Network-wise surface-based morphometric insight into the cortical neural circuitry underlying irritability in adolescents

Previous studies examining structural brain correlates of irritability have taken a region-specific approach and have been relatively inconsistent. In a sample of adolescents with and without clinically impairing irritability, the current study examines: (i) cortical volume (CV) in canonical functional networks; (ii) the association between the CV of functional networks and severity of irritability; and (iii) the extent to which IQ mediates the association between structural abnormalities and severity of irritability. Structural MRI and IQ data were collected from 130 adolescents with high irritability (mean age = 15.54±1.83 years, 58 females, self-reported Affective Reactivity Index [ARI] ≥ 4) and 119 adolescents with low irritability (mean age = 15.10±1.93 years, 39 females, self-reported ARI < 4). Subject-specific network-wise CV was estimated after parcellating the whole brain into 17 previously reported functional networks. Our Multivariate Analysis of Covariance (MANCOVA) revealed that adolescents with high irritability had significantly reduced CV of the bilateral control and default-mode networks (p < 0.05) relative to adolescents with low irritability. Multiple regression analyses showed a significant negative association between the control network CV and the severity of irritability. Mediation analysis showed that IQ partially mediated the association between the control network CV and the severity of irritability. Follow-up analysis on subcortical volume (SCV) showed that adolescents with high irritability had reduced bilateral SCV within the amygdala relative to adolescents with low irritability. Reduced CV within bilateral control and default networks and reduced SCV within bilateral amygdala may represent core features of the pathophysiology of irritability. The current data also indicate the potential importance of a patient’s IQ in determining how pathophysiology related to the control network is expressed.

Improved Haptic Transparency of Bilateral Control Using Torque-Measured Magnetic Coupling

The integrity and transparency of a haptic feedback in a bilateral control is crucial for precise and accurate operators’ sensation during human–machine interactions. Conventional master and slave bilateral control systems are often subject to unknown or unwanted disturbances and dynamics in the actuators and powertrain linkages that hamper the haptic feedback integrity and transparency. Force sensor torque sensing and feedback control are required to mitigate these effects. In contrast to the conventional approach of introducing torque sensing using a mechanical spring, this paper introduces a magnetic coupling as a torque sensor to detect reaction torque between the human input and the master actuator. Disturbance observer-based torque feedback control is designed to suppress the disturbances and tailor the haptic transparency dynamics. Experimental results on a virtual reality interaction system, which involves the steering wheel bilateral control in a cyber-physical driving simulator system, demonstrate the feasibility and effectiveness of the proposed method with improved haptic integrity and transparency.

Dynamics of a Guanaco-sheep Competitive System with Unilateral and Bilateral Control

In this paper, based on a guanaco-sheep competitive system, we develop and analyze mathematical models with unilateral and bilateral control for the management of overgrazing. We first analyze the dynamics of the uncontrolled system. Then, we investigate the system with impulsive control by differential equation geometry theory. And we mainly prove the existence and stability of order-1 periodic solution for unilateral control system and order-2 periodic solution for bilateral control system. Comparing the unilateral and bilateral control strategy, we encourage bilateral control rather than unilateral control for the management of sheep species.

Bilateral control of interceptive saccades: evidence from the ipsipulsion of vertical saccades after caudal fastigial inactivation

The caudal fastigial nuclei (cFN) are the output nuclei by which the medio-posterior cerebellum influences the production of saccades toward a visual target. On the basis of the organization of their efferences to the premotor burst neurons and the bilateral control of saccades, the hypothesis was proposed that the same unbalanced activity accounts for the dysmetria of all saccades during cFN unilateral inactivation, regardless of whether the saccade is horizontal, oblique, or vertical. We further tested this hypothesis by studying, in two head-restrained macaques, the effects of unilaterally inactivating the caudal fastigial nucleus on saccades toward a target moving vertically with a constant, increasing or decreasing speed. After local muscimol injection, vertical saccades were deviated horizontally toward the injected side with a magnitude that increased with saccade size. The ipsipulsion indeed depended upon the tested target speed, but not its instantaneous value because it did not increase (decrease) when the target accelerated (decelerated). By subtracting the effect on contralesional horizontal saccades from the effect on ipsilesional ones, we found that the net bilateral effect on horizontal saccades was strongly correlated with the effect on vertical saccades. We explain how this correlation corroborates the bilateral hypothesis and provide arguments against the suggestion that instantaneous saccade velocity would somehow be "encoded" by the discharge of Purkinje cells in the oculomotor vermis.

Bilateral Control of a 2-DOF Teleoperated Manipulator Using UDP Scheme

In this paper, a workspace-control system was developed to deals with the problem of position-tracking of bilateral teleoperated two degrees of freedom manipulators, and aid the human operator in driving and controlling the slave robot that performs critical and difficult tasks such as under water works. The developed system consists of, "JUPITER XL SCARA" robot as a slave manipulator with only the first two links activated, a wireless User Datagram Protocol (UDP) network, and PC as a master controller. The system model parameters identified using the Least-Squares method. A PID and FLC controllers with different input signals were applied to the system. It was proved experimentally and by simulation on Matlab that the FLC gave a better performance than the PID controller. The two parallel loop subroutine technique proved a great enhancement to the system performance as it decreased the total delay time in the system to almost 25 milliseconds.