by Keyword: Navigation

Li, JH, Tomasello, A, Requena, M, Canals, P, Tiberi, R, Galve, I, Engel, E, Kallmes, DF, Castano, O, Ribo, M, (2022). Trackability of distal access catheters: an in vitro quantitative evaluation of navigation strategies Journal Of Neurointerventional Surgery 2022

Background In mechanical thrombectomy (MT), distal access catheters (DACs) are tracked through the vascular anatomy to reach the occlusion site. The inability of DACs to reach the occlusion site has been reported as a predictor of unsuccessful recanalization. This study aims to provide insight into how to navigate devices through the vascular anatomy with minimal track forces, since higher forces may imply more risk of vascular injuries. Methods We designed an experimental setup to monitor DAC track forces when navigating through an in vitro anatomical model. Experiments were recorded to study mechanical behaviors such as tension buildup against vessel walls, DAC buckling, and abrupt advancements. A multiple regression analysis was performed to predict track forces from the catheters' design specifications. Results DACs were successfully delivered to the target M1 in 60 of 63 in vitro experiments (95.2%). Compared to navigation with unsupported DAC, the concomitant coaxial use of a microcatheter/microguidewire and microcatheter/stent retriever anchoring significantly reduced the track forces by about 63% and 77%, respectively (p<0.01). The presence of the braid pattern in the reinforcement significantly reduced the track forces regardless of the technique used (p<0.05). Combined coil and braid reinforcement configuration, as compared with coil alone, and a thinner distal wall were predictors of lower track force when navigating with unsupported DAC. Conclusions The use of microcatheter and stent retriever facilitate smooth navigation of DACs through the vascular tortuosity to reach the occlusion site, which in turn improves the reliability of tracking when positioning the DAC closer to the thrombus interface.

JTD Keywords: Catheter, Navigation, Stroke, Thrombectomy, Vessel wall

Estefan DP, Zucca R, Arsiwalla X, Principe A, Zhang H, Rocamora R, Axmacher N, Verschure PFMJ, (2021). Volitional learning promotes theta phase coding in the human hippocampus Proceedings Of The National Academy Of Sciences Of The United States Of America 118, e2021238118

© 2021 National Academy of Sciences. All rights reserved. Electrophysiological studies in rodents show that active navigation enhances hippocampal theta oscillations (4–12 Hz), providing a temporal framework for stimulus-related neural codes. Here we show that active learning promotes a similar phase coding regime in humans, although in a lower frequency range (3–8 Hz). We analyzed intracranial electroencephalography (iEEG) from epilepsy patients who studied images under either volitional or passive learning conditions. Active learning increased memory performance and hippocampal theta oscillations and promoted a more accurate reactivation of stimulus-specific information during memory retrieval. Representational signals were clustered to opposite phases of the theta cycle during encoding and retrieval. Critically, during active but not passive learning, the temporal structure of intracycle reactivations in theta reflected the semantic similarity of stimuli, segregating conceptually similar items into more distant theta phases. Taken together, these results demonstrate a multilayered mechanism by which active learning improves memory via a phylogenetically old phase coding scheme.

JTD Keywords: active learning, dynamics, gamma-power, hippocampus, intracranial eeg, movement, navigation, neural phase coding, oscillations, representations, retrieval, rhythm, theta oscillations, toolbox, Active learning, Theta oscillations, Working-memory

Ebrahimi N, Bi C, Cappelleri DJ, Ciuti G, Conn AT, Faivre D, Habibi N, Hošovský A, Iacovacci V, Khalil ISM, Magdanz V, Misra S, Pawashe C, Rashidifar R, Soto-Rodriguez PED, Fekete Z, Jafari A, (2021). Magnetic Actuation Methods in Bio/Soft Robotics Advanced Functional Materials 31,

© 2020 Wiley-VCH GmbH In recent years, magnetism has gained an enormous amount of interest among researchers for actuating different sizes and types of bio/soft robots, which can be via an electromagnetic-coil system, or a system of moving permanent magnets. Different actuation strategies are used in robots with magnetic actuation having a number of advantages in possible realization of microscale robots such as bioinspired microrobots, tetherless microrobots, cellular microrobots, or even normal size soft robots such as electromagnetic soft robots and medical robots. This review provides a summary of recent research in magnetically actuated bio/soft robots, discussing fabrication processes and actuation methods together with relevant applications in biomedical area and discusses future prospects of this way of actuation for possible improvements in performance of different types of bio/soft robots.

JTD Keywords: capsule endoscope, controlled propulsion, conventional gastroscopy, digital microfluidics, guided capsule, liquid-metal, magnetic drug delivery, magnetic microrobots, magnetically guided capsule endoscopy, magnetotactic bacteria, nanoscribe ip-dip, navigation system, Gallium-indium egain, Magnetic bioinspired micromanipulation, Magnetic drug delivery, Magnetic microrobots, Magnetically guided capsule endoscopy, Magnetotactic bacteria

Guerrero, O., Verschure, P., (2020). Distributed adaptive control: An ideal cognitive architecture candidate for managing a robotic recycling plant Biomimetic and Biohybrid Systems 9th International Conference, Living Machines 2020 (Lecture Notes in Computer Science) , Springer International Publishing (Freiburg, Germany) 12413, 153-164

In the past decade, society has experienced notable growth in a variety of technological areas. However, the Fourth Industrial Revolution has not been embraced yet. Industry 4.0 imposes several challenges which include the necessity of new architectural models to tackle the uncertainty that open environments represent to cyber-physical systems (CPS). Waste Electrical and Electronic Equipment (WEEE) recycling plants stand for one of such open environments. Here, CPSs must work harmoniously in a changing environment, interacting with similar and not so similar CPSs, and adaptively collaborating with human workers. In this paper, we support the Distributed Adaptive Control (DAC) theory as a suitable Cognitive Architecture for managing a recycling plant. Specifically, a recursive implementation of DAC (between both single-agent and large-scale levels) is proposed to meet the expected demands of the European Project HR-Recycler. Additionally, with the aim of having a realistic benchmark for future implementations of the recursive DAC, a micro-recycling plant prototype is presented.

JTD Keywords: Cognitive architecture, Distributed Adaptive Control, Recycling plant, Navigation, Motor control, Human-Robot Interaction

Vouloutsi, Vasiliki, Mura, Anna, Tauber, F., Speck, T., Prescott, T. J., Verschure, P., (2020). Biomimetic and Biohybrid Systems 9th International Conference, Living Machines 2020, Freiburg, Germany, July 28–30, 2020, Proceedings , Springer, Cham (Lausanne, Switzerland) 12413, 1-428

This book constitutes the proceedings of the )th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2020, held in Freiburg, Germany, in July 2020. Due to COVID-19 pandemic the conference was held virtually. The 32 full and 7 short papers presented in this volume were carefully reviewed and selected from 45 submissions. They deal with research on novel life-like technologies inspired by the scientific investigation of biological systems, biomimetics, and research that seeks to interface biological and artificial systems to create biohybrid systems.

JTD Keywords: Artificial intelligence, Soft robotics, Biomimetics, Insect navigation, Synthetic nervous system, Computer vision, Bio-inspired materials, Visual homing, Locomotion+, Image processing, Intelligent robots, Human-robot interaction, Machine learning, Snake robot, Mobile robots, Robotic systems, Drosophila, Robots, Sensors, Signal processing

Santos-Pata, Diogo, Zucca, Riccardo, López-Carral, Héctor, Verschure, P., (2019). Modulating grid cell scale and intrinsic frequencies via slow high-threshold conductances: A simplified model Neural Networks 119, 66-73

Grid cells in the medial entorhinal cortex (MEC) have known spatial periodic firing fields which provide a metric for the representation of self-location and path planning. The hexagonal tessellation pattern of grid cells scales up progressively along the MEC’s layer II dorsal-to-ventral axis. This scaling gradient has been hypothesized to originate either from inter-population synaptic dynamics as postulated by attractor networks, or from projected theta frequency waves to different axis levels, as in oscillatory models. Alternatively, cellular dynamics and specifically slow high-threshold conductances have been proposed to have an impact on the grid cell scale. To test the hypothesis that intrinsic hyperpolarization-activated cation currents account for both the scaled gradient and the oscillatory frequencies observed along the dorsal-to-ventral axis, we have modeled and analyzed data from a population of grid cells simulated with spiking neurons interacting through low-dimensional attractor dynamics. We observed that the intrinsic neuronal membrane properties of simulated cells were sufficient to induce an increase in grid scale and potentiate differences in the membrane potential oscillatory frequency. Overall, our results suggest that the after-spike dynamics of cation currents may play a major role in determining the grid cells’ scale and that oscillatory frequencies are a consequence of intrinsic cellular properties that are specific to different levels of the dorsal-to-ventral axis in the MEC layer II.

JTD Keywords: Grid cells, Entorhinal, Hyperpolarization, Navigation, Space

Santos-Pata, D., Verschure, P., (2018). Human vicarious trial and error is predictive of spatial navigation performance Frontiers in Behavioral Neuroscience 12, Article 237

When learning new environments, rats often pause at decision points and look back and forth over their possible trajectories as if they were imagining the future outcome of their actions, a behavior termed “Vicarious trial and error” (VTE). As the animal learns the environmental configuration, rats change from deliberative to habitual behavior, and VTE tends to disappear, suggesting a functional relevance in the early stages of learning. Despite the extensive research on spatial navigation, learning and VTE in the rat model, fewer studies have focused on humans. Here, we tested whether head-scanning behaviors that humans typically exhibit during spatial navigation are as predictive of spatial learning as in the rat. Subjects performed a goal-oriented virtual navigation task in a symmetric environment. Spatial learning was assessed through the analysis of trajectories, timings, and head orientations, under habitual and deliberative spatial navigation conditions. As expected, we found that trajectory length and duration decreased with the trial number, implying that subjects learned the spatial configuration of the environment over trials. Interestingly, IdPhi (a standard metric of VTE) also decreased with the trial number, suggesting that humans benefit from the same head-orientation scanning behavior as rats at spatial decision-points. Moreover, IdPhi captured exclusively at the first decision-point of each trial, was correlated with trial trajectory duration and length. Our findings demonstrate that in VTE is a signature of the stage of spatial learning in humans, and can be used to predict performance in navigation tasks with high accuracy.

JTD Keywords: Deliberation, Habitual, Hippocampus, Navigation, Spatial decision-making

Pacheco, D., Verschure, P. F. M. J., (2018). Long-term spatial clustering in free recall Memory 26, (6), 798–806

We explored the influence of space on the organisation of items in long-term memory. In two experiments, we asked our participants to explore a virtual environment and memorise discrete items presented at specific locations. Memory for those items was later on tested in immediate (T1) and 24 hours delayed (T2) free recall tests, in which subjects were asked to recall as many items as possible in any order. In experiment 2, we further examined the contribution of active and passive navigation in recollection dynamics. Results across experiments revealed a significant tendency for participants to consecutively recall items that were encountered in proximate locations during learning. Moreover, the degree of spatial organisation and the total number of items recalled were positively correlated in the immediate and the delayed tests. Results from experiment 2 indicated that the spatial clustering of items was independent of navigation types. Our results highlight the long-term stability of spatial clustering effects and their correlation with recall performance, complementing previous results collected in immediate or briefly delayed tests.

JTD Keywords: Free recall, Spatial clustering, Spatial memory, Spatial navigation, Virtual reality

Santos-Pata, D., Escuredo, A., Mathews, Z., Verschure, P., (2018). Insect behavioral evidence of spatial memories during environmental reconfiguration Biomimetic and Biohybrid Systems 7th International Conference, Living Machines 2018 (Lecture Notes in Computer Science) , Springer International Publishing (Paris, France) 10928, 415-427

Insects are great explorers, able to navigate through long-distance trajectories and successfully find their way back. Their navigational routes cross dynamic environments suggesting adaptation to novel configurations. Arthropods and vertebrates share neural organizational principles and it has been shown that rodents modulate their neural spatial representation accordingly with environmental changes. However, it is unclear whether insects reflexively adapt to environmental changes or retain memory traces of previously explored situations. We sought to disambiguate between insect behavior in environmental novel situations and reconfiguration conditions. An immersive mixed-reality multi-sensory setup was built to replicate multi-sensory cues. We have designed an experimental setup where female crickets Gryllus Bimaculatus were trained to move towards paired auditory and visual cues during primarily phonotactic driven behavior. We hypothesized that insects were capable of identifying sensory modifications in known environments. Our results show that, regardless of the animal’s history, novel situation conditions did not compromise the animals performance and navigational directionality towards a new target location. However, in trials where visual and auditory stimuli were spatially decoupled, the animals heading variability towards a previously known position significantly increased. Our findings showed that crickets can behaviorally manifest environmental reconfiguration, suggesting the encoding for spatial representation.

JTD Keywords: Insect, Memory, Navigation, Spatial representation

Pacheco, D., Sánchez-Fibla, M., Duff, A., Verschure, P. F. M. J., (2017). A spatial-context effect in recognition memory Frontiers in Behavioral Neuroscience 11, Article 143

We designed a novel experiment to investigate the modulation of human recognition memory by environmental context. Human participants were asked to navigate through a four-arm Virtual Reality (VR) maze in order to find and memorize discrete items presented at specific locations in the environment. They were later on tested on their ability to recognize items as previously presented or new. By manipulating the spatial position of half of the studied items during the testing phase of our experiment, we could assess differences in performance related to the congruency of environmental information at encoding and retrieval. Our results revealed that spatial context had a significant effect on the quality of memory. In particular, we found that recognition performance was significantly better in trials in which contextual information was congruent as opposed to those in which it was different. Our results are in line with previous studies that have reported spatial-context effects in recognition memory, further characterizing their magnitude under ecologically valid experimental conditions.

JTD Keywords: Context effects, Recognition memory, Spatial behavior, Spatial memory and navigation, Virtual reality

Santos-Pata, D., Zucca, R., Low, S. C., Verschure, P. F. M. J., (2017). Size matters: How scaling affects the interaction between grid and border cells Frontiers in Computational Neuroscience , 11, Article 65

Many hippocampal cell types are characterized by a progressive increase in scale along the dorsal-to-ventral axis, such as in the cases of head-direction, grid and place cells. Also located in the medial entorhinal cortex (MEC), border cells would be expected to benefit from such scale modulations. However, this phenomenon has not been experimentally observed. Grid cells in the MEC of mammals integrate velocity related signals to map the environment with characteristic hexagonal tessellation patterns. Due to the noisy nature of these input signals, path integration processes tend to accumulate errors as animals explore the environment, leading to a loss of grid-like activity. It has been suggested that border-to-grid cells' associations minimize the accumulated grid cells' error when rodents explore enclosures. Thus, the border-grid interaction for error minimization is a suitable scenario to study the effects of border cell scaling within the context of spatial representation. In this study, we computationally address the question of (i) border cells' scale from the perspective of their role in maintaining the regularity of grid cells' firing fields, as well as (ii) what are the underlying mechanisms of grid-border associations relative to the scales of both grid and border cells. Our results suggest that for optimal contribution to grid cells' error minimization, border cells should express smaller firing fields relative to those of the associated grid cells, which is consistent with the hypothesis of border cells functioning as spatial anchoring signals.

JTD Keywords: Border cells, Error minimization, Grid cells, Navigation, Path integration