The objective of this dissertation is to study the switched reluctance machine (SRM) electromagnetic design and optimization. The research of electric machines is mostly driven by the motivation for higher efficiency and lower cost. The demands for high-performance electric machines also come from the development of emerging industries, such as electric vehicles (EV), hybrid electric vehicles (HEV), renewable energy conversion, energy storage and precision manufacturing. The additional requirements for those applications include volume, weight, speed, torque, reliability, fault tolerance capability, etc. The focus of the research effort is on the high speed and high torque applications, where the SRM stands out compared to other types of machines. The conventional design method significantly depends on the designer’s experience, which uses equivalent magnetic circuit models, and therefore the SRM design is not well developed. A novel SRM electromagnetic design and optimization method is developed, which uses the current-fed FEA simulation as the SRM performance estimation tool. This method serves as the main innovation of this research work. First, the proposed method is applicable to any SRM topologies and dimension, and no detailed modeling of a specific SRM configuration is required in advance. Therefore, an automated SRM design and optimization approach is developed. Secondly, great accuracy of the SRM electromagnetic analysis, e.g. flux density, torque, and current calculation, is achieved by using FEA simulation instead of simplified magnetic circuit approximations. This contribution is particularly significant when considering the poor accuracy of conventional SRM analytical analysis methods, where several assumptions and approximations are used. Lastly, the proposed design method takes the typical SRM control strategy into account, where the excitation current profile is characterized as a trapezoid. This method adapts the flux linkage of the first FEA simulation result to specify the excitation current profile for the second FEA simulation, so the calculated SRM performance in FEA simulation agrees with the measurement on a practical machine. The proposed SRM design and optimization method is used for a 12/8 SRM rotor design and for a complete 4/2 SRM design. These design examples validate the applicability of the proposed method to different SRM configurations and dimensions. Detailed design steps are presented for both design cases, and the selection of the parametric design variables are also discussed. The optimization results are demonstrated using multi-dimension diagrams, where the optimal design with the highest torque can be easily identified. The FEA simulation results are compared to the experimental results of a fabricated SRM prototype, and good agreement is found. In addition, a new rotor configuration with a flux bridge is proposed for an ultra high speed SRM design. The primary motivation of this rotor topology is to reduce the windgae losses and the acoustic noise at a high speed of 50,000 rpm. However, care must be taken for the flux bridge design, and the impact of different flux bridge thicknesses to the SRM performance is studied. Meanwhile, the manufacturing difficulties and the mechanical stresses should also be considered when fabricating the flux-bridge rotor. As a result, two SRM prototypes are built, and the two rotors are one without a flux bridge and one with a flux bridge. The prototypes are tested at different speeds (10,000 rpm, 20,000 rpm and 50,000 rpm) respectively, and the experimental results show good agreement with the FEA simulation results.

Movement is essential to human life because it provides us with the freedom of mobility and the power to affect our surroundings. Moreover, movements are vital to communication: from hand and finger movements when writing, mouth and throat movements when speaking, to painting, dancing, and other forms of artistic self expression. As people grow and experience new environments, adaptively maintaining the accuracy of movements is a critical function of the motor system. In this dissertation, I explore the key mechanisms that underlie the adaptability of simple visually guided reaching movements. I specifically focus on two key facets of this adaptability: how motor learning rate can be predicted by motor variability and how motor learning affects the mechanisms which underlie movement planning. Inspired by reinforcement learning, I hypothesized that greater amounts of motor variability aligned with a task will produce more effective exploration, leading to faster learning rates. I discovered that this relationship predicts person-to-person and task-to-task differences in learning rate for both reward-based and error-based learning tasks. Moreover, I found that the motor system actively and enduringly reshapes motor output variability, aligning it with a task to improve learning. These results indicate that the structure of motor variability is an activelyregulated, critical feature of the motor system which plays a fundamental role in determining motor learning ability. Combining prominent theories in motor control, I created a model which describes the planning of visually guided reaching movements. This model computes a weighted average of two independent feature-based motor plans: one based on the goal location of a movement, and the other based on an intended movement vector. Employing this model to characterize the generalization of adaptation to movements and movement sequences, I find that both features, movement vector and goal location, contribute significantly to movement planning, and that each feature is remapped by motor adaptation. My results show that multiple features contribute to the planning of both point-to-point and sequential reaching movements. Moreover, a computational model which is based on the remapping of multiple features accurately predicts how visuomotor adaptation affects the planning of movement sequences. / Engineering and Applied Sciences

Trial-to-trial variability in human movement is often overlooked and averaged out, but useful information can be gleaned on the brain’s control of variability. A task can be defined by a function specifying a solution manifold along which all task variable combinations will lead to goal success – the Goal-Equivalent Manifold (GEM). We selected a reaching task with variables reach Distance (D) and reach Time (T). Two GEMs were selected: a constant D/T and constant D×T. Subjects had no knowledge of the goal prior to the experiments and were instructed only to minimize error. Subjects learned the generalized tasks by reducing errors and consolidated learning from one day to the next, generalized learning from the D×T to the D/T GEM, and had interference of learning from the D/T to the D×T GEM. Variability was structured along each GEM significantly more than perpendicular to it. Deviations resulting in errors were corrected significantly more quickly than any other deviation. Our results indicate that subjects can learn generalized reaching tasks, and the brain exploits redundancy in those tasks. / text

The reactive control of fingertip forces maintaining grasp stability was examined in man during a prehensile task. Blindfolded subjects used the precision grip between the tips of index finger and thumb to restrain an object that was subjected to unpredictable load forces. These were delivered tangential to the parallel grip surfaces of the object. Load forces, grip forces (perpendicular to the grip surfaces) and position of the object were recorded.Subjects automatically adjusted the grip forces to loads of various amplitudes and rates. Thereby they maintained a reliable safety margin against frictional slips without using excessive grip forces. A rapid rise in grip force lasting about 0.2 s was triggered after a short delay following the onset of a sustained ramp load increase. This 'catch-up' response caused a quick restoration of an adequate grip:load force ratio that prevented frictional slips. If the ramp load continued to increase after the catchup response, the grip force also increased in parallel with the load change in a 'tracking' manner. Consequently, during the hold phases of 'ramp-and-hold' loads, the employed grip forces were approximately proportional to the load amplitude. Sensory information about the rate of change of the load force parametrically scaled the 'catchup' and 'tracking' responses.Following anesthetic block of sensory input from the digits, the grip responses were both delayed and attenuated or even abolished. To compensate for these impairments, subjects had to voluntarily maintain exceedingly high grip forces to prevent the object from slipping. The grip control improved slightly during hand and forearm support conditions that allowed marked wrist movements to occur in response to the loading. This indicates that signals from receptors in muscles, joints or skin areas proximal to the digits can to some extent be used to adjust grip forces during impaired digital sensibility. In contrast, these signals had only minor influence on the control during normal digital sensibility.Grip responses to loads delivered in various directions revealed that the load direction, in relation to gravity and to the hand's geometry, represents intrinsic task variables in the automatic processes that maintain a stable grasp. The load direction influenced both the response latencies and the magnitudes of the grip responses. The response latencies were shortest for loads in directions that were the most critical with regard to the consequences of frictional slippage, i.e., loads directed away from the palm or in the direction of gravity. Recordings of signals in cutaneous afferents innervating the finger tips demonstrated that these effects on the response latencies depended on differences in the time needed by the central nervous system to implement the motor responses. The short latencies in the most ‘criticar load directions may reflect the preparation of a default response, while additional central processing would be needed to execute the response to loads in other directions. Adjustments to local frictional anisotropies at the digit-object interface largely explained the magnitude effects.In conclusion, grip responses are automatically adjusted to the current loading condition during unpredictable loading of a hand held object. Subjects call up a previously acquired sensorimotor transform that supports grasp stability by preventing both object slippage and excessive grip forces. Cutaneous sensory information about tangential forces and frictional conditions at the digit-object interface is used to initiate and scale the grip responses to the current loading conditions, largely in a predictive manner. / <p>Diss. (sammanfattning) Umeå : Umeå universitet, 1995, Härtill 5 uppsatser</p> / digitalisering@umu

Extensive research has documented the stereotypical kinematic and kinetic patterns in healthy human walking, but we have a limited understanding of the neuromechanical control principles that contribute to their execution. Furthermore, the strategies used to adapt human walking to morphological or environmental constraints are poorly understood. After a traumatic injury, like amputation, regaining independent mobility is a primary goal of rehabilitation. Without a clear understanding of the neuromechanical principles governing locomotion, monitoring and quantitatively improving gait rehabilitation outcomes is challenging. The purpose of this doctoral work was to identify controlled variables in able and impaired human walking and to compare the control strategies used to adapt to a novel walking environment both with and without amputation. I apply an uncontrolled manifold (UCM) analysis to test whether likely goal variables of human walking are selectively stabilized through step-to-step variability structure. I found that both able-bodied subjects and subjects with an amputation maintain consistent whole body dynamics and leg power production by exploiting inherent motor abundance. Consistent leg power production is accomplished primarily through step-to-step leg force corrections that are driven by variable timing of ankle torque production. Covariance between ankle and knee torques enable robust motor control in able-bodied individuals, but this stabilizing mechanism is absent in individuals with a transtibial amputation. This coordinated joint torque control also appears to assist able-bodied short-term adaptation, invoked by split-belt treadmill walking. However, loss of ankle motor control and distal sensory feedback due to amputation appears to limit reactive, feedback driven adaptation patterns in subjects with an amputation. Ultimately, this work highlights the role of intact distal sensorimotor function in locomotor control and adaptation. The major findings I present have substantial implications for gait rehabilitation and prosthetic design.

Introduction: The primary purpose of this research was to determine whether women with stress urinary incontinence (SUI) demonstrate pelvic floor muscle (PFM) strength or endurance deficits and/or changes in the motor control patterns used during maximum voluntary PFM contractions (PFM MVCs) and coughing. A secondary purpose was to determine the effect of age on these parameters. Methods: After first validating the use of vaginal pressure to study the functional output of the PFMs, three studies were carried out to address these objectives. In two studies vaginal pressure and PFM and abdominal muscle electromyography (EMG) data were recorded simultaneously during PFM MVCs and maximum effort coughs in continent women, women with mild SUI and women with moderate to severe SUI in both supine and standing. In the final study, the effect of continence status and age on PFM strength and endurance was measured with vaginal pressure. Results: Changes in vaginal pressure induced by PFM MVCs and coughing were found to reflect changes in urethral pressure. The women with SUI and the continent women were found to be equally able to produce peak PFM EMG and vaginal pressure amplitudes during PFM MVCs and coughs. Compared to the continent women, the women with SUI delayed activating their abdominal muscles during the PFM MVCs. During coughing, vaginal pressure and PFM EMG peaked simultaneously in the continent women, while in the women with SUI vaginal pressure peaked after PFM EMG. During both the PFM MVCs and the coughs, the EMG activity in all of the muscles tested was higher at the onset of vaginal pressure generation in the women with SUI compared to the continent women. No difference was found in PFM endurance between the women with and without SUI. The ability to generate peak vaginal pressure during coughing decreased with age. Conclusions: PFM weakness does not appear to play a significant role in SUI. Rather, the results of this research suggest that a combination of motor control deficits and delays in pressure transmission are associated with SUI in women. / Thesis (Ph.D, Rehabilitation Science) -- Queen's University, 2009-09-21 09:37:12.923

Maternal consumption of alcohol during pregnancy can induce a range of behavioral and cognitive deficits in offspring, which are collectively termed Fetal Alcohol Spectrum Disorders (FASD). There are significant delays in motor development and sensory-motor skills in children with FASD, but the underlying neurobiological mechanisms of these deficits are poorly understood. The goal of this research project is to test the hypothesis that the Kinesiological Instrument for Normal and Altered Reaching Movements (KINARM) will serve as an effective tool for identifying and measuring specific, neurologically-based motor deficits in children with FASD. These deficits were revealed through investigation of multi-joint upper limb movements during the performance of sensory-motor tasks. Children (31 FASD; 83 controls, aged 5 to 18 years, male and female) performed: (1) a visually-guided reaching task with fingertip feedback only; and children (31 FASD; 49 controls, aged 5 to 18 years, male and female) performed: (2) an arm position-matching task in the absence of visual feedback. Children with FASD differed significantly from controls in many reaching task outcome measures, specifically those related to the initial motor response and corrective responses. In particular, large effect sizes were observed for outcome measures related to the first (initial) movement (corresponding to feedforward control; e.g., direction error; distance error), as well as for those measures related to corrective responses (corresponding to feedback control; e.g., difference between minimum and maximum hand speeds; number of speed peaks during movement). In the position-matching task, children with FASD constricted the spatial workspace of the subject-controlled arm relative to the robot-controlled arm, in the horizontal axis. There was also observed a systematic shift between the subject- and robot-controlled arms in the XY end position, resulting in significant error. Additionally, children with FASD exhibited significantly increased trial-to-trial variability for final hand position of the subject-controlled arm, over all targets, and for which large effect sizes were observed. The results suggest that children with FASD have difficulty integrating sensory information into planned motor movements. The KINARM is a promising research tool that may be used to assess motor control deficits in children affected by prenatal exposure to alcohol. / Thesis (Master, Neuroscience Studies) -- Queen's University, 2010-09-02 15:10:25.653

The contribution of deficits in limb position sense to the motor impairments of children with cerebral palsy, as well as other neurodevelopmental disorders, is increasingly being recognized. A more complete understanding of the development of multi-joint upper limb position sense is needed and has been limited, to date, by the absence of a reliable measurement technique to produce clinically meaningful information. The KINARM Exoskeleton’s bilateral position matching task, which involves passive movement of one of the subject’s arms to one of eight positions requiring different combinations of elbow and shoulder positions and active matching by the participant’s other arm, was evaluated for interrater and retest reliability. Intraclass correlation coefficients, absolute difference, minimum detectable difference that would be considered a significant change in performance, standard error of the measure, coefficient of variation, index of reliability, limit of agreement and confidence intervals were used to determine reliability on three measures of multi-joint position sense: (1) inter-trial variability in end-point position, (2) the ratio between actual and matched position, or spatial contraction/expansion, which provides a measure of the absolute accuracy of position matching, and (3) systematic errors in matching. Interrater index of reliability was very good to excellent with values of 72% for systematic errors in matching to 93% for contraction/expansion. Interrater intraclass correlation values were fair to excellent at 0.46 for systematic errors in matching to 0.81 for contraction/expansion. Standard errors in measurement were low and ranged from 0.002 to 0.06, for inter-trial variability and contraction/expansion respectively. Similarly, minimal detectable difference values for retest reliability ranged from 0.005 for inter-trial variability to 0.161 for contraction/expansion. Retest intraclass correlation values were fair to excellent at 0.38 for systematic errors in matching to 0.82 for contraction/expansion. Moderate to strong interrater and retest reliability and high measurement precision support the use of robot-based assessment of multi-joint position sense for developmental studies and promises to be a reliable clinical and research tool in the advancement of knowledge on sensory-motor coordination difficulties in children with neurodevelopmental disorders. / Thesis (Master, Rehabilitation Science) -- Queen's University, 2011-09-29 05:43:47.255

Neuromuscular electrical stimulation (NMES) has become an increasingly popular rehabilitative treatment approach for swallowing disorders (dysphagia). However, its precise effects on swallowing biomechanics and measures of swallowing neurophysiology are unclear. Clearly defined NMES treatment protocols that have been corroborated by thorough empirical research are lacking. The primary objective of this research programme was therefore to establish optimal NMES treatment parameters for the anterior hyo-mandibular (submental) musculature, a muscle group that is critically involved in the oral and pharyngeal phases of swallowing. Based on previous research, the primary hypothesis was that various NMES treatment protocols would have differential effects of either enhancing or inhibiting the excitability of corticobulbar projections to this muscle group. The research paradigm used to test this hypothesis was an evaluation of MEP amplitude and onset latency, recorded in the functional context of volitional contraction of the submental musculature (VC) and contraction of this muscle group during the pharyngeal phase of volitional swallowing (VPS, volitional pharyngeal swallow). Outcome measures were recorded before and at several time points after each NMES treatment trial. This methodology is similar to, but improved upon, research paradigms previously reported. Changes in corticobulbar excitability in response to various NMES treatment protocols were recorded in a series of experiments. Ten healthy research participants were recruited into a study that evaluated the effects of event-related NMES, whereas 15 healthy research participants were enrolled in a study that investigated the effects of non-event-related NMES. In a third cohort of 35 healthy research participants, task-dependent differences in corticobulbar excitability were evaluated during three conditions of submental muscle contraction: VC, VPS and submental muscle contraction during the pharyngeal phase of reflexive swallowing (RPS, reflexive pharyngeal swallowing). Event-related NMES induced frequency-depended changes in corticobulbar excitability. NMES administered at 80 Hz facilitated MEP amplitude, whereas NMES at 5 Hz and 20 Hz inhibited MEP amplitude. No changes were observed after NMES at 40 Hz. Maximal excitatory or inhibitory changes occurred 60 min post-treatment. Changes in MEP amplitude in response to event-related NMES were only observed when MEPs were recorded during the VC condition, whereas MEPs recorded during the VPS condition remained unaffected. Non-event-related NMES did not affect MEP amplitude in either of the muscle contraction conditions. Similarly, MEP onset latencies remained unchanged across all comparisons. MEPs were detected most consistently during the VC contraction condition. They were less frequently detected and were smaller in amplitude for the VPS condition and they were infrequently detected during pre-activation by RPS. The documented results indicate that event-related NMES has a more substantial impact on MEP amplitude than non-event-related NMES, producing excitatory and inhibitory effects. Comparison of MEPs recorded during VC, VPS and RPS suggests that different neural networks may govern the motor control of submental muscle activation during these tasks. This research programme is the first to investigate the effects of various NMES treatment protocols on the excitability of submental corticobulbar projections. It provides important new information for the use of NMES in clinical rehabilitation practices and our understanding of the neural networks governing swallowing motor control.

Reflex effects evoked by graded electrical stimulation of the posterior articular nerves (PAN) of the ipsi- and contralateral knee joints were investigated using both micro-electrode recordings from 7 - motoneurones and recordings from single muscle muscle spindle afferents. Spindle afferent responses were also recorded using natural stimulation of different types of receptors, to elucidate if the articular reflexes onto the y -motoneurones were potent enough to significantly alter the muscle spindle afferent activity. Stretches of the ipsilateral posterior (PCL) and anterior (ACL) cruciate ligaments, pressure on the ipsi- and contralateral knee and ankle joint capsules, and passive flexion/extension movements of the joints in the contralateral hind limb were performed. The occurrance of different sensory endings in the ACL and PCL was examined using gold chloride staining for neuronal elements. All experiments were performed on chloralose anaesthetized cats. More than 90% of the static and dynamic y -motoneurones were responsive to electrical stimulation of the PAN. Most 7-cells responded to low intensity electrical stimulation. Excitatoiy reflex effects predominated on both static and dynamic posterior biceps-semitendinosus (PBSt) 7 -cells, while excitatory and inhibitory effects occurred with an about equal frequency on triceps-plantaris (GS) 7-cells. The fastest segmental route for excitatory PAN effects on hind limb 7-motoneurones seems to be di- or trisynaptic, while the path for inhibitory effects seems to be at least one synaps longer. Physiological stimulations of ipsi- and contralateral joint capsules and of ipsilateral cruciate ligaments were all found to evoke frequent and potent changes in spindle afferent responses from the GS and PBSt muscles. It was shown that these effects were due to reflexes onto dynamic and static fusimotor neurones caused by physiological activation of articular sensory endings. Both ipsi- and contralateral joint receptor stimulation evoked excitatory as well as inhibitory fusimotor effects. The highest responsiveness was found during stimula­tion of the cruciate ligaments, i.e. 58% for GS and 47% for PBSt primary spindle afferents to PCL stimula­tion, and 73% for GS and 55% for PBSt primary spindle afferents to ACL stimulation. Significant altera­tions in spindle afferent activity was encountered at very low traction forces applied to the cruciate ligaments (5-10 N). The low thresholds, the tonic character of the stimuli, and the fact that different types of sensory endings were demonstrated in the cruciate ligaments (i.e. Ruffini endings, Pacinian corpuscles, Golgi ten­don organ like endings and free nerve endings), indicate that the fusimotor effects observed were caused by activation of slowly adapting mechanoreceptors, most likely Ruffini endings and/or Golgi tendon organ like endings. The potent reflex effects on the muscle spindle afferents elicited by increased tension in the cruciate ligaments indicate that these ligaments may play a more important sensory role that hitherto believed, and it is suggested that they may be important in the regulation of the stiffness of muscles around the knee joint, and thereby for the joint stability. The possible clinical relevance and the mechanisms by which joint receptor afferents, via adjustment of the muscle stiffness, may control joint stability are discussed. / <p>Diss. (sammanfattning) Umeå : Umeå universitet, 1989, härtill 7 uppsatser.</p> / digitalisering@umu