Spatial Orientation Control Research Articles

Synchronized Motion Profiles for Inverse-Dynamics-Based Online Control of Three Inextensible Segments of Trunk-Type Robot Actuators

This study proposes a novel method for the positioning and spatial orientation control of three inextensible segments of trunk-type robots. The suggested algorithm imposes a soft constraint assumption for the end-effector’s endpoint and a mandatory constraint on its direction. Simultaneously, the algorithm by-design enforces nonholonomic features on the robot segments in the form of arcs. An approximate robot spine curve is the key to the final robot state configuration based on the given conditions. The numeric simulation showed acceptable (less than 1 s) performance for single-core processing tasks. The parametric method finds the best proximate robot state solution and represents the gray box model in addition to existing learning or black-box inverse dynamics approaches. This study also shows that a multiple inverse kinematics answer constructs a single inverse dynamics solution that defines the robot actuators’ motion profiles, synchronized in time. Finally, this text presents rotational expressions and their outlines for controlling the manipulator’s tendons.

Orcokinin in the central complex of the locust Schistocerca gregaria: Identification of immunostained neurons and colocalization with other neuroactive substances.

The central complex is a group of highly interconnected neuropils in the insect brain. It is involved in the control of spatial orientation, based on external compass cues and various internal needs. The functional and neurochemical organization of the central complex has been studied in detail in the desert locust Schistocerca gregaria. In addition to classical neurotransmitters, immunocytochemistry has provided evidence for a major contribution of neuropeptides to neural signaling within the central complex. To complement these data, we have identified all orcokinin-immunoreactive neurons in the locust central complex and associated brain areas. About 50 bilateral pairs of neurons innervating all substructures of the central complex exhibit orcokinin immunoreactivity. Among these were about 20 columnar neurons, 33 bilateral pairs of tangential neurons of the central body, and seven pairs of tangential neurons of the protocerebral bridge. In silico transcript analysis suggests the presence of eight different orcokinin-A type peptides in the desert locust. Double label experiments showed that all orcokinin-immunostained tangential neurons of the lateral accessory lobe cluster were also immunoreactive for GABA and the GABA-synthesizing enzyme glutamic acid decarboxylase. Two types of tangential neurons of the upper division of the central body were, furthermore, also labeled with an antiserum against Dip-allatostatin I. No colocalization was found with serotonin immunostaining. The data provide additional insights into the neurochemical organization of the locust central complex and suggest that orcokinin-peptides of the orcokinin-A gene act as neuroactive substances at all stages of signal processing in this brain area.

Reflective Polarization Volume Lens with Small f‐Number and Large Diffraction Angle

AbstractPlanar optics based on patterned cholesteric liquid crystals (CLCs) has attracted increasing attention owing to the self‐organized helical structure and the ability to create arbitrary reflected wavefront through spatial orientation control. However, because of the subwavelength‐orientation requirement, it is challenging for liquid crystal lens to achieve a low f‐number (f/#) and large deflection angle simultaneously. Furthermore, with the increasing demand for compact size in novel optical systems, reflective lens has advantage over the transmissive one because it can fold the optical path. Here, a new off‐axis reflective polarization volume lens (PVL) with f/# = 0.825, large aperture size, simple fabrication process, thin profile, circular polarization selectivity, and large diffraction angle is proposed. In contrast to traditional vertical spiral structure, PVL is based on patterned CLCs with a slanted helical axis. In this paper, the PVL is theoretically evaluated and then three reflective PVLs at red, green, and blue wavelengths (R = 605 nm, G = 532 nm, and B = 450 nm) are fabricated. Meanwhile, a simple approach is utilized to achieve 20 mm diameter and 16.5 mm focal length. The low scattering and good image quality of reflective PVL enrich these functional devices and provide promising applications to novel foldable optical systems and waveguide‐based wearable near‐eye displays.

Control of spatial orientation in a mollusc.

The main function of postural nervous mechanisms in different species, from mollusc to man, is to counteract the force of gravity and stabilize body orientation in space. Here we investigate the basic principles of postural control in a simple animal model, the marine mollusc Clione limacina. When swimming, C. limacina maintains its vertical orientation because of the activity of the postural neuronal network. Driven by gravity-sensing organs (statocysts), the network causes postural corrections by producing tail flexions. To understand how this function occurs, we studied network activity by using a new method. We used an in vitro preparation that consisted of the central nervous system isolated with the statocysts. Output signals from the network (electrical activity of tail motor neurons) controlled an electrical motor which rotated the preparation in space. We analysed the activity of individual neurons involved in postural stabilization under opened or closed feedback loop. When we closed this artificial feedback loop, the network stabilized the vertical orientation of the preparation. This stabilization is based on the tendency of the network to minimize the difference between the activities of the two antagonistic groups of neurons, which are driven by orientation-dependent sensory inputs.

Control of spatial orientation and lifetime of scroll rings in excitable media.

Excitable media, which range from autocatalytic chemical systems to biological cells and tissues, can maintain organized structures in the form of rotating spiral waves of excitation. The dynamics of spiral waves in two-dimensional systems have been shown to be susceptible to control by external fields (such as electric, thermal and optical). In three dimensions, the analogues of spiral waves are scroll waves. Here we show that an external field--a temperature gradient--can be used to control a particular class of scroll waves called scroll rings. The gradient allows scroll rings to be precisely oriented in space, and their spontaneous shrinkage to be accelerated, decelerated or even reversed (so that the ring expands). The temperature gradient also influences the lifetimes of the scroll rings. We suggest that these dynamics are likely to be generic to other types of field gradients and other excitable media.