Selection of network and learning parameters for an adaptive neural robotic control scheme

This paper presents the results of a study in the design of a neural network based adaptive robotic control scheme. The neural network used here is a two hidden layer feedforward network and the learning scheme is the well-known backpropagation algorithm. The neural network essentially provides the inverse of the plant and acts in conjunction with a standard PD controller in the feedback loop. The objective of the controller is to accurately control the end position of a single link manipulator in the presence of large payload variations, variations in the link length and also variations in the damping constant. Based on results of this study, guidelines are presented in selecting the number of neurons in the hidden layers and also the parameters for the learning scheme used for training the network. Results also indicate that increasing the number of neurons in the hidden layer will improve the convergence speed of learning scheme up to a certain limit beyond which the addition of neurons will cause oscillations and instability. Guidelines for selecting the proper learning rate, momentum and fast backpropagation constant that ensure stability and convergence are presented. Also, a relationship between the r.m.s. error and the number of iterations used in training the neural network is established.     

Acrylonitrile-based copolymers: Synthesis,characterization, and formation of ultrafiltration membranes utilized for the immobilization of proteins

Various high molecular weight copolymers of acrylonitrile and a vinyl comonomer containing an aryl amine, a pyridine, or an aliphatic hydroxyl group were synthesized via slurry polymerization techniques so as to contain from 1 to 15 mol % functional comonomer. The comonomer content was quantitated by ultraviolet absorbance, base titration of acid polymer salts, and/or relative chemical reactivity with trichloro-s-triazine. Thin films were cast from copolymer solutions, coagulated into unsupported ultrafiltration membrances, and characterized with respect to both water permeability and pore size distribution. Analysis by size exclusion chromatography of the membrane permeate of a pool of dextran fractions yielded a continuous distribution curve for membrane pore size over the range 1.5 to 70 nm. The ultrafiltration membranes were used for protein immobilization after appropriate chemical activation. The three distinct types of functional copolymers gave comparable results for α-chymotrypsin, with protein weight loadings of 6–12% and 40–65% retention of enzymatic specific activity.     

Singular Trajectories in Multi-Input Time-Optimal Problems: Application to Controlled Mechanical Systems

This paper deals with the time-optimal control problem for a class of control systems which includes controlled mechanical systems with possible dissipation terms. The Lie algebras associated with such mechanical systems have certain special properties. These properties are explored and used in conjunction with the Pontryagin maximum principle to determine the structure of singular extremals and, in particular, time-optimal trajectories. The theory is illustrated by an application to a time-optimal problem for a class of underwater vehicles.     

Desensitization of mutant acetylcholine receptors in transgenic mice reduces the amplitude of neuromuscular synaptic currents

While the slow onset of desensitization of nicotinic acetylcholine receptors (AChRs), relative to the rate of acetylcholine removal, excludes this kinetic state from shaping synaptic responses in normal neuromuscular transmission, its role in neuromuscular disorders has not been examined. The slow-channel congenital myasthenic syndrome (SCCMS) is a disorder caused by point mutations in the AChR subunit-encoding genes leading to kinetically abnormal (slow) channels, reduced miniature endplate current amplitudes (MEPCs), and degeneration of the postsynaptic membrane. Because of this complicated picture of kinetic and structural change in the neuromuscular junction, it is difficult to assess the importance of the multiple factors that may be responsible for the reduced endplate current amplitudes, and ultimately the clinical syndrome. In order to address this we have used a transgenic mouse model for the SCCMS that has slow AChR ion channels and reduced endplate responsiveness in the absence of any of the degenerative changes. We found that the reduction in MEPC amplitudes in these mice could not be explained by either reduced AChR number or by reduced AChR channel conductance. Rather, we found that the mutant AChRs in situ manifested an activity-dependent reduction in sensitivity that caused diminished MEPC and endplate current amplitude with nerve stimulation. This observation demonstrates that the basis for the reduction in MEPC amplitudes in the SCCMS may be multifactorial. Moreover, these findings demonstrate that, under conditions that alter their rate of desensitization, the kinetic properties of nicotinic AChRs can control the strength of synaptic responses.     

Link budget analysis for multistandard receiver architectures

As devices shrink, creating integrated circuits (ICs) that work with the required accuracy becomes more difficult due to issues related to device physics. Receivers are part of an area referred to as "mixed-signal design," meaning that both analog and digital circuitry will be on the same IC. This too presents many challenging issues, as the analog circuitry is highly sensitive to disruptions caused by the noisy digital circuitry. Therefore, accurate modeling and simulation is crucial in the design of wireless receivers to ensure the best possible operation of the fabricated IC. Through simulation and modeling a designer can determine if receiver architecture will meet the required specifications and pinpoint the possible problems before valuable time is spent developing the actual circuit. This article will present design issues for multistandard wireless receivers to give the reader an understanding of the challenges involved in link-budget analysis. TITAN (Toolbox for Integrated Transceiver Analysis), a link-budget analysis tool developed at The Ohio State University Analog VLSI Laboratory, will be presented as an example of a tool for receiver simulation. To determine design performance, various requirements must be translated to model parameters. Among the requirements for receivers are noise floor (NF), second- and third-order distortion (IP2 and IP3, respectively), reciprocal mixing, and phase noise. TITAN offers a graphical interface and encapsulated models to the designer, eliminating the possibility of formula corruption. The interface provides a more intuitive and sophisticated way of setting up the simulation and provides the designer with more readable results. Additionally, a blocking profile component allows the architecture to be tested across multiple standards.     

Glomerular and tubular function in glycogen storage disease

Urinary protein and calcium excretion were assessed in 77 patients with the hepatic glycogen storage diseases (GSD): 30 with GSD-I (median age 12.4 years, range 3.2-32.9 years), 25 with GSD-III (median age 10.5 years, range 4.2-31.3 years) and 22 with GSD-IX (median age 11.8 years, range 1.2-35.4 years). Inulin (Cinulin) and para-aminohippuric acid (CPAH) clearances were also measured in 33 of these patients. Those with GSD-I had significantly greater albumin (F = 15.07, P < 0.001), retinol-binding protein (RBP) (F = 14.66, P < 0.001), N-acetyl-beta-D-glucosaminidase (NAG) (F = 9.41, P < 0.001) and calcium (F = 7.41, P = 0.001) excretion than those with GSD-III and GSD-IX. GSD-I patients (n = 18) also had significantly higher Cinulin (F = 5.57, P = 0.009), but CPAH did not differ (F = 0.77, NS). Renal function was normal in GSD-III and GSD-IX patients. In GSD-I, Cinulin (r = -0.51, P = 0.03) and NAG excretion (r = -0.40, P = 0.03) were inversely correlated with age, whereas albumin excretion was positively correlated with age (r = +0.41, P = 0.03). RBP and calcium excretion were generally high throughout all age groups. Hyperfiltration in GSD-I is associated with renal tubular proteinuria that occurs before the onset of significant albuminuria. Deficiency of glucose-6-phosphatase within the proximal renal tubule may primarily cause tubular dysfunction, glomerular hyperfiltration being a secondary phenomenon.     

Introduction to the special section on neuropsychology and rehabilitation: The view from New York University.

30 yrs prior to this article, psychologists at the New York University Medical Center addressed issues at the interface of clinical neuropsychology and rehabilitation. The work gave rise to programs for interventions with people with cognitive deficits after brain damage, stroke, and traumatic brain injury. The expansion of this early work is discussed in reference to articles about instrument development, cognitive remediation programs, issues of program outcome, and problems in delivering neuropsychological services to individuals with brain trauma. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Physical attractiveness and self-perception of mental disorder.

Prior research has reported a relation between physical attractiveness and severity of mental disorder, with less attractive people being more maladjusted. However, because these two variables have been measured simultaneously, it has not been possible to separate cause from effect. To clarify this question, in this study we first measured physical attractiveness, social competence, and perceived risk of developing a mental disorder in 280 college women. Seven months later, we measured the subjects' self-perception of having a mental disorder. Women who were more attractive were higher in social competence and lower in perceived risk of mental disorder. More attractive women were also lower in self-perception of mental disorder 7 months later. This relation between attractiveness and self-perception of mental disorder remained significant even after controlling for the Time 1 measures (social competence, perceived risk of mental disorder, and age). The implications of these findings for the hypothesized role of attractiveness in the determination of adjustment are discussed. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

On the Cutoff Wavelength of Rectangular-Shaped Microshield Line by Edge Element Method

In this paper, the cutoff characteristic of rectangular-shaped microshield transmission line has been analysed by edge element method. Dependence of cutoff wavelengths on the thickness of metallic signal strip, dielectric constant of dielectric substrate and the width of the rectangular-shaped ground conductor are presented in tabular form. Numerical results in this paper have important values in design of rectangular-shaped microshield lines in microwave and millimeter wave integrated circuits.     

Outcome of different treatment mixes in a multidimensional neuropsychological rehabilitation program.

Within a clinical demonstration program, 59 traumatically brain-injured patients were treated with 1 of 3 mixes of treatment. Mix 1 included cognitive remediation (CGR), small-group interpersonal (SGI) communication training, therapeutic community activities, and personal counseling. Mix 2 was similar to Mix 1 but stressed SGI exercises and eliminated CGR. Mix 3 emphasized CGR and eliminated SGI exercises. The efficacy of the treatment mixes was evaluated with performance on neuropsychological tests, improved independence in functional activities, measures of intra- and interpersonal functioning, and vocational outcome. Ss' participation in the program, irrespective of treatment mix, yielded improvements in (1) self-image, (2) quality of interpersonal relatedness and interaction, (3) involvement with others in naturalistic settings, and (4) vocational outcome. Overall, data point to the superiority of the balanced mix (Mix 1) over Mixes 2 and 3. (PsycINFO Database Record (c) 2010 APA, all rights reserved)