or a resolver is usually employed. For position sensor-less vector control schemes, the rotor flux estimation and torque components are obtained by complicated coordinate transformations. These computational intensive methods are susceptible to current distortions and parameter variations. To simplify the method complexity, this work presents a sensor-less pseudo-sinusoidal drive scheme with speed control for a three-phase BLACM. Based on the sinusoidal drive scheme, a floating period of each phase current is inserted for back electromotive force detection. The zero-crossing point is determined directly by the proposed scheme, and the rotor magnetic position and rotor speed can be estimated simultaneously. Several experiments for various active angle periods are undertaken. Furthermore, a current feedback control is included to minimize and compensate the torque fluctuation. The experimental results show that the proposed method has a competitive performance compared with the conventional drive manners for BLACM. The proposed scheme is straightforward, bringing the benefits of sensor-less drive and negating the need for coordinate transformations in the operating process.

On the relationship between motor performance and executive functioning in children with intellectual disabilities.

PubMed

Hartman, E; Houwen, S; Scherder, E; Visscher, C

2010-05-01

It has been suggested that children with intellectual disabilities (ID) have motor problems and higher-order cognitive deficits. The aim of this study was to examine the motor skills and executive functions in school-age children with borderline and mild ID. The second aim was to investigate the relationship between the two performance domains. Sixty-one children aged between 7 and 12 years diagnosed with borderline ID (33 boys and 28 girls; 71 < IQ < 79) and 36 age peers with mild ID (24 boys and 12 girls; 54 < IQ < 70) were assessed. Their abilities were compared with those of 97 age- and gender-matched typically developing children. Qualitative motor skills, i.e. locomotor ability and object control, were evaluated with the Test of Gross Motor Development (TGMD-2). Executive functioning (EF), in terms of planning ability, strategic decision-making and problem solving, was gauged with the Tower of London (TOL) task. Compared with the reference group, the full ID cohort scored significantly lower on all assessments. For the locomotor skills, the children with mild ID scored significantly lower than the children with borderline ID, but for the object control skills and the TOL score, no significant differences between the two groups were found. Motor performance and EF correlated positively. At the most complex level, the TOL showed decision time to be a mediator between motor performance and EF: the children with the lower motor scores had significantly shorter decision times and lower EF scores. Analogously, the children with the lower object control scores had longer execution times and lower EF scores. The current results support the notion that besides being impaired in qualitative motor skills intellectually challenged children are also impaired in higher-order executive functions. The deficits in the two domains are interrelated, so early interventions boosting their motor and cognitive development are recommended.

Tactile acuity and lumbopelvic motor control in patients with back pain and healthy controls.

PubMed

Luomajoki, H; Moseley, G L

2011-04-01

Voluntary lumbopelvic control is compromised in patients with back pain. Loss of proprioceptive acuity is one contributor to decreased control. Several reasons for decreased proprioceptive acuity have been proposed, but the integrity of cortical body maps has been overlooked. We investigated whether tactile acuity, a clear clinical signature of primary sensory cortex organisation, relates to lumbopelvic control in people with back pain. Forty-five patients with back pain and 45 age- and sex-matched healthy controls participated in this cross-sectional study. Tactile acuity at the back was assessed using two-point discrimination (TPD) threshold in vertical and horizontal directions. Voluntary motor control was assessed using an established battery of clinical tests. Patients performed worse on the voluntary lumbopelvic tasks than healthy controls did (p<0.001). TPD threshold was larger in patients (mean (SD)=61 (13) mm) than in healthy controls (44 (10) mm). Moreover, larger TPD threshold was positively related to worse performance on the voluntary lumbopelvic tasks (Pearson's r=0.49; p<0.001). Tactile acuity, a clear clinical signature of primary sensory cortex organisation, relates to voluntary lumbopelvic control. This relationship raises the possibility that the former contributes to the latter, in which case training tactile acuity may aid recovery and assist in achieving normal motor performance after back injury.

Impairment of Auditory-Motor Timing and Compensatory Reorganization after Ventral Premotor Cortex Stimulation

PubMed Central

Kornysheva, Katja; Schubotz, Ricarda I.

2011-01-01

Integrating auditory and motor information often requires precise timing as in speech and music. In humans, the position of the ventral premotor cortex (PMv) in the dorsal auditory stream renders this area a node for auditory-motor integration. Yet, it remains unknown whether the PMv is critical for auditory-motor timing and which activity increases help to preserve task performance following its disruption. 16 healthy volunteers participated in two sessions with fMRI measured at baseline and following rTMS (rTMS) of either the left PMv or a control region. Subjects synchronized left or right finger tapping to sub-second beat rates of auditory rhythms in the experimental task, and produced self-paced tapping during spectrally matched auditory stimuli in the control task. Left PMv rTMS impaired auditory-motor synchronization accuracy in the first sub-block following stimulation (p<0.01, Bonferroni corrected), but spared motor timing and attention to task. Task-related activity increased in the homologue right PMv, but did not predict the behavioral effect of rTMS. In contrast, anterior midline cerebellum revealed most pronounced activity increase in less impaired subjects. The present findings suggest a critical role of the left PMv in feed-forward computations enabling accurate auditory-motor timing, which can be compensated by activity modulations in the cerebellum, but not in the homologue region contralateral to stimulation. PMID:21738657

CSMP (Continuous System Modeling Program) modeling of brushless DC motors

NASA Astrophysics Data System (ADS)

Thomas, S. M.

1984-09-01

Recent improvements in rare earth magnets have made it possible to construct strong, lightweight, high horsepower DC motors. This has occasioned a reassessment of electromechanical actuators as alternatives to comparable pneumatic and hydraulic systems for use in flight control actuators for tactical missiles. This thesis develops a low-order mathematical model for the simulation and analysis of brushless DC motor performance. This model is implemented in CSMP language. It is used to predict such motor performance curves as speed, current and power versus torque. Electronic commutation based on Hall effect sensor positional feedback is simulated. Steady state motor behavior is studied under both constant and variable air gap flux conditions. The variable flux takes two different forms. In the first case, the flux is varied as a simple sinusoid. In the second case, the flux is varied as the sum of a sinusoid and one of its harmonics.

A novel configuration for a brushless DC motor with an integrated planetary gear train

NASA Astrophysics Data System (ADS)

Yan, Hong-Sen; Wu, Yi-Chang

2006-06-01

This paper presents a novel configuration of a brushless DC (BLDC) motor with an integrated planetary gear train, which provides further functional and structural integrations to overcome inherent drawbacks of traditional designs. The effects of gear teeth on the magnetic field and performance of the BLDC motor are investigated. Two standard gear profile systems integrated on the stator with feasible numbers of gear teeth are introduced to reduce the cogging torque. An equivalent magnetic circuit model and an air-gap permeance model are applied to analytically analyze the magnetic field, while the validity is verified by 2-D finite-element method (FEM). Furthermore, the motor performance is discussed and compared with an existing design. The results show that the present design has the characteristics of lower cogging torque and torque ripple than the conventional design, which is of benefit to the widely applications on accurate motion and position control for BLDC motors.

Myoelectrically controlled wrist robot for stroke rehabilitation

PubMed Central

2013-01-01

Background Robot-assisted rehabilitation is an advanced new technology in stroke rehabilitation to provide intensive training. Post-stroke motor recovery depends on active rehabilitation by voluntary participation of patient’s paretic motor system as early as possible in order to promote reorganization of brain. However, voluntary residual motor efforts to the affected limb have not been involved enough in most robot-assisted rehabilitation for patients after stroke. The objective of this study is to evaluate the feasibility of robot-assisted rehabilitation using myoelectric control on upper limb motor recovery. Methods In the present study, an exoskeleton-type rehabilitation robotic system was designed to provide voluntarily controlled assisted torque to the affected wrist. Voluntary intention was involved by using the residual surface electromyography (EMG) from flexor carpi radialis(FCR) and extensor carpi radialis (ECR)on the affected limb to control the mechanical assistance provided by the robotic system during wrist flexion and extension in a 20-session training. The system also applied constant resistant torque to the affected wrist during the training. Sixteen subjects after stroke had been recruited for evaluating the tracking performance and therapeutical effects of myoelectrically controlled robotic system. Results With the myoelectrically-controlled assistive torque, stroke survivors could reach a larger range of motion with a significant decrease in the EMG signal from the agonist muscles. The stroke survivors could be trained in the unreached range with their voluntary residual EMG on the paretic side. After 20-session rehabilitation training, there was a non-significant increase in the range of motion and a significant decrease in the root mean square error (RMSE) between the actual wrist angle and target angle. Significant improvements also could be found in muscle strength and clinical scales. Conclusions These results indicate that robot-aided therapy with voluntary participation of patient’s paretic motor system using myoelectric control might have positive effect on upper limb motor recovery. PMID:23758925

Can a Positive Allosteric Modulation of GABAergic Receptors Improve Motor Symptoms in Patients with Parkinson's Disease? The Potential Role of Zolpidem in the Treatment of Parkinson's Disease

PubMed Central

Daniele, Antonio; Panza, Francesco; Greco, Antonio; Logroscino, Giancarlo; Seripa, Davide

2016-01-01

At present, patients with advanced Parkinson's disease (PD) are unsatisfactorily controlled by currently used anti-Parkinsonian dopaminergic drugs. Various studies suggest that therapeutic strategies based on nondopaminergic drugs might be helpful in PD. Zolpidem, an imidazopyridine widely used as sleep inducer, shows high affinity only for GABAA receptors containing the α-1 subunit and facilitates GABAergic neurotransmission through a positive allosteric modulation of GABAA receptors. Various observations, although preliminary, consistently suggest that in PD patients zolpidem may induce beneficial (and sometimes remarkable) effects on motor symptoms even after single doses and may also improve dyskinesias. Since a high density of zolpidem binding sites is in the two main output structures of the basal ganglia which are abnormally overactive in PD (internal globus pallidus, GPi, and substantia nigra pars reticulata, SNr), it was hypothesized that in PD patients zolpidem may induce through GABAA receptors an inhibition of GPi and SNr (and, possibly, of the subthalamic nucleus also), resulting in an increased activity of motor cortical areas (such as supplementary motor area), which may give rise to improvement of motor symptoms of PD. Randomized clinical trials are needed in order to assess the efficacy, safety, and tolerability of zolpidem in treating motor symptoms of PD. PMID:27293955

Region and task-specific activation of Arc in primary motor cortex of rats following motor skill learning.

PubMed

Hosp, J A; Mann, S; Wegenast-Braun, B M; Calhoun, M E; Luft, A R

2013-10-10

Motor learning requires protein synthesis within the primary motor cortex (M1). Here, we show that the immediate early gene Arc/Arg3.1 is specifically induced in M1 by learning a motor skill. Arc mRNA was quantified using a fluorescent in situ hybridization assay in adult Long-Evans rats learning a skilled reaching task (SRT), in rats performing reaching-like forelimb movement without learning (ACT) and in rats that were trained in the operant but not the motor elements of the task (controls). Apart from M1, Arc expression was assessed within the rostral motor area (RMA), primary somatosensory cortex (S1), striatum (ST) and cerebellum. In SRT animals, Arc mRNA levels in M1 contralateral to the trained limb were 31% higher than ipsilateral (p<0.001), 31% higher than in the contralateral M1 of ACT animals (p<0.001) and 48% higher than in controls (p<0.001). Arc mRNA expression in SRT was positively correlated with learning success between two sessions (r=0.52; p=0.026). For RMA, S1, ST or cerebellum no significant differences in Arc mRNA expression were found between hemispheres or across behaviors. As Arc expression has been related to different forms of cellular plasticity, these findings suggest a link between M1 Arc expression and motor skill learning in rats. Copyright © 2013 IBRO. Published by Elsevier Ltd. All rights reserved.

Sensorless H∞ speed-tracking synthesis for surface-mount permanent magnet synchronous motor.

PubMed

Ramírez-Villalobos, Ramón; Aguilar, Luis T; Coria, Luis N

2017-03-01

In this paper, a sensorless speed tracking control is proposed for a surface-mount permanent magnet synchronous motor by using a nonlinear H ∞ -controller via stator currents measurements for feedback. An output feedback nonlinear H ∞ -controller was designed such that the undisturbed system is uniformly asymptotically stable around the desired speed reference, while also the effects of external vanishing and non-vanishing disturbances, noise, and input backlash were attenuated locally. The rotor position was calculated from the causal dynamic output feedback compensator and from the desired speed reference. The existence of the proper solutions of the perturbed differential Riccati equations ensures stabilizability and detectability of the control system. The efficiency of the proposed sensorless controller was supported by numerical simulations. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Correlates of Gross Motor Competence in Children and Adolescents: A Systematic Review and Meta-Analysis.

PubMed

Barnett, Lisa M; Lai, Samuel K; Veldman, Sanne L C; Hardy, Louise L; Cliff, Dylan P; Morgan, Philip J; Zask, Avigdor; Lubans, David R; Shultz, Sarah P; Ridgers, Nicola D; Rush, Elaine; Brown, Helen L; Okely, Anthony D

2016-11-01

Gross motor competence confers health benefits, but levels in children and adolescents are low. While interventions can improve gross motor competence, it remains unclear which correlates should be targeted to ensure interventions are most effective, and for whom targeted and tailored interventions should be developed. The aim of this systematic review was to identify the potential correlates of gross motor competence in typically developing children and adolescents (aged 3-18 years) using an ecological approach. Motor competence was defined as gross motor skill competency, encompassing fundamental movement skills and motor coordination, but excluding motor fitness. Studies needed to assess a summary score of at least one aspect of motor competence (i.e., object control, locomotor, stability, or motor coordination). A structured electronic literature search was conducted in accordance with the Preferred Reporting Items for Systematic Reviews and Meta-Analyses statement. Six electronic databases (CINAHL Complete, ERIC, MEDLINE Complete, PsycINFO ® , Scopus and SPORTDiscus with Full Text) were searched from 1994 to 5 August 2014. Meta-analyses were conducted to determine the relationship between potential correlates and motor competency if at least three individual studies investigated the same correlate and also reported standardized regression coefficients. A total of 59 studies were identified from 22 different countries, published between 1995 and 2014. Studies reflected the full range of age groups. The most examined correlates were biological and demographic factors. Age (increasing) was a correlate of children's motor competence. Weight status (healthy), sex (male) and socioeconomic background (higher) were consistent correlates for certain aspects of motor competence only. Physical activity and sport participation constituted the majority of investigations in the behavioral attributes and skills category. Whilst we found physical activity to be a positive correlate of skill composite and motor coordination, we also found indeterminate evidence for physical activity being a correlate of object control or locomotor skill competence. Few studies investigated cognitive, emotional and psychological factors, cultural and social factors or physical environment factors as correlates of motor competence. This systematic review is the first that has investigated correlates of gross motor competence in children and adolescents. A strength is that we categorized correlates according to the specific ways motor competence has been defined and operationalized (object control, motor coordination, etc.), which enables us to have an understanding of what correlates assist what types of motor competence. Indeed our findings do suggest that evidence for some correlates differs according to how motor competence is operationalized.

Perceptual and Motor Inhibition in Adolescents/Young Adults with Childhood-Diagnosed ADHD

PubMed Central

Bedard, Anne-Claude V.; Trampush, Joey W.; Newcorn, Jeffrey H.; Halperin, Jeffrey M.

2010-01-01

Objective This study examined perceptual and motor inhibition in a longitudinal sample of adolescents/young adults who were diagnosed with ADHD in childhood, and as a function of the relative persistence of ADHD. Method Ninety-eight participants diagnosed with ADHD in childhood were re-evaluated approximately 10 years later. Eighty-five never-ADHD controls similar in age, IQ, sociodemographic background, and gender distribution served as a comparison group. Participants were administered a psychiatric interview and the Stimulus and Response Conflict Tasks (Nassauer & Halperin, 2003). Results Participants with childhood ADHD demonstrated slower and less accurate responses to both control and conflict conditions relative to the comparison group, as well as more variable responses in both conditions of the motor inhibition task; there was no specific effect of childhood ADHD on perceptual or motor inhibition. ADHD persisters and partial remitters did not differ in overall accuracy, speed or variability in responding, but relative to partial remitters, persisters demonstrated greater slowing in response to perceptual conflict. Conclusions These findings are consistent with theories positing state regulation, but not inhibitory control deficits in the etiology of ADHD, and suggest that improved perceptual inhibition may be associated with better outcome for ADHD. PMID:20604617

Cognitive performance under motor demands - On the influence of task difficulty and postural control.

PubMed

Liebherr, Magnus; Weiland-Breckle, Hanna; Grewe, Tanja; Schumacher, Petra B

2018-04-01

We often walk around when we have to think about something, but suddenly stop when we are confronted with a demanding cognitive task, such as calculating 1540*24. While previous neurophysiological research investigated cognitive and motor performance separately, findings that combine both are rare. To get a deeper understanding of the influence of motor demands as well as the difficulty of a simultaneously performed cognitive task, we investigated 20 healthy individuals. Participants performed two cognitive tasks with different levels of difficulty while sitting or standing on one leg. In addition to behavioral data, we recorded the electroencephalogram from 26Ag/AgCI scalp electrodes. The critical time-windows, predefined by visual inspection, yielded an early (200-300 ms, P2) and a subsequent positivity (350-500 ms, P3). Statistical analysis of the early time window registered a motor × cognition interaction. Resolution of this interaction revealed an effect of the cognitive task in the one-legged stance motor condition, with a more pronounced positivity for the difficult task. No significant differences between cognitive tasks emerged for the simple motor condition. The time-window between 350 and 500 ms registered main effects of the motor task and a trend for the cognitive task. While the influence of cognitive task difficulty (in the P3) is in accordance with previous studies, the motor task effect is specific to one-legged stance (cf. no effects for running in previous research). The motor-cognition interaction found in the P2 indicates that the more difficult motor task (one-legged stance) facilitates cognitive task performance. Copyright © 2018 Elsevier B.V. All rights reserved.

Development of an ultrasonic linear motor with ultra-positioning capability and four driving feet.

PubMed

Zhu, Cong; Chu, Xiangcheng; Yuan, Songmei; Zhong, Zuojin; Zhao, Yanqiang; Gao, Shuning

2016-12-01

This paper presents a novel linear piezoelectric motor which is suitable for rapid ultra-precision positioning. The finite element analysis (FEA) was applied for optimal design and further analysis, then experiments were conducted to investigate its performance. By changing the input signal, the proposed motor was found capable of working in the fast driving mode as well as in the precision positioning mode. When working in the fast driving mode, the motor acts as an ultrasonic motor with maximum no-load speed up to 181.2mm/s and maximum thrust of 1.7N at 200Vp-p. Also, when working in precision positioning mode, the motor can be regarded as a flexible hinge piezoelectric actuator with arbitrary motion in the range of 8μm. The measurable minimum output displacement was found to be 0.08μm, but theoretically, can be even smaller. More importantly, the motor can be quickly and accurately positioned in a large stroke. Copyright © 2016 Elsevier B.V. All rights reserved.

Mechanical Engineering Design Project report: Enabler control systems

NASA Technical Reports Server (NTRS)

Cullen, Christian; Delvecchio, Dave; Scarborough, Alan; Havics, Andrew A.

1992-01-01

The Controls Group was assigned the responsibility for designing the Enabler's control system. The requirement for the design was that the control system must provide a simple user interface to control the boom articulation joints, chassis articulation joints, and the wheel drive. The system required controlling hydraulic motors on the Enabler by implementing 8-bit microprocessor boards. In addition, feedback to evaluate positions and velocities must be interfaced to provide the operator with confirmation as well as control.

Using "human state aware" robots to enhance physical human-robot interaction in a cooperative scenario.

PubMed

Guerrero, Carlos Rodriguez; Fraile Marinero, Juan Carlos; Turiel, Javier Perez; Muñoz, Victor

2013-11-01

Human motor performance, speed and variability are highly susceptible to emotional states. This paper reviews the impact of the emotions on the motor control performance, and studies the possibility of improving the perceived skill/challenge relation on a multimodal neural rehabilitation scenario, by means of a biocybernetic controller that modulates the assistance provided by a haptic controlled robot in reaction to undesirable physical and mental states. Results from psychophysiological, performance and self assessment data for closed loop experiments in contrast with their open loop counterparts, suggest that the proposed method had a positive impact on the overall challenge/skill relation leading to an enhanced physical human-robot interaction experience. Copyright © 2013 Elsevier Ireland Ltd. All rights reserved.

Universal Linear Motor Driven Leg Press Dynamometer and Concept of Serial Stretch Loading.

PubMed

Hamar, Dušan

2015-08-24

Paper deals with backgrounds and principles of universal linear motor driven leg press dynamometer and concept of serial stretch loading. The device is based on two computer controlled linear motors mounted to the horizontal rails. As the motors can keep either constant resistance force in selected position or velocity in both directions, the system allows simulation of any mode of muscle contraction. In addition, it also can generate defined serial stretch stimuli in a form of repeated force peaks. This is achieved by short segments of reversed velocity (in concentric phase) or acceleration (in eccentric phase). Such stimuli, generated at the rate of 10 Hz, have proven to be a more efficient means for the improvement of rate of the force development. This capability not only affects performance in many sports, but also plays a substantial role in prevention of falls and their consequences. Universal linear motor driven and computer controlled dynamometer with its unique feature to generate serial stretch stimuli seems to be an efficient and useful tool for enhancing strength training effects on neuromuscular function not only in athletes, but as well as in senior population and rehabilitation patients.

Kinesthetic motor imagery modulates body sway.

PubMed

Rodrigues, E C; Lemos, T; Gouvea, B; Volchan, E; Imbiriba, L A; Vargas, C D

2010-08-25

The aim of this study was to investigate the effect of imagining an action implicating the body axis in the kinesthetic and visual motor imagery modalities upon the balance control system. Body sway analysis (measurement of center of pressure, CoP) together with electromyography (EMG) recording and verbal evaluation of imagery abilities were obtained from subjects during four tasks, performed in the upright position: to execute bilateral plantar flexions; to imagine themselves executing bilateral plantar flexions (kinesthetic modality); to imagine someone else executing the same movement (visual modality), and to imagine themselves singing a song (as a control imagery task). Body sway analysis revealed that kinesthetic imagery leads to a general increase in CoP oscillation, as reflected by an enhanced area of displacement. This effect was also verified for the CoP standard deviation in the medial-lateral direction. An increase in the trembling displacement (equivalent to center of pressure minus center of gravity) restricted to the anterior-posterior direction was also observed to occur during kinesthetic imagery. The visual imagery task did not differ from the control (sing) task for any of the analyzed parameters. No difference in the subjects' ability to perform the imagery tasks was found. No modulation of EMG data were observed across imagery tasks, indicating that there was no actual execution during motor imagination. These results suggest that motor imagery performed in the kinesthetic modality evokes motor representations involved in balance control. Copyright (c)10 IBRO. Published by Elsevier Ltd. All rights reserved.

Adaptive PI control strategy for flat permanent magnet linear synchronous motor vibration suppression

NASA Astrophysics Data System (ADS)

Meng, Fanwei; Liu, Chengying; Li, Zhijun; Wang, Liping

2013-01-01

Due to low damping ratio, flat permanent magnet linear synchronous motor's vibration is difficult to be damped and the accuracy is limited. The vibration suppressing results are not good enough in the existing research because only the longitudinal direction vibration is considered while the normal direction vibration is neglected. The parameters of the direct-axis current controller are set to be the same as those of the quadrature-axis current controller commonly. This causes contradiction between signal noise and response. To suppress the vibration, the electromagnetic force model of the flat permanent magnet synchronous linear motor is formulated first. Through the analysis of the effect that direct-axis current noise and quadrature-axis current noise have on both direction vibration, it can be declared that the conclusion that longitudinal direction vibration is only related to the quadrature-axis current noise while the normal direction vibration is related to both the quadrature-axis current noise and direct-axis current noise. Then, the simulation test on current loop with a low-pass filter is conducted and the results show that the low-pass filter can not suppress the vibration but makes the vibration more severe. So a vibration suppressing strategy that the proportional gain of direct-axis current controller adapted according to quadrature-axis reference current is proposed. This control strategy can suppress motor vibration by suppressing direct-axis current noise. The experiments results about the effect of K p and T i on normal direction vibration, longitudinal vibration and the position step response show that this strategy suppresses vibration effectively while the motor's motion performance is not affected. The maximum reduction of vibration can be up to 40%. In addition, current test under rated load condition is also conducted and the results show that the control strategy can avoid the conflict between the direct-axis current and the quadrature-axis current under typical load. Adaptive PI control strategy can effectively suppress the flat permanent magnet linear synchronous motor's vibration without affecting the motor's performance.

Morphologic changes in the mesolimbic pathway in Parkinson's disease motor subtypes.

PubMed

Nyberg, Eric M; Tanabe, Jody; Honce, Justin M; Krmpotich, Theodore; Shelton, Erika; Hedeman, Jessica; Berman, Brian D

2015-05-01

Parkinson's disease (PD) is a common neurodegenerative disorder associated with gray matter atrophy. Cortical atrophy patterns may further help distinguish between PD motor subtypes. Comparable differences in subcortical volumes have not been found. Twenty-one cognitively intact and treated PD patients, including 12 tremor dominant (TD) subtype, Nine postural instability gait dominant (PIGD) subtype, and 20 matched healthy control subjects underwent 3.0 T high-resolution structural MRI scanning. Subcortical volumetric analysis was performed using FreeSurfer and shape analysis was performed with FIRST to assess for differences between PD patients and controls and between PD subtypes. No significant differences in subcortical volumes were found between motor PD subtypes, but comparing grouped PD patients with controls revealed a significant increase in hippocampal volume in PD patients (p = 0.03). A significant shape difference was detected in the right nucleus accumbens (NAcc) between PD and controls and between motor subtypes. Shape differences were driven by positive deviations in the TD subtype. Correlation analysis revealed a trend between hippocampal volume and decreasing MDS-UPDRS (p = 0.06). While no significant differences in subcortical volumes between PD motor subtypes were found, increased hippocampal volumes were observed in PD patients compared to controls. Right NAcc shape differences in PD patients were driven by changes in the TD subtype. These unexpected findings may be related to the effects of chronic dopaminergic replacement on the mesolimbic pathway. Further studies are needed to replicate and determine the clinical significance of such morphologic changes. Copyright © 2015 Elsevier Ltd. All rights reserved.

Small hydraulic turbine drives

NASA Technical Reports Server (NTRS)

Rostafinski, W. A.

1970-01-01

Turbine, driven by the fluid being pumped, requires no external controls, is completely integrated into the flow system, and has bearings which utilize the main fluid for lubrication and cooling. Torque capabilities compare favorably with those developed by positive displacement hydraulic motors.

Investigation on Abnormal Iron Metabolism and Related Inflammation in Parkinson Disease Patients with Probable RBD

PubMed Central

Hu, Yang; Yu, Shu-Yang; Zuo, Li-Jun; Piao, Ying-Shan; Cao, Chen-Jie; Wang, Fang; Chen, Ze-Jie; Du, Yang; Lian, Teng-Hong; Liu, Gai-Fen; Wang, Ya-Jie; Chan, Piu; Chen, Sheng-Di; Wang, Xiao-Min; Zhang, Wei

2015-01-01

Objective To investigate potential mechanisms involving abnormal iron metabolism and related inflammation in Parkinson disease (PD) patients with probable rapid eye movement sleep behavior disorder (PRBD). Methods Total 210 PD patients and 31 controls were consecutively recruited. PD patients were evaluated by RBD Screening Questionnaire (RBDSQ) and classified into PRBD and probable no RBD (NPRBD) groups. Demographics information were recorded and clinical symptoms were evaluated by series of rating scales. Levels of iron and related proteins and inflammatory factors in cerebrospinal fluid (CSF) and serum were detected. Comparisons among control, NPRBD and PRBD groups and correlation analyses between RBDSQ score and levels of above factors were performed. Results (1)The frequency of PRBD in PD patients is 31.90%. (2)PRBD group has longer disease duration, more advanced disease stage, severer motor symptoms and more non-motor symptoms than NPRBD group. (3)In CSF, levels of iron, transferrin, NO and IL–1β in PRBD group are prominently increased. RBDSQ score is positively correlated with the levels of iron, transferrin, NO and IL–1β in PD group. Iron level is positively correlated with the levels of NO and IL–1β in PD group. (4)In serum, transferrin level is prominently decreased in PRBD group. PGE2 level in PRBD group is drastically enhanced. RBDSQ score exhibits a positive correlation with PGE2 level in PD group. Conclusions PRBD is common in PD patients. PRBD group has severer motor symptoms and more non-motor symptoms. Excessive iron in brain resulted from abnormal iron metabolism in central and peripheral systems is correlated with PRBD through neuroinflammation. PMID:26431210

Speed control for a mobile robot

NASA Astrophysics Data System (ADS)

Kolli, Kaylan C.; Mallikarjun, Sreeram; Kola, Krishnamohan; Hall, Ernest L.

1997-09-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of a speed control for a modular autonomous mobile robot controller. The speed control of the traction motor is essential for safe operation of a mobile robot. The challenges of autonomous operation of a vehicle require safe, runaway and collision free operation. A mobile robot test-bed has been constructed using a golf cart base. The computer controlled speed control has been implemented and works with guidance provided by vision system and obstacle avoidance using ultrasonic sensors systems. A 486 computer through a 3- axis motion controller supervises the speed control. The traction motor is controlled via the computer by an EV-1 speed control. Testing of the system was done both in the lab and on an outside course with positive results. This design is a prototype and suggestions for improvements are also given. The autonomous speed controller is applicable for any computer controlled electric drive mobile vehicle.

Preferred sleep position and gross motor achievement in early infancy.

PubMed

Carmeli, Eli; Marmur, Rachel; Cohen, Ayala; Tirosh, Emanuel

2009-06-01

The aim of this study was to assess the effect of an infant's favoured position on their motor development at the age of six months. Seventy-five full-term infants were prospectively observed at home for their preferred sleep, awake, play and uninterrupted positions. A parental log was completed daily and then weekly up to the age of six months, when the Alberta Infant Motor Scale (AIMS) was administered. No significant relationship between the preferred or sleep positions as well as the awake and mutual play positions and gross motor developmental attainment at six months of age was noted. A significant change in the preferred recumbent posture with increased prone positioning both during sleep and awake time over the first six months was noted. A balanced positioning policy while awake, regardless of the infant's preference while recumbent, is not associated with gross motor delay.

Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme

PubMed Central

Lee, Ji Min; Park, Sung Hwan; Kim, Jong Shik

2013-01-01

A robust control scheme is proposed for the position control of the electrohydrostatic actuator (EHA) when considering hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities. To reduce overshoot due to a saturation of electric motor and to realize robustness against load disturbance and lumped system uncertainties such as varying parameters and modeling error, this paper proposes an adaptive antiwindup PID sliding mode scheme as a robust position controller for the EHA system. An optimal PID controller and an optimal anti-windup PID controller are also designed to compare control performance. An EHA prototype is developed, carrying out system modeling and parameter identification in designing the position controller. The simply identified linear model serves as the basis for the design of the position controllers, while the robustness of the control systems is compared by experiments. The adaptive anti-windup PID sliding mode controller has been found to have the desired performance and become robust against hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities. PMID:23983640

Degraded Impairment of Emotion Recognition in Parkinson's Disease Extends from Negative to Positive Emotions.

PubMed

Lin, Chia-Yao; Tien, Yi-Min; Huang, Jong-Tsun; Tsai, Chon-Haw; Hsu, Li-Chuan

2016-01-01

Because of dopaminergic neurodegeneration, patients with Parkinson's disease (PD) show impairment in the recognition of negative facial expressions. In the present study, we aimed to determine whether PD patients with more advanced motor problems would show a much greater deficit in recognition of emotional facial expressions than a control group and whether impairment of emotion recognition would extend to positive emotions. Twenty-nine PD patients and 29 age-matched healthy controls were recruited. Participants were asked to discriminate emotions in Experiment  1 and identify gender in Experiment  2. In Experiment  1, PD patients demonstrated a recognition deficit for negative (sadness and anger) and positive faces. Further analysis showed that only PD patients with high motor dysfunction performed poorly in recognition of happy faces. In Experiment  2, PD patients showed an intact ability for gender identification, and the results eliminated possible abilities in the functions measured in Experiment  2 as alternative explanations for the results of Experiment  1. We concluded that patients' ability to recognize emotions deteriorated as the disease progressed. Recognition of negative emotions was impaired first, and then the impairment extended to positive emotions.

Degraded Impairment of Emotion Recognition in Parkinson's Disease Extends from Negative to Positive Emotions

PubMed Central

Tien, Yi-Min; Huang, Jong-Tsun

2016-01-01

Because of dopaminergic neurodegeneration, patients with Parkinson's disease (PD) show impairment in the recognition of negative facial expressions. In the present study, we aimed to determine whether PD patients with more advanced motor problems would show a much greater deficit in recognition of emotional facial expressions than a control group and whether impairment of emotion recognition would extend to positive emotions. Twenty-nine PD patients and 29 age-matched healthy controls were recruited. Participants were asked to discriminate emotions in Experiment  1 and identify gender in Experiment  2. In Experiment  1, PD patients demonstrated a recognition deficit for negative (sadness and anger) and positive faces. Further analysis showed that only PD patients with high motor dysfunction performed poorly in recognition of happy faces. In Experiment  2, PD patients showed an intact ability for gender identification, and the results eliminated possible abilities in the functions measured in Experiment  2 as alternative explanations for the results of Experiment  1. We concluded that patients' ability to recognize emotions deteriorated as the disease progressed. Recognition of negative emotions was impaired first, and then the impairment extended to positive emotions. PMID:27555668

Automatic alignment method for calibration of hydrometers

NASA Astrophysics Data System (ADS)

Lee, Y. J.; Chang, K. H.; Chon, J. C.; Oh, C. Y.

2004-04-01

This paper presents a new method to automatically align specific scale-marks for the calibration of hydrometers. A hydrometer calibration system adopting the new method consists of a vision system, a stepping motor, and software to control the system. The vision system is composed of a CCD camera and a frame grabber, and is used to acquire images. The stepping motor moves the camera, which is attached to the vessel containing a reference liquid, along the hydrometer. The operating program has two main functions: to process images from the camera to find the position of the horizontal plane and to control the stepping motor for the alignment of the horizontal plane with a particular scale-mark. Any system adopting this automatic alignment method is a convenient and precise means of calibrating a hydrometer. The performance of the proposed method is illustrated by comparing the calibration results using the automatic alignment method with those obtained using the manual method.

The role of the vestibular system in manual target localization

NASA Technical Reports Server (NTRS)

Barry, Susan R.; Mueller, S. Alyssa

1995-01-01

Astronauts experience perceptual and sensory-motor disturbances during spaceflight and immediately after return to the 1-g environment of Earth. During spaceflight, sensory information from the eyes, limbs and vestibular organs is reinterpreted by the central nervous system so that astronauts can produce appropriate body movements in microgravity. Alterations in sensory-motor function may affect eye-head-hand coordination and, thus, the crewmember's ability to manually locate objects in extrapersonal space. Previous reports have demonstrated that crewmembers have difficulty in estimating joint and limb position and in pointing to memorized target positions on orbit and immediately postflight. One set of internal cues that may assist in the manual localization of objects is information from the vestibular system. This system contributes to our sense of the body's position in space by providing information on head position and movement and the orientation of the body with respect to gravity. Research on the vestibular system has concentrated on its role in oculo-motor control. Little is known about the role that vestibular information plays in manual motor control, such as reaching and pointing movements. Since central interpretation of vestibular information is altered in microgravity, it is important to determine its role in this process. This summer, we determined the importance of vestibular information in a subject's ability to point accurately toward a target in extrapersonal space. Subjects were passively rotated across the earth-vertical axis and then asked to point back to a previously-seen target. In the first paradigm, the subjects used both visual and vestibular cues for the pointing response, while, in the second paradigm, subjects used only vestibular information. Subjects were able to point with 85 percent accuracy to a target using vestibular information alone. We infer from this result that vestibular input plays a role in the spatial programming of manual responses.

A motor-driven ventricular assist device controlled with an optical encoder system.

PubMed

Nakamura, T; Hayashi, K; Yamane, H

1993-01-01

An electric motor-driven ventricular assist device has been developed for long-term use inside the body. The system is composed of a pusher-plate-type blood pump and an actuator consisting of an electrical motor and a ball screw. Cyclic change of the direction of motor rotation makes a back-and-forth axial movement of the ball screw shaft. The shaft, which is detached from the pump diaphragm, pushes the diaphragm via a pusher plate to eject blood during systole; blood is sucked by the diaphragm resilience during diastole. Using the output signals from a newly designed, incremental-type, miniature optical rotary encoder mounted inside the actuator, the input voltage of the motor is optimally controlled referring to the phase difference between the current position of the moving rotor and the electrical reference signal of the rotation generated by a microprocessor-based controller. In vitro performance tests indicated that the system fulfills required specifications. The maximum efficiency was 11%, which was about twice as high as that obtained with the previous open-loop prototype system. In the air, the surface temperature of the actuator elevated to 20 degrees C above the room temperature. An acute in vivo test showed its feasibility as a left ventricular assist device. Analysis of the energy loss in each component of the system indicated that redesign and precise assembly of the mechanical parts could increase the system efficiency.

Structural brain correlates associated with professional handball playing.

PubMed

Hänggi, Jürgen; Langer, Nicolas; Lutz, Kai; Birrer, Karin; Mérillat, Susan; Jäncke, Lutz

2015-01-01

There is no doubt that good bimanual performance is very important for skilled handball playing. The control of the non-dominant hand is especially demanding since efficient catching and throwing needs both hands. We investigated training-induced structural neuroplasticity in professional handball players using several structural neuroimaging techniques and analytic approaches and also provide a review of the literature about sport-induced structural neuroplastic alterations. Structural brain adaptations were expected in regions relevant for motor and somatosensory processing such as the grey matter (GM) of the primary/secondary motor (MI/supplementary motor area, SMA) and somatosensory cortex (SI/SII), basal ganglia, thalamus, and cerebellum and in the white matter (WM) of the corticospinal tract (CST) and corpus callosum, stronger in brain regions controlling the non-dominant left hand. Increased GM volume in handball players compared with control subjects were found in the right MI/SI, bilateral SMA/cingulate motor area, and left intraparietal sulcus. Fractional anisotropy (FA) and axial diffusivity were increased within the right CST in handball players compared with control women. Age of handball training commencement correlated inversely with GM volume in the right and left MI/SI and years of handball training experience correlated inversely with radial diffusivity in the right CST. Subcortical structures tended to be larger in handball players. The anatomical measures of the brain regions associated with handball playing were positively correlated in handball players, but not interrelated in control women. Training-induced structural alterations were found in the somatosensory-motor network of handball players, more pronounced in the right hemisphere controlling the non-dominant left hand. Correlations between handball training-related measures and anatomical differences suggest neuroplastic adaptations rather than a genetic predisposition for a ball playing affinity. Investigations of neuroplasticity specifically in sportsmen might help to understand the neural mechanisms of expertise in general.

XBox Input -Version 1.0

DOE Office of Scientific and Technical Information (OSTI.GOV)

2012-10-03

Contains class for connecting to the Xbox 360 controller, displaying the user inputs {buttons, triggers, analog sticks), and controlling the rumble motors. Also contains classes for converting the raw Xbox 360 controller inputs into meaningful commands for the following objects: • Robot arms - Provides joint control and several tool control schemes • UGV's - Provides translational and rotational commands for "skid-steer" vehicles • Pan-tilt units - Provides several modes of control including velocity, position, and point-tracking • Head-mounted displays (HMO)- Controls the viewpoint of a HMO • Umbra frames - Controls the position andorientation of an Umbra posrot objectmore » • Umbra graphics window - Provides several modes of control for the Umbra OSG window viewpoint including free-fly, cursor-focused, and object following.« less

Active listening for spatial orientation in a complex auditory scene.

PubMed

Moss, Cynthia F; Bohn, Kari; Gilkenson, Hannah; Surlykke, Annemarie

2006-04-01

To successfully negotiate a complex environment, an animal must control the timing of motor behaviors in coordination with dynamic sensory information. Here, we report on adaptive temporal control of vocal-motor behavior in an echolocating bat, Eptesicus fuscus, as it captured tethered insects close to background vegetation. Recordings of the bat's sonar vocalizations were synchronized with high-speed video images that were used to reconstruct the bat's three-dimensional flight path and the positions of target and vegetation. When the bat encountered the difficult task of taking insects as close as 10-20 cm from the vegetation, its behavior changed significantly from that under open room conditions. Its success rate decreased by about 50%, its time to initiate interception increased by a factor of ten, and its high repetition rate "terminal buzz" decreased in duration by a factor of three. Under all conditions, the bat produced prominent sonar "strobe groups," clusters of echolocation pulses with stable intervals. In the final stages of insect capture, the bat produced strobe groups at a higher incidence when the insect was positioned near clutter. Strobe groups occurred at all phases of the wingbeat (and inferred respiration) cycle, challenging the hypothesis of strict synchronization between respiration and sound production in echolocating bats. The results of this study provide a clear demonstration of temporal vocal-motor control that directly impacts the signals used for perception.

Active Listening for Spatial Orientation in a Complex Auditory Scene

PubMed Central

Bohn, Kari; Gilkenson, Hannah; Surlykke, Annemarie

2006-01-01

To successfully negotiate a complex environment, an animal must control the timing of motor behaviors in coordination with dynamic sensory information. Here, we report on adaptive temporal control of vocal–motor behavior in an echolocating bat, Eptesicus fuscus, as it captured tethered insects close to background vegetation. Recordings of the bat's sonar vocalizations were synchronized with high-speed video images that were used to reconstruct the bat's three-dimensional flight path and the positions of target and vegetation. When the bat encountered the difficult task of taking insects as close as 10–20 cm from the vegetation, its behavior changed significantly from that under open room conditions. Its success rate decreased by about 50%, its time to initiate interception increased by a factor of ten, and its high repetition rate “terminal buzz” decreased in duration by a factor of three. Under all conditions, the bat produced prominent sonar “strobe groups,” clusters of echolocation pulses with stable intervals. In the final stages of insect capture, the bat produced strobe groups at a higher incidence when the insect was positioned near clutter. Strobe groups occurred at all phases of the wingbeat (and inferred respiration) cycle, challenging the hypothesis of strict synchronization between respiration and sound production in echolocating bats. The results of this study provide a clear demonstration of temporal vocal–motor control that directly impacts the signals used for perception. PMID:16509770

Slower postnatal motor development in infants of mothers with latent toxoplasmosis during the first 18 months of life.

PubMed

Kaňková, Sárka; Sulc, Jan; Křivohlavá, Romana; Kuběna, Aleš; Flegr, Jaroslav

2012-11-01

Toxoplasmosis, a zoonosis caused by a protozoan, Toxoplasma gondii, is probably the most widespread human parasitosis in developed countries. Pregnant women with latent toxoplasmosis have seemingly younger fetuses especially in the 16th week of gestation, which suggests that fetuses of Toxoplasma-infected mothers have slower rates of development in the first trimester of pregnancy. In the present retrospective cohort study, we analyzed data on postnatal motor development of infants from 331 questionnaire respondents including 53 Toxoplasma-infected mothers to search for signs of early postnatal development disorders. During the first year of life, a slower postnatal motor development was observed in infants of mothers with latent toxoplasmosis. These infants significantly later developed the ability to control the head position (p=0.039), to roll from supine to prone position (p=0.022) and were slightly later to begin crawling (p=0.059). Our results are compatible with the hypothesis that the difference in the rates of prenatal and early postnatal development between children of Toxoplasma-negative and Toxoplasma-positive mothers might be caused by a decreased stringency of embryo quality control in partly immunosuppressed Toxoplasma-positive mothers resulting in a higher proportion of infants with genetic or developmental disorders in offspring. However, because of relatively low return rate of questionnaires and an associated risk of a sieve effect, our results should be considered as preliminary and performing a large scale prospective study in the future is critically needed. Copyright © 2012 Elsevier Ltd. All rights reserved.

Mirror therapy in chronic stroke survivors with severely impaired upper limb function: a randomized controlled trial.

PubMed

Colomer, Carolina; NOé, Enrique; Llorens, Roberto

2016-06-01

Mirror therapy (MT) has been proposed to improve the motor function of chronic individuals with stroke with mild to moderate impairment. With regards to severe upper limb paresis, MT has shown to provide limited motor improvement in the acute or sub-acute phase. However, no previous research has described the effects of MT in chronic individuals with stroke with severely impaired upper limb function. The aim of this study was to determine the effectiveness of MT on chronic stroke survivors with severe upper-limb impairment in comparison with passive mobilization. A randomized controlled trial. Rehabilitative outpatient unit. A total of 31 chronic subjects poststroke with severely impaired upper limb function were randomly assigned to either an experimental group (N.=15), or a control group (N.=16). Twenty-four intervention sessions were performed for both groups. Each session included 45-minute period of MT (experimental group) or passive mobilization (control group), administered three days a week. Participants were assessed before and after the intervention with the Wolf Motor Function Test, the Fugl-Meyer Assessment, and the Nottingham Sensory Assessment. Improvement in motor function was observed in both groups on the time (P=0.002) and ability (P=0.001) subscales of the Wolf Motor Function Test. No differences were detected in kinesthesis or stereognosis. However, the experimental group showed a significant improvement in tactile sensation that was mainly observed as an increased sensitivity to light touches. In comparison with passive mobilization, MT in chronic stroke survivors with severely impaired upper-limb function may provide a limited but positive effect on light touch sensitivity while providing similar motor improvement. MT is a therapeutic approach that can be used in the rehabilitation of severely impaired upper limb in chronic stroke survivors, specifically to address light touch sensitivity deficits.

Technique for positioning hologram for balancing large data capacity with fast readout

NASA Astrophysics Data System (ADS)

Shimada, Ken-ichi; Hosaka, Makoto; Yamazaki, Kazuyoshi; Onoe, Shinsuke; Ide, Tatsuro

2017-09-01

The technical difficulty of balancing large data capacity with a high data transfer rate in holographic data storage systems (HDSSs) is significantly high because of tight tolerances for physical perturbation. From a system margin perspective in terabyte-class HDSSs, the positioning error of a holographic disc should be within about 10 µm to ensure high readout quality. Furthermore, fine control of the positioning should be accomplished within a time frame of about 10 ms for a high data transfer rate of the Gbps class, while a conventional method based on servo control of spindle or sled motors can rarely satisfy the requirement. In this study, a new compensation method for the effect of positioning error, which precisely controls the positioning of a Nyquist aperture instead of a holographic disc, has been developed. The method relaxes the markedly low positional tolerance of a holographic disc. Moreover, owing to the markedly light weight of the aperture, positioning control within the required time frame becomes feasible.

Ipsilesional motor deficits following stroke reflect hemispheric specializations for movement control.

PubMed

Schaefer, Sydney Y; Haaland, Kathleen Y; Sainburg, Robert L

2007-08-01

Recent reports of functional impairment in the 'unaffected' limb of stroke patients have suggested that these deficits vary with the side of lesion. This not only supports the idea that the ipsilateral hemisphere contributes to arm movements, but also implies that such contributions are lateralized. We have previously suggested that the left and right hemispheres are specialized for controlling different features of movement. In reaching movements, the non-dominant arm appears better adapted for achieving accurate final positions and the dominant arm for specifying initial trajectory features, such as movement direction and peak acceleration. The purpose of this study was to determine whether different features of control could characterize ipsilesional motor deficits following stroke. Healthy control subjects and patients with either left- or right-hemisphere damage performed targeted single-joint elbow movements of different amplitudes in their ipsilateral hemispace. We predicted that left-hemisphere damage would produce deficits in specification of initial trajectory features, while right-hemisphere damage would produce deficits in final position accuracy. Consistent with our predictions, patients with left, but not right, hemisphere damage showed reduced modulation of acceleration amplitude. However, patients with right, but not left, hemisphere damage showed significantly larger errors in final position, which corresponded to reduced modulation of acceleration duration. Neither patient group differed from controls in terms of movement speed. Instead, the mechanisms by which speed was specified, through modulation of acceleration amplitude and modulation of acceleration duration, appeared to be differentially affected by left- and right-hemisphere damage. These findings support the idea that each hemisphere contributes differentially to the control of initial trajectory and final position, and that ipsilesional deficits following stroke reflect this lateralization in control.

Brain State Before Error Making in Young Patients With Mild Spastic Cerebral Palsy.

PubMed

Hakkarainen, Elina; Pirilä, Silja; Kaartinen, Jukka; van der Meere, Jaap J

2015-10-01

In the present experiment, children with mild spastic cerebral palsy and a control group carried out a memory recognition task. The key question was if errors of the patient group are foreshadowed by attention lapses, by weak motor preparation, or by both. Reaction times together with event-related potentials associated with motor preparation (frontal late contingent negative variation), attention (parietal P300), and response evaluation (parietal error-preceding positivity) were investigated in instances where 3 subsequent correct trials preceded an error. The findings indicated that error responses of the patient group are foreshadowed by weak motor preparation in correct trials directly preceding an error. © The Author(s) 2015.

Lyapunov exponent for aging process in induction motor

NASA Astrophysics Data System (ADS)

Bayram, Duygu; Ünnü, Sezen Yıdırım; Şeker, Serhat

2012-09-01

Nonlinear systems like electrical circuits and systems, mechanics, optics and even incidents in nature may pass through various bifurcations and steady states like equilibrium point, periodic, quasi-periodic, chaotic states. Although chaotic phenomena are widely observed in physical systems, it can not be predicted because of the nature of the system. On the other hand, it is known that, chaos is strictly dependent on initial conditions of the system [1-3]. There are several methods in order to define the chaos. Phase portraits, Poincaré maps, Lyapunov Exponents are the most common techniques. Lyapunov Exponents are the theoretical indicator of the chaos, named after the Russian mathematician Aleksandr Lyapunov (1857-1918). Lyapunov Exponents stand for the average exponential divergence or convergence of nearby system states, meaning estimating the quantitive measure of the chaotic attractor. Negative numbers of the exponents stand for a stable system whereas zero stands for quasi-periodic systems. On the other hand, at least if one of the exponents is positive, this situation is an indicator of the chaos. For estimating the exponents, the system should be modeled by differential equation but even in that case mathematical calculation of Lyapunov Exponents are not very practical and evaluation of these values requires a long signal duration [4-7]. For experimental data sets, it is not always possible to acquire the differential equations. There are several different methods in literature for determining the Lyapunov Exponents of the system [4, 5]. Induction motors are the most important tools for many industrial processes because they are cheap, robust, efficient and reliable. In order to have healthy processes in industrial applications, the conditions of the machines should be monitored and the different working conditions should be addressed correctly. To the best of our knowledge, researches related to Lyapunov exponents and electrical motors are mostly focused on the controlling the mechanical parameters of the electrical machines. Brushless DC motor (BLDCM) and the other general purpose permanent magnet (PM) motors are the most widely examined motors [1, 8, 9]. But the researches, about Lyapunov Exponent, subjected to the induction motors are mostly focused on the control theory of the motors. Flux estimation of rotor, external load disturbances and speed tracking and vector control position system are the main research areas for induction motors [10, 11, 12-14]. For all the data sets which can be collected from an induction motor, vibration data have the key role for understanding the mechanical behaviours like aging, bearing damage and stator insulation damage [15-18]. In this paper aging of an induction motor is investigated by using the vibration signals. The signals consist of new and aged motor data. These data are examined by their 2 dimensional phase portraits and the geometric interpretation is applied for detecting the Lyapunov Exponents. These values are compared in order to define the character and state estimation of the aging processes.

Neurofeedback fMRI-mediated learning and consolidation of regional brain activation during motor imagery

PubMed Central

Yoo, Seung-Schik; Lee, Jong-Hwan; O’Leary, Heather; Panych, Lawrence P.; Jolesz, Ferenc A.

2009-01-01

We report the long-term effect of real-time functional MRI (rtfMRI) training on voluntary regulation of the level of activation from a hand motor area. During the performance of a motor imagery task of a right hand, blood-oxygenation-level-dependent (BOLD) signal originating from a primary motor area was presented back to the subject in real-time. Demographically matched individuals also received the same procedure without valid feedback information. Followed by the initial rtfMRI sessions, both groups underwent two-week long, daily-practice of the task. Off-line data analysis revealed that the individuals in the experimental group were able to increase the level of BOLD signal from the regulatory target to a greater degree compared to the control group. Furthermore, the learned level of activation was maintained after the two-week period, with the recruitment of additional neural circuitries such as the hippocampus and the limbo-thalamo-cortical pathway. The activation obtained from the control group, in the absence of proper feedback, was indifferent across the training conditions. The level of BOLD activity from the target regulatory region was positively correlated with a self evaluative score within the experimental group, while the majority of control subjects had difficulty adopting a strategy to attain the desired level of functional regulation. Our results suggest that rtfMRI helped individuals learn how to increase region-specific cortical activity associated with a motor imagery task, and the level of increased activation in motor areas was consolidated after the two-week self-practice period, with the involvement of neural circuitries implicated in motor skill learning. PMID:19526048

Referent control and motor equivalence of reaching from standing

PubMed Central

Tomita, Yosuke; Feldman, Anatol G.

2016-01-01

Motor actions may result from central changes in the referent body configuration, defined as the body posture at which muscles begin to be activated or deactivated. The actual body configuration deviates from the referent configuration, particularly because of body inertia and environmental forces. Within these constraints, the system tends to minimize the difference between these configurations. For pointing movement, this strategy can be expressed as the tendency to minimize the difference between the referent trajectory (RT) and actual trajectory (QT) of the effector (hand). This process may underlie motor equivalent behavior that maintains the pointing trajectory regardless of the number of body segments involved. We tested the hypothesis that the minimization process is used to produce pointing in standing subjects. With eyes closed, 10 subjects reached from a standing position to a remembered target located beyond arm length. In randomly chosen trials, hip flexion was unexpectedly prevented, forcing subjects to take a step during pointing to prevent falling. The task was repeated when subjects were instructed to intentionally take a step during pointing. In most cases, reaching accuracy and trajectory curvature were preserved due to adaptive condition-specific changes in interjoint coordination. Results suggest that referent control and the minimization process associated with it may underlie motor equivalence in pointing. NEW & NOTEWORTHY Motor actions may result from minimization of the deflection of the actual body configuration from the centrally specified referent body configuration, in the limits of neuromuscular and environmental constraints. The minimization process may maintain reaching trajectory and accuracy regardless of the number of body segments involved (motor equivalence), as confirmed in this study of reaching from standing in young healthy individuals. Results suggest that the referent control process may underlie motor equivalence in reaching. PMID:27784802

Differences in Learning Volitional (Manual) and Non-Volitional (Posture) Aspects of a Complex Motor Skill in Young Adult Dyslexic and Skilled Readers

PubMed Central

Sela, Itamar; Karni, Avi

2012-01-01

The ‘Cerebellar Deficit Theory’ of developmental dyslexia proposes that a subtle developmental cerebellar dysfunction leads to deficits in attaining ‘automatic’ procedures and therefore manifests as subtle motor impairments (e.g., balance control, motor skill learning) in addition to the reading and phonological difficulties. A more recent version of the theory suggests a core deficit in motor skill acquisition. This study was undertaken to compare the time-course and the nature of practice-related changes in volitional (manual) and non-volitional (posture) motor performance in dyslexic and typical readers while learning a new movement sequence. Seventeen dyslexic and 26 skilled young adult readers underwent a three-session training program in which they practiced a novel sequence of manual movements while standing in a quiet stance position. Both groups exhibited robust and well-retained gains in speed, with no loss of accuracy, on the volitional, manual, aspects of the task, with a time-course characteristic of procedural learning. However, the dyslexic readers exhibited a pervasive slowness in the initiation of volitional performance. In addition, while typical readers showed clear and well-retained task-related adaptation of the balance and posture control system, the dyslexic readers had significantly larger sway and variance of sway throughout the three sessions and were less efficient in adapting the posture control system to support the acquisition of the novel movement sequence. These results support the notion of a non-language-related deficit in developmental dyslexia, one related to the recruitment of motor systems for effective task performance rather than to a general motor learning disability. PMID:23049736

Design of automatic curtain controlled by wireless based on single chip 51 microcomputer

NASA Astrophysics Data System (ADS)

Han, Dafeng; Chen, Xiaoning

2017-08-01

In order to realize the wireless control of the domestic intelligent curtains, a set of wireless intelligent curtain control system based on 51 single chip microcomputer have been designed in this paper. The intelligent curtain can work in the manual mode, automatic mode and sleep mode and can be carried out by the button and mobile phone APP mode loop switch. Through the photosensitive resistance module and human pyroelectric infrared sensor to collect the indoor light value and the data whether there is the person in the room, and then after single chip processing, the motor drive module is controlled to realize the positive inversion of the asynchronous motor, the intelligent opening and closing of the curtain have been realized. The operation of the motor can be stopped under the action of the switch and the curtain opening and closing and timing switch can be controlled through the keys and mobile phone APP. The optical fiber intensity, working mode, curtain state and system time are displayed by LCD1602. The system has a high reliability and security under practical testing and with the popularity and development of smart home, the design has broad market prospects.

Use of an AC induction motor system for producing finger movements in human subjects.

PubMed

Proudlock, F A; Scott, J J

1998-12-01

This report describes the set-up and evaluation of a novel system for producing precise finger movements, for tests of movement perception. The specifications were to construct a system using commercially available components that were easy to use but which offered both flexibility and also high precision control. The system was constructed around an industrial AC induction motor with an optical encoder, controlled by an AC servo digital control module that could be programmed using a simple, high-level language. This set-up fulfilled the requirements regarding position and velocity control for a range of movements and also the facility for the subject to move the joint voluntarily while still attached to the motor. However a number of problems were encountered, the most serious being the level of vibration and the inability to vary the torque during movements. The vibration was reduced to the point where it did not affect the subject, by the introduction of mechanical dampening using an anti-vibration coupling and a pneumatic splint. The torque control could not be modified during rotation and so the system could only be operated using constant torque for any given movement.

Adaptive and predictive control of a simulated robot arm.

PubMed

Tolu, Silvia; Vanegas, Mauricio; Garrido, Jesús A; Luque, Niceto R; Ros, Eduardo

2013-06-01

In this work, a basic cerebellar neural layer and a machine learning engine are embedded in a recurrent loop which avoids dealing with the motor error or distal error problem. The presented approach learns the motor control based on available sensor error estimates (position, velocity, and acceleration) without explicitly knowing the motor errors. The paper focuses on how to decompose the input into different components in order to facilitate the learning process using an automatic incremental learning model (locally weighted projection regression (LWPR) algorithm). LWPR incrementally learns the forward model of the robot arm and provides the cerebellar module with optimal pre-processed signals. We present a recurrent adaptive control architecture in which an adaptive feedback (AF) controller guarantees a precise, compliant, and stable control during the manipulation of objects. Therefore, this approach efficiently integrates a bio-inspired module (cerebellar circuitry) with a machine learning component (LWPR). The cerebellar-LWPR synergy makes the robot adaptable to changing conditions. We evaluate how this scheme scales for robot-arms of a high number of degrees of freedom (DOFs) using a simulated model of a robot arm of the new generation of light weight robots (LWRs).

Older adults show preserved equilibrium but impaired step length control in motor-equivalent stabilization of gait.

PubMed

Verrel, Julius; Lövdén, Martin; Lindenberger, Ulman

2012-01-01

Stable walking depends on the coordination of multiple biomechanical degrees of freedom to ensure the dynamic maintenance of whole-body equilibrium as well as continuous forward progression. We investigated adult age-related differences in whole-body coordination underlying stabilization of center of mass (CoM) position and step pattern during locomotion. Sixteen younger (20-30 years) and 16 healthy older men (65-80 years) walked on a motorized treadmill at 80%, 100% and 120% of their self-selected preferred speed. Preferred speeds did not differ between the age groups. Motor-equivalent stabilization of step parameters (step length and width) and CoM position relative to the support (back and front foot) was examined using a generalized covariation analysis. Across age groups, covariation indices were highest for CoM position relative to the front foot, the measure most directly related to body equilibrium. Compared to younger adults, older adults showed lower covariation indices with respect to step length, extending previous findings of age-related differences in motor-equivalent coordination. In contrast, no reliable age differences were found regarding stabilization of step width or any of the CoM parameters. The observed pattern of results may reflect robust prioritization of balance over step pattern regularity, which may be adaptive in the face of age-associated sensorimotor losses and decline of coordinative capacities.

White Matter Fractional Anisotropy Correlates With Speed of Processing and Motor Speed in Young Childhood Cancer Survivors

DOE Office of Scientific and Technical Information (OSTI.GOV)

Aukema, Eline J.; Caan, Matthan W.A.; Delft University of Technology, Delft

2009-07-01

Purpose: To determine whether childhood medulloblastoma and acute lymphoblastic leukemia (ALL) survivors have decreased white matter fractional anisotropy (WMFA) and whether WMFA is related to the speed of processing and motor speed. Methods and Materials: For this study, 17 patients (6 medulloblastoma, 5 ALL treated with high-dose methotrexate (MTX) (4 x 5 g/m{sup 2}) and 6 with low-dose MTX (3 x 2 g/m{sup 2})) and 17 age-matched controls participated. On a 3.0-T magnetic resonance imaging (MRI) scanner, diffusion tensor imaging (DTI) was performed, and WMFA values were calculated, including specific regions of interest (ROIs), and correlated with the speed ofmore » processing and motor speed. Results: Mean WMFA in the patient group, mean age 14 years (range 8.9 - 16.9), was decreased compared with the control group (p = 0.01), as well as WMFA in the right inferior fronto-occipital fasciliculus (IFO) (p = 0.03) and in the genu of the corpus callosum (gCC) (p = 0.01). Based on neurocognitive results, significant positive correlations were present between processing speed and WMFA in the splenium (sCC) (r = 0.53, p = 0.03) and the body of the corpus callosum (bCC) (r = 0.52, p = 0.03), whereas the right IFO WMFA was related to motor speed (r = 0.49, p < 0.05). Conclusions: White matter tracts, using a 3.0-T MRI scanner, show impairment in childhood cancer survivors, medulloblastoma survivors, and also those treated with high doses of MTX. In particular, white matter tracts in the sCC, bCC and right IFO are positively correlated with speed of processing and motor speed.« less

The influence of imagery capacity in motor performance improvement.

PubMed

Ruffino, Célia; Papaxanthis, Charalambos; Lebon, Florent

2017-10-01

Motor imagery (MI) training improves motor performance, but the inter-individual variability of this improvement remains still unexplored. In this study, we tested the influence of imagery ability on the performance improvement following MI training. Twenty participants were randomly distributed into the MI or control group. They actually performed, at pre- and post-test sessions, a revisited version of the Nine Hole Peg Test, a speed-accuracy trade-off task, commonly used in clinics. Between the tests, the MI group mentally trained on the task (5 blocks of 10 trials), while the control group watched a non-emotional documentary. Before and during MI training, we tested the imagery ability of the MI group, by the revised version of Movement Imagery Questionnaire and by the estimation of vividness for the movement task at each block (subjective evaluation-SE). In the post-test, the MI group significantly decreased the movement duration by -12.1 ± 5.7% (P < 0.001), whereas the control group did not (-2.68 ± 5%, P = 0.68). For the MI group, the percentage of improvement was correlated neither to the MIQ-R nor to the SE reported after block 1. However, we observed an evolution of the SE during training, with a positive correlation between performance improvement and SE at block 4 (R = 0.61, P = 0.03) and at block 5 (R = 0.68, P = 0.04). The current study shows that motor performance may be positively influenced, whilst not predicted, by the capacity to form vivid movement images throughout the mental training. These findings are of interest for clinical interventions using MI as a complementary rehabilitation tool.

Quantitative motor assessment of muscular weakness in myasthenia gravis: a pilot study.

PubMed

Hoffmann, Sarah; Siedler, Jana; Brandt, Alexander U; Piper, Sophie K; Kohler, Siegfried; Sass, Christian; Paul, Friedemann; Reilmann, Ralf; Meisel, Andreas

2015-12-23

Muscular weakness in myasthenia gravis (MG) is commonly assessed using Quantitative Myasthenia Gravis Score (QMG). More objective and quantitative measures may complement the use of clinical scales and might detect subclinical affection of muscles. We hypothesized that muscular weakness in patients with MG can be quantified with the non-invasive Quantitative Motor (Q-Motor) test for Grip Force Assessment (QGFA) and Involuntary Movement Assessment (QIMA) and that pathological findings correlate with disease severity as measured by QMG. This was a cross-sectional pilot study investigating patients with confirmed diagnosis of MG. Data was compared to healthy controls (HC). Subjects were asked to lift a device (250 and 500 g) equipped with electromagnetic sensors that measured grip force (GF) and three-dimensional changes in position and orientation. These were used to calculate the position index (PI) and orientation index (OI) as measures for involuntary movements due to muscular weakness. Overall, 40 MG patients and 23 HC were included. PI and OI were significantly higher in MG patients for both weights in the dominant and non-dominant hand. Subgroup analysis revealed that patients with clinically ocular myasthenia gravis (OMG) also showed significantly higher values for PI and OI in both hands and for both weights. Disease severity correlates with QIMA performance in the non-dominant hand. Q-Motor tests and particularly QIMA may be useful objective tools for measuring motor impairment in MG and seem to detect subclinical generalized motor signs in patients with OMG. Q-Motor parameters might serve as sensitive endpoints for clinical trials in MG.

Motor development of infants with positional plagiocephaly.

PubMed

Kennedy, Eileen; Majnemer, Annette; Farmer, Jean-Pierre; Barr, Ronald G; Platt, Robert W

2009-01-01

Concurrent with recommendations to place infants to sleep in supine, there has been a dramatic increase in the number of infants with positional plagiocephaly (PP). Recent evidence suggests that infants who have decreased exposure to prone position may have a higher incidence of PP and may be at risk for a delay in the acquisition of certain motor skills. The purpose of this study was to compare motor development between infants with PP and matched peers without PP. We also examined differences in infant positioning practices when asleep and awake between the two groups. Twenty-seven infants with PP, 3 to 8 months of age, were matched by age, gender, and race to infants without PP. Motor performance was evaluated using the Alberta Infant Motor Scale (AIMS) and the Peabody Developmental Motor Scales (PDMS). Parents completed a diary that recorded infant positioning over a 3-day period. Mean AIMS percentile score for infants with PP was 31.1 +/- 21.6 as compared with 42.7 +/- 20.2 in infants without PP (p = .06). Better performance on the AIMS was positively correlated with the amount of time in prone position when awake, for both groups of children (PP r = .52, no PP r = .44, p < .05). Therapists should be aware of a risk of a motor delay when evaluating infants with PP. It is also important for parents to be informed about the importance of supervised prone playtime to enhance the development of early motor skills.

Individualized tracking of self-directed motor learning in group-housed mice performing a skilled lever positioning task in the home cage.

PubMed

Silasi, Gergely; Boyd, Jamie D; Bolanos, Federico; LeDue, Jeff M; Scott, Stephen H; Murphy, Timothy H

2018-01-01

Skilled forelimb function in mice is traditionally studied through behavioral paradigms that require extensive training by investigators and are limited by the number of trials individual animals are able to perform within a supervised session. We developed a skilled lever positioning task that mice can perform within their home cage. The task requires mice to use their forelimb to precisely hold a lever mounted on a rotary encoder within a rewarded position to dispense a water reward. A Raspberry Pi microcomputer is used to record lever position during trials and to control task parameters, thus making this low-footprint apparatus ideal for use within animal housing facilities. Custom Python software automatically increments task difficulty by requiring a longer hold duration, or a more accurate hold position, to dispense a reward. The performance of individual animals within group-housed mice is tracked through radio-frequency identification implants, and data stored on the microcomputer may be accessed remotely through an active internet connection. Mice continuously engage in the task for over 2.5 mo and perform ~500 trials/24 h. Mice required ~15,000 trials to learn to hold the lever within a 10° range for 1.5 s and were able to further refine movement accuracy by limiting their error to a 5° range within each trial. These results demonstrate the feasibility of autonomously training group-housed mice on a forelimb motor task. This paradigm may be used in the future to assess functional recovery after injury or cortical reorganization induced by self-directed motor learning. NEW & NOTEWORTHY We developed a low-cost system for fully autonomous training of group-housed mice on a forelimb motor task. We demonstrate the feasibility of tracking both end-point, as well as kinematic performance of individual mice, with each performing thousands of trials over 2.5 mo. The task is run and controlled by a Raspberry Pi microcomputer, which allows for cages to be monitored remotely through an active internet connection.

Effect of the home environment on motor and cognitive behavior of infants.

PubMed

Miquelote, Audrei F; Santos, Denise C C; Caçola, Priscila M; Montebelo, Maria Imaculada de L; Gabbard, Carl

2012-06-01

Although information is sparse, research suggests that affordances in the home provide essential resources that promote motor and cognitive skills in young children. The present study assessed over time, the association between motor affordances in the home and infant motor and cognitive behavior. Thirty-two (32) infants were assessed for characteristics of their home using the Affordances in the Home Environment for Motor Development--Infant Scale and motor and cognitive behavior with the Bayley Scales of Infant and Toddler Development--III. Infant's home and motor behavior were assessed at age 9 months and 6 months later with the inclusion of cognitive ability. Results for motor ability indicated that there was an overall improvement in performance from the 1st to the 2nd assessment. We found significant positive correlations between the dimensions of the home (daily activities and play materials) and global motor performance (1st assessment) and fine-motor performance on the 2nd assessment. In regard to cognitive performance (2nd assessment), results indicated a positive association with fine-motor performance. Our results suggest that motor affordances can have a positive impact on future motor ability and speculatively, later cognitive behavior in infants. Copyright © 2012 Elsevier Inc. All rights reserved.

Testing promotes effector transfer.

PubMed

Boutin, Arnaud; Panzer, Stefan; Salesse, Robin N; Blandin, Yannick

2012-11-01

The retrieval of information from memory during testing has recently been shown to promote transfer in the verbal domain. Motor-related research, however, has ignored testing as a relevant method to enhance motor transfer. We thus investigated whether testing has the potential to induce generalised motor memories by favouring effector transfer. Participants were required to reproduce a spatial-temporal pattern of elbow extensions and flexions with their dominant right arm. We tested the ability of participants to transfer the original pattern (extrinsic transformation; i.e., goal-based configuration) or the mirrored pattern (intrinsic transformation; i.e., movement-based configuration) to the unpractised non-dominant left arm. To evaluate how testing affects motor transfer at 24-h testing, participants were either administered an initial testing session during early practice (early testing group) or shortly after the end of practice (late testing group; i.e., no alternation between practice and testing sessions). No initial testing session was completed for the control group. We found better effector transfer at 24-h testing for the early testing group for both extrinsic and intrinsic transformations of the movement pattern when compared with the control group, while no testing benefit was observed for the late testing group. This indicates that testing positively affects motor learning, yielding enhanced long-term transfer capabilities. We thus demonstrate the critical role of retrieval practice via testing during the process of motor memory encoding, and provide the conditions under which testing effectively contributes to the generalisation of motor memories. Copyright © 2012 Elsevier B.V. All rights reserved.

Enhanced Muscle Afferent Signals during Motor Learning in Humans.

PubMed

Dimitriou, Michael

2016-04-25

Much has been revealed concerning human motor learning at the behavioral level [1, 2], but less is known about changes in the involved neural circuits and signals. By examining muscle spindle responses during a classic visuomotor adaptation task [3-6] performed by fully alert humans, I found substantial modulation of sensory afferent signals as a function of adaptation state. Specifically, spindle control was independent of concurrent muscle activity but was specific to movement direction (representing muscle lengthening versus shortening) and to different stages of learning. Increased spindle afferent responses to muscle stretch occurring early during learning reflected individual error size and were negatively related to subsequent antagonist activity (i.e., 60-80 ms thereafter). Relative increases in tonic afferent output early during learning were predictive of the subjects' adaptation rate. I also found that independent spindle control during sensory realignment (the "washout" stage) induced afferent signal "linearization" with respect to muscle length (i.e., signals were more tuned to hand position). The results demonstrate for the first time that motor learning also involves independent and state-related modulation of sensory mechanoreceptor signals. The current findings suggest that adaptive motor performance also relies on the independent control of sensors, not just of muscles. I propose that the "γ" motor system innervating spindles acts to facilitate the acquisition and extraction of task-relevant information at the early stages of sensorimotor adaptation. This designates a more active and targeted role for the human proprioceptive system during motor learning. Copyright © 2016 Elsevier Ltd. All rights reserved.

Motor activation in patients with Pantothenate-Kinase Associated Neurodegeneration: a functional magnetic resonance imaging study.

PubMed

Stoeter, P; Rodriguez-Raecke, R; Vilchez, C; Perez-Then, E; Speckter, H; Oviedo, J; Roa-Sanchez, P

2012-11-01

In a variety of dystonias, functional magnetic resonance imaging has shown deviations of cortical and basal ganglia activations within the motor network, which might cause the movement disturbances. Because these investigations have never been performed in secondary dystonia due to Pantothenate-Kinase Associated Neurodegeneration, we report our results in a small group of such patients from the Dominican Republic. Functional magnetic resonance imaging was carried out in 7 patients with a genetically confirmed mutation of the PANK2 gene and a non-affected control group (matched pairs) using an event-related motor activation paradigm (hand movements). Compared to the control group (p ≤ 0.01), patients showed a larger amount of activated voxels starting in the contralateral cerebellum and contralateral premotor cortex 2 s before the actual hand movement. Whereas these "hyperactivations" gradually diminished over time, activations in the contralateral primary motor cortex and the supplementary motor area peaked during the next second and those of the contralateral putamen at the time of the actual hand movement. In a multiple regression analysis, all these areas correlated positively with the degree of dystonia of the contralateral arm as judged by the Burke-Fahn-Marsden-scale (p ≤ 0.001). As in other forms of dystonia, the increased activations of the motor system found in our patients could be related to the origin of the dystonic movements. Because in this condition the primary lesion affects the pallidum, a defect of the feed-back control mechanism between basal ganglia and cortex might be the responsible factor. © 2012 Elsevier Ltd. All rights reserved.

Primary control of a Mach scale swashplateless rotor using brushless DC motor actuated trailing edge flaps

NASA Astrophysics Data System (ADS)

Saxena, Anand

The focus of this research was to demonstrate a four blade rotor trim in forward flight using integrated trailing edge flaps instead of using a swashplate controls. A compact brushless DC motor was evaluated as an on-blade actuator, with the possibility of achieving large trailing edge flap amplitudes. A control strategy to actuate the trailing edge flap at desired frequency and amplitude was developed and large trailing edge flap amplitudes from the motor (instead of rotational motion) were obtained. Once the actuator was tested on the bench-top, a lightweight mechanism was designed to incorporate the motor in the blade and actuate the trailing edge flaps. A six feet diameter, four bladed composite rotor with motor-flap system integrated into the NACA 0012 airfoil section was fabricated. Systematic testing was carried out for a range of load conditions, first in the vacuum chamber followed by hover tests. Large trailing edge flap deflections were observed during the hover testing, and a peak to peak trailing edge flap amplitude of 18 degree was achieved at 2000 rotor RPM with hover tip Mach number of 0.628. A closed loop controller was designed to demonstrate trailing edge flap mean position and the peak to peak amplitude control. Further, a soft pitch link was designed and fabricated, to replace the stiff pitch link and thereby reduce the torsional stiffness of the blade to 2/rev. This soft pitch link allowed for blade root pitch motion in response to the trailing edge flap inputs. Blade pitch response due to both steady as well as sinusoidal flap deflections were demonstrated. Finally, tests were performed in Glenn L. Martin wind tunnel using a model rotor rig to assess the performance of motor-flap system in forward flight. A swashplateless trim using brushless DC motor actuated trailing edge flaps was achieved for a rotor operating at 1200 RPM and an advance ratio of 0.28. Also, preliminary exploration was carried out to test the scalability of the motor driven trailing edge flap concept. In conclusion, the concept of using brushless DC motors as on-blade actuators, actuating trailing edge flaps has the potential to replace the current mechanically complex swashplate with a hydraulic-free swashplateless system and thereby reduce overall weight and hub drag.

Continuous Three-Dimensional Control of a Virtual Helicopter Using a Motor Imagery Based Brain-Computer Interface

PubMed Central

Doud, Alexander J.; Lucas, John P.; Pisansky, Marc T.; He, Bin

2011-01-01

Brain-computer interfaces (BCIs) allow a user to interact with a computer system using thought. However, only recently have devices capable of providing sophisticated multi-dimensional control been achieved non-invasively. A major goal for non-invasive BCI systems has been to provide continuous, intuitive, and accurate control, while retaining a high level of user autonomy. By employing electroencephalography (EEG) to record and decode sensorimotor rhythms (SMRs) induced from motor imaginations, a consistent, user-specific control signal may be characterized. Utilizing a novel method of interactive and continuous control, we trained three normal subjects to modulate their SMRs to achieve three-dimensional movement of a virtual helicopter that is fast, accurate, and continuous. In this system, the virtual helicopter's forward-backward translation and elevation controls were actuated through the modulation of sensorimotor rhythms that were converted to forces applied to the virtual helicopter at every simulation time step, and the helicopter's angle of left or right rotation was linearly mapped, with higher resolution, from sensorimotor rhythms associated with other motor imaginations. These different resolutions of control allow for interplay between general intent actuation and fine control as is seen in the gross and fine movements of the arm and hand. Subjects controlled the helicopter with the goal of flying through rings (targets) randomly positioned and oriented in a three-dimensional space. The subjects flew through rings continuously, acquiring as many as 11 consecutive rings within a five-minute period. In total, the study group successfully acquired over 85% of presented targets. These results affirm the effective, three-dimensional control of our motor imagery based BCI system, and suggest its potential applications in biological navigation, neuroprosthetics, and other applications. PMID:22046274

Brain networks governing the golf swing in professional golfers.

PubMed

Kim, Jin Hyun; Han, Joung Kyue; Kim, Bung-Nyun; Han, Doug Hyun

2015-01-01

Golf, as with most complex motor skills, requires multiple different brain functions, including attention, motor planning, coordination, calculation of timing, and emotional control. In this study we assessed the correlation between swing components and brain connectivity from the cerebellum to the cerebrum. Ten female golf players and 10 age-matched female controls were recruited. In order to determine swing consistency among participants, the standard deviation (SD) of the mean swing speed time and the SD of the mean swing angle were assessed over 30 swings. Functional brain connectivity was assessed by resting state functional MRI. Pro-golfers showed greater positive left cerebellum connectivity to the occipital lobe, temporal lobe, parietal lobe and both frontal lobes compared to controls. The SD of play scores was positively correlated with the SD of the impact angle. Constant swing speed and back swing angle in professional golfers were associated with functional connectivity (FC) between the cerebellum and parietal and frontal lobes. In addition, the constant impact angle in professional golfers was associated with improved golf scores and additional FC of the thalamus.

Master/slave manipulator system

NASA Technical Reports Server (NTRS)

Vykukal, H. C.; King, R. F.; Vallotton, W. C.

1973-01-01

System capabilities are equivalent to mobility, dexterity, and strength of human arm. Arrangement of torque motor, harmonic drive, and potentiometer combination allows all power and control leads to pass through center of slave with position-transducer arrangement of master, and "stovepipe joint" is incorporated for manipulator applications.

Functional Magnetic Resonance Imaging of Working Memory and Executive Dysfunction in Systemic Lupus Erythematosus and Antiphospholipid Antibody-Positive Patients.

PubMed

Kozora, E; Uluğ, A M; Erkan, D; Vo, A; Filley, C M; Ramon, G; Burleson, A; Zimmerman, R; Lockshin, M D

2016-11-01

Standardized cognitive tests and functional magnetic resonance imaging (fMRI) studies of systemic lupus erythematosus (SLE) patients demonstrate deficits in working memory and executive function. These neurobehavioral abnormalities are not well studied in antiphospholipid syndrome, which may occur independently of or together with SLE. This study compares an fMRI paradigm involving motor skills, working memory, and executive function in SLE patients without antiphospholipid antibody (aPL) (the SLE group), aPL-positive non-SLE patients (the aPL-positive group), and controls. Brain MRI, fMRI, and standardized cognitive assessment results were obtained from 20 SLE, 20 aPL-positive, and 10 healthy female subjects with no history of neuropsychiatric abnormality. Analysis of fMRI data showed no differences in performance across groups on bilateral motor tasks. When analysis of variance was used, significant group differences were found in 2 executive function tasks (word generation and word rhyming) and in a working memory task (N-Back). Patients positive for aPL demonstrated higher activation in bilateral frontal, temporal, and parietal cortices compared to controls during working memory and executive function tasks. SLE patients also demonstrated bilateral frontal and temporal activation during working memory and executive function tasks. Compared to controls, both aPL-positive and SLE patients had elevated cortical activation, primarily in the frontal lobes, during tasks involving working memory and executive function. These findings are consistent with cortical overactivation as a compensatory mechanism for early white matter neuropathology in these disorders. © 2016, American College of Rheumatology.

Scapular positioning and motor control in children and adults: a laboratory study using clinical measures.

PubMed

Struyf, Filip; Nijs, Jo; Horsten, Stijn; Mottram, Sarah; Truijen, Steven; Meeusen, Romain

2011-04-01

The scapular muscular system is the major determinant of scapular positioning. In addition, strength and muscular endurance develops from childhood through adolescence. It is not known whether differences in scapular positioning and motor control between adults and children may exist. Ninety-two shoulders of 46 adults (mean = 39.4; 18-86 years; SD = 22.5), and 116 shoulders of 59 children (mean = 11.6; 6-17 years; SD = 3.5), were included in the study. Scapular positioning data were collected using a clinical assessment protocol including visual observation of titling and winging, measurement of forward shoulder posture, measurement of scapular upward rotation, and the Kinetic Medial Rotation Test (KMRT). The observation protocol for scapular winging and tilting did not show significant differences between adults and children. After controlling for height, forward shoulder posture (relaxed (0.28 cm/cm (0.06) vs. 0.31 cm/cm (0.07) and retracted (0.15 cm/cm (0.05) vs. 0.20 cm/cm (0.06)) were significantly smaller in children than in adults (P < 0.01). In addition, children showed greater scapular upward rotation (18.6°; SD 9.6°) than adults (14.5°; SD 10.9°) at 90° shoulder abduction. No significant differences were seen between children (19% positive test) and adults (24% positive test) using the KMRT. Children and adults show significant but small differences in scapular upward rotation and forward shoulder posture. These data provide useful reference values using a clinical protocol. Copyright © 2010 Elsevier Ltd. All rights reserved.

Neural activity underlying motor-action preparation and cognitive narrowing in approach-motivated goal states.

PubMed

Gable, Philip A; Threadgill, A Hunter; Adams, David L

2016-02-01

High-approach-motivated (pre-goal) positive affect states encourage tenacious goal pursuit and narrow cognitive scope. As such, high approach-motivated states likely enhance the neural correlates of motor-action preparation to aid in goal acquisition. These neural correlates may also relate to the cognitive narrowing associated with high approach-motivated states. In the present study, we investigated motor-action preparation during pre-goal and post-goal states using an index of beta suppression over the motor cortex. The results revealed that beta suppression was greatest in pre-goal positive states, suggesting that higher levels of motor-action preparation occur during high approach-motivated positive states. Furthermore, beta and alpha suppression in the high approach-motivated positive states predicted greater cognitive narrowing. These results suggest that approach-motivated pre-goal states engage the neural substrates of motor-action preparation and cognitive narrowing. Individual differences in motor-action preparation relate to the degree of cognitive narrowing.

Motor facilitation during real-time movement imitation in Parkinson's disease: a virtual reality study.

PubMed

Robles-García, Verónica; Arias, Pablo; Sanmartín, Gabriel; Espinosa, Nelson; Flores, Julian; Grieve, Kenneth L; Cudeiro, Javier

2013-12-01

Impaired temporal stability and poor motor unit recruitment are key impairments in Parkinsonian motor control during a whole spectrum of rhythmic movements, from simple finger tapping to gait. Therapies based on imitation can be designed for patients with motor impairments and virtual-reality (VR) offers a new perspective. Motor actions are known to depend upon the dopaminergic system, whose involvement in imitation is unknown. We sought to understand this role and the underlying possibilities for motor rehabilitation, by observing the execution of different motor-patterns during imitation in a VR environment in subjects with and without dopaminergic deficits. 10 OFF-dose idiopathic Parkinson's Disease patients (PD), 9 age-matched and 9 young-subjects participated. Subjects performed finger-tapping at their "comfort" and "slow-comfort" rates, while immersed in VR presenting their "avatar" in 1st person perspective. Imitation was evaluated by asking subjects to replicate finger-tapping patterns different to their natural one. The finger-pattern presented matched their comfort and comfort-slow rates, but without a pause on the table (continuously moving). Patients were able to adapt their finger-tapping correctly, showing that in comparison with the control groups, the dopaminergic deficiency of PD did not impair imitation. During imitation the magnitude of EMG increased and the temporal variability of movement decreased. PD-patients have unaltered ability to imitate instructed motor-patterns, suggesting that a fully-functional dopaminergic system is not essential for such imitation. It should be further investigated if imitation training over a period of time induces positive off-line motor adaptations with transfer to non-imitation tasks. Copyright © 2013 Elsevier Ltd. All rights reserved.

New Technique of High-Performance Torque Control Developed for Induction Machines

NASA Technical Reports Server (NTRS)

Kenny, Barbara H.

2003-01-01

Two forms of high-performance torque control for motor drives have been described in the literature: field orientation control and direct torque control. Field orientation control has been the method of choice for previous NASA electromechanical actuator research efforts with induction motors. Direct torque control has the potential to offer some advantages over field orientation, including ease of implementation and faster response. However, the most common form of direct torque control is not suitable for the highspeed, low-stator-flux linkage induction machines designed for electromechanical actuators with the presently available sample rates of digital control systems (higher sample rates are required). In addition, this form of direct torque control is not suitable for the addition of a high-frequency carrier signal necessary for the "self-sensing" (sensorless) position estimation technique. This technique enables low- and zero-speed position sensorless operation of the machine. Sensorless operation is desirable to reduce the number of necessary feedback signals and transducers, thus improving the reliability and reducing the mass and volume of the system. This research was directed at developing an alternative form of direct torque control known as a "deadbeat," or inverse model, solution. This form uses pulse-width modulation of the voltage applied to the machine, thus reducing the necessary sample and switching frequency for the high-speed NASA motor. In addition, the structure of the deadbeat form allows the addition of the high-frequency carrier signal so that low- and zero-speed sensorless operation is possible. The new deadbeat solution is based on using the stator and rotor flux as state variables. This choice of state variables leads to a simple graphical representation of the solution as the intersection of a constant torque line with a constant stator flux circle. Previous solutions have been expressed only in complex mathematical terms without a method to clearly visualize the solution. The graphical technique allows a more insightful understanding of the operation of the machine under various conditions.

fMRI assessment of neuroplasticity in youths with neurodevelopmental-associated motor disorders after piano training.

PubMed

Alves-Pinto, Ana; Turova, Varvara; Blumenstein, Tobias; Thienel, Anna; Wohlschläger, Afra; Lampe, Renée

2015-01-01

Damage to the developing brain may lead to lifelong motor impairments namely of the hand function. Playing an instrument combines the execution of gross and fine motor movements with direct auditory feedback of performance and with emotional value. This motor-associated sensory information may work as a self-control of motor performance in therapeutic settings. The current study examined the occurrence of neuronal changes associated to piano training in youths with neurodevelopmental-associated hand motor deficits. Functional magnetic resonance imaging responses evoked during a finger tapping task in a group of ten youths with neuromotor impairments that received individualized piano lessons for eighteen months were analyzed. Functional imaging data obtained before and after the piano training was compared to that obtained from a similar group of six youths who received no training during the same period of time. Dynamic causal modeling of functional data indicated an increase in positive connectivity from the left primary motor cortical area to the right cerebellum from before to after the piano training. A wide variability across patients was observed and further studies remain necessary to clarify the neurophysiological basis of the effects of piano training in hand motor function of patients with neurodevelopmental motor disorders. Copyright © 2014 European Paediatric Neurology Society. Published by Elsevier Ltd. All rights reserved.

Cortico-Cerebellar Structural Connectivity Is Related to Residual Motor Output in Chronic Stroke.

PubMed

Schulz, Robert; Frey, Benedikt M; Koch, Philipp; Zimerman, Maximo; Bönstrup, Marlene; Feldheim, Jan; Timmermann, Jan E; Schön, Gerhard; Cheng, Bastian; Thomalla, Götz; Gerloff, Christian; Hummel, Friedhelm C

2017-01-01

Functional imaging studies have argued that interactions between cortical motor areas and the cerebellum are relevant for motor output and recovery processes after stroke. However, the impact of the underlying structural connections is poorly understood. To investigate this, diffusion-weighted brain imaging was conducted in 26 well-characterized chronic stroke patients (aged 63 ± 1.9 years, 18 males) with supratentorial ischemic lesions and 26 healthy participants. Probabilistic tractography was used to reconstruct reciprocal cortico-cerebellar tracts and to relate their microstructural integrity to residual motor functioning applying linear regression modeling. The main finding was a significant association between cortico-cerebellar structural connectivity and residual motor function, independent from the level of damage to the cortico-spinal tract. Specifically, white matter integrity of the cerebellar outflow tract, the dentato-thalamo-cortical tract, was positively related to both general motor output and fine motor skills. Additionally, the integrity of the descending cortico-ponto-cerebellar tract contributed to rather fine motor skills. A comparable structure-function relationship was not evident in the controls. The present study provides first tract-related structural data demonstrating a critical importance of distinct cortico-cerebellar connections for motor output after stroke. © The Author 2015. Published by Oxford University Press. All rights reserved. For Permissions, please e-mail: journals.permissions@oup.com.

Reduced Dual-Task Performance in MS Patients Is Further Decreased by Muscle Fatigue.

PubMed

Wolkorte, Ria; Heersema, Dorothea J; Zijdewind, Inge

2015-06-01

Multiple sclerosis (MS) can be accompanied by motor, cognitive, and sensory impairments. Additionally, MS patients often report fatigue as one of their most debilitating symptoms. It is, therefore, expected that MS patients will have difficulties in performing cognitive-motor dual tasks (DTs), especially in a fatiguing condition. To determine whether MS patients are more challenged by a DT than controls in a fatiguing and less-fatiguing condition and whether DT performance is associated with perceived fatigue. A group of 19 MS patients and 19 age-, sex-, and education-matched controls performed a cognitive task (2-choice reaction time task) separately or concurrent with a low-force or a high-force motor task (index finger abduction at 10% or 30% maximal voluntary contraction). MS patients performed less well on a cognitive task than controls. Cognitive task performance under DT conditions decreased more for MS patients. Moreover, under high-force DT conditions, cognitive performance declined in both groups but to a larger degree for MS patients. Besides a decline in cognitive task performance, MS patients also showed a stronger decrease in motor performance under high-force DT conditions. DT costs were positively related to perceived fatigue as measured by questionnaires. Compared with controls, MS patients performed less well on DTs as demonstrated by a reduction in both cognitive and motor performances. This performance decrease was stronger under fatiguing conditions and was related to the sense of fatigue of MS patients. These data illustrate problems that MS patients may encounter in daily life because of their fatigue. © The Author(s) 2014.

Design of Feedforward Controller to Reduce Force Ripple for Linear Motor using Halbach Magnet Array with T Shape Magnet

NASA Astrophysics Data System (ADS)

Kim, Moojong; Kim, Jinyoung; Lee, Moon G.

Recently, in micro/nano fabrication equipments, linear motors are widely used as an actuator to position workpiece, machining tool and measurement head. To control them faster and more precise, the motor should have high actuating force and small force ripple. High actuating force enable us to more workpiece with high acceleration. Eventually, it may provide higher throughput. Force ripple gives detrimental effect on the precision and tracking performance of the equipments. In order to accomplish more precise motion, it is important to make lower the force ripple. Force ripple is categorized into cogging and mutual ripple. First is dependent on the shape of magnets and/or core. The second is not dependent on them but dependent on current commutation. In this work, coreless mover i.e. coil winding is applied to the linear motor to avoid the cogging ripple. Therefore, the mutual ripple is only considered to be minimized. Ideal Halbach magnet array has continuously varying magnetization. The THMA (Halbach magnet array with T shape magnets) is proposed to approximate the ideal one. The THMA can not produce ideal sinusoidal flux, therefore, the linear motor with THMA and sinusoidal commutation of current generates the mutual force ripple. In this paper, in order to compensate mutual force ripple by feedforward(FF) controller, we calculate the optimized commutation of input current. The ripple is lower than 1.17% of actuating force if the commutation current agree with the magnetic flux from THMA. The performance of feedforward(FF) controller is verified by experiment.

Error-enhancing robot therapy to induce motor control improvement in childhood onset primary dystonia.

PubMed

Casellato, Claudia; Pedrocchi, Alessandra; Zorzi, Giovanna; Rizzi, Giorgio; Ferrigno, Giancarlo; Nardocci, Nardo

2012-07-23

Robot-generated deviating forces during multijoint reaching movements have been applied to investigate motor control and to tune neuromotor adaptation. Can the application of force to limbs improve motor learning? In this framework, the response to altered dynamic environments of children affected by primary dystonia has never been studied. As preliminary pilot study, eleven children with primary dystonia and eleven age-matched healthy control subjects were asked to perform upper limb movements, triangle-reaching (three directions) and circle-writing, using a haptic robot interacting with ad-hoc developed task-specific visual interfaces. Three dynamic conditions were provided, null additive external force (A), constant disturbing force (B) and deactivation of the additive external force again (C). The path length for each trial was computed, from the recorded position data and interaction events. The results show that the disturbing force affects significantly the movement outcomes in healthy but not in dystonic subjects, already compromised in the reference condition: the external alteration uncalibrates the healthy sensorimotor system, while the dystonic one is already strongly uncalibrated. The lack of systematic compensation for perturbation effects during B condition is reflected into the absence of after-effects in C condition, which would be the evidence that CNS generates a prediction of the perturbing forces using an internal model of the environment.The most promising finding is that in dystonic population the altered dynamic exposure seems to induce a subsequent improvement, i.e. a beneficial after-effect in terms of optimal path control, compared with the correspondent reference movement outcome. The short-time error-enhancing training in dystonia could represent an effective approach for motor performance improvement, since the exposure to controlled dynamic alterations induces a refining of the existing but strongly imprecise motor scheme and sensorimotor patterns.

Error-enhancing robot therapy to induce motor control improvement in childhood onset primary dystonia

PubMed Central

2012-01-01

Background Robot-generated deviating forces during multijoint reaching movements have been applied to investigate motor control and to tune neuromotor adaptation. Can the application of force to limbs improve motor learning? In this framework, the response to altered dynamic environments of children affected by primary dystonia has never been studied. Methods As preliminary pilot study, eleven children with primary dystonia and eleven age-matched healthy control subjects were asked to perform upper limb movements, triangle-reaching (three directions) and circle-writing, using a haptic robot interacting with ad-hoc developed task-specific visual interfaces. Three dynamic conditions were provided, null additive external force (A), constant disturbing force (B) and deactivation of the additive external force again (C). The path length for each trial was computed, from the recorded position data and interaction events. Results The results show that the disturbing force affects significantly the movement outcomes in healthy but not in dystonic subjects, already compromised in the reference condition: the external alteration uncalibrates the healthy sensorimotor system, while the dystonic one is already strongly uncalibrated. The lack of systematic compensation for perturbation effects during B condition is reflected into the absence of after-effects in C condition, which would be the evidence that CNS generates a prediction of the perturbing forces using an internal model of the environment. The most promising finding is that in dystonic population the altered dynamic exposure seems to induce a subsequent improvement, i.e. a beneficial after-effect in terms of optimal path control, compared with the correspondent reference movement outcome. Conclusions The short-time error-enhancing training in dystonia could represent an effective approach for motor performance improvement, since the exposure to controlled dynamic alterations induces a refining of the existing but strongly imprecise motor scheme and sensorimotor patterns. PMID:22824547

Timing matters: sonar call groups facilitate target localization in bats.

PubMed

Kothari, Ninad B; Wohlgemuth, Melville J; Hulgard, Katrine; Surlykke, Annemarie; Moss, Cynthia F

2014-01-01

To successfully negotiate a cluttered environment, an echolocating bat must control the timing of motor behaviors in response to dynamic sensory information. Here we detail the big brown bat's adaptive temporal control over sonar call production for tracking prey, moving predictably or unpredictably, under different experimental conditions. We studied the adaptive control of vocal-motor behaviors in free-flying big brown bats, Eptesicus fuscus, as they captured tethered and free-flying insects, in open and cluttered environments. We also studied adaptive sonar behavior in bats trained to track moving targets from a resting position. In each of these experiments, bats adjusted the features of their calls to separate target and clutter. Under many task conditions, flying bats produced prominent sonar sound groups identified as clusters of echolocation pulses with relatively stable intervals, surrounded by longer pulse intervals. In experiments where bats tracked approaching targets from a resting position, bats also produced sonar sound groups, and the prevalence of these sonar sound groups increased when motion of the target was unpredictable. We hypothesize that sonar sound groups produced during flight, and the sonar call doublets produced by a bat tracking a target from a resting position, help the animal resolve dynamic target location and represent the echo scene in greater detail. Collectively, our data reveal adaptive temporal control over sonar call production that allows the bat to negotiate a complex and dynamic environment.

Timing matters: sonar call groups facilitate target localization in bats

PubMed Central

Kothari, Ninad B.; Wohlgemuth, Melville J.; Hulgard, Katrine; Surlykke, Annemarie; Moss, Cynthia F.

2014-01-01

To successfully negotiate a cluttered environment, an echolocating bat must control the timing of motor behaviors in response to dynamic sensory information. Here we detail the big brown bat's adaptive temporal control over sonar call production for tracking prey, moving predictably or unpredictably, under different experimental conditions. We studied the adaptive control of vocal-motor behaviors in free-flying big brown bats, Eptesicus fuscus, as they captured tethered and free-flying insects, in open and cluttered environments. We also studied adaptive sonar behavior in bats trained to track moving targets from a resting position. In each of these experiments, bats adjusted the features of their calls to separate target and clutter. Under many task conditions, flying bats produced prominent sonar sound groups identified as clusters of echolocation pulses with relatively stable intervals, surrounded by longer pulse intervals. In experiments where bats tracked approaching targets from a resting position, bats also produced sonar sound groups, and the prevalence of these sonar sound groups increased when motion of the target was unpredictable. We hypothesize that sonar sound groups produced during flight, and the sonar call doublets produced by a bat tracking a target from a resting position, help the animal resolve dynamic target location and represent the echo scene in greater detail. Collectively, our data reveal adaptive temporal control over sonar call production that allows the bat to negotiate a complex and dynamic environment. PMID:24860509

A new technique to control brushless motor for blood pump application.

PubMed

Fonseca, Jeison; Andrade, Aron; Nicolosi, Denys E C; Biscegli, José F; Legendre, Daniel; Bock, Eduardo; Lucchi, Júlio César

2008-04-01

This article presents a back-electromotive force (BEMF)-based technique of detection for sensorless brushless direct current motor (BLDCM) drivers. The BLDCM has been chosen as the energy converter in rotary or pulsatile blood pumps that use electrical motors for pumping. However, in order to operate properly, the BLDCM driver needs to know the shaft position. Usually, that information is obtained through a set of Hall sensors assembled close to the rotor and connected to the electronic controller by wires. Sometimes, a large distance between the motor and controller makes the system susceptible to interference on the sensor signal because of winding current switching. Thus, the goal of the sensorless technique presented in this study is to avoid this problem. First, the operation of BLDCM was evaluated on the electronic simulator PSpice. Then, a BEMF detector circuitry was assembled in our laboratories. For the tests, a sensor-dependent system was assembled where the direct comparison between the Hall sensors signals and the detected signals was performed. The obtained results showed that the output sensorless detector signals are very similar to the Hall signals at speeds of more than 2500 rpm. Therefore, the sensorless technique is recommended as a responsible or redundant system to be used in rotary blood pumps.

Maintenance of equilibrium point control during an unexpectedly loaded rapid limb movement.

PubMed

Simmons, R W; Richardson, C

1984-06-08

Two experiments investigated whether the equilibrium point hypothesis or the mass-spring model of motor control subserves positioning accuracy during spring loaded, rapid, bi-articulated movement. For intact preparations, the equilibrium point hypothesis predicts response accuracy to be determined by a mixture of afferent and efferent information, whereas the mass-spring model predicts positioning to be under a direct control system. Subjects completed a series of load-resisted training trials to a spatial target. The magnitude of a sustained spring load was unexpectedly increased on selected trials. Results indicated positioning accuracy and applied force varied with increases in load, which suggests that the original efferent commands are modified by afferent information during the movement as predicted by the equilibrium point hypothesis.

Plasma antioxidant status and motor features in de novo Chinese Parkinson's disease patients.

PubMed

Yuan, Yongsheng; Tong, Qing; Zhang, Li; Jiang, Siming; Zhou, Hong; Zhang, Rui; Zhang, Shu; Xu, Qinrong; Li, Daqian; Zhou, Xiaobin; Ding, Jian; Zhang, Kezhong

2016-01-01

This study aimed to explore plasma antioxidant status in de novo Chinese Parkinson's disease (PD) patients and investigate its relationship with specific motor features of PD. Sixty-four de novo Chinese PD patients and 40 age- and sex-matched healthy controls were recruited. Each motor feature of PD patients was assessed by unified Parkinson's disease rating scale. Plasma antioxidant status, including plasma level of glutathione (GSH) and plasma activities of superoxide dismutase (SOD), catalase (CAT), glutathione peroxidase (GSH-Px), was detected using enzyme-linked immunosorbent assay. The relationship between the plasma antioxidant status and motor features of PD was evaluated by Spearman's coefficient. Plasma GSH level and plasma activities of GSH-Px, CAT and SOD of PD patients were lower than those of healthy controls. Moreover, the declining activity of plasma CAT was related with the increasing mean postural instability and gait disorder (PIGD) score and growing age. In contrast, the severity of tremor was positively correlated with plasma SOD activity. Our study demonstrates that the plasma antioxidant status is impaired in de novo Chinese PD patients. The complex relationship between the plasma antioxidant status and different motor features indicates that the antioxidant mechanisms underlying tremor and PIGD of PD may be different.

Motor imagery group practice for gait rehabilitation in individuals with post-stroke hemiparesis: a pilot study.

PubMed

Dickstein, Ruth; Levy, Sandra; Shefi, Sara; Holtzman, Sarit; Peleg, Sara; Vatine, Jean-Jacques

2014-01-01

Stroke is the leading cause of adult disability, with walking impairment being a devastating indicator of chronic post-stroke hemiparesis. Limited resources exist for individual treatments; therefore, the delivery of safe group exercise therapy is highly desired. To examine whether the application of group-based motor imagery practice to community-dwelling individuals with chronic hemiparesis improves gait. Sixteen individuals with chronic hemiparesis from two community centers participated in the study, with eight from each center. Four participants in each center received five weeks of the experimental intervention, consisting of group-based motor imagery exercises of gait tasks, followed by five weeks of control treatment of motor imagery exercises for the affected upper extremity. Four other subjects in each center received the same treatments in reverse order. Pre- and post intervention measurements included clinical and biomechanical gait parameters. Comparisons within (pre- vs. post) and between treatments (experimental vs. control) indicated no significant change in any gait variable. Nevertheless, the verbal reports of most participants alluded to satisfaction with the experimental intervention and to an increase in self-confidence. Despite the lack of evidence for the effectiveness of group-based motor imagery practice in improving gait among individuals with chronic hemiparesis, the contrast between the measured outcomes and the positive verbal reports merits further inquiry.

Three speech sounds, one motor action: evidence for speech-motor disparity from English flap production.

PubMed

Derrick, Donald; Stavness, Ian; Gick, Bryan

2015-03-01

The assumption that units of speech production bear a one-to-one relationship to speech motor actions pervades otherwise widely varying theories of speech motor behavior. This speech production and simulation study demonstrates that commonly occurring flap sequences may violate this assumption. In the word "Saturday," a sequence of three sounds may be produced using a single, cyclic motor action. Under this view, the initial upward tongue tip motion, starting with the first vowel and moving to contact the hard palate on the way to a retroflex position, is under active muscular control, while the downward movement of the tongue tip, including the second contact with the hard palate, results from gravity and elasticity during tongue muscle relaxation. This sequence is reproduced using a three-dimensional computer simulation of human vocal tract biomechanics and differs greatly from other observed sequences for the same word, which employ multiple targeted speech motor actions. This outcome suggests that a goal of a speaker is to produce an entire sequence in a biomechanically efficient way at the expense of maintaining parity within the individual parts of the sequence.

Computer games and fine motor skills.

PubMed

Borecki, Lukasz; Tolstych, Katarzyna; Pokorski, Mieczyslaw

2013-01-01

The study seeks to determine the influence of computer games on fine motor skills in young adults, an area of incomplete understanding and verification. We hypothesized that computer gaming could have a positive influence on basic motor skills, such as precision, aiming, speed, dexterity, or tremor. We examined 30 habitual game users (F/M - 3/27; age range 20-25 years) of the highly interactive game Counter Strike, in which players impersonate soldiers on a battlefield, and 30 age- and gender-matched subjects who declared never to play games. Selected tests from the Vienna Test System were used to assess fine motor skills and tremor. The results demonstrate that the game users scored appreciably better than the control subjects in all tests employed. In particular, the players did significantly better in the precision of arm-hand movements, as expressed by a lower time of errors, 1.6 ± 0.6 vs. 2.8 ± 0.6 s, a lower error rate, 13.6 ± 0.3 vs. 20.4 ± 2.2, and a shorter total time of performing a task, 14.6 ± 2.9 vs. 32.1 ± 4.5 s in non-players, respectively; p < 0.001 all. The findings demonstrate a positive influence of computer games on psychomotor functioning. We submit that playing computer games may be a useful training tool to increase fine motor skills and movement coordination.

Design and control of the phase current of a brushless dc motor to eliminate cogging torque

NASA Astrophysics Data System (ADS)

Jang, G. H.; Lee, C. J.

2006-04-01

This paper presents a design and control method of the phase current to reduce the torque ripple of a brushless dc (BLDC) motor by eliminating cogging torque. The cogging torque is the main source of torque ripple and consequently of speed error, and it is also the excitation source to generate the vibration and noise of a motor. This research proposes a modified current wave form, which is composed of main and auxiliary currents. The former is the conventional current to generate the commutating torque. The latter generates the torque with the same magnitude and opposite sign of the corresponding cogging torque at the given position in order to eliminate the cogging torque. Time-stepping finite element method simulation considering pulse-width-modulation switching method has been performed to verify the effectiveness of the proposed method, and it shows that this proposed method reduces torque ripple by 36%. A digital-signal-processor-based controller is also developed to implement the proposed method, and it shows that this proposed method reduces the speed ripple significantly.

A new adaptive self-tuning Fourier coefficients algorithm for periodic torque ripple minimization in permanent magnet synchronous motors (PMSM).

PubMed

Gómez-Espinosa, Alfonso; Hernández-Guzmán, Víctor M; Bandala-Sánchez, Manuel; Jiménez-Hernández, Hugo; Rivas-Araiza, Edgar A; Rodríguez-Reséndiz, Juvenal; Herrera-Ruíz, Gilberto

2013-03-19

A New Adaptive Self-Tuning Fourier Coefficients Algorithm for Periodic Torque Ripple Minimization in Permanent Magnet Synchronous Motors (PMSM) Torque ripple occurs in Permanent Magnet Synchronous Motors (PMSMs) due to the non-sinusoidal flux density distribution around the air-gap and variable magnetic reluctance of the air-gap due to the stator slots distribution. These torque ripples change periodically with rotor position and are apparent as speed variations, which degrade the PMSM drive performance, particularly at low speeds, because of low inertial filtering. In this paper, a new self-tuning algorithm is developed for determining the Fourier Series Controller coefficients with the aim of reducing the torque ripple in a PMSM, thus allowing for a smoother operation. This algorithm adjusts the controller parameters based on the component's harmonic distortion in time domain of the compensation signal. Experimental evaluation is performed on a DSP-controlled PMSM evaluation platform. Test results obtained validate the effectiveness of the proposed self-tuning algorithm, with the Fourier series expansion scheme, in reducing the torque ripple.

Helicopter force-feel and stability augmentation system with parallel servo-actuator

NASA Technical Reports Server (NTRS)

Hoh, Roger H. (Inventor)

2006-01-01

A force-feel system is implemented by mechanically coupling a servo-actuator to and in parallel with a flight control system. The servo-actuator consists of an electric motor, a gearing device, and a clutch. A commanded cockpit-flight-controller position is achieved by pilot actuation of a trim-switch. The position of the cockpit-flight-controller is compared with the commanded position to form a first error which is processed by a shaping function to correlate the first error with a commanded force at the cockpit-flight-controller. The commanded force on the cockpit-flight-controller provides centering forces and improved control feel for the pilot. In an embodiment, the force-feel system is used as the basic element of stability augmentation system (SAS). The SAS provides a stabilization signal that is compared with the commanded position to form a second error signal. The first error is summed with the second error for processing by the shaping function.

A modular robust control framework for control of movement elicited by multi-electrode intraspinal microstimulation

NASA Astrophysics Data System (ADS)

Roshani, Amir; Erfanian, Abbas

2016-08-01

Objective. An important issue in restoring motor function through intraspinal microstimulation (ISMS) is the motor control. To provide a physiologically plausible motor control using ISMS, it should be able to control the individual motor unit which is the lowest functional unit of motor control. By focal stimulation only a small group of motor neurons (MNs) within a motor pool can be activated. Different groups of MNs within a motor pool can potentially be activated without involving adjacent motor pools by local stimulation of different parts of a motor pool via microelectrode array implanted into a motor pool. However, since the system has multiple inputs with single output during multi-electrode ISMS, it poses a challenge to movement control. In this paper, we proposed a modular robust control strategy for movement control, whereas multi-electrode array is implanted into each motor activation pool of a muscle. Approach. The controller was based on the combination of proportional-integral-derivative and adaptive fuzzy sliding mode control. The global stability of the controller was guaranteed. Main results. The results of the experiments on rat models showed that the multi-electrode control can provide a more robust control and accurate tracking performance than a single-electrode control. The control output can be pulse amplitude (pulse amplitude modulation, PAM) or pulse width (pulse width modulation, PWM) of the stimulation signal. The results demonstrated that the controller with PAM provided faster convergence rate and better tracking performance than the controller with PWM. Significance. This work represents a promising control approach to the restoring motor functions using ISMS. The proposed controller requires no prior knowledge about the dynamics of the system to be controlled and no offline learning phase. The proposed control design is modular in the sense that each motor pool has an independent controller and each controller is able to control ISMS through an array of microelectrodes.

Multi-Tasking and Choice of Training Data Influencing Parietal ERP Expression and Single-Trial Detection-Relevance for Neuroscience and Clinical Applications.

PubMed

Kirchner, Elsa A; Kim, Su Kyoung

2018-01-01

Event-related potentials (ERPs) are often used in brain-computer interfaces (BCIs) for communication or system control for enhancing or regaining control for motor-disabled persons. Especially results from single-trial EEG classification approaches for BCIs support correlations between single-trial ERP detection performance and ERP expression. Hence, BCIs can be considered as a paradigm shift contributing to new methods with strong influence on both neuroscience and clinical applications. Here, we investigate the relevance of the choice of training data and classifier transfer for the interpretability of results from single-trial ERP detection. In our experiments, subjects performed a visual-motor oddball task with motor-task relevant infrequent ( targets ), motor-task irrelevant infrequent ( deviants ), and motor-task irrelevant frequent ( standards ) stimuli. Under dual-task condition, a secondary senso-motor task was performed, compared to the simple-task condition. For evaluation, average ERP analysis and single-trial detection analysis with different numbers of electrodes were performed. Further, classifier transfer was investigated between simple and dual task. Parietal positive ERPs evoked by target stimuli (but not by deviants) were expressed stronger under dual-task condition, which is discussed as an increase of task emphasis and brain processes involved in task coordination and change of task set. Highest classification performance was found for targets irrespective whether all 62, 6 or 2 parietal electrodes were used. Further, higher detection performance of targets compared to standards was achieved under dual-task compared to simple-task condition in case of training on data from 2 parietal electrodes corresponding to results of ERP average analysis. Classifier transfer between tasks improves classification performance in case that training took place on more varying examples (from dual task). In summary, we showed that P300 and overlaying parietal positive ERPs can successfully be detected while subjects are performing additional ongoing motor activity. This supports single-trial detection of ERPs evoked by target events to, e.g., infer a patient's attentional state during therapeutic intervention.

Multi-Tasking and Choice of Training Data Influencing Parietal ERP Expression and Single-Trial Detection—Relevance for Neuroscience and Clinical Applications

PubMed Central

Kirchner, Elsa A.; Kim, Su Kyoung

2018-01-01

Event-related potentials (ERPs) are often used in brain-computer interfaces (BCIs) for communication or system control for enhancing or regaining control for motor-disabled persons. Especially results from single-trial EEG classification approaches for BCIs support correlations between single-trial ERP detection performance and ERP expression. Hence, BCIs can be considered as a paradigm shift contributing to new methods with strong influence on both neuroscience and clinical applications. Here, we investigate the relevance of the choice of training data and classifier transfer for the interpretability of results from single-trial ERP detection. In our experiments, subjects performed a visual-motor oddball task with motor-task relevant infrequent (targets), motor-task irrelevant infrequent (deviants), and motor-task irrelevant frequent (standards) stimuli. Under dual-task condition, a secondary senso-motor task was performed, compared to the simple-task condition. For evaluation, average ERP analysis and single-trial detection analysis with different numbers of electrodes were performed. Further, classifier transfer was investigated between simple and dual task. Parietal positive ERPs evoked by target stimuli (but not by deviants) were expressed stronger under dual-task condition, which is discussed as an increase of task emphasis and brain processes involved in task coordination and change of task set. Highest classification performance was found for targets irrespective whether all 62, 6 or 2 parietal electrodes were used. Further, higher detection performance of targets compared to standards was achieved under dual-task compared to simple-task condition in case of training on data from 2 parietal electrodes corresponding to results of ERP average analysis. Classifier transfer between tasks improves classification performance in case that training took place on more varying examples (from dual task). In summary, we showed that P300 and overlaying parietal positive ERPs can successfully be detected while subjects are performing additional ongoing motor activity. This supports single-trial detection of ERPs evoked by target events to, e.g., infer a patient's attentional state during therapeutic intervention. PMID:29636660

T-Slide Linear Actuators

NASA Technical Reports Server (NTRS)

Vranish, John

2009-01-01

T-slide linear actuators use gear bearing differential epicyclical transmissions (GBDETs) to directly drive a linear rack, which, in turn, performs the actuation. Conventional systems use a rotary power source in conjunction with a nut and screw to provide linear motion. Non-back-drive properties of GBDETs make the new actuator more direct and simpler. Versions of this approach will serve as a long-stroke, ultra-precision, position actuator for NASA science instruments, and as a rugged, linear actuator for NASA deployment duties. The T slide can operate effectively in the presence of side forces and torques. Versions of the actuator can perform ultra-precision positioning. A basic T-slide actuator is a long-stroke, rack-and-pinion linear actuator that, typically, consists of a T-slide, several idlers, a transmission to drive the slide (powered by an electric motor) and a housing that holds the entire assembly. The actuator is driven by gear action on its top surface, and is guided and constrained by gear-bearing idlers on its other two parallel surfaces. The geometry, implemented with gear-bearing technology, is particularly effective. An electronic motor operating through a GBDET can directly drive the T slide against large loads, as a rack and pinion linear actuator, with no break and no danger of back driving. The actuator drives the slide into position and stops. The slide holes position with power off and no brake, regardless of load. With the T slide configuration, this GBDET has an entire T-gear surface on which to operate. The GB idlers coupling the other two T slide parallel surfaces to their housing counterpart surfaces provide constraints in five degrees-of-freedom and rolling friction in the direction of actuation. Multiple GB idlers provide roller bearing strength sufficient to support efficient, rolling friction movement, even in the presence of large, resisting forces. T-slide actuators can be controlled using the combination of an off-the-shelf, electric servomotor, a motor angle resolution sensor (typically an encoder or resolver), and microprocessor-based intelligent software. In applications requiring precision positioning, it may be necessary to add strain gauges to the T-slide housing. Existing sensory- interactive motion control art will work for T slides. For open-loop positioning, a stepping motor emulation technique can be used.

Automatic Control of Arc Process for Making Carbon Nanotubes

NASA Technical Reports Server (NTRS)

Scott, Carl D.; Pulumbarit, Robert B.; Victor, Joe

2004-01-01

An automatic-control system has been devised for a process in which carbon nanotubes are produced in an arc between a catalyst-filled carbon anode and a graphite cathode. The control system includes a motor-driven screw that adjusts the distance between the electrodes. The system also includes a bridge circuit that puts out a voltage proportional to the difference between (1) the actual value of potential drop across the arc and (2) a reference value between 38 and 40 V (corresponding to a current of about 100 A) at which the yield of carbon nanotubes is maximized. Utilizing the fact that the potential drop across the arc increases with the interelectrode gap, the output of the bridge circuit is fed to a motor-control circuit that causes the motor to move the anode toward or away from the cathode if the actual potential drop is more or less, respectively, than the reference potential. Thus, the system regulates the interelectrode gap to maintain the optimum potential drop. The system also includes circuitry that records the potential drop across the arc and the relative position of the anode holder as function of time.

Postural sway and regional cerebellar volume in adults with attention-deficit/hyperactivity disorder

PubMed Central

Hove, Michael J.; Zeffiro, Thomas A.; Biederman, Joseph; Li, Zhi; Schmahmann, Jeremy; Valera, Eve M.

2015-01-01

Objective Motor abnormalities, including impaired balance and increased postural sway, are commonly reported in children with ADHD, but have yet to be investigated in adults with ADHD. Furthermore, although these abnormalities are thought to stem from cerebellar deficits, evidence for an association between the cerebellum and these motor deficits has yet to be provided for either adults or children with ADHD. Method In this study, we measured postural sway in adults with ADHD and controls, examining the relationship between sway and regional cerebellar gray matter volume. Thirty-two ADHD and 28 control participants completed various standing-posture tasks on a Wii balance board. Results Postural sway was significantly higher for the ADHD group compared to the healthy controls. Higher sway was positively associated with regional gray matter volume in the right posterior cerebellum (lobule VIII/IX). Conclusion These findings show that sway abnormalities commonly reported in children with ADHD are also present in adults, and for the first time show a relationship between postural control atypicalities and the cerebellum in this group. Our findings extend the literature on motor abnormalities in ADHD and contribute to our knowledge of their neural substrate. PMID:26106567

The evolution of syntax: an exaptationist perspective.

PubMed

Fitch, W Tecumseh

2011-01-01

The evolution of language required elaboration of a number of independent mechanisms in the hominin lineage, including systems involved in signaling, semantics, and syntax. Two perspectives on the evolution of syntax can be contrasted. The "continuist" perspective seeks the evolutionary roots of complex human syntax in simpler combinatory systems used in animal communication systems, such as iteration and sequencing. The "exaptationist" perspective posits evolutionary change of function, so that systems today used for linguistic communication might previously have served quite different functions in earlier hominids. I argue that abundant biological evidence supports an exaptationist perspective, in general, and that it must be taken seriously when considering language evolution. When applied to syntax, this suggests that core computational components used today in language could have originally served non-linguistic functions such as motor control, non-verbal thought, or spatial reasoning. I outline three specific exaptationist hypotheses for spoken language. These three hypotheses each posit a change of functionality in a precursor circuit, and its transformation into a neural circuit or region specifically involved in language today. Hypothesis 1 suggests that the precursor mechanism for intentional vocal control, specifically direct cortical control over the larynx, was manual motor control subserved by the cortico-spinal tract. The second is that the arcuate fasciculus, which today connects syntactic and lexical regions, had its origin in intracortical connections subserving vocal imitation. The third is that the specialized components of Broca's area, specifically BA 45, had their origins in non-linguistic motor control, and specifically hierarchical planning of action. I conclude by illustrating the importance of both homology (studied via primates) and convergence (typically analyzed in birds) for testing such evolutionary hypotheses.

Design and realization of sort manipulator of crystal-angle sort machine

NASA Astrophysics Data System (ADS)

Wang, Ming-shun; Chen, Shu-ping; Guan, Shou-ping; Zhang, Yao-wei

2005-12-01

It is a current tendency of development in automation technology to replace manpower with manipulators in working places where dangerous, harmful, heavy or repetitive work is involved. The sort manipulator is installed in a crystal-angle sort machine to take the place of manpower, and engaged in unloading and sorting work. It is the outcome of combing together mechanism, electric transmission, and pneumatic element and micro-controller control. The step motor makes the sort manipulator operate precisely. The pneumatic elements make the sort manipulator be cleverer. Micro-controller's software bestows some simple artificial intelligence on the sort manipulator, so that it can precisely repeat its unloading and sorting work. The combination of manipulator's zero position and step motor counting control puts an end to accumulating error in long time operation. A sort manipulator's design in the practice engineering has been proved to be correct and reliable.

Signal injection as a fault detection technique.

PubMed

Cusidó, Jordi; Romeral, Luis; Ortega, Juan Antonio; Garcia, Antoni; Riba, Jordi

2011-01-01

Double frequency tests are used for evaluating stator windings and analyzing the temperature. Likewise, signal injection on induction machines is used on sensorless motor control fields to find out the rotor position. Motor Current Signature Analysis (MCSA), which focuses on the spectral analysis of stator current, is the most widely used method for identifying faults in induction motors. Motor faults such as broken rotor bars, bearing damage and eccentricity of the rotor axis can be detected. However, the method presents some problems at low speed and low torque, mainly due to the proximity between the frequencies to be detected and the small amplitude of the resulting harmonics. This paper proposes the injection of an additional voltage into the machine being tested at a frequency different from the fundamental one, and then studying the resulting harmonics around the new frequencies appearing due to the composition between injected and main frequencies.

Signal Injection as a Fault Detection Technique

PubMed Central

Cusidó, Jordi; Romeral, Luis; Ortega, Juan Antonio; Garcia, Antoni; Riba, Jordi

2011-01-01

Double frequency tests are used for evaluating stator windings and analyzing the temperature. Likewise, signal injection on induction machines is used on sensorless motor control fields to find out the rotor position. Motor Current Signature Analysis (MCSA), which focuses on the spectral analysis of stator current, is the most widely used method for identifying faults in induction motors. Motor faults such as broken rotor bars, bearing damage and eccentricity of the rotor axis can be detected. However, the method presents some problems at low speed and low torque, mainly due to the proximity between the frequencies to be detected and the small amplitude of the resulting harmonics. This paper proposes the injection of an additional voltage into the machine being tested at a frequency different from the fundamental one, and then studying the resulting harmonics around the new frequencies appearing due to the composition between injected and main frequencies. PMID:22163801

Development of a miniature motor-driven pulsatile LVAD driven by a fuzzy controller.

PubMed

Okamoto, Eiji; Makino, Tsutomu; Tanaka, Shuji; Yasuda, Takahiko; Akasaka, Yuta; Tani, Makiko; Inoue, Yusuke; Mitoh, Ayumu; Mitamura, Yoshinori

2007-01-01

We have been developing a small, lightweight motor-driven pulsatile left ventricular assist device (LVAD) with a ball screw. The motor-driven LVAD consists of a brushless DC motor and a ball screw. The attractive magnetic force between Nd-Fe-B magnets (with a diameter of 5 mm and a thickness of 1.5 mm) mounted in holes in a silicone rubber sheet (thickness 2 mm) and an iron plate adhered onto the a diaphragm of the blood pump can provide optimum active blood filling during the pump filling phase. The LVAD has a stroke volume of 55 ml and an overall volume of 285 ml; it weighs 360 g. The controller mainly consists of a fuzzy logic position and velocity controller to apply doctors' and engineers' knowledge to control the LVAD. Each unit of the controller consists of a functionally independent program module for easy improvement of the controller's performance. The LVAD was evaluated in in vitro experiments using a mock circulation. A maximum pump outflow of 5.1 l/min was obtained at a drive rate of 95 bpm against an afterload of 95 mmHg, and active filling using the attractive magnetic force provided a pump output of 3.6 l/min at a drive rate of 75 bpm under a preload of 0 mmHg. The operating efficiency of the LVAD was measured at between 8% and 10.5%. While the LVAD can provide adequate pump outflow for cardiac assistance, further upgrading of the software and improvement of the blood pump are required to improve pump performance and efficiency.

Cervical Joint Position Sense in Hypobaric Conditions: A Randomized Double-Blind Controlled Trial.

PubMed

Bagaianu, Diana; Van Tiggelen, Damien; Duvigneaud, N; Stevens, Veerle; Schroyen, Danny; Vissenaeken, Dirk; D'Hondt, Gino; Pitance, Laurent

2017-09-01

Well-adapted motor actions require intact and well-integrated information from all of the sensory systems, specifically the visual, vestibular, and somatosensory systems, including proprioception. Proprioception is involved in the sensorimotor control by providing the central nervous system with an updated body schema of the biomechanical and spatial properties of the body parts. With regard to the cervical spine, proprioceptive information from joint and muscle mechanoreceptors is integrated with vestibular and visual feedback to control head position, head orientation, and whole body posture. Postural control is highly complex and proprioception from joints is an important contributor to the system. Altitude has been used as a paradigm to study the mechanisms of postural control. Determining the mechanisms of postural control that are affected by moderate altitude is important as unpressurized aircrafts routinely operate at altitudes where hypoxia may be a concern. Deficits in motor performance arise when the reliance on proprioceptive feedback is abolished either experimentally or because of a disorder. As pilots require good neck motor control to counteract the weight of their head gear and proprioceptive information plays an important role in this process, the aim of this study was to determine if hypoxia at moderate altitudes would impair proprioception measured by joint position sense of the cervical spine in healthy subjects. Thirty-six healthy subjects (Neck Disability Index < 5) volunteered to participate. Neck position sense was evaluated using a three-dimensional motion analyzer. To create the environment, a hypobaric chamber was used to simulate artificial moderate altitude. Head repositioning error was measured by asking the subject to perform a head-to-neutral task after submaximal flexion-extension and right/left rotation movements, and a head-to-target task, in which the subjects had to return to a 30° right and left rotation position. Exposure to artificial acute moderate altitude of 7,000 feet had no significant effects on cervical joint position sense measured by head repositioning accuracy in healthy subjects. Discussion/impact/recommendations: Postural control mechanisms are very sensitive to acute mild hypoxia and have been recently investigated. Acute hypobaric hypoxia at moderate and high altitudes has a negative effect on postural control. However, which part of the postural system is affected has not yet been determined and proprioception has been little investigated. The results from this study highlighted that in healthy subjects with good cervical spine proprioception at baseline, artificial hypoxia induced by the simulation of moderate altitude does not increase head repositioning error. Further studies should investigate cervical joint position sense in real aircraft, at different altitudes and in a group of experienced helicopter pilots, to evaluate the impact of moderate altitude on cervical joint position sense in a different population. Conducting the same experiments in a population of pilots and in real flight conditions should be considered, since various factors such as the level of proprioception, head posture, type of movement, head load, muscle fatigue, flight altitude, and the length of flight time might influence the kinesthetic sensitivity. Reprint & Copyright © 2017 Association of Military Surgeons of the U.S.

Near Field Antenna Measurement System.

DTIC Science & Technology

1982-03-01

is 2" in diameter, the others are 1". The shafts are mounted to the structure with specially- designed adjusters which provide two axes of control for...program when a supplier was found who provided an entire motor and controller system designed for direct computer interfacing. These units, Control ...distribution unlimited. "The findings in this report are not to be construed as an official Department of the Army position unless so designated by other

Nuclear positioning by actin cables and perinuclear actin

PubMed Central

Huelsmann, Sven; Brown, Nicholas H

2014-01-01

Nuclear positioning is an important process during development and homeostasis. Depending on the affected tissue, mislocalized nuclei can alter cellular processes such as polarization, differentiation, or migration and lead ultimately to diseases. Many cells actively control the position of their nucleus using their cytoskeleton and motor proteins. We have recently shown that during Drosophila oogenesis, nurse cells employ cytoplasmic actin cables in association with perinuclear actin to position their nucleus. Here, we briefly summarize our work and discuss why nuclear positioning in nurse cells is specialized but the molecular mechanisms are likely to be more generally used. PMID:24905988

Nuclear positioning by actin cables and perinuclear actin: Special and general?

PubMed

Huelsmann, Sven; Brown, Nicholas H

2014-01-01

Nuclear positioning is an important process during development and homeostasis. Depending on the affected tissue, mislocalized nuclei can alter cellular processes such as polarization, differentiation, or migration and lead ultimately to diseases. Many cells actively control the position of their nucleus using their cytoskeleton and motor proteins. We have recently shown that during Drosophila oogenesis, nurse cells employ cytoplasmic actin cables in association with perinuclear actin to position their nucleus. Here, we briefly summarize our work and discuss why nuclear positioning in nurse cells is specialized but the molecular mechanisms are likely to be more generally used.

[REHABILITATION OF MOBILITY AND MOTOR FUNCTION IN NURSING HOME RESIDENTS WITH DEMENTIA].

PubMed

Aizen, Efraim; Lubosky, Enna; Sobeh, Saleh; Ibrahim, Rasha; Pressburger, Dina; Oliven, Roni

2018-04-01

Few clinical trials have evaluated exercise programs developed specifically for patients with dementia in nursing home settings. To determine if a training program tailored for demented patients, can be implemented in a nursing home setting in order to improve motor performances in patients with dementia who suffered functional decline. The present intervention was conducted in wards of patients suffering from dementia in three nursing homes. Patients suffering from dementia and hospitalized in a rehabilitation hospital were the control arm. Eligible patients in the wards assigned to the intervention group (NH; n = 24) received exercise training specifically designed for patients with dementia. Patients in the rehabilitation hospital were observed as a control group (RH; n = 50) and received usual care treatment. Primary endpoints were changes in Functional Independence Measure (FIM), 5X Sit-to-Stand Test, Timed up and go test and ADL. Basic parameters were examined as predictors of positive training response. Both the nursing home residents and rehabilitation hospital patients improved significantly in both primary endpoints (change: in Functional Independence Measure, NH: +119.2 ± 30.8 % versus RH: +83.3 ± 41.9%, p < 0.001; ADL, NH: +143.5 ± 102.6% versus RH: +59.0 ± 90.2%, p < 0.001). Age was found to be a predictor of positive training response. This functional training program tailored for demented patients can be implemented in a nursing home setting to improve motor performances in patients with dementia. Such interventions should be further evaluated in larger randomized controlled trials.

FUZZY LOGIC CONTROL OF ELECTRIC MOTORS AND MOTOR DRIVES: FEASIBILITY STUDY

EPA Science Inventory

The report gives results of a study (part 1) of fuzzy logic motor control (FLMC). The study included: 1) reviews of existing applications of fuzzy logic, of motor operation, and of motor control; 2) a description of motor control schemes that can utilize FLMC; 3) selection of a m...

The MEPUC concept adapts the C-arm fluoroscope to image-guided surgery.

PubMed

Suhm, Norbert; Müller, Paul; Bopp, Urs; Messmer, Peter; Regazzoni, Pietro

2004-06-01

Image-guided surgery requires surgeons to be able to manipulate the imaging modality themselves and without delay. Intraoperative fluoroscopic imaging does not meet this requirement as the C-arm fluoroscope cannot be operated or positioned by the surgeons themselves. The Motorized Exact Positioning Unit for C-arm (MEPUC) concept aims to optimize the workflow of positioning the C-arm fluoroscope. The hardware component of the MEPUC equips the fluoroscope with electric stepping motors. The software component allows the surgeon to control the fluoroscope's movements. The study presented here showed that translational movements within the x-y plane are most frequently performed when positioning the C-arm fluoroscope. Furthermore, reproducing a former projection was found to be a frequent task during image-guided procedures. In our opinion, the MEPUC concept adapts the fluoroscope to image-guided surgery. The most important improvement being definition of a bidirectional data exchange between the surgeon and the C-arm fluoroscope: positioning data from the surgeon to the C-arm fluoroscope and-subsequently-image information from C-arm fluoroscope to the surgeon.

Cerebral Small Vessel Disease Burden Is Associated with Motor Performance of Lower and Upper Extremities in Community-Dwelling Populations

PubMed Central

Su, Ning; Zhai, Fei-Fei; Zhou, Li-Xin; Ni, Jun; Yao, Ming; Li, Ming-Li; Jin, Zheng-Yu; Gong, Gao-Lang; Zhang, Shu-Yang; Cui, Li-Ying; Tian, Feng; Zhu, Yi-Cheng

2017-01-01

Objective: To investigate the correlation between cerebral small vessel disease (CSVD) burden and motor performance of lower and upper extremities in community-dwelling populations. Methods: We performed a cross-sectional analysis on 770 participants enrolled in the Shunyi study, which is a population-based cohort study. CSVD burden, including white matter hyperintensities (WMH), lacunes, cerebral microbleeds (CMBs), perivascular spaces (PVS), and brain atrophy were measured using 3T magnetic resonance imaging. All participants underwent quantitative motor assessment of lower and upper extremities, which included 3-m walking speed, 5-repeat chair-stand time, 10-repeat pronation–supination time, and 10-repeat finger-tapping time. Data on demographic characteristics, vascular risk factors, and cognitive functions were collected. General linear model analysis was performed to identify potential correlations between motor performance measures and imaging markers of CSVD after controlling for confounding factors. Results: For motor performance of the lower extremities, WMH was negatively associated with gait speed (standardized β = -0.092, p = 0.022) and positively associated with chair-stand time (standardized β = 0.153, p < 0.0001, surviving FDR correction). For motor performance of the upper extremities, pronation–supination time was positively associated with WMH (standardized β = 0.155, p < 0.0001, surviving FDR correction) and negatively with brain parenchymal fraction (BPF; standardized β = -0.125, p = 0.011, surviving FDR correction). Only BPF was found to be negatively associated with finger-tapping time (standardized β = -0.123, p = 0.012). However, lacunes, CMBs, or PVS were not found to be associated with motor performance of lower or upper extremities in multivariable analysis. Conclusion: Our findings suggest that cerebral microstructural changes related to CSVD may affect motor performance of both lower and upper extremities. WMH and brain atrophy are most strongly associated with motor function deterioration in community-dwelling populations. PMID:29021757

Cerebral Small Vessel Disease Burden Is Associated with Motor Performance of Lower and Upper Extremities in Community-Dwelling Populations.

PubMed

Su, Ning; Zhai, Fei-Fei; Zhou, Li-Xin; Ni, Jun; Yao, Ming; Li, Ming-Li; Jin, Zheng-Yu; Gong, Gao-Lang; Zhang, Shu-Yang; Cui, Li-Ying; Tian, Feng; Zhu, Yi-Cheng

2017-01-01

Objective: To investigate the correlation between cerebral small vessel disease (CSVD) burden and motor performance of lower and upper extremities in community-dwelling populations. Methods: We performed a cross-sectional analysis on 770 participants enrolled in the Shunyi study, which is a population-based cohort study. CSVD burden, including white matter hyperintensities (WMH), lacunes, cerebral microbleeds (CMBs), perivascular spaces (PVS), and brain atrophy were measured using 3T magnetic resonance imaging. All participants underwent quantitative motor assessment of lower and upper extremities, which included 3-m walking speed, 5-repeat chair-stand time, 10-repeat pronation-supination time, and 10-repeat finger-tapping time. Data on demographic characteristics, vascular risk factors, and cognitive functions were collected. General linear model analysis was performed to identify potential correlations between motor performance measures and imaging markers of CSVD after controlling for confounding factors. Results: For motor performance of the lower extremities, WMH was negatively associated with gait speed (standardized β = -0.092, p = 0.022) and positively associated with chair-stand time (standardized β = 0.153, p < 0.0001, surviving FDR correction). For motor performance of the upper extremities, pronation-supination time was positively associated with WMH (standardized β = 0.155, p < 0.0001, surviving FDR correction) and negatively with brain parenchymal fraction (BPF; standardized β = -0.125, p = 0.011, surviving FDR correction). Only BPF was found to be negatively associated with finger-tapping time (standardized β = -0.123, p = 0.012). However, lacunes, CMBs, or PVS were not found to be associated with motor performance of lower or upper extremities in multivariable analysis. Conclusion: Our findings suggest that cerebral microstructural changes related to CSVD may affect motor performance of both lower and upper extremities. WMH and brain atrophy are most strongly associated with motor function deterioration in community-dwelling populations.

A biologically inspired neural net for trajectory formation and obstacle avoidance.

PubMed

Glasius, R; Komoda, A; Gielen, S C

1996-06-01

In this paper we present a biologically inspired two-layered neural network for trajectory formation and obstacle avoidance. The two topographically ordered neural maps consist of analog neurons having continuous dynamics. The first layer, the sensory map, receives sensory information and builds up an activity pattern which contains the optimal solution (i.e. shortest path without collisions) for any given set of current position, target positions and obstacle positions. Targets and obstacles are allowed to move, in which case the activity pattern in the sensory map will change accordingly. The time evolution of the neural activity in the second layer, the motor map, results in a moving cluster of activity, which can be interpreted as a population vector. Through the feedforward connections between the two layers, input of the sensory map directs the movement of the cluster along the optimal path from the current position of the cluster to the target position. The smooth trajectory is the result of the intrinsic dynamics of the network only. No supervisor is required. The output of the motor map can be used for direct control of an autonomous system in a cluttered environment or for control of the actuators of a biological limb or robot manipulator. The system is able to reach a target even in the presence of an external perturbation. Computer simulations of a point robot and a multi-joint manipulator illustrate the theory.

Remote manual operator for space station intermodule ventilation valve

NASA Technical Reports Server (NTRS)

Guyaux, James R.

1996-01-01

The Remote Manual Operator (RMO) is a mechanism used for manual operation of the Space Station Intermodule Ventilation (IMV) valve and for visual indication of valve position. The IMV is a butterfly-type valve, located in the ventilation or air circulation ducts of the Space Station, and is used to interconnect or isolate the various compartments. The IMV valve is normally operated by an electric motor-driven actuator under computer or astronaut control, but it can also be operated manually with the RMO. The IMV valve RMO consists of a handle with a deployment linkage, a gear-driven flexible shaft, and a linkage to disengage the electric motor actuator during manual operation. It also provides visual indication of valve position. The IMV valve RMO is currently being prepared for qualification testing.

Disorganization of Oligodendrocyte Development in the Layer II/III of the Sensorimotor Cortex Causes Motor Coordination Dysfunction in a Model of White Matter Injury in Neonatal Rats.

PubMed

Ueda, Yoshitomo; Misumi, Sachiyo; Suzuki, Mina; Ogawa, Shino; Nishigaki, Ruriko; Ishida, Akimasa; Jung, Cha-Gyun; Hida, Hideki

2018-01-01

We previously established neonatal white matter injury (WMI) model rat that is made by right common carotid artery dissection at postnatal day 3, followed by 6% hypoxia for 60 min. This model has fewer oligodendrocyte progenitor cells and reduced myelin basic protein (MBP) positive areas in the sensorimotor cortex, but shows no apparent neuronal loss. However, how motor deficits are induced in this model is unclear. To elucidate the relationship between myelination disturbance and concomitant motor deficits, we first performed motor function tests (gait analysis, grip test, horizontal ladder test) and then analyzed myelination patterns in the sensorimotor cortex using transmission electron microscopy (TEM) and Contactin associated protein 1 (Caspr) staining in the neonatal WMI rats in adulthood. Behavioral tests revealed imbalanced motor coordination in this model. Motor deficit scores were higher in the neonatal WMI model, while hindlimb ladder stepping scores and forelimb grasping force were comparable to controls. Prolonged forelimb swing times and decreased hindlimb paw angles on the injured side were revealed by gait analysis. TEM revealed no change in myelinated axon number and the area g-ratio in the layer II/III of the cortex. Electromyographical durations and latencies in the gluteus maximus in response to electrical stimulation of the brain area were unchanged in the model. Caspr staining revealed fewer positive dots in layers II/III of the WMI cortex, indicating fewer and/or longer myelin sheath. These data suggest that disorganization of oligodendrocyte development in layers II/III of the sensorimotor cortex relates to imbalanced motor coordination in the neonatal WMI model rat.

Novel linear piezoelectric motor for precision position stage

NASA Astrophysics Data System (ADS)

Chen, Chao; Shi, Yunlai; Zhang, Jun; Wang, Junshan

2016-03-01

Conventional servomotor and stepping motor face challenges in nanometer positioning stages due to the complex structure, motion transformation mechanism, and slow dynamic response, especially directly driven by linear motor. A new butterfly-shaped linear piezoelectric motor for linear motion is presented. A two-degree precision position stage driven by the proposed linear ultrasonic motor possesses a simple and compact configuration, which makes the system obtain shorter driving chain. Firstly, the working principle of the linear ultrasonic motor is analyzed. The oscillation orbits of two driving feet on the stator are produced successively by using the anti-symmetric and symmetric vibration modes of the piezoelectric composite structure, and the slider pressed on the driving feet can be propelled twice in only one vibration cycle. Then with the derivation of the dynamic equation of the piezoelectric actuator and transient response model, start-upstart-up and settling state characteristics of the proposed linear actuator is investigated theoretically and experimentally, and is applicable to evaluate step resolution of the precision platform driven by the actuator. Moreover the structure of the two-degree position stage system is described and a special precision displacement measurement system is built. Finally, the characteristics of the two-degree position stage are studied. In the closed-loop condition the positioning accuracy of plus or minus <0.5 μm is experimentally obtained for the stage propelled by the piezoelectric motor. A precision position stage based the proposed butterfly-shaped linear piezoelectric is theoretically and experimentally investigated.

Instruction manual, optical effects module electronic controller and processor, model OEMCP

NASA Technical Reports Server (NTRS)

1975-01-01

The OEM-1 electronic module is discussed; it is comprised of four subsystems: the signal processing and display; the stepper motor controls; the chopper controls; and the dc-dc invertor. The OEM-1 module controls the sample wheel so that the relative transmittance of the samples can be compared to the clear aperture position. The 3-1/2 digit digital voltmeter displays the clear aperture signal level as well as the ratio of the remaining sample positions relative to the clear aperture position. The sample wheel position is decoded so that the signals and ratios can be correlated to the data. The OEM is automatically reset to the I sub o on initial turn-on and can be reset to the '0' position by actuating a front panel switch. The sample wheel can be interrupted to change samples or induce a longer integration time if desired by a front panel command. Integration times from 1 - 50 seconds are provided at the front panel, and BCD data for external interfacing is provided.

Interactive Sensor-Based Balance Training in Older Cancer Patients with Chemotherapy-Induced Peripheral Neuropathy: A Randomized Controlled Trial.

PubMed

Schwenk, Michael; Grewal, Gurtej S; Holloway, Dustin; Muchna, Amy; Garland, Linda; Najafi, Bijan

2016-01-01

Cancer patients with chemotherapy-induced peripheral neuropathy (CIPN) have deficits in sensory and motor skills leading to inappropriate proprioceptive feedback, impaired postural control, and fall risk. Balance training programs specifically developed for CIPN patients are lacking. This pilot study investigated the effect of an interactive motor adaptation balance training program based on wearable sensors for improving balance in older cancer patients with CIPN. Twenty-two patients (age: 70.3 ± 8.7 years) with objectively confirmed CIPN [vibration perception threshold (VPT) >25 V] were randomized to either an intervention (IG) or a control (CG) group. The IG received interactive game-based balance training including repetitive weight shifting and virtual obstacle crossing tasks. Wearable sensors provided real-time visual/auditory feedback from the lower limb trajectory and allowed the perception of motor errors during each motor action. The CG received no exercise intervention and continued their normal activity. Outcome measures were changes in sway of ankle, hip, and center of mass (CoM) in both mediolateral and anteroposterior (AP) directions during 30-second balance tests with increasing task difficulty [i.e. standing in feet-closed position with eyes open (EO) and eyes closed (EC), and in semi-tandem position with EO] at baseline and after the intervention. Additionally, gait performance (speed, variability) and fear of falling [Falls Efficacy Scale-International (FES-I)] were measured. Training was safe despite the participants' impaired health status, great severity of CIPN (VPT 49.6 ± 26.7 V), and great fear of falling (FES-I score 31.37 ± 11.20). After the intervention, sway of hip, ankle, and CoM was significantly reduced in the IG compared to the CG while standing in feet-closed position with EO (p = 0.010-0.022, except AP CoM sway) and in semi-tandem position (p = 0.008-0.035, except ankle sway). No significant effects were found for balance with EC, gait speed, and FES-I score (p > 0.05). This proof-of-concept study demonstrates that older cancer patients with CIPN can significantly improve their postural balance with specifically tailored, sensor-based exercise training. The training approach has potential as a therapy for improving CIPN-related postural control deficits. However, future studies comparing the proposed technology-based training with traditional balance training are required to evaluate the benefit of the interactive joint movement feedback. © 2015 S. Karger AG, Basel.

Training of support afferentation in postmenopausal women.

PubMed

Bazanova, O M; Kholodina, N V; Nikolenko, E D; Payet, J

2017-12-01

We have recently shown a diminishing of the Menopause Index in old-aged women who underwent special training directed at the enhancement of support afferentation by increasing the plantar forefoot sensitivity (Bazanova et al., 2015). Based on these results we hypothesized, that purposeful training of support afferentation through stimulation of plantar graviceptors by Aikido practice will decrease excessive postural and psychoemotional tension not only in rest condition, but during cognitive and manual task performance too. Fluency of cognitive and motor task performance, EEG alpha power as an index of neuronal efficiency of cognitive control, amount of alpha power suppression as a visual activation measure and EMG power of forehead muscles as a sign of psychoemotional tension were compared in three groups of post-menopausal women: i) 8years training with forefeet support afferentation with Aikido practice (A), ii) 8years fitness training (F) and iii) no dedicated fitness training for past 8years (N). Simultaneous stabilometry, EEG, and frontal EMG recording were performed in sitting and standing up position in eyes closed and eyes open condition. Recording done at rest and while performing cognitive and finger motor tasks. We compared studied parameters between groups with one- and two-way analyses of variance (ANOVAs) with Bonferroni correction for multiple comparisons, followed by post hoc two-tailed unpaired t-tests. The fluency of tasks performance, EMG and alpha-EEG-activity displayed similar values in all groups in a sitting position. Center of pressure (CoP) sway length, velocity and energy demands for saving balance increased when standing up, more in group N than in groups F and A (all contrasts p values<0.002, η 2 >0.89). Post hoc t-tests showed increased fluency in standing in both Aikido (p<0.01) and Fitness (p<0.05) subjects in relation to untrained subjects. Increasing fluency in motor task performance was in parallel with enhancing the EEG alpha-2-power and decreasing EMG power only in A group (η 2 >0.77). Fluency in motor task and alpha EEG power decreased, but frontal EMG power increased in response to standing in untrained women (group N) and did not change in F group. Post hoc t-tests showed that EEG amount of alpha-2 power suppression in response to visual activation and frontal EMG power was lower in A than F and N groups (p<0.004) during motor task performance in the standing position. These results were interpreted as showing that training of forefoot plantar surface sensitivity in postmenopausal women decreases levels of psychoemotional tension and increases cognitive control caused by the psychomotor and postural challenges. Thus, Aikido training aimed at learning coordination between manual task performance and balance control by increasing the plantar support zones sensation decreases the cost of maintained vertical position and dependence of motor coordination on visual contribution. Copyright © 2017 Elsevier B.V. All rights reserved.

How Do Maternal Subclinical Symptoms Influence Infant Motor Development during the First Year of Life?

PubMed Central

Piallini, Giulia; Brunoro, Stefania; Fenocchio, Chiara; Marini, Costanza; Simonelli, Alessandra; Biancotto, Marina; Zoia, Stefania

2016-01-01

An unavoidable reciprocal influence characterizes the mother-child dyad. Within this relationship, the presence of depression, somatization, hostility, paranoid ideation, and interpersonal sensitivity symptoms at a subclinical level and their possible input on infant motor competences has not been yet considered. Bearing in mind that motor abilities represent not only an indicator of the infant's health-status, but also the principal field to infer his/her needs, feelings and intentions, in this study the quality of infants' movements were assessed and analyzed in relationship with the maternal attitudes. The aim of this research was to investigate if/how maternal symptomatology may pilot infant's motor development during his/her first year of life by observing the characteristics of motor development in infants aged 0–11 months. Participants included 123 mothers and their infants (0–11 months-old). Mothers' symptomatology was screened with the Symptom Checklist-90-Revised (SCL-90-R), while infants were tested with the Peabody Developmental Motor Scale-Second Edition. All dyads belonged to a non-clinical population, however, on the basis of SCL-90-R scores, the mothers' sample was divided into two groups: normative and subclinical. Descriptive, t-test, correlational analysis between PDMS-2 scores and SCL-90-R results are reported, as well as regression models results. Both positive and negative correlations were found between maternal perceived symptomatology, Somatization (SOM), Interpersonal Sensitivity (IS), Depression (DEP), Hostility (HOS), and Paranoid Ideation (PAR) and infants' motor abilities. These results were further verified by applying regression models to predict the infant's motor outcomes on the basis of babies' age and maternal status. The presence of positive symptoms in the SCL-90-R questionnaire (subclinical group) predicted good visual-motor integration and stationary competences in the babies. In particular, depressive and hostility feelings in mothers seemed to induce an infant motor behavior characterized by a major control of the environmental space. When mothers perceived a higher level of hostility and somatization, their babies showed difficulties in sharing action space, such as required in the development of stationary positions and grasping abilities. In a completely different way, when infants can rely on a mother with low-perceived symptoms (normative group) his/her motor performances develop with a higher degree of freedom/independence. These findings suggest, for the first time, that even in a non-clinical sample, mother's perceived-symptoms can produce important consequences not in infant motor development as a whole, but in some specific areas, contributing to shape the infant's motor ability and his/her capability to act in the world. PMID:27847489

A robust variable sampling time BLDC motor control design based upon μ-synthesis.

PubMed

Hung, Chung-Wen; Yen, Jia-Yush

2013-01-01

The variable sampling rate system is encountered in many applications. When the speed information is derived from the position marks along the trajectory, one would have a speed dependent sampling rate system. The conventional fixed or multisampling rate system theory may not work in these cases because the system dynamics include the uncertainties which resulted from the variable sampling rate. This paper derived a convenient expression for the speed dependent sampling rate system. The varying sampling rate effect is then translated into multiplicative uncertainties to the system. The design then uses the popular μ-synthesis process to achieve a robust performance controller design. The implementation on a BLDC motor demonstrates the effectiveness of the design approach.

A Robust Variable Sampling Time BLDC Motor Control Design Based upon μ-Synthesis

PubMed Central

Yen, Jia-Yush

2013-01-01

The variable sampling rate system is encountered in many applications. When the speed information is derived from the position marks along the trajectory, one would have a speed dependent sampling rate system. The conventional fixed or multisampling rate system theory may not work in these cases because the system dynamics include the uncertainties which resulted from the variable sampling rate. This paper derived a convenient expression for the speed dependent sampling rate system. The varying sampling rate effect is then translated into multiplicative uncertainties to the system. The design then uses the popular μ-synthesis process to achieve a robust performance controller design. The implementation on a BLDC motor demonstrates the effectiveness of the design approach. PMID:24327804

Executive Function Is Associated With Off-Line Motor Learning in People With Chronic Stroke.

PubMed

Al-Dughmi, Mayis; Al-Sharman, Alham; Stevens, Suzanne; Siengsukon, Catherine F

2017-04-01

Sleep has been shown to promote off-line motor learning in individuals following stroke. Executive function ability has been shown to be a predictor of participation in rehabilitation and motor recovery following stroke. The purpose of this study was to explore the association between executive function and off-line motor learning in individuals with chronic stroke compared with healthy control participants. Seventeen individuals with chronic stroke (>6 months poststroke) and 9 healthy adults were included in the study. Participants underwent 3 consecutive nights of polysomnography, practiced a continuous tracking task the morning of the third day, and underwent a retention test the morning after the third night. Participants underwent testing on 4 executive function tests after the continuous tracking task retention test. Participants with stroke showed a significant positive correlation between the off-line motor learning score and performance on the Trail-Making Test from Delis-Kaplan Executive Function System (r = 0.652; P = 0.005), while the healthy control participants did not. Regression analysis showed that the Trail-Making Test-Delis-Kaplan Executive Function System is a significant predictor of off-line motor learning (P = 0.008). This is the first study to demonstrate that better performance on an executive function test of attention and set-shifting predicts a higher magnitude of off-line motor learning in individuals with chronic stroke. This emphasizes the need to consider attention and set-shifting abilities of individuals following stroke as these abilities are associated with motor learning. This in turn could affect learning of activities of daily living and impact functional recovery following stroke.Video Abstract available for more insights from the authors (see Video, Supplemental Digital Content 1, http://links.lww.com/JNPT/A166).

Structural and functional hallmarks of amyotrophic lateral sclerosis progression in motor- and memory-related brain regions

PubMed Central

Stoppel, Christian Michael; Vielhaber, Stefan; Eckart, Cindy; Machts, Judith; Kaufmann, Jörn; Heinze, Hans-Jochen; Kollewe, Katja; Petri, Susanne; Dengler, Reinhard; Hopf, Jens-Max; Schoenfeld, Mircea Ariel

2014-01-01

Previous studies have shown that in amyotrophic lateral sclerosis (ALS) multiple motor and extra-motor regions display structural and functional alterations. However, their temporal dynamics during disease-progression are unknown. To address this question we employed a longitudinal design assessing motor- and novelty-related brain activity in two fMRI sessions separated by a 3-month interval. In each session, patients and controls executed a Go/NoGo-task, in which additional presentation of novel stimuli served to elicit hippocampal activity. We observed a decline in the patients' movement-related activity during the 3-month interval. Importantly, in comparison to controls, the patients' motor activations were higher during the initial measurement. Thus, the relative decrease seems to reflect a breakdown of compensatory mechanisms due to progressive neural loss within the motor-system. In contrast, the patients' novelty-evoked hippocampal activity increased across 3 months, most likely reflecting the build-up of compensatory processes typically observed at the beginning of lesions. Consistent with a stage-dependent emergence of hippocampal and motor-system lesions, we observed a positive correlation between the ALSFRS-R or MRC-Megascores and the decline in motor activity, but a negative one with the hippocampal activation-increase. Finally, to determine whether the observed functional changes co-occur with structural alterations, we performed voxel-based volumetric analyses on magnetization transfer images in a separate patient cohort studied cross-sectionally at another scanning site. Therein, we observed a close overlap between the structural changes in this cohort, and the functional alterations in the other. Thus, our results provide important insights into the temporal dynamics of functional alterations during disease-progression, and provide support for an anatomical relationship between functional and structural cerebral changes in ALS. PMID:25161894

Supervised learning of postural tasks in patients with poststroke hemiparesis, Parkinson's disease or cerebellar ataxia.

PubMed

Ioffe, M E; Ustinova, K I; Chernikova, L A; Kulikov, M A

2006-01-01

Supervised learning of different postural tasks in patients with lesions of the motor cortex or pyramidal system (poststroke hemiparesis: 20 patients), nigro-striatal system (Parkinson's disease: 33 patients) and cerebellum (spinocerebellar ataxia: 37 patients) was studied. A control group consisted of 13 healthy subjects. The subjects stood on a force platform and were trained to change the position of the center of pressure (CP) presented as a cursor on a monitor screen in front of the patient. Subjects were instructed to align the CP with the target and then move the target by shifting the CP in the indicated direction. Two different tasks were used. In "Balls", the target (a ball) position varied randomly, so the subject learned a general strategy of voluntary CP control. In "Bricks", the subject had to always move the target in a single direction (downward) from the top to the bottom of the screen, so that a precise postural coordination had to be learned. The training consisted of 10 sessions for each task. The number of correctly performed trials for a session (2 min for each task) was scored. The voluntary control of the CP position was initially impaired in all groups of patients in both tasks. In "Balls", there were no differences between the groups of the patients on the first day. The learning course was somewhat better in hemiparetic patients than in the other groups. In "Bricks", the initial deficit was greater in the groups of parkinsonian and cerebellar patients than in hemiparetic patients. However, learning was more efficient in parkinsonian than in hemiparetic and cerebellar patients. After 10 days of training, the hemiparetic and cerebellar patients completed the acquisition at a certain level whereas the parkinsonian patients showed the ability for further improvement. The results suggest that motor cortex, cerebellum, and basal ganglia are involved in voluntary control of posture and learning different postural tasks. However, these structures play different roles in postural control and learning: basal ganglia are mainly involved in learning a general strategy of CP control while the function of the motor cortex chiefly concerns learning a specific CP trajectory. The cerebellum is involved in both kinds of learning.

The effect of stereotype threat on performance of a rhythmic motor skill.

PubMed

Huber, Meghan E; Seitchik, Allison E; Brown, Adam J; Sternad, Dagmar; Harkins, Stephen G

2015-04-01

Many studies using cognitive tasks have found that stereotype threat, or concern about confirming a negative stereotype about one's group, debilitates performance. The few studies that documented similar effects on sensorimotor performance have used only relatively coarse measures to quantify performance. This study tested the effect of stereotype threat on a rhythmic ball bouncing task, where previous analyses of the task dynamics afforded more detailed quantification of the effect of threat on motor control. In this task, novices hit the ball with positive racket acceleration, indicative of unstable performance. With practice, they learn to stabilize error by changing their ball-racket impact from positive to negative acceleration. Results showed that for novices, stereotype threat potentiated hitting the ball with positive racket acceleration, leading to poorer performance of stigmatized females. However, when the threat manipulation was delivered after having acquired some skill, reflected by negative racket acceleration, the stigmatized females performed better. These findings are consistent with the mere effort account that argues that stereotype threat potentiates the most likely response on the given task. The study also demonstrates the value of identifying the control mechanisms through which stereotype threat has its effects on outcome measures. (c) 2015 APA, all rights reserved.

The Effect of Stereotype Threat on Performance of a Rhythmic Motor Skill

PubMed Central

Huber, Meghan E.; Seitchik, Allison E.; Brown, Adam J.; Sternad, Dagmar; Harkins, Stephen G.

2015-01-01

Many studies using cognitive tasks have found that stereotype threat, or concern about confirming a negative stereotype about one's group, debilitates performance. The few studies that documented similar effects on sensorimotor performance have used only relatively coarse measures to quantify performance. Three experiments tested the effect of stereotype threat on a rhythmic ball bouncing task, both at the novice and skilled level. Previous analysis of the task dynamics afforded more detailed quantification of the effect of threat on motor control. In this task, novices hit the ball with positive racket acceleration, indicative of unstable performance. With practice, they learn to stabilize error by changing their ball-racket impact from positive to negative acceleration. Results showed that for novices, stereotype threat potentiated hitting the ball with positive racket acceleration, leading to poorer performance of stigmatized females. However, when the threat manipulation was delivered after having acquired some skill, reflected by negative racket acceleration, the stigmatized females performed better. These findings are consistent with the mere effort account that argues that stereotype threat potentiates the most likely response on the given task. The study also demonstrates the value of identifying the control mechanisms through which stereotype threat has its effects on outcome measures. PMID:25706769

Sleep Apnea Related Risk of Motor Vehicle Accidents is Reduced by Continuous Positive Airway Pressure: Swedish Traffic Accident Registry Data

PubMed Central

Karimi, Mahssa; Hedner, Jan; Häbel, Henrike; Nerman, Olle; Grote, Ludger

2015-01-01

Study Objectives: Obstructive sleep apnea (OSA) is associated with an increased risk of motor vehicle accidents (MVAs). The rate of MVAs in patients suspected of having OSA was determined and the effect of continuous positive airway pressure (CPAP) was investigated. Design: MVA rate in patients referred for OSA was compared to the rate in the general population using data from the Swedish Traffic Accident Registry (STRADA), stratified for age and calendar year. The risk factors for MVAs, using demographic and polygraphy data, and MVA rate before and after CPAP were evaluated in the patient group. Setting: Clinical sleep laboratory and population based control (n = 635,786). Patients: There were 1,478 patients, male sex 70.4%, mean age 53.6 (12.8) y. Interventions: CPAP. Measurements and Results: The number of accidents (n = 74) among patients was compared with the expected number (n = 30) from a control population (STRADA). An increased MVA risk ratio of 2.45 was found among patients compared with controls (P < 0.001). Estimated excess accident risk was most prominent in the elderly patients (65–80 y, seven versus two MVAs). In patients, driving distance (km/y), EDS (Epworth Sleepiness score ≥ 16), short habitual sleep time (≤ 5 h/night), and use of hypnotics were associated with increased MVA risk (odds ratios 1.2, 2.1, 2.7 and 2.1, all P ≤ 0.03). CPAP use ≥ 4 h/night was associated with a reduction of MVA incidence (7.6 to 2.5 accidents/1,000 drivers/y). Conclusions: The motor vehicle accident risk in this large cohort of unselected patients with obstructive sleep apnea suggests a need for accurate tools to identify individuals at risk. Sleep apnea severity (e.g., apnea-hypopnea index) failed to identify patients at risk. Citation: Karimi M, Hedner J, Häbel H, Nerman O, Grote L. Sleep apnea related risk of motor vehicle accidents is reduced by continuous positive airway pressure: Swedish traffic accident registry data. SLEEP 2015;38(3):341–349. PMID:25325460

Joint attention and oromotor abilities in young children with and without autism spectrum disorder.

PubMed

Dalton, Jennifer C; Crais, Elizabeth R; Velleman, Shelley L

2017-09-01

This study examined the relationship between joint attention ability and oromotor imitation skill in three groups of young children with and without Autism Spectrum Disorder using both nonverbal oral and verbal motor imitation tasks. Research questions addressed a) differences among joint attention and oromotor imitation abilities; b) the relationship between independently measured joint attention and oromotor imitation, both nonverbal oral and verbal motor; c) the relationships between joint attention and verbal motor imitation during interpersonal interaction; and d) the relationship between the sensory input demands (auditory, visual, and tactile) and oromotor imitation, both nonverbal oral and verbal motor. A descriptive, nonexperimental design was used to compare joint attention and oromotor skills of 10 preschool-aged children with ASD, with those of two control groups: 6 typically developing children (TD), and 6 children with suspected Childhood Apraxia of Speech (sCAS) or apraxic-like symptoms. All children had at least a 3.0 mean length utterance. Children with ASD had poorer joint attention skills overall than children with sCAS or typically developing children. Typically developing children demonstrated higher verbal motor imitation skills overall compared to children with sCAS. Correlational analyses revealed that nonverbal oral imitation and verbal motor imitation were positively related to joint attention abilities only in the children with ASD. Strong positive relationships between joint attention in a naturalistic context (e.g., shared story experience) and oromotor imitation skills, both nonverbal oral and verbal motor, were found only for children with ASD. These data suggest there is a strong positive relationship between joint attention skills and the ability to sequence nonverbal oral and verbal motor movements in children with ASD. The combined sensory input approach involving auditory, visual, and tactile modalities contributed to significantly higher nonverbal oral and verbal motor imitation performance for all groups of children. Verbal children with ASD in this study had difficulties with both the social and cognitive demands of oromotor imitation within a natural environment that demanded cross-modal processing of incoming stimuli within an interpersonal interaction. Further, joint attention and oral praxis may serve as components of an important coupling mechanism in the development of spoken communication and later developing socialcognitive skills. Copyright © 2017 Elsevier Inc. All rights reserved.

Motor intensive anti-gravity training improves performance in dynamic balance related tasks in persons with Parkinson's disease.

PubMed

Malling, Anne Sofie B; Jensen, Bente R

2016-01-01

Recent studies indicate that the effect of training on motor performance in persons with Parkinson's disease (PDP) is dependent on motor intensity. However, training of high motor intensity can be hard to apply in PDP due to e.g. bradykinesia, rigidity, tremor and postural instability. Therefore, the aim was to study the effect of motor intensive training performed in a safe anti-gravity environment using lower-body positive pressure (LBPP) technology on performance during dynamic balance related tasks. Thirteen male PDP went through an 8-week control period followed by 8 weeks of motor intensive antigravity training. Seventeen healthy males constituted a control group (CON). Performance during a five repetition sit-to-stand test (STS; sagittal plane) and a dynamic postural balance test (DPB; transversal plane) was evaluated. Effect measures were completion time, functional rates of force development, directional changes and force variance. STS completion time improved by 24% to the level of CON which was explained by shorter sitting-time and standing-time and larger numeric rate of force change during lowering to the chair, indicating faster vertical directional change and improved relaxation. DPB completion time tended to improve and was accompanied by improvements of functional medial and lateral rates of force development and higher vertical force variance during DPB. Our results suggest that the performance improvements may relate to improved inter-limb coordination. It is concluded that 8 weeks of motor intensive training in a safe LBPP environment improved performance during dynamic balance related tasks in PDP. Copyright © 2015 Elsevier B.V. All rights reserved.

Primary Motor Cortex in Stroke A Functional MRI-Guided Proton MR Spectroscopic Study

PubMed Central

Cirstea, Carmen M.; Brooks, William M.; Craciunas, Sorin C.; Popescu, Elena A.; Choi, In-Young; Lee, Phil; Bani-Ahmed, Ali; Yeh, Hung-Wen; Savage, Cary R.; Cohen, Leonardo G.; Nudo, Randolph J.

2012-01-01

Background and Purpose Our goal was to investigate whether certain metabolites, specific to neurons, glial cells, or the neuronal-glial neurotransmission system, in primary motor cortices (M1), are altered and correlated with clinical motor severity in chronic stroke. Methods Fourteen survivors of a single ischemic stroke located outside the M1 and 14 age-matched healthy control subjects were included. At >6 months after stroke, N-acetylaspartate, myo-inositol, and glutamate/glutamine were measured using proton magnetic resonance spectroscopic imaging (in-plane resolution=5×5 mm2) in radiologically normal-appearing gray matter of the hand representation area, identified by functional MRI, in each M1. Metabolite concentrations and analyses of metabolite correlations within M1 were determined. Relationships between metabolite concentrations and arm motor impairment were also evaluated. Results The stroke survivors showed lower N-acetylaspartate and higher myo-inositol across ipsilesional and contral-esional M1 compared with control subjects. Significant correlations between N-acetylaspartate and glutamate/glutamine were found in either M1. Ipsilesional N-acetylaspartate and glutamate/glutamine were positively correlated with arm motor impairment and contralesional N-acetylaspartate with time after stroke. Conclusions Our preliminary data demonstrated significant alterations of neuronal-glial interactions in spared M1 with the ipsilesional alterations related to stroke severity and contralesional alterations to stroke duration. Thus, MR spectroscopy might be a sensitive method to quantify relevant metabolite changes after stroke and consequently increase our knowledge of the factors leading from these changes in spared motor cortex to motor impairment after stroke. PMID:21330627

Effects of hand orientation on motor imagery--event related potentials suggest kinesthetic motor imagery to solve the hand laterality judgment task.

PubMed

Jongsma, Marijtje L A; Meulenbroek, Ruud G J; Okely, Judith; Baas, C Marjolein; van der Lubbe, Rob H J; Steenbergen, Bert

2013-01-01

Motor imagery (MI) refers to the process of imagining the execution of a specific motor action without actually producing an overt movement. Two forms of MI have been distinguished: visual MI and kinesthetic MI. To distinguish between these forms of MI we employed an event related potential (ERP) study to measure interference effects induced by hand orientation manipulations in a hand laterality judgement task. We hypothesized that this manipulation should only affect kinesthetic MI but not visual MI. The ERPs elicited by rotated hand stimuli contained the classic rotation related negativity (RRN) with respect to palm view stimuli. We observed that laterally rotated stimuli led to a more marked RRN than medially rotated stimuli. This RRN effect was observed when participants had their hands positioned in either a straight (control) or an inward rotated posture, but not when their hands were positioned in an outward rotated posture. Posture effects on the ERP-RRN have not previously been studied. Apparently, a congruent hand posture (hands positioned in an outward rotated fashion) facilitates the judgement of the otherwise more demanding laterally rotated hand stimuli. These ERP findings support a kinesthetic interpretation of MI involved in solving the hand laterality judgement task. The RRN may be used as a non-invasive marker for kinesthetic MI and seems useful in revealing the covert behavior of MI in e.g. rehabilitation programs.

Klinefelter syndrome has increased brain responses to auditory stimuli and motor output, but not to visual stimuli or Stroop adaptation

PubMed Central

Wallentin, Mikkel; Skakkebæk, Anne; Bojesen, Anders; Fedder, Jens; Laurberg, Peter; Østergaard, John R.; Hertz, Jens Michael; Pedersen, Anders Degn; Gravholt, Claus Højbjerg

2016-01-01

Klinefelter syndrome (47, XXY) (KS) is a genetic syndrome characterized by the presence of an extra X chromosome and low level of testosterone, resulting in a number of neurocognitive abnormalities, yet little is known about brain function. This study investigated the fMRI-BOLD response from KS relative to a group of Controls to basic motor, perceptual, executive and adaptation tasks. Participants (N: KS = 49; Controls = 49) responded to whether the words “GREEN” or “RED” were displayed in green or red (incongruent versus congruent colors). One of the colors was presented three times as often as the other, making it possible to study both congruency and adaptation effects independently. Auditory stimuli saying “GREEN” or “RED” had the same distribution, making it possible to study effects of perceptual modality as well as Frequency effects across modalities. We found that KS had an increased response to motor output in primary motor cortex and an increased response to auditory stimuli in auditory cortices, but no difference in primary visual cortices. KS displayed a diminished response to written visual stimuli in secondary visual regions near the Visual Word Form Area, consistent with the widespread dyslexia in the group. No neural differences were found in inhibitory control (Stroop) or in adaptation to differences in stimulus frequencies. Across groups we found a strong positive correlation between age and BOLD response in the brain's motor network with no difference between groups. No effects of testosterone level or brain volume were found. In sum, the present findings suggest that auditory and motor systems in KS are selectively affected, perhaps as a compensatory strategy, and that this is not a systemic effect as it is not seen in the visual system. PMID:26958463

Klinefelter syndrome has increased brain responses to auditory stimuli and motor output, but not to visual stimuli or Stroop adaptation.

PubMed

Wallentin, Mikkel; Skakkebæk, Anne; Bojesen, Anders; Fedder, Jens; Laurberg, Peter; Østergaard, John R; Hertz, Jens Michael; Pedersen, Anders Degn; Gravholt, Claus Højbjerg

2016-01-01

Klinefelter syndrome (47, XXY) (KS) is a genetic syndrome characterized by the presence of an extra X chromosome and low level of testosterone, resulting in a number of neurocognitive abnormalities, yet little is known about brain function. This study investigated the fMRI-BOLD response from KS relative to a group of Controls to basic motor, perceptual, executive and adaptation tasks. Participants (N: KS = 49; Controls = 49) responded to whether the words "GREEN" or "RED" were displayed in green or red (incongruent versus congruent colors). One of the colors was presented three times as often as the other, making it possible to study both congruency and adaptation effects independently. Auditory stimuli saying "GREEN" or "RED" had the same distribution, making it possible to study effects of perceptual modality as well as Frequency effects across modalities. We found that KS had an increased response to motor output in primary motor cortex and an increased response to auditory stimuli in auditory cortices, but no difference in primary visual cortices. KS displayed a diminished response to written visual stimuli in secondary visual regions near the Visual Word Form Area, consistent with the widespread dyslexia in the group. No neural differences were found in inhibitory control (Stroop) or in adaptation to differences in stimulus frequencies. Across groups we found a strong positive correlation between age and BOLD response in the brain's motor network with no difference between groups. No effects of testosterone level or brain volume were found. In sum, the present findings suggest that auditory and motor systems in KS are selectively affected, perhaps as a compensatory strategy, and that this is not a systemic effect as it is not seen in the visual system.

Variable current speed controller for eddy current motors

DOEpatents

Gerth, H.L.; Bailey, J.M.; Casstevens, J.M.; Dixon, J.H.; Griffith, B.O.; Igou, R.E.

1982-03-12

A speed control system for eddy current motors is provided in which the current to the motor from a constant frequency power source is varied by comparing the actual motor speed signal with a setpoint speed signal to control the motor speed according to the selected setpoint speed. A three-phase variable voltage autotransformer is provided for controlling the voltage from a three-phase power supply. A corresponding plurality of current control resistors is provided in series with each phase of the autotransformer output connected to inputs of a three-phase motor. Each resistor is connected in parallel with a set of normally closed contacts of plurality of relays which are operated by control logic. A logic circuit compares the selected speed with the actual motor speed obtained from a digital tachometer monitoring the motor spindle speed and operated the relays to add or substract resistance equally in each phase of the motor input to vary the motor current to control the motor at the selected speed.

Modelling the control of interceptive actions.

PubMed Central

Beek, P J; Dessing, J C; Peper, C E; Bullock, D

2003-01-01

In recent years, several phenomenological dynamical models have been formulated that describe how perceptual variables are incorporated in the control of motor variables. We call these short-route models as they do not address how perception-action patterns might be constrained by the dynamical properties of the sensory, neural and musculoskeletal subsystems of the human action system. As an alternative, we advocate a long-route modelling approach in which the dynamics of these subsystems are explicitly addressed and integrated to reproduce interceptive actions. The approach is exemplified through a discussion of a recently developed model for interceptive actions consisting of a neural network architecture for the online generation of motor outflow commands, based on time-to-contact information and information about the relative positions and velocities of hand and ball. This network is shown to be consistent with both behavioural and neurophysiological data. Finally, some problems are discussed with regard to the question of how the motor outflow commands (i.e. the intended movement) might be modulated in view of the musculoskeletal dynamics. PMID:14561342

Response (re-)programming in aging: a kinematic analysis.

PubMed

Bellgrove, M A; Phillips, J G; Bradshaw, J L; Gallucci, R M

1998-05-01

Age-related motor slowing may reflect either motor programming deficits, poorer movement execution, or mere strategic preferences for online guidance of movement. We controlled such preferences, limiting the extent to which movements could be programmed. Twenty-four young and 24 older adults performed a line drawing task that allowed movements to be prepared in advance in one case (i.e., cue initially available indicating target location) and not in another (i.e., no cue initially available as to target location). Participants connected large or small targets illuminated by light-emitting diodes upon a graphics tablet that sampled pen tip position at 200 Hz. Older adults had a disproportionate difficulty initiating movement when prevented from programming in advance. Older adults produced slower, less efficient movements, particularly when prevented from programming under greater precision requirements. The slower movements of older adults do not simply reflect a preference for online control, as older adults have less efficient movements when forced to reprogram their movements. Age-related motor slowing kinematically resembles that seen in patients with cerebellar dysfunction.

The effects of therapeutic taping on gross motor function in children with cerebral palsy.

PubMed

Footer, Cheryl Burditt

2006-01-01

Therapeutic taping to address dysfunctional sitting control in children with cerebral palsy (CP) was investigated in this study. Eighteen children with quadriplegic CP, Gross Motor Function Classification System for Cerebral Palsy levels IV (n = 9) and V (n = 9) participated in the 12-week program. Subjects were assigned randomly to one of two groups: therapeutic taping + physical therapy or physical therapy only. Therapeutic taping was applied for periods of up to 72 hours over the paraspinal region. The effects were assessed with the Gross Motor Function Measure (GMFM-88) at baseline, six weeks, and 12 weeks. A factorial analysis of variance was used to examine group differences over time. No significant differences were found for the GMFM-88 scores between groups over time. Therapeutic taping does not evoke a positive functional change in the seated postural control of children with quadriplegic cerebral palsy. Subjective observation, however, suggested that one child with athetosis benefited from therapeutic taping over the paraspinal region.

Physical therapy for a child with sudden-onset choreoathetosis: a case report.

PubMed

Smith, Hilary J

2014-01-01

This case report describes the physical therapy examination, intervention, and outcomes for a 5-year-old girl who developed choreoathetosis following mitral valve repair. This child was admitted to an inpatient short-term rehabilitation program with marked choreoathetosis and dependence for all functional mobility. She received physical therapy twice a day for 5 weeks. Physical therapy intervention included therapeutic exercise emphasizing stabilization and closed chain exercises, aquatic therapy, and functional training to improve gross motor skills and mobility. Tests and measures included the Selective Control Assessment of the Lower Extremity, 66-item Gross Motor Function Measure, and Pediatric Evaluation of Disability Inventory. At discharge, this child demonstrated improvements in her Selective Control Assessment of the Lower Extremity, Gross Motor Function Measure, and Pediatric Evaluation of Disability Inventory scores. She was independent in all functional mobility tasks. This case study describes physical therapy tests and measures, intervention, and positive outcomes for a child with sudden-onset choreoathetosis.

Electric vehicle motors and controllers

NASA Technical Reports Server (NTRS)

Secunde, R. R.

1981-01-01

Improved and advanced components being developed include electronically commutated permanent magnet motors of both drum and disk configuration, an unconventional brush commutated motor, and ac induction motors and various controllers. Test results on developmental motors, controllers, and combinations thereof indicate that efficiencies of 90% and higher for individual components, and 80% to 90% for motor/controller combinations can be obtained at rated power. The simplicity of the developmental motors and the potential for ultimately low cost electronics indicate that one or more of these approaches to electric vehicle propulsion may eventually displace presently used controllers and brush commutated dc motors.

Electric vehicle motors and controllers

NASA Astrophysics Data System (ADS)

Secunde, R. R.

Improved and advanced components being developed include electronically commutated permanent magnet motors of both drum and disk configuration, an unconventional brush commutated motor, and ac induction motors and various controllers. Test results on developmental motors, controllers, and combinations thereof indicate that efficiencies of 90% and higher for individual components, and 80% to 90% for motor/controller combinations can be obtained at rated power. The simplicity of the developmental motors and the potential for ultimately low cost electronics indicate that one or more of these approaches to electric vehicle propulsion may eventually displace presently used controllers and brush commutated dc motors.

Optics derotator servo control system for SONG Telescope

NASA Astrophysics Data System (ADS)

Xu, Jin; Ren, Changzhi; Ye, Yu

2012-09-01

The Stellar Oscillations Network Group (SONG) is an initiative which aims at designing and building a groundbased network of 1m telescopes dedicated to the study of phenomena occurring in the time domain. Chinese standard node of SONG is an Alt-Az Telescope of F/37 with 1m diameter. Optics derotator control system of SONG telescope adopts the development model of "Industrial Computer + UMAC Motion Controller + Servo Motor".1 Industrial computer is the core processing part of the motion control, motion control card(UMAC) is in charge of the details on the motion control, Servo amplifier accepts the control commands from UMAC, and drives the servo motor. The position feedback information comes from the encoder, to form a closed loop control system. This paper describes in detail hardware design and software design for the optics derotator servo control system. In terms of hardware design, the principle, structure, and control algorithm of servo system based on optics derotator are analyzed and explored. In terms of software design, the paper proposes the architecture of the system software based on Object-Oriented Programming.

Extracting motor synergies from random movements for low-dimensional task-space control of musculoskeletal robots.

PubMed

Fu, Kin Chung Denny; Dalla Libera, Fabio; Ishiguro, Hiroshi

2015-10-08

In the field of human motor control, the motor synergy hypothesis explains how humans simplify body control dimensionality by coordinating groups of muscles, called motor synergies, instead of controlling muscles independently. In most applications of motor synergies to low-dimensional control in robotics, motor synergies are extracted from given optimal control signals. In this paper, we address the problems of how to extract motor synergies without optimal data given, and how to apply motor synergies to achieve low-dimensional task-space tracking control of a human-like robotic arm actuated by redundant muscles, without prior knowledge of the robot. We propose to extract motor synergies from a subset of randomly generated reaching-like movement data. The essence is to first approximate the corresponding optimal control signals, using estimations of the robot's forward dynamics, and to extract the motor synergies subsequently. In order to avoid modeling difficulties, a learning-based control approach is adopted such that control is accomplished via estimations of the robot's inverse dynamics. We present a kernel-based regression formulation to estimate the forward and the inverse dynamics, and a sliding controller in order to cope with estimation error. Numerical evaluations show that the proposed method enables extraction of motor synergies for low-dimensional task-space control.

Childhood motor skill proficiency as a predictor of adolescent physical activity.

PubMed

Barnett, Lisa M; van Beurden, Eric; Morgan, Philip J; Brooks, Lyndon O; Beard, John R

2009-03-01

Cross-sectional evidence has demonstrated the importance of motor skill proficiency to physical activity participation, but it is unknown whether skill proficiency predicts subsequent physical activity. In 2000, children's proficiency in object control (kick, catch, throw) and locomotor (hop, side gallop, vertical jump) skills were assessed in a school intervention. In 2006/07, the physical activity of former participants was assessed using the Australian Physical Activity Recall Questionnaire. Linear regressions examined relationships between the reported time adolescents spent participating in moderate-to-vigorous or organized physical activity and their childhood skill proficiency, controlling for gender and school grade. A logistic regression examined the probability of participating in vigorous activity. Of 481 original participants located, 297 (62%) consented and 276 (57%) were surveyed. All were in secondary school with females comprising 52% (144). Adolescent time in moderate-to-vigorous and organized activity was positively associated with childhood object control proficiency. Respective models accounted for 12.7% (p = .001), and 18.2% of the variation (p = .003). Object control proficient children became adolescents with a 10% to 20% higher chance of vigorous activity participation. Object control proficient children were more likely to become active adolescents. Motor skill development should be a key strategy in childhood interventions aiming to promote long-term physical activity.

DC motor speed control using fuzzy logic controller

NASA Astrophysics Data System (ADS)

Ismail, N. L.; Zakaria, K. A.; Nazar, N. S. Moh; Syaripuddin, M.; Mokhtar, A. S. N.; Thanakodi, S.

2018-02-01

The automatic control has played a vital role in the advance of engineering and science. Nowadays in industries, the control of direct current (DC) motor is a common practice thus the implementation of DC motor controller speed is important. The main purpose of motor speed control is to keep the rotation of the motor at the present speed and to drive a system at the demand speed. The main purpose of this project is to control speed of DC Series Wound Motor using Fuzzy Logic Controller (FLC). The expectation of this project is the Fuzzy Logic Controller will get the best performance compared to dc motor without controller in terms of settling time (Ts), rise time (Tr), peak time (Tp) and percent overshoot (%OS).

Effect of ghrelin on the motor deficit caused by the ablation of nigrostriatal dopaminergic cells or the inhibition of striatal dopamine receptors.

PubMed

Suda, Yukari; Kuzumaki, Naoko; Narita, Michiko; Hamada, Yusuke; Shibasaki, Masahiro; Tanaka, Kenichi; Tamura, Hideki; Kawamura, Takashi; Kondo, Takashige; Yamanaka, Akihiro; Narita, Minoru

2018-02-19

Ghrelin plays roles in a wide range of central functions by activating the growth hormone secretagogue receptor (GHSR). This receptor has recently been found in the substantia nigra (SN) to control dopamine (DA)-related physiological functions. The dysregulation of DA neurons in the SN pars compacta (SNc) and the consequent depletion of striatal DA are known to underlie the motor deficits observed in Parkinson's disease (PD). In the present study, we further investigated the role of the SN-ghrelin system in motor function under the stereotaxic injection of AAV-CMV-FLEX-diphtheria toxin A (DTA) into the SN of dopamine transporter (DAT)-Cre (DAT SN ::DTA) mice to expunge DA neurons of the SNc. First, we confirmed the dominant expression of GHSR1a, which is a functional GHSR, in tyrosine hydroxylase (TH)-positive DA neurons in the SNc of control mice. In DAT SN ::DTA mice, we clearly observed motor dysfunction using several behavioral tests. An immunohistochemical study revealed a dramatic loss of TH-positive DA neurons in the SNc and DAT-labeled axon terminals in the striatum, and an absence of mRNAs for TH and DAT in the SN of DAT SN ::DTA mice. The mRNA level of GHSR1a was drastically decreased in the SN of these mice. In normal mice, we also found the mRNA expression of GHSR1a within GABAergic neurons in the SN pars reticulata (SNr). Under these conditions, a single injection of ghrelin into the SN failed to improve the motor deficits caused by ablation of the nigrostriatal DA network using DAT SN ::DTA mice, whereas intra-SN injection of ghrelin suppressed the motor dysfunction caused by the administration of haloperidol, which is associated with the transient inhibition of DA transmission. These findings suggest that phasic activation of the SNc-ghrelin system could improve the dysregulation of nigrostriatal DA transmission related to the initial stage of PD, but not the motor deficits under the depletion of nigrostriatal DA. Although GHSRs are found in non-DA cells of the SNr, GHSRs on DA neurons in the SNc may play a crucial role in motor function. Copyright © 2018. Published by Elsevier Inc.

High precision locating control system based on VCM for Talbot lithography

NASA Astrophysics Data System (ADS)

Yao, Jingwei; Zhao, Lixin; Deng, Qian; Hu, Song

2016-10-01

Aiming at the high precision and efficiency requirements of Z-direction locating in Talbot lithography, a control system based on Voice Coil Motor (VCM) was designed. In this paper, we built a math model of VCM and its moving characteristic was analyzed. A double-closed loop control strategy including position loop and current loop were accomplished. The current loop was implemented by driver, in order to achieve the rapid follow of the system current. The position loop was completed by the digital signal processor (DSP) and the position feedback was achieved by high precision linear scales. Feed forward control and position feedback Proportion Integration Differentiation (PID) control were applied in order to compensate for dynamic lag and improve the response speed of the system. And the high precision and efficiency of the system were verified by simulation and experiments. The results demonstrated that the performance of Z-direction gantry was obviously improved, having high precision, quick responses, strong real-time and easily to expend for higher precision.

Developmental outcomes in Malawian children with retinopathy-positive cerebral malaria.

PubMed

Boivin, Michael J; Gladstone, Melissa J; Vokhiwa, Maclean; Birbeck, Gretchen L; Magen, Jed G; Page, Connie; Semrud-Clikeman, Margaret; Kauye, Felix; Taylor, Terrie E

2011-03-01

To assess children with retinopathy-positive cerebral malaria (CM) for neurocognitive sequelae. Participants were selected from an ongoing exposure-control study. Eighty-three Malawian children averaging 4.4 years of age and diagnosed with retinopathy-positive CM were compared to 95 controls. Each child was classified as delayed or not using age-based norms for the Malawi Developmental Assessment Tool (MDAT) for developmental delay on the total scale and for the domains of gross motor, fine motor, language and social skills. Groups were also compared on the Achenbach Child Behaviour Checklist (CBCL) (1.5-5 years). Children with retinopathy-positive CM were delayed, relative to the comparison group, on MDAT total development (P = 0.028; odds ratio or OR = 2.13), with the greatest effects on language development (P = 0.003; OR = 4.93). The two groups did not differ significantly on the Achenbach CBCL internalizing and externalizing symptoms total scores. Stepwise regression demonstrated that coma duration, seizures while in hospital, platelet count and lactate level on admission were predictive of assessment outcomes for the children with retinopathy-positive CM. Children who suffer retinopathy-positive CM at preschool age are at greater risk of developmental delay, particularly with respect to language development. This confirms previous retrospective study findings with school-age children evaluated years after acute illness. The MDAT and the Achenbach CBCL proved sensitive to clinical indicators of severity of malarial illness. © 2010 Blackwell Publishing Ltd.

Core stability exercise is as effective as task-oriented motor training in improving motor proficiency in children with developmental coordination disorder: a randomized controlled pilot study.

PubMed

Au, Mei K; Chan, Wai M; Lee, Lin; Chen, Tracy Mk; Chau, Rosanna Mw; Pang, Marco Yc

2014-10-01

To compare the effectiveness of a core stability program with a task-oriented motor training program in improving motor proficiency in children with developmental coordination disorder (DCD). Randomized controlled pilot trial. Outpatient unit in a hospital. Twenty-two children diagnosed with DCD aged 6-9 years were randomly allocated to the core stability program or the task-oriented motor program. Both groups underwent their respective face-to-face training session once per week for eight consecutive weeks. They were also instructed to carry out home exercises on a daily basis during the intervention period. Short Form of the Bruininks-Oseretsky Test of Motor Proficiency (Second Edition) and Sensory Organization Test at pre- and post-intervention. Intention-to-treat analysis revealed no significant between-group difference in the change of motor proficiency standard score (P=0.717), and composite equilibrium score derived from the Sensory Organization Test (P=0.100). Further analysis showed significant improvement in motor proficiency in both the core stability (mean change (SD)=6.3(5.4); p=0.008) and task-oriented training groups (mean change(SD)=5.1(4.0); P=0.007). The composite equilibrium score was significantly increased in the task-oriented training group (mean change (SD)=6.0(5.5); P=0.009), but not in the core stability group (mean change(SD) =0.0(9.6); P=0.812). In the task-oriented training group, compliance with the home program was positively correlated with change in motor proficiency (ρ=0.680, P=0.030) and composite equilibrium score (ρ=0.638, P=0.047). The core stability exercise program is as effective as task-oriented training in improving motor proficiency among children with DCD. © The Author(s) 2014.

Optical illusion alters M1 excitability after mirror therapy: a TMS study.

PubMed

Läppchen, C H; Ringer, T; Blessin, J; Seidel, G; Grieshammer, S; Lange, R; Hamzei, F

2012-11-01

The contralesional primary motor cortex (M1) has been suggested to be involved in the motor recovery after mirror therapy, but whether the ipsilesional M1 is influenced by the contralesional M1 via transcallosal interhemispheric inhibition (IHI) is still unclear. The present study investigated the change of IHI as well as the intracortical inhibition and intracortical facilitation of both M1 induced by training in a mirror with the use of transcranial magnetic stimulation (TMS). In this 2 × 2 factorial design (time × group), healthy subjects exercised standardized motor skills with their right hand on four consecutive days. Either a mirror (mirror group) or a board (control group) was positioned between their hands. Before and after training TMS was applied along with training tests of both hands. Tests were the same motor skills exercised daily by both groups. Tests of the untrained left hand improved significantly more in the mirror group than in the control group after training (P = 0.02) and showed a close correlation with an increase of intracortical inhibition of M1(left). IHI did not show any difference between investigation time points and groups. The present study confirms the previous suggestion of the involvement of the "contralesional" left-side (ipsilateral to the hand behind the mirror) M1 after mirror therapy, which is not mediated by IHI. Even with the same motor skill training (both groups performed same motor skills) but with different visual information, different networks are involved in training-induced plasticity.

Programming and execution of movement in Parkinson's disease.

PubMed

Sheridan, M R; Flowers, K A; Hurrell, J

1987-10-01

Programming and execution of arm movements in Parkinson's disease were investigated in choice and simple reaction time (RT) situations in which subjects made aimed movements at a target. A no-aiming condition was also studied. Reaction time was fractionated using surface EMG recording into premotor (central) and motor (peripheral) components. Premotor RT was found to be greater for parkinsonian patients than normal age-matched controls in the simple RT condition, but not in the choice condition. This effect did not depend on the parameters of the impending movement. Thus, paradoxically, parkinsonian patients were not inherently slower at initiating aiming movements from the starting position, but seemed unable to use advance information concerning motor task demands to speed up movement initiation. For both groups, low velocity movements took longer to initiate than high velocity ones. In the no-aiming condition parkinsonian RTs were markedly shorter than when aiming, but were still significantly longer than control RTs. Motor RT was constant across all conditions and was not different for patient and control subjects. In all conditions, parkinsonian movements were around 37% slower than control movements, and their movement times were more variable, the differences showing up early on in the movement, that is, during the initial ballistic phase. The within-subject variability of movement endpoints was also greater in patients. The motor dysfunction displayed in Parkinson's disease involves a number of components: (1) a basic central problem with simply initiating movements, even when minimal programming is required (no-aiming condition); (2) difficulty in maintaining computed forces for motor programs over time (simple RT condition); (3) a basic slowness of movement (bradykinesia) in all conditions; and (4) increased variability of movement in both time and space, presumably caused by inherent variability in force production.

Sliding mode based fault detection, reconstruction and fault tolerant control scheme for motor systems.

PubMed

Mekki, Hemza; Benzineb, Omar; Boukhetala, Djamel; Tadjine, Mohamed; Benbouzid, Mohamed

2015-07-01

The fault-tolerant control problem belongs to the domain of complex control systems in which inter-control-disciplinary information and expertise are required. This paper proposes an improved faults detection, reconstruction and fault-tolerant control (FTC) scheme for motor systems (MS) with typical faults. For this purpose, a sliding mode controller (SMC) with an integral sliding surface is adopted. This controller can make the output of system to track the desired position reference signal in finite-time and obtain a better dynamic response and anti-disturbance performance. But this controller cannot deal directly with total system failures. However an appropriate combination of the adopted SMC and sliding mode observer (SMO), later it is designed to on-line detect and reconstruct the faults and also to give a sensorless control strategy which can achieve tolerance to a wide class of total additive failures. The closed-loop stability is proved, using the Lyapunov stability theory. Simulation results in healthy and faulty conditions confirm the reliability of the suggested framework. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

The Cost of Action Miscues: Hemispheric Asymmetries

ERIC Educational Resources Information Center

Shenal, Brian V.; Hinze, Stephan; Heilman, Kenneth M.

2012-01-01

Adaptive behaviors require preparation and when necessary inhibition or alteration of actions. The right hemisphere has been posited to be dominant for preparatory motor activation. This experiment was designed to learn if there are hemispheric asymmetries in the control of altered plans of actions. Cues, both valid and invalid, which indicate the…

Structural Brain Correlates Associated with Professional Handball Playing

PubMed Central

Hänggi, Jürgen; Langer, Nicolas; Lutz, Kai; Birrer, Karin; Mérillat, Susan; Jäncke, Lutz

2015-01-01

Background There is no doubt that good bimanual performance is very important for skilled handball playing. The control of the non-dominant hand is especially demanding since efficient catching and throwing needs both hands. Methodology/Hypotheses We investigated training-induced structural neuroplasticity in professional handball players using several structural neuroimaging techniques and analytic approaches and also provide a review of the literature about sport-induced structural neuroplastic alterations. Structural brain adaptations were expected in regions relevant for motor and somatosensory processing such as the grey matter (GM) of the primary/secondary motor (MI/supplementary motor area, SMA) and somatosensory cortex (SI/SII), basal ganglia, thalamus, and cerebellum and in the white matter (WM) of the corticospinal tract (CST) and corpus callosum, stronger in brain regions controlling the non-dominant left hand. Results Increased GM volume in handball players compared with control subjects were found in the right MI/SI, bilateral SMA/cingulate motor area, and left intraparietal sulcus. Fractional anisotropy (FA) and axial diffusivity were increased within the right CST in handball players compared with control women. Age of handball training commencement correlated inversely with GM volume in the right and left MI/SI and years of handball training experience correlated inversely with radial diffusivity in the right CST. Subcortical structures tended to be larger in handball players. The anatomical measures of the brain regions associated with handball playing were positively correlated in handball players, but not interrelated in control women. Discussion/Conclusion Training-induced structural alterations were found in the somatosensory-motor network of handball players, more pronounced in the right hemisphere controlling the non-dominant left hand. Correlations between handball training-related measures and anatomical differences suggest neuroplastic adaptations rather than a genetic predisposition for a ball playing affinity. Investigations of neuroplasticity specifically in sportsmen might help to understand the neural mechanisms of expertise in general. PMID:25915906

Differences in Resting State Functional Connectivity between Young Adult Endurance Athletes and Healthy Controls

PubMed Central

Raichlen, David A.; Bharadwaj, Pradyumna K.; Fitzhugh, Megan C.; Haws, Kari A.; Torre, Gabrielle-Ann; Trouard, Theodore P.; Alexander, Gene E.

2016-01-01

Expertise and training in fine motor skills has been associated with changes in brain structure, function, and connectivity. Fewer studies have explored the neural effects of athletic activities that do not seem to rely on precise fine motor control (e.g., distance running). Here, we compared resting-state functional connectivity in a sample of adult male collegiate distance runners (n = 11; age = 21.3 ± 2.5) and a group of healthy age-matched non-athlete male controls (n = 11; age = 20.6 ± 1.1), to test the hypothesis that expertise in sustained aerobic motor behaviors affects resting state functional connectivity in young adults. Although generally considered an automated repetitive task, locomotion, especially at an elite level, likely engages multiple cognitive actions including planning, inhibition, monitoring, attentional switching and multi-tasking, and motor control. Here, we examined connectivity in three resting-state networks that link such executive functions with motor control: the default mode network (DMN), the frontoparietal network (FPN), and the motor network (MN). We found two key patterns of significant between-group differences in connectivity that are consistent with the hypothesized cognitive demands of elite endurance running. First, enhanced connectivity between the FPN and brain regions often associated with aspects of working memory and other executive functions (frontal cortex), suggest endurance running may stress executive cognitive functions in ways that increase connectivity in associated networks. Second, we found significant anti-correlations between the DMN and regions associated with motor control (paracentral area), somatosensory functions (post-central region), and visual association abilities (occipital cortex). DMN deactivation with task-positive regions has been shown to be generally beneficial for cognitive performance, suggesting anti-correlated regions observed here are engaged during running. For all between-group differences, there were significant associations between connectivity, self-reported physical activity, and estimates of maximum aerobic capacity, suggesting a dose-response relationship between engagement in endurance running and connectivity strength. Together these results suggest that differences in experience with endurance running are associated with differences in functional brain connectivity. High intensity aerobic activity that requires sustained, repetitive locomotor and navigational skills may stress cognitive domains in ways that lead to altered brain connectivity, which in turn has implications for understanding the beneficial role of exercise for brain and cognitive function over the lifespan. PMID:28018192

Development of 3-axis precise positioning seismic physical modeling system in the simulation of marine seismic exploration

NASA Astrophysics Data System (ADS)

Kim, D.; Shin, S.; Ha, J.; Lee, D.; Lim, Y.; Chung, W.

2017-12-01

Seismic physical modeling is a laboratory-scale experiment that deals with the actual and physical phenomena that may occur in the field. In seismic physical modeling, field conditions are downscaled and used. For this reason, even a small error may lead to a big error in an actual field. Accordingly, the positions of the source and the receiver must be precisely controlled in scale modeling. In this study, we have developed a seismic physical modeling system capable of precisely controlling the 3-axis position. For automatic and precise position control of an ultrasonic transducer(source and receiver) in the directions of the three axes(x, y, and z), a motor was mounted on each of the three axes. The motor can automatically and precisely control the positions with positional precision of 2''; for the x and y axes and 0.05 mm for the z axis. As it can automatically and precisely control the positions in the directions of the three axes, it has an advantage in that simulations can be carried out using the latest exploration techniques, such as OBS and Broadband Seismic. For the signal generation section, a waveform generator that can produce a maximum of two sources was used, and for the data acquisition section, which receives and stores reflected signals, an A/D converter that can receive a maximum of four signals was used. As multiple sources and receivers could be used at the same time, the system was set up in such a way that diverse exploration methods, such as single channel, multichannel, and 3-D exploration, could be realized. A computer control program based on LabVIEW was created, so that it could control the position of the transducer, determine the data acquisition parameters, and check the exploration data and progress in real time. A marine environment was simulated using a water tank 1 m wide, 1 m long, and 0.9 m high. To evaluate the performance and applicability of the seismic physical modeling system developed in this study, single channel and multichannel explorations were carried out in the marine environment and the accuracy of the modeling system was verified by comparatively analyzing the exploration data and the numerical modeling data acquired.

Smart motor technology

NASA Technical Reports Server (NTRS)

Packard, D.; Schmitt, D.

1984-01-01

Current spacecraft design relies upon microprocessor control; however, motors usually require extensive additional electronic circuitry to interface with these microprocessor controls. An improved control technique that allows a smart brushless motor to connect directly to a microprocessor control system is described. An actuator with smart motors receives a spacecraft command directly and responds in a closed loop control mode. In fact, two or more smart motors can be controlled for synchronous operation.

Design and fabrication of a long-life Stirling cycle cooler for space application. Phase 3: Prototype model

NASA Technical Reports Server (NTRS)

Keung, C.; Patt, P. J.; Starr, M.; Sweet, R. C.; Bourdillon, L. A.; Figueroa, R.; Hartmann, M.; Mcfarlane, R.

1990-01-01

A second-generation, Stirling-cycle cryocooler (cryogenic refrigerator) for space applications, with a cooling capacity of 5 watts at 65 K, was recently completed. The refrigerator, called the Prototype Model, was designed with a goal of 5 year life with no degradation in cooling performance. The free displacer and free piston of the refrigerator are driven directly by moving-magnet linear motors with the moving elements supported by active magnetic bearings. The use of clearance seals and the absence of outgassing material in the working volume of the refrigerator enable long-life operation with no deterioration in performance. Fiber-optic sensors detect the radial position of the shafts and provide a control signal for the magnetic bearings. The frequency, phase, stroke, and offset of the compressor and expander are controlled by signals from precision linear position sensors (LVDTs). The vibration generated by the compressor and expander is cancelled by an active counter balance which also uses a moving-magnet linear motor and magnetic bearings. The driving signal for the counter balance is derived from the compressor and expander position sensors which have wide bandwidth for suppression of harmonic vibrations. The efficiency of the three active members, which operate in a resonant mode, is enhanced by a magnetic spring in the expander and by gas springs in the compressor and counterbalance. The cooling was achieved with a total motor input power of 139 watts. The magnetic-bearing stiffness was significantly increased from the first-generation cooler to accommodate shuttle launch vibrations.

46 CFR 111.70-3 - Motor controllers and motor-control centers.

Code of Federal Regulations, 2010 CFR

2010-10-01

... pump, elevator, steering gear, or auxiliary that is vital to the vessel's propulsion system, except a... ELECTRIC SYSTEMS-GENERAL REQUIREMENTS Motor Circuits, Controllers, and Protection § 111.70-3 Motor... operation is not hazardous. If automatic restart is hazardous, the motor controller must have low-voltage...

46 CFR 111.70-3 - Motor controllers and motor-control centers.

Code of Federal Regulations, 2011 CFR

2011-10-01

... pump, elevator, steering gear, or auxiliary that is vital to the vessel's propulsion system, except a... ELECTRIC SYSTEMS-GENERAL REQUIREMENTS Motor Circuits, Controllers, and Protection § 111.70-3 Motor... operation is not hazardous. If automatic restart is hazardous, the motor controller must have low-voltage...

46 CFR 111.70-3 - Motor controllers and motor-control centers.

Code of Federal Regulations, 2012 CFR

2012-10-01

... pump, elevator, steering gear, or auxiliary that is vital to the vessel's propulsion system, except a... ELECTRIC SYSTEMS-GENERAL REQUIREMENTS Motor Circuits, Controllers, and Protection § 111.70-3 Motor... operation is not hazardous. If automatic restart is hazardous, the motor controller must have low-voltage...

46 CFR 111.70-3 - Motor controllers and motor-control centers.

Code of Federal Regulations, 2014 CFR

2014-10-01

... pump, elevator, steering gear, or auxiliary that is vital to the vessel's propulsion system, except a... ELECTRIC SYSTEMS-GENERAL REQUIREMENTS Motor Circuits, Controllers, and Protection § 111.70-3 Motor... operation is not hazardous. If automatic restart is hazardous, the motor controller must have low-voltage...

46 CFR 111.70-3 - Motor controllers and motor-control centers.

Code of Federal Regulations, 2013 CFR

2013-10-01

... pump, elevator, steering gear, or auxiliary that is vital to the vessel's propulsion system, except a... ELECTRIC SYSTEMS-GENERAL REQUIREMENTS Motor Circuits, Controllers, and Protection § 111.70-3 Motor... operation is not hazardous. If automatic restart is hazardous, the motor controller must have low-voltage...

A robotic multi-channel platform for interstitial photodynamic therapy

PubMed Central

Sharikova, Anna V.; Finlay, Jarod C.; Dimofte, Andreea; Zhu, Timothy C.

2015-01-01

A custom-made robotic multichannel platform for interstitial photodynamic therapy (PDT) and diffuse optical tomography (DOT) was developed and tested in a phantom experiment. The system, which was compatible with the operating room (OR) environment, had 16 channels for independent positioning of light sources and/or isotropic detectors in separate catheters. Each channel’s motor had an optical encoder for position feedback, with resolution of 1.5 mm, and a maximum speed of 5 cm/s. Automatic calibration of detector positions was implemented using an optical diode beam that defined the starting position of each motor, and by means of feedback algorithms controlling individual channels. As a result, the accuracy of zero position of 0.1 mm for all channels was achieved. We have also employed scanning procedures where detectors automatically covered the appropriate range around source positions. Thus, total scan time for a typical optical properties (OP) measurement throughout the phantom was about 1.5 minutes with point sources. The OP were determined based on the measured light fluence rates. These enhancements allow a tremendous improvement of treatment quality for a bulk tumor compared to the systems employed in previous clinical trials. PMID:25914794

Linear and Nonlinear Analyses of the Cardiac Autonomic Control in Children With Developmental Coordination Disorder: A Case-Control Study.

PubMed

Cavalcante Neto, Jorge L; Zamunér, Antonio R; Moreno, Bianca C; Silva, Ester; Tudella, Eloisa

2018-01-01

Children with Developmental Coordination Disorder (DCD) and children at risk for DCD (r-DCD) present motor impairments interfering in their school, leisure and daily activities. In addition, these children may have abnormalities in their cardiac autonomic control, which together with their motor impairments, restrict their health and functionality. Therefore, this study aimed to assess the cardiac autonomic control, by linear and nonlinear analysis, at supine and during an orthostatic stimulus in DCD, r-DCD and typically developed children. Thirteen DCD children (11 boys and 2 girls, aged 8.08 ± 0.79 years), 19 children at risk for DCD (13 boys and 6 girls, aged 8.10 ± 0.96 years) and 18 typically developed children, who constituted the control group (CG) (10 boys and 8 girls, aged 8.50 ± 0.96 years) underwent a heart rate variability (HRV) examination. R-R intervals were recorded in order to assess the cardiac autonomic control using a validated HR monitor. HRV was analyzed by linear and nonlinear methods and compared between r-DCD, DCD, and CG. The DCD group presented blunted cardiac autonomic adjustment to the orthostatic stimulus, which was not observed in r-DCD and CG. Regarding nonlinear analysis of HRV, the DCD group presented lower parasympathetic modulation in the supine position compared to the r-DCD and CG groups. In the within group analysis, only the DCD group did not increase HR from supine to standing posture. Symbolic analysis revealed a significant decrease in 2LV ( p < 0.0001) and 2UV ( p < 0.0001) indices from supine to orthostatic posture only in the CG. In conclusion, r-DCD and DCD children present cardiac autonomic dysfunction characterized by higher sympathetic, lower parasympathetic and lower complexity of cardiac autonomic control in the supine position, as well as a blunted autonomic adjustment to the orthostatic stimulus. Therefore, cardiovascular health improvement should be part of DCD children's management, even in cases of less severe motor impairment.

Effect of a governmentally-led physical activity program on motor skills in young children attending child care centers: a cluster randomized controlled trial.

PubMed

Bonvin, Antoine; Barral, Jérôme; Kakebeeke, Tanja H; Kriemler, Susi; Longchamp, Anouk; Schindler, Christian; Marques-Vidal, Pedro; Puder, Jardena J

2013-07-08

To assess the effect of a governmentally-led center based child care physical activity program (Youp'là Bouge) on child motor skills. We conducted a single blinded cluster randomized controlled trial in 58 Swiss child care centers. Centers were randomly selected and 1:1 assigned to a control or intervention group. The intervention lasted from September 2009 to June 2010 and included training of the educators, adaptation of the child care built environment, parental involvement and daily physical activity. Motor skill was the primary outcome and body mass index (BMI), physical activity and quality of life secondary outcomes. The intervention implementation was also assessed. At baseline, 648 children present on the motor test day were included (age 3.3 ± 0.6, BMI 16.3 ± 1.3 kg/m2, 13.2% overweight, 49% girls) and 313 received the intervention. Relative to children in the control group (n = 201), children in the intervention group (n = 187) showed no significant increase in motor skills (delta of mean change (95% confidence interval: -0.2 (-0.8 to 0.3), p = 0.43) or in any of the secondary outcomes. Not all child care centers implemented all the intervention components. Within the intervention group, several predictors were positively associated with trial outcomes: (1) free-access to a movement space and parental information session for motor skills (2) highly motivated and trained educators for BMI (3) free-access to a movement space and purchase of mobile equipment for physical activity (all p < 0.05). This "real-life" physical activity program in child care centers confirms the complexity of implementing an intervention outside a study setting and identified potentially relevant predictors that could improve future programs. Clinical trials.gov NCT00967460.

The effect of oral motor activity on the athletic performance of professional golfers

PubMed Central

Ringhof, Steffen; Hellmann, Daniel; Meier, Florian; Etz, Eike; Schindler, Hans J.; Stein, Thorsten

2015-01-01

Human motor control is based on complex sensorimotor processes. Recent research has shown that neuromuscular activity of the craniomandibular system (CMS) might affect human motor control. In particular, improvements in postural stability and muscle strength have been observed as a result of voluntary jaw clenching. Potential benefits of jaw aligning appliances on muscle strength and golf performance have also been described. These reports are highly contradictory, however, and the oral motor task performed is often unclear. The purpose of our study was, therefore, to investigate the effect of submaximum biting on golf performance via shot precision and shot length over three different distances. Participants were 14 male professional golfers – seven with sleep bruxism and seven without – randomly performing golf shots over 60m, 160m, or driving distance while either biting on an oral splint or biting on their teeth; habitual jaw position served as the control condition. Statistical analysis revealed that oral motor activity did not systematically affect golf performance in respect of shot precision or shot length for 60m, 160 m, or driving distance. These findings were reinforced by impact variables such as club head speed and ball speed, which were also not indicative of significant effects. The results thus showed that the strength improvements and stabilizing effects described previously are, apparently, not transferable to such coordination-demanding sports as golf. This could be due to the divergent motor demands associated with postural control and muscle strength on the one hand and the complex coordination of a golf swing on the other. Interestingly, subjects without sleep bruxism performed significantly better at the short distance (60 m) than those with bruxism. Because of the multifactorial etiology of parafunctional CMS activity, conclusions about the need for dental treatment to improve sports performance are, however, completely unwarranted. PMID:26082747

People with chronic facial pain perform worse than controls at a facial emotion recognition task, but it is not all about the emotion.

PubMed

von Piekartz, H; Wallwork, S B; Mohr, G; Butler, D S; Moseley, G L

2015-04-01

Alexithymia, or a lack of emotional awareness, is prevalent in some chronic pain conditions and has been linked to poor recognition of others' emotions. Recognising others' emotions from their facial expression involves both emotional and motor processing, but the possible contribution of motor disruption has not been considered. It is possible that poor performance on emotional recognition tasks could reflect problems with emotional processing, motor processing or both. We hypothesised that people with chronic facial pain would be less accurate in recognising others' emotions from facial expressions, would be less accurate in a motor imagery task involving the face, and that performance on both tasks would be positively related. A convenience sample of 19 people (15 females) with chronic facial pain and 19 gender-matched controls participated. They undertook two tasks; in the first task, they identified the facial emotion presented in a photograph. In the second, they identified whether the person in the image had a facial feature pointed towards their left or right side, a well-recognised paradigm to induce implicit motor imagery. People with chronic facial pain performed worse than controls at both tasks (Facially Expressed Emotion Labelling (FEEL) task P < 0·001; left/right judgment task P < 0·001). Participants who were more accurate at one task were also more accurate at the other, regardless of group (P < 0·001, r(2)  = 0·523). Participants with chronic facial pain were worse than controls at both the FEEL emotion recognition task and the left/right facial expression task and performance covaried within participants. We propose that disrupted motor processing may underpin or at least contribute to the difficulty that facial pain patients have in emotion recognition and that further research that tests this proposal is warranted. © 2014 John Wiley & Sons Ltd.

Mirror therapy for improving motor function after stroke.

PubMed

Thieme, Holm; Mehrholz, Jan; Pohl, Marcus; Behrens, Johann; Dohle, Christian

2013-01-01

This systematic review summarizes the effectiveness of mirror therapy for improving motor function, activities of daily living, pain, and visuospatial neglect in patients after stroke. We searched the Cochrane Stroke Group’s Trials Register (June 2011), the Cochrane Central Register of Controlled Trials (CENTRAL) (The Cochrane Library 2011, Issue 2), MEDLINE (1950 to June 2011), EMBASE (1980 to June 2011), CINAHL (1982 to June 2011), AMED (1985 to June 2011), PsycINFO (1806 to June 2011), and PEDro (June 2011). We also handsearched relevant conference proceedings, trials, and research registers; checked reference lists; and contacted trialists, researchers, and experts in our field of study. We included randomized controlled trials and randomized crossover trials comparing mirror therapy with any control intervention for patients after stroke. Two review authors independently selected trials based on the inclusion criteria, documented the methodological quality of studies, and extracted data. The primary outcome was motor function. We analyzed the results as standardized mean differences (SMDs) for continuous variables. We included 14 studies with a total of 567 participants, which compared mirror therapy with other interventions. When compared with all other interventions, mirror therapy was found to have a significant effect on motor function (postintervention data: SMD 0.61; 95% CI 0.22 to 1.0; P=0.002; change scores: SMD 1.04; 95% CI 0.57 to 1.51; P<0.0001) ; Figure). However, effects on motor function are influenced by the type of control intervention. Additionally, mirror therapy was found to improve activities of daily living (SMD 0.33; 95% CI 0.05 to 0.60; P=0.02). We found a significant positive effect on pain (SMD −1.10; 95% CI −2.10 to −0.09; P=0.03), which is influenced by patient population. We found limited evidence for improving visuospatial neglect (SMD 1.22; 95% CI 0.24 to 2.19; P=0.01). The effects on motor function were stable at follow-up assessment after 6 months.

Lunar rovers and local positioning system

NASA Astrophysics Data System (ADS)

Avery, James; Su, Renjeng

1991-11-01

Telerobotic rovers equipped with adequate actuators and sensors are clearly necessary for extraterrestrial construction. They will be employed as substitutes for humans, to perform jobs like surveying, sensing, signaling, manipulating, and the handling of small materials. Important design criteria for these rovers include versatility and robustness. They must be easily programmed and reprogrammed to perform a wide variety of different functions, and they must be robust so that construction work will not be jeopardized by parts failures. The key qualities and functions necessary for these rovers to achieve the required versatility and robustness are modularity, redundancy, and coordination. Three robotic rovers are being built by CSC as a test bed to implement the concepts of modularity and coordination. The specific goal of the design and construction of these robots is to demonstrate the software modularity and multirobot control algorithms required for the physical manipulation of constructible elements. Each rover consists of a transporter platform, bus manager, simple manipulator, and positioning receivers. These robots will be controlled from a central control console via a radio-frequency local area network (LAN). To date, one prototype transporter platform frame was built with batteries, motors, a prototype single-motor controller, and two prototype internal LAN boards. Software modules were developed in C language for monitor functions, i/o, and parallel port usage in each computer board. Also completed are the fabrication of half of the required number of computer boards, the procurement of 19.2 Kbaud RF modems for inter-robot communications, and the simulation of processing requirements for positioning receivers. In addition to the robotic platform, the fabrication of a local positioning system based on infrared signals is nearly completed. This positioning system will make the rovers into a moving reference system capable of performing site surveys. In addition, a four degree mechanical manipulator especially suited for coordinated teleoperation was conceptually designed and is currently being analyzed. This manipulator will be integrated into the rovers as their end effector. Twenty internal LAN cards fabricated by a commercial firm are being used, a prototype manipulator and a range finder for a positioning system were built, a prototype two-motor controller was designed, and one of the robots is performing its first telerobotic motion. In addition, the robots' internal LAN's were coordinated and tested, hardware design upgrades based on fabrication and fit experience were completed, and the positioning system is running.

Lunar rovers and local positioning system

NASA Technical Reports Server (NTRS)

Avery, James; Su, Renjeng

1991-01-01

Telerobotic rovers equipped with adequate actuators and sensors are clearly necessary for extraterrestrial construction. They will be employed as substitutes for humans, to perform jobs like surveying, sensing, signaling, manipulating, and the handling of small materials. Important design criteria for these rovers include versatility and robustness. They must be easily programmed and reprogrammed to perform a wide variety of different functions, and they must be robust so that construction work will not be jeopardized by parts failures. The key qualities and functions necessary for these rovers to achieve the required versatility and robustness are modularity, redundancy, and coordination. Three robotic rovers are being built by CSC as a test bed to implement the concepts of modularity and coordination. The specific goal of the design and construction of these robots is to demonstrate the software modularity and multirobot control algorithms required for the physical manipulation of constructible elements. Each rover consists of a transporter platform, bus manager, simple manipulator, and positioning receivers. These robots will be controlled from a central control console via a radio-frequency local area network (LAN). To date, one prototype transporter platform frame was built with batteries, motors, a prototype single-motor controller, and two prototype internal LAN boards. Software modules were developed in C language for monitor functions, i/o, and parallel port usage in each computer board. Also completed are the fabrication of half of the required number of computer boards, the procurement of 19.2 Kbaud RF modems for inter-robot communications, and the simulation of processing requirements for positioning receivers. In addition to the robotic platform, the fabrication of a local positioning system based on infrared signals is nearly completed. This positioning system will make the rovers into a moving reference system capable of performing site surveys. In addition, a four degree mechanical manipulator especially suited for coordinated teleoperation was conceptually designed and is currently being analyzed. This manipulator will be integrated into the rovers as their end effector. Twenty internal LAN cards fabricated by a commercial firm are being used, a prototype manipulator and a range finder for a positioning system were built, a prototype two-motor controller was designed, and one of the robots is performing its first telerobotic motion. In addition, the robots' internal LAN's were coordinated and tested, hardware design upgrades based on fabrication and fit experience were completed, and the positioning system is running. The rover system is able to perform simple tasks such as sensing and signaling; coordination systems which allow construction tasks to begin were established, and soon coordinated teams of robots in the laboratory will be able to manipulate common objects.

Climbing fibers predict movement kinematics and performance errors.

PubMed

Streng, Martha L; Popa, Laurentiu S; Ebner, Timothy J

2017-09-01

Requisite for understanding cerebellar function is a complete characterization of the signals provided by complex spike (CS) discharge of Purkinje cells, the output neurons of the cerebellar cortex. Numerous studies have provided insights into CS function, with the most predominant view being that they are evoked by error events. However, several reports suggest that CSs encode other aspects of movements and do not always respond to errors or unexpected perturbations. Here, we evaluated CS firing during a pseudo-random manual tracking task in the monkey ( Macaca mulatta ). This task provides extensive coverage of the work space and relative independence of movement parameters, delivering a robust data set to assess the signals that activate climbing fibers. Using reverse correlation, we determined feedforward and feedback CSs firing probability maps with position, velocity, and acceleration, as well as position error, a measure of tracking performance. The direction and magnitude of the CS modulation were quantified using linear regression analysis. The major findings are that CSs significantly encode all three kinematic parameters and position error, with acceleration modulation particularly common. The modulation is not related to "events," either for position error or kinematics. Instead, CSs are spatially tuned and provide a linear representation of each parameter evaluated. The CS modulation is largely predictive. Similar analyses show that the simple spike firing is modulated by the same parameters as the CSs. Therefore, CSs carry a broader array of signals than previously described and argue for climbing fiber input having a prominent role in online motor control. NEW & NOTEWORTHY This article demonstrates that complex spike (CS) discharge of cerebellar Purkinje cells encodes multiple parameters of movement, including motor errors and kinematics. The CS firing is not driven by error or kinematic events; instead it provides a linear representation of each parameter. In contrast with the view that CSs carry feedback signals, the CSs are predominantly predictive of upcoming position errors and kinematics. Therefore, climbing fibers carry multiple and predictive signals for online motor control. Copyright © 2017 the American Physiological Society.

Visual Spatial Attention Training Improve Spatial Attention and Motor Control for Unilateral Neglect Patients.

PubMed

Wang, Wei; Ji, Xiangtong; Ni, Jun; Ye, Qian; Zhang, Sicong; Chen, Wenli; Bian, Rong; Yu, Cui; Zhang, Wenting; Shen, Guangyu; Machado, Sergio; Yuan, Tifei; Shan, Chunlei

2015-01-01

To compare the effect of visual spatial training on the spatial attention to that on motor control and to correlate the improvement of spatial attention to motor control progress after visual spatial training in subjects with unilateral spatial neglect (USN). 9 cases with USN after right cerebral stroke were randomly divided into Conventional treatment group + visual spatial attention and Conventional treatment group. The Conventional treatment group + visual spatial attention received conventional rehabilitation therapy (physical and occupational therapy) and visual spatial attention training (optokinetic stimulation and right half-field eye patching). The Conventional treatment group was only treated with conventional rehabilitation training (physical and occupational therapy). All patients were assessed by behavioral inattention test (BIT), Fugl-Meyer Assessment of motor function (FMA), equilibrium coordination test (ECT) and non-equilibrium coordination test (NCT) before and after 4 weeks treatment. Total scores in both groups (without visual spatial attention/with visual spatial attention) improved significantly (BIT: P=0.021/P=0.000, d=1.667/d=2.116, power=0.69/power=0.98, 95%CI[-0.8839,45.88]/95%CI=[16.96,92.64]; FMA: P=0.002/P=0.000, d=2.521/d=2.700, power=0.93/power=0.98, 95%CI[5.707,30.79]/95%CI=[16.06,53.94]; ECT: P=0.002/ P=0.000, d=2.031/d=1.354, power=0.90/power=0.17, 95%CI[3.380,42.61]/95%CI=[-1.478,39.08]; NCT: P=0.013/P=0.000, d=1.124/d=1.822, power=0.41/power=0.56, 95%CI[-7.980,37.48]/95%CI=[4.798,43.60],) after treatment. Among the 2 groups, the group with visual spatial attention significantly improved in BIT (P=0.003, d=3.103, power=1, 95%CI[15.68,48.92]), FMA of upper extremity (P=0.006, d=2.771, power=1, 95%CI[5.061,20.14]) and NCT (P=0.010, d=2.214, power=0.81-0.90, 95%CI[3.018,15.88]). Correlative analysis shows that the change of BIT scores is positively correlated to the change of FMA total score (r=0.77, P<;0.01), FMA of upper extremity (r=0.81, P<0.01), NCT (r=0.78, P<0.01). Four weeks visual spatial training could improve spatial attention as well as motor control functions in hemineglect patients. The improvement of motor function is positively correlated to the progresses of visual spatial functions after visual spatial attention training.

SKIPing With Head Start Teachers: Influence of T-SKIP on Object-Control Skills.

PubMed

Brian, Ali; Goodway, Jacqueline D; Logan, Jessica A; Sutherland, Sue

2017-12-01

Children from disadvantaged settings are at risk for delays in their object-control (OC) skills. Fundamental motor skill interventions, such as the Successful Kinesthetic Instruction for Preschoolers (SKIP) Program, are highly successful when led by motor development experts. However, few preschools employ such experts. This study examined the extent to which Head Start teachers delivering an 8-week teacher-led SKIP (T-SKIP) intervention elicited learning of OC skills for Head Start children. Head Start teachers (n = 5) delivered T-SKIP for 8 weeks (450 min). Control teachers (n = 5) implemented the typical standard of practice, or well-equipped free play. All children (N = 122) were pretested and posttested on the OC Skill subscale of the Test of Gross Motor Development-2. Descriptive analyses at pretest identified 81% of the children were developmentally delayed in OC skills (below the 30th percentile). A 2-level hierarchical linear model demonstrated the effectiveness of T-SKIP with significant differences (β = 4.70), t(8) = 7.02, p < .001, η2 = .56, between T-SKIP children (n = 63) and control children (n = 59) at posttest. Head Start teachers who delivered T-SKIP could bring about positive changes in children's OC skills, thereby remediating the initial developmental delays presented. Control children remained delayed in their OC skills in spite of daily well-equipped free play, giving rise to concerns about their future motor competence and physical activity levels.

Automated system for acquisition and image processing for the control and monitoring boned nopal

NASA Astrophysics Data System (ADS)

Luevano, E.; de Posada, E.; Arronte, M.; Ponce, L.; Flores, T.

2013-11-01

This paper describes the design and fabrication of a system for acquisition and image processing to control the removal of thorns nopal vegetable (Opuntia ficus indica) in an automated machine that uses pulses of a laser of Nd: YAG. The areolas, areas where thorns grow on the bark of the Nopal, are located applying segmentation algorithms to the images obtained by a CCD. Once the position of the areolas is known, coordinates are sent to a motors system that controls the laser to interact with all areolas and remove the thorns of the nopal. The electronic system comprises a video decoder, memory for image and software storage, and digital signal processor for system control. The firmware programmed tasks on acquisition, preprocessing, segmentation, recognition and interpretation of the areolas. This system achievement identifying areolas and generating table of coordinates of them, which will be send the motor galvo system that controls the laser for removal

Composite ganglioside autoantibodies and immune treatment response in MMN and MADSAM.

PubMed

Martinez-Thompson, Jennifer M; Snyder, Melissa R; Ettore, Michael; McKeon, Andrew; Pittock, Sean J; Roforth, Matthew M; Mandrekar, Jay; Mauermann, Michelle L; Taylor, Bruce V; Dyck, P James B; Windebank, Anthony J; Klein, Christopher J

2018-06-01

Multifocal motor neuropathy (MMN) is a motor only, asymmetric onset neuropathy that is relatively treatment-refractory compared with classic chronic inflammatory demyelinating polyradiculoneuropathy (CIDP) and multifocal acquired demyelinating sensory and motor (MADSAM) neuropathy. We reviewed 35 patients seropositive for GM1 (monosialo-asialo [immunoglobulin M, IgM; immunoglobulin G, IgG]) and/or GD1b (disialo [IgG, IgM]) autoantibodies having MMN, classic CIDP, or MADSAM. Immune-treatment responsiveness and clinical course was compared with antibody negative disease controls. Seventy-nine percent of seropositives with an initial diagnosis of MMN were immunotherapy responsive compared with 46% of seronegatives (P = 0.045). Eight ganglioside antibody positive MMN patients of 19 (42%) developed sensory findings consistent with MADSAM compared with 3 of 41 (7%) seronegative MMN patients (P = 0.003). MMN and MADSAM patients with ganglioside antibody positivity had more sustained treatment responses (P = 0.03). Patients initially diagnosed with MMN seropositive for diverse GM1 autoantibodies appear more likely to have sustained treatment response and evolution to MADSAM. Muscle Nerve 57: 1000-1005, 2018. © 2017 Wiley Periodicals, Inc.

Load type influences motor unit recruitment in biceps brachii during a sustained contraction.

PubMed

Baudry, Stéphane; Rudroff, Thorsten; Pierpoint, Lauren A; Enoka, Roger M

2009-09-01

Twenty subjects participated in four experiments designed to compare time to task failure and motor-unit recruitment threshold during contractions sustained at 15% of maximum as the elbow flexor muscles either supported an inertial load (position task) or exerted an equivalent constant torque against a rigid restraint (force task). Subcutaneous branched bipolar electrodes were used to record single motor unit activity from the biceps brachii muscle during ramp contractions performed before and at 50 and 90% of the time to failure for the position task during both fatiguing contractions. The time to task failure was briefer for the position task than for the force task (P=0.0002). Thirty and 29 motor units were isolated during the force and position tasks, respectively. The recruitment threshold declined by 48 and 30% (P=0.0001) during the position task for motor units with an initial recruitment threshold below and above the target force, respectively, whereas no significant change in recruitment threshold was observed during the force task. Changes in recruitment threshold were associated with a decrease in the mean discharge rate (-16%), an increase in discharge rate variability (+40%), and a prolongation of the first two interspike intervals (+29 and +13%). These data indicate that there were faster changes in motor unit recruitment and rate coding during the position task than the force task despite a similar net muscle torque during both tasks. Moreover, the results suggest that the differential synaptic input observed during the position task influences most of the motor unit pool.

Volumetric Effects of Motor Cortex Injury on Recovery of Ipsilesional Dexterous Movements

PubMed Central

Darling, Warren G.; Pizzimenti, Marc A.; Hynes, Stephanie M.; Rotella, Diane L.; Headley, Grant; Ge, Jizhi; Stilwell-Morecraft, Kimberly S.; McNeal, David W.; Solon-Cline, Kathryn M.; Morecraft, Robert J.

2011-01-01

Damage to the motor cortex of one hemisphere has classically been associated with contralateral upper limb paresis, but recent patient studies have identified deficits in both upper limbs. In non-human primates, we tested the hypothesis that the severity of ipsilesional upper limb motor impairment in the early post-injury phase depends on the volume of gray and white matter damage of the motor areas of the frontal lobe. We also postulated that substantial recovery would accompany minimal task practice and that ipsilesional limb recovery would be correlated with recovery of the contralesional limb. Gross (reaching) and fine hand motor functions were assessed for 3-12 months post-injury using two motor tests. Volumes of white and gray matter lesions were assessed using quantitative histology. Early changes in post-lesion motor performance were inversely correlated with white matter lesion volume indicating that larger lesions produced greater decreases in ipsilesional hand movement control. All monkeys showed improvements in ipsilesional hand motor skill during the post-lesion period, with reaching skill improvements being positively correlated with total lesion volume indicating larger lesions were associate with greater ipsilesional motor skill recovery. We suggest that reduced trans-callosal inhibition from the lesioned hemisphere may play a role in the observed skill improvements. Our findings show that significant ipsilesional hand motor recovery is likely to accompany injury limited to frontal motor areas. In humans, more pronounced ipsilesional motor deficits that invariably develop after stroke may, in part, be a consequence of more extensive subcortical white and gray matter damage. PMID:21703261

Machine Protection System for the Stepper Motor Actuated SyLMAND Mirrors

DOE Office of Scientific and Technical Information (OSTI.GOV)

Subramanian, V. R.; Dolton, W.; Wells, G.

2010-06-23

SyLMAND, the Synchrotron Laboratory for Micro and Nano Devices at the Canadian Light Source, consists of a dedicated X-ray lithography beamline on a bend magnet port, and process support laboratories in a clean room environment. The beamline includes a double mirror system with flat, chromium-coated silicon mirrors operated at varying grazing angles of incidence (4 mrad to 45 mrad) for spectral adjustment by high energy cut-off. Each mirror can be independently moved by two stepper motors to precisely control the pitch and vertical position. We present in this paper the machine protection system implemented in the double mirror system tomore » allow for safe operation of the two mirrors and to avoid consequences of potential stepper motor malfunction.« less