Brain-machine interfaces (BMIs) provide a new assistive strategy aimed at restoring mobility in severely paralyzed patients. Yet, no study in animals or in human subjects has indicated that long-term BMI training could induce any type of clinical recovery. Eight chronic (3–13 years) spinal cord injury (SCI) paraplegics were subjected to long-term training (12 months) with a multi-stage BMI-based gait neurorehabilitation paradigm aimed at restoring locomotion. This paradigm combined intense immersive virtual reality training, enriched visual-tactile feedback, and walking with two EEG-controlled robotic actuators, including a custom-designed lower limb exoskeleton capable of delivering tactile feedback to subjects. Following 12 months of training with this paradigm, all eight patients experienced neurological improvements in somatic sensation (pain localization, fine/crude touch, and proprioceptive sensing) in multiple dermatomes. Patients also regained voluntary motor control in key muscles below the SCI level, as measured by EMGs, resulting in marked improvement in their walking index. As a result, 50% of these patients were upgraded to an incomplete paraplegia classification. Neurological recovery was paralleled by the reemergence of lower limb motor imagery at cortical level. We hypothesize that this unprecedented neurological recovery results from both cortical and spinal cord plasticity triggered by long-term BMI usage.

A systems theory framework is presented for the linear stabilization of two-dimensional laminar plane Poiseuille flow. The governing linearized Navier-Stokes equations are converted to control-theoretic models using a numerical discretization scheme. Fluid system poles, which are closely related to Orr-Sommerfeld eigenvalues, and fluid system zeros are computed using the control-theoretic models. It is shown that the location of system zeros, in addition to the well-studied system eigenvalues, are important in linear stability control. The location of system zeros determines the effect of feedback control on both stable and unstable eigenvalues. In addition, system zeros can be used to determine sensor locations that lead to simple feedback control schemes. Feedback controllers are designed that make a new fluid-actuator-sensorcontroller system linearly stable. Feedback control is shown to be robust to a wide range of Reynolds numbers. The systems theory concepts of modal controllability and observability are used to show that feedback control can lead to short periods of highamplitude transients that are unseen at the output. These transients may invalidate the linear model, stimulate nonlinear effects, and/or form a path of 'bypass' transition in a controlled system. Numerical simulations are presented to validate the stabilization of both single-wavenumber and multiple-wavenumber instabilities. Finally, it is shown that a controller designed upon linear theory also has a strong stabilizing effect on two-dimensional finite-amplitude disturbances. As a result, secondary instabilities due to infinitesimal three-dimensional disturbances in the presence of a finite-amplitude two-dimensional disturbance cease to exist.

Abstract-Exploration of high risk terrain areas such as cliff faces and site construction operations by autonomous robotic systems on Mars requires a control architecture that is able to autonomously adapt to uncertainties in knowledge of the environment. We report on the development of a software/hardware framework for cooperating multiple robots performing such tightly coordinated tasks. This work builds on our earlier research into autonomous planetary rovers and robot arms. Here, we seek to closely coordinate the mobility and manipulation of multiple robots to perform examples of a cliff traverse for science data acquisition, and site construction operations including grasping, hoisting, and transport of extended objects such as large array sensors over natural, unpredictable terrain. In support of this work we have developed an enabling distributed control architecture called control architecture for multirobot planetary outposts (CAMPOUT) wherein integrated multirobot mobility and control mechanisms are derived as group compositions and coordination of more basic behaviors under a task-level multiagent planner. CAMPOUT includes the necessary group behaviors and communication mechanisms for coordinated/cooperative control of heterogeneous robotic platforms. In this paper, we describe CAMPOUT, and its application to ongoing physical experiments with multirobot systems at the Jet Propulsion Laboratory in Pasadena, CA, for exploration of cliff faces and deployment of extended payloads.

The evolution of communicative signals involves a major hurdle; signals need to effectively stimulate the sensory systems of their targets. Therefore, sensory specializations of target animals are important sources of selection on signal structure. Here we report the discovery of an animal signal that uses a previously unknown communicative modality, infrared radiation or ''radiant heat,'' which capitalizes on the infrared sensory capabilities of the signal's target. California ground squirrels (Spermophilus beecheyi) add an infrared component to their snake-directed tail-flagging signals when confronting infrared-sensitive rattlesnakes (Crotalus oreganus), but tail flag without augmenting infrared emission when confronting infrared-insensitive gopher snakes (Pituophis melanoleucus). Experimental playbacks with a biorobotic squirrel model reveal this signal's communicative function. When the infrared component was added to the tail flagging display of the robotic models, rattlesnakes exhibited a greater shift from predatory to defensive behavior than during control trials in which tail flagging included no infrared component. These findings provide exceptionally strong support for the hypothesis that the sensory systems of signal targets should, in general, channel the evolution of signal structure. Furthermore, the discovery of previously undescribed signaling modalities such as infrared radiation should encourage us to overcome our own human-centered sensory biases and more fully examine the form and diversity of signals in the repertoires of many animal species.animal communication ͉ signal evolution ͉ multimodal communication

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