Kinematic analyses of reaching have suggested that the left hemisphere is dominant for controlling the open loop component of the movement, which is more dependent on motor programmes; and the right hemisphere is dominant for controlling the closed loop component, which is more dependent on sensory feedback. This open and closed loop hypothesis of hemispheric asymmetry would also predict that a...

Polymer gels that exhibit a change in volume in response to a small change in an environmental parameter such as temperature have been fabricated and studied for several decades. We have developed gels that change volume in response to an applied alternating magnetic field. These gels could serve as actuators in servomechanisms. This paper presents practical techniques for using closed-loop fee...

In this paper, we present a composite nonlinear feedback (CNF) control technique for linear discrete-time multivariable systems with actuator saturation. The CNF control law serves to improve the transient performance of the closed-loop system by adding an additional nonlinear feedback. The linear feedback can be designed to yield a quick response at the initial stage, then the nonlinear feedba...

Recent developments in Deep Brain Stimulation (DBS) and computer technology have resulted in dramatically new and effective surgical treatments for Parkinson's disease and other movement disorders. From the DBS, by research, the concept has evolved to Closed-Loop neuroStimulation (CLnS) which is the brain target point electric stimulation linked to the patient's body and brain response. One del...

Most commonly used impedance-type haptic interfaces employ open-loop force control under the assumption of pseudostatic interactions. Advanced force control in such interfaces can increase simulation fidelity through improvement of the transparency of the device, and can further improve robustness. However, closed loop force-feedback is limited both due to the bandwidth limitations of force sen...

This book is about feedback control of computing systems. The main idea of feedback control is to use measurements of a system’s outputs, such as response times, throughputs, and utilizations, to achieve externally specified goals. This is done by adjusting the system control inputs, such as parameters that affect buffer sizes, scheduling policies, and concurrency levels. Since the measured out...

In case of delayed visual feedback during visuomotor tasks, like in some sluggish computer games, humans can modulate their behavior to compensate for the delay. However, opinions on the nature of this compensation diverge. Some studies suggest that humans adapt to feedback delays with lasting changes in motor behavior (aftereffects) and a recalibration of time perception. Other studies have sh...

Automation of a unique manually controlled industrial bar straightener is proposed. A continuous-time closed loop model is constructed in Simulink for an event-driven process through the use of asynchronous timers. The system is simulated with linear and nonlinear PD controllers. A nonlinear filter, called the tracking differentiator, is introduced as an alternative to a linear approximate mean...

High-frequency (HF) deep brain stimulation (DBS) is the gold standard for the treatment of medically refractory movement disorders like Parkinson's disease, essential tremor, and dystonia, with a significant potential for application to other neurological diseases. The standard setup of HF DBS utilizes an open-loop stimulation protocol, where a permanent HF electrical pulse train is administere...

This paper derives both open-loop and closed-loop control policies that steer a finite set of differential-drive robots to desired positions in a two-dimensional workspace, when all robots receive the same control inputs but each robot turns at a slightly different rate. In the absence of perturbation, the open-loop policy achieves zero error in finite time. In the presence of perturbation, the...