An artificial moth: Chemical source localization using a robot based neuronal model of moth optomotor anemotactic search

Robots have been used to model nature, while nature in turn can contribute to the real-world artifacts we construct. One particular domain of interest is chemical search where a number of efforts are underway to construct mobile chemical search and localization systems. We report on a project that aims at constructing such a system based on our understanding of the pheromone communication system of the moth. Based on an overview of the peripheral processing of chemical cues by the moth and its role in the organization of behavior we emphasize the multimodal aspects of chemical search, i.e. optomotor anemotactic chemical search. We present a model of this behavior that we test in combination with a novel thin metal oxide sensor and custom build mobile robots. We show that the sensor is able to detect the odor cue, ethanol, under varying flow conditions. Subsequently we show that the standard model of insect chemical search, consisting of a surge and cast phases, provides for robust search and localization performance. The same holds when it is augmented with an optomotor collision avoidance model based on the Lobula Giant Movement Detector (LGMD) neuron of the locust. We compare our results to others who have used the moth as inspiration for the construction of odor robot

Interactive visuo-motor therapy system for stroke rehabilitation

We present a virtual reality (VR)-based motor neurorehabilitation system for stroke patients with upper limb paresis. It is based on two hypotheses: (1) observed actions correlated with self-generated or intended actions engage cortical motor observation, planning and execution areas ("mirror neurons”); (2) activation in damaged parts of motor cortex can be enhanced by viewing mirrored movements of non-paretic limbs. We postulate that our approach, applied during the acute post-stroke phase, facilitates motor re-learning and improves functional recovery. The patient controls a first-person view of virtual arms in tasks varying from simple (hitting objects) to complex (grasping and moving objects). The therapist adjusts weighting factors in the non-paretic limb to move the paretic virtual limb, thereby stimulating the mirror neuron system and optimizing patient motivation through graded task success. We present the system's neuroscientific background, technical details and preliminary result

A Biologically Based Chemo-Sensing UAV for Humanitarian Demining

Antipersonnel mines, weapons of cheap manufacture but lethal effect, have a high impact on the population even decades after the conflicts have finished. Here we investigate the use of a chemo-sensing Unmanned Aerial Vehicle (cUAV) for demining tasks. We developed a blimp based UAV that is equipped with a broadly tuned metal-thin oxide chemo-sensor. A number of chemical mapping strategies were investigated including two biologically based localization strategies derived from the moth chemical search that can optimize the efficiency of the detection and localization of explosives and therefore be used in the demining process. Additionally, we developed a control layer that allows for both fully autonomous and manual controlled flight, as well as for the scheduling of a fleet of cUAVs. Our results confirm the feasibility of this technology for demining in real-world scenarios and give further support to a biologically based approach where the understanding of biological systems is used to solve difficult engineering problems

Interactive visuo-motor therapy system for stroke rehabilitation

We present a virtual reality (VR)-based motor neurorehabilitation system for stroke patients with upper limb paresis. It is based on two hypotheses: (1) observed actions correlated with self-generated or intended actions engage cortical motor observation, planning and execution areas ("mirror neurons"); (2) activation in damaged parts of motor cortex can be enhanced by viewing mirrored movements of non-paretic limbs. We postulate that our approach, applied during the acute post-stroke phase, facilitates motor re-learning and improves functional recovery. The patient controls a first-person view of virtual arms in tasks varying from simple (hitting objects) to complex (grasping and moving objects). The therapist adjusts weighting factors in the non-paretic limb to move the paretic virtual limb, thereby stimulating the mirror neuron system and optimizing patient motivation through graded task success. We present the system's neuroscientific background, technical details and preliminary results.info:eu-repo/semantics/publishedVersio

Home-based virtual reality-augmented training improves lower limb muscle strength, balance, and functional mobility following chronic incomplete spinal cord injury

Key factors positively influencing rehabilitation and functional recovery after spinal cord injury (SCI) include training variety, intensive movement repetition, and motivating training tasks. Systems supporting these aspects may provide profound gains in rehabilitation, independent of the subject's treatment location. In the present study, we test the hypotheses that virtual reality (VR)-augmented training at home (i.e., unsupervised) is feasible with subjects with an incomplete SCI (iSCI) and that it improves motor functions such as lower limb muscle strength, balance, and functional mobility. In the study, 12 chronic iSCI subjects used a home-based, mobile version of a lower limb VR training system. The system included motivating training scenarios and combined action observation and execution. Virtual representations of the legs and feet were controlled via movement sensors. The subjects performed home-based training over 4 weeks, with 16-20 sessions of 30-45 min each. The outcome measures assessed were the Lower Extremity Motor Score (LEMS), Berg Balance Scale (BBS), Timed Up and Go (TUG), Spinal Cord Independence Measure mobility, Walking Index for Spinal Cord Injury II, and 10 m and 6 min walking tests. Two pre-treatment assessment time points were chosen for outcome stability: 4 weeks before treatment and immediately before treatment. At post-assessment (i.e., immediately after treatment), high motivation and positive changes were reported by the subjects (adapted Patients' Global Impression of Change). Significant improvements were shown in lower limb muscle strength (LEMS, P = 0.008), balance (BBS, P = 0.008), and functional mobility (TUG, P = 0.007). At follow-up assessment (i.e., 2-3 months after treatment), functional mobility (TUG) remained significantly improved (P = 0.005) in contrast to the other outcome measures. In summary, unsupervised exercises at home with the VR training system led to beneficial functional training effects in subjects with chronic iSCI, suggesting that it may be useful as a neurorehabilitation tool. Trial registration: Canton of Zurich ethics committee (EK-24/2009, PB_2016-00545), ClinicalTrials.gov: NCT02149186. Registered 24 April 2014

A biologically based flight control system for a blimp-based UAV

Autonomous navigation in 2D and 3D environments has been studied for a long time. Navigating within a 3D environment is very challenging for both animals and robots and a variety of sensors are used to solve this task ranging from vision or a simple gyro or compass to GPS. The principal tasks for 3D autonomous navigation are course stabilization, altitude and drift control, and collision avoidance. Using this basis, some features can be easily added like aerial mapping, object recognition, homing strategies or takeoff and landing. Here we present a biologically based control layer for an Unmanned Aerial Vehicle (UAV) that provides course stabilization, altitude and drift control, and collision avoidance. The properties of this neuronal control system are evaluated using a flying robot.30593053

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A fly-locust based neuronal control system applied to an unmanned aerial vehicle: the invertebrate neuronal principles for course stabilization, altitude control and collision avoidanc

A biologically based chemo-sensing UAV for humanitarian demining

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