Deficits in Performance on a Mechanically Coupled Asymmetrical Bilateral Task in Chronic Stroke Survivors with Mild Unilateral Paresis

Typical upper limb-mediated activities of daily living involve coordination of both arms, often requiring distributed contributions to mechanically coupled tasks, such as stabilizing a loaf of bread with one hand while slicing with the other. We sought to examine whether mild paresis in one arm results in deficits in performance on a bilateral mechanically coupled task. We designed a virtual reality-based task requiring one hand to stabilize against a spring load that varies with displacement of the other arm. We recruited 15 chronic stroke survivors with mild hemiparesis and 7 age-matched neurologically intact adults. We found that stroke survivors produced less linear reaching movements and larger initial direction errors compared to controls (p < 0.05), and that contralesional hand performance was less linear than that of ipsilesional hand. We found a hand × group interaction (p < 0.05) for peak acceleration of the stabilizing hand, such that the dominant right hand of controls stabilized less effectively than the nondominant left hand while stroke survivors showed no differences between the hands. Our results indicate that chronic stroke survivors with mild hemiparesis show significant deficits in reaching aspects of bilateral coordination, but no deficits in stabilizing against a movement-dependent spring load in this task.

Cable tree wiring - benchmarking solvers on a real-world scheduling problem with a variety of precedence constraints

Cable trees are used in industrial products to transmit energy and information between different product parts. To this date, they are mostly assembled by humans and only few automated manufacturing solutions exist using complex robotic machines. For these machines, the wiring plan has to be translated into a wiring sequence of cable plugging operations to be followed by the machine. In this paper, we study and formalize the problem of deriving the optimal wiring sequence for a given layout of a cable tree. We summarize our investigations to model this cable tree wiring problem (CTW). as a traveling salesman problem with atomic, soft atomic, and disjunctive precedence constraints as well as tour-dependent edge costs such that it can be solved by state-of-the-art constraint programming (CP), Optimization Modulo Theories (OMT), and mixed-integer programming (MIP). solvers. It is further shown, how the CTW problem can be viewed as a soft version of the coupled tasks scheduling problem. We discuss various modeling variants for the problem, prove its NP-hardness, and empirically compare CP, OMT, and MIP solvers on a benchmark set of 278 instances. The complete benchmark set with all models and instance data is available on github and was included in the MiniZinc challenge 2020.

Scheduling coupled tasks with exact delays for minimum total job completion time

In this paper, we fill in a conspicuous gap in research on scheduling coupled tasks. We draw a full complexity picture for single-machine scheduling of coupled tasks with exact time delays in between with the objective of minimizing the total of job completion times.

Scheduling High Multiplicity Coupled Tasks

The coupled tasks scheduling problem is class of scheduling problems, where each task consists of two operations and a separation gap between them. The high-multiplicity is a compact encoding, where identical tasks are grouped together, and the group is specified instead of each individual task. Consequently the encoding of a problem instance is decreased significantly. In this article we derive a lower bound for the problem variant as well as propose an asymptotically optimal algorithm. The theoretical results are complemented with computational experiment, where a new algorithm is compared with three other algorithms implemented.