Learning feedforward commands to muscles using time-shifted sensory feedback

In adapting to changing forces in the mechanical environment, humans change the force being applied by the limb by reciprocal changes in the activation of antagonistic muscles. However, they also cocontract these muscles when interaction with the environment is mechanically unstable to increase the mechanical impedance of the limb. We have postulated that appropriate patterns of muscle activation could be learned using a simple scheme in which the naturally occurring stretch reflex is used as a template to adjust feedforward commands to muscles. Feedforward commands are modified iteratively by shifting a scaled version of the reflex response forward in time and adding it to the previous feedforward command. We show that such an algorithm can account for the principal features of changes in muscle activation observed when human subjects adapt to instabilities in the mechanical environment. © 2006.

Global stabilization of feedforward systems with exponentially unstable Jacobian linearization

The global stabilization of a class of feedforward systems having an exponentially unstable Jacobian linearization is achieved by a high-gain feedback saturated at a low level. The control law forces the derivatives of the state variables to small values along the closed-loop trajectories. This "slow control" design is illustrated with a benchmark example and its limitations are emphasized. © 1999 Elsevier Science B.V. All rights reserved.

Public feedback - but personal feedforward?

Academic feedback is taken here as the reporting to student writers of the strengths and weaknesses of their submitted draft work, while academic feedforward refers to constructive advice regarding possible strengthening of students’ next work. Both originate from a tutor’s initial judgement of a student’s work. Feedback and feedforward on work showing need for improvement are problematic in a Confucian Heritage Culture. Even gently constructive advice within a programme seeking evidence for assessment of critical thinking may lead to perception of hurtful criticism by Taiwanese students. Some could withdraw from class activity accordingly. So the writers adjusted their response style. They now choose between different approaches featuring tutorial feedback or feedforward, depending on the standard of work being judged. When individual postings feature poor critical thinking, the writers opt for private messages concentrating on constructive feedforward. For better postings, they provide positive feedback with reasons for their judgements, and summarise to the class these exemplars of generic strengths in critical thinking. They also offer private prompting when they see scope for further enrichment of an able student’s critical thinking. This might also be a useful practice when tutoring solely in the West. (192 words) Keywords: Confucian Heritage Culture, public feedback, private feedforward, assessment

A miR-34a-Numb Feedforward Loop Triggered by Inflammation Regulates Asymmetric Stem Cell Division in Intestine and Colon Cancer.

Emerging evidence suggests that microRNAs can initiate asymmetric division, but whether microRNA and protein cell fate determinants coordinate with each other remains unclear. Here, we show that miR-34a directly suppresses Numb in early-stage colon cancer stem cells (CCSCs), forming an incoherent feedforward loop (IFFL) targeting Notch to separate stem and non-stem cell fates robustly. Perturbation of the IFFL leads to a new intermediate cell population with plastic and ambiguous identity. Lgr5+ mouse intestinal/colon stem cells (ISCs) predominantly undergo symmetric division but turn on asymmetric division to curb the number of ISCs when proinflammatory response causes excessive proliferation. Deletion of miR-34a inhibits asymmetric division and exacerbates Lgr5+ ISC proliferation under such stress. Collectively, our data indicate that microRNA and protein cell fate determinants coordinate to enhance robustness of cell fate decision, and they provide a safeguard mechanism against stem cell proliferation induced by inflammation or oncogenic mutation.

Feedforward Control of Shape Memory Alloy Actuators Using Fuzzy-Based Inverse Preisach Model

This brief investigates a possible application of the inverse Preisach model in combination with the feedforward and feedback control strategies to control shape memory alloy actuators. In the feedforward control design, a fuzzy-based inverse Preisach model is used to compensate for the hysteresis nonlinearity effect. An extrema input history and a fuzzy inference is utilized to replace the inverse classical Preisach model. This work allows for a reduction in the number of experimental parameters and computation time for the inversion of the classical Preisach model. A proportional-integral-derivative (PID) controller is used as a feedback controller to regulate the error between the desired output and the system output. To demonstrate the effectiveness of the proposed controller, real-time control experiment results are presented.

Influência do treino do passo rápido voluntário nas estratégias de feedforward e feedback em Adultos mais Velhos

Introdução:O envelhecimento influencia negativamente o controlo postural, diminuindo a capacidade de recuperar o equilíbrio após uma perturbação externa e consequentemente aumento do risco de queda nos adultos mais velhos Objetivo(s):Verificar a influência do treino do passo rápido voluntário nas estratégias de feedforward e feedback em adultos mais velhos aquando o stepping anterior e posterior, bem como o timing e sequência de ativação muscular, ajustes posturais antecipatórios (APA) e compensatórios (APC1,APC2), comprimento, latência, velocidade média (VM) do passo e estratégias de passo lateral Métodos:19 participantes foram distribuídos aleatoriamente por dois grupos, o grupo experimental (n=9) e o grupo controlo (n=10), estudo randomizado controlado. Ambos foram submetidos a um protocolo de exercício físico durante 3 meses, 2 vezes/semana. Adicionalmente o grupo experimental (GE) realizou o treino do passo rápido voluntário bilateral nas várias direções. A resposta a um desequilíbrio postural em vários sentidos e consequente resposta de stepping anterior, posterior ou lateral foram avaliadas por meio de eletromiografia de superfície e por um sistema de imagem 3D Resultados: Na variação entre o momento inicial e final (M0-M1), durante o stepping anterior o GE, comparativamente ao GC, aumentou e diminuiu significativamente o timing do RF ipsilateral e GemM, respetivamente. Na variação do timing dos músculos BF ipsilateral e contralateral e TA contralateral, o GE diminuiu significativamente menos do que o GC. O GE aumentou significativamente o comprimento do stepping posterior do que o GC. Quanto à variação da latência observou-se que o GE aumentou significativamente do que o GC nos dois steppings. Na variação da VM, do stepping anterior, o GE diminuiu significativamente mais do que GC. O GE aumentou e diminuiu significativamente os APAS e os APC1 do que o GC no stepping posterior e anterior, respetivamente. Verificou-se que a estratégia mais frequente nos dois momentos e grupos foi a estratégia de stepping lateral direto Conclusão: A contínua prática do stepping rápido voluntário parece promover um melhor controlo postural sendo um importante exercício específico para prevenção de quedas

Feedback y feedforward a través de los foros : experiencia en un curso online de la Universidad de Salamanca.

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