对动力行程恢复系统中的感觉反馈机制进行变量分析。

IF 1.7 4区 工程技术 Q3 COMPUTER SCIENCE, CYBERNETICS
Zhuojun Yu, Peter J Thomas
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引用次数: 0

摘要

虽然大脑的存在理由是为了身体的生存,但对闭环节律运动控制系统的理论研究却相对较少。在本文中,我们提供了一个基于变分分析的统一框架,用于研究动力冲程恢复系统的性能和鲁棒性双重目标。为了展示我们的变分法,我们对之前发表的两个闭环运动控制模型进行了扩充,为每个模型配备了一个性能测量指标,该指标基于系统相对于空间扩展的外部基质的进展速度--例如进食任务中相对于长条海藻的进展速度,或运动任务中相对于地面的进展速度。灵敏度衡量的是系统在外部扰动(如外加负载)作用下保持性能的能力。为了寻找反馈控制的最佳设计原则,以实现效率和鲁棒性的互补要求,我们讨论了具有不同感觉反馈架构的系统的性能-灵敏度模式。在一个典型的半中心振荡器-运动系统中,我们观察到反馈机制的激发-抑制特性决定了灵敏度模式,而激活-失活特性决定了性能模式。此外,我们还发现,反馈信号的乙叉形激活的非线性特性允许存在性能和灵敏度的最佳组合。在一个详细的后肢运动系统中,我们发现与力相关的反馈可以同时优化性能和鲁棒性,而与长度相关的反馈变化则会导致性能与灵敏度之间的显著权衡。因此,这项工作为研究非线性动力系统中振荡的反馈控制提供了一个分析框架,从而得出了一些见解,这些见解有可能为控制或康复系统的设计提供参考。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Variational analysis of sensory feedback mechanisms in powerstroke-recovery systems.

Variational analysis of sensory feedback mechanisms in powerstroke-recovery systems.

Although the raison d'etre of the brain is the survival of the body, there are relatively few theoretical studies of closed-loop rhythmic motor control systems. In this paper we provide a unified framework, based on variational analysis, for investigating the dual goals of performance and robustness in powerstroke-recovery systems. To demonstrate our variational method, we augment two previously published closed-loop motor control models by equipping each model with a performance measure based on the rate of progress of the system relative to a spatially extended external substrate-such as a long strip of seaweed for a feeding task, or progress relative to the ground for a locomotor task. The sensitivity measure quantifies the ability of the system to maintain performance in response to external perturbations, such as an applied load. Motivated by a search for optimal design principles for feedback control achieving the complementary requirements of efficiency and robustness, we discuss the performance-sensitivity patterns of the systems featuring different sensory feedback architectures. In a paradigmatic half-center oscillator-motor system, we observe that the excitation-inhibition property of feedback mechanisms determines the sensitivity pattern while the activation-inactivation property determines the performance pattern. Moreover, we show that the nonlinearity of the sigmoid activation of feedback signals allows the existence of optimal combinations of performance and sensitivity. In a detailed hindlimb locomotor system, we find that a force-dependent feedback can simultaneously optimize both performance and robustness, while length-dependent feedback variations result in significant performance-versus-sensitivity tradeoffs. Thus, this work provides an analytical framework for studying feedback control of oscillations in nonlinear dynamical systems, leading to several insights that have the potential to inform the design of control or rehabilitation systems.

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来源期刊
Biological Cybernetics
Biological Cybernetics 工程技术-计算机:控制论
CiteScore
3.50
自引率
5.30%
发文量
38
审稿时长
6-12 weeks
期刊介绍: Biological Cybernetics is an interdisciplinary medium for theoretical and application-oriented aspects of information processing in organisms, including sensory, motor, cognitive, and ecological phenomena. Topics covered include: mathematical modeling of biological systems; computational, theoretical or engineering studies with relevance for understanding biological information processing; and artificial implementation of biological information processing and self-organizing principles. Under the main aspects of performance and function of systems, emphasis is laid on communication between life sciences and technical/theoretical disciplines.
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