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Given the scarce bibliography dealing explicitly with robot pain, this chapter has enriched its review with related research works about robot behaviours and capacities in which pain could play a role. It is shown that all such roles ¿ranging from punishment to intrinsic motivation and planning knowledge¿ can be formulated within the unified framework of reinforcement learning., Peer Reviewed, Postprint (author's final draft)

Given the scarce bibliography dealing explicitly with robot pain, this chapter has enriched its review with related research works about robot behaviours and capacities in which pain could play a role. It is shown that all such roles ¿ranging from punishment to intrinsic motivation and planning knowledge¿ can be formulated within the unified framework of reinforcement learning., Peer Reviewed, Postprint (author's final draft)

© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works, This paper addresses a fault-tolerant periodic economic model predictive control (MPC) strategy for differential-algebraic-equation (DAE) systems. Fault tolerance evaluation of the proposed economic MPC strategy uses set computations and a performance degradation analysis. By means of the set computations, the feasible solution set (including system states and control inputs) can be determined as well as the admissible performance set can be obtained when system reconfiguration or fault accommodation strategies are used. The proposed control strategy allows to carry out an analysis of performance degradation by using the feasible and admissible performance set. As a result, if the performance degradation is accepted, the economic MPC controller can be applied using system reconfiguration or fault accommodation. Finally, the proposed fault-tolerant MPC strategy is verified through an illustrative example., Accepted version

The accelerating tempo of military operations increases the task demands and work-related stresses imposed on human operators. As new technological designs are incorporated into military systems, a metric is required to ensure that human cognitive work load limits are not exceeded. Subjective techniques are available, but generally depend on the self-report of users conducted after the work is finished. A need exists for objective method which can follow time-course changes as work is performed and to develop biocybernetic approaches to task allocation. Some progress has been achieved in using a variety of electrophysiological techniques, including EEG and neural- evoked potentials. However, these objective techniques tend to be intrusive, relatively artificial, and nonportable. We believe there are more readily obtainable bioelectric measures that can serve as simple external indicants of work load, and which can eventually be bundled in portable, vest-pocket systems to be employed during studies of cockpit display function allocation.

Biocybernetic measures - heart rate inter-beat interval (IBI) and event-related brain potential (ERP) - were used to provide converging operations to refine a hybrid model of attention and workload. Two experiments using the psychological refractory period paradigm were conducted with stimulus-response uncertainty and inter-stimulus interval (ISI) as manipulations of workload. Reaction time was influenced by uncertainty and ISI; IBI standard deviation and spectral data were influenced by uncertainty; preliminary analysis of ERP showed N200 amplitude to be influenced by uncertainty and ISI. These results were related to a hybrid processing model formulated by Kantowitz and Knight (1976). Keywords: Workload, Biocybernetic, Psychological refractory period, Heart rate, Sinus arhythmia, Event-related potential.

This report describes a rather novel means of enhancing man's performance in highly complex, crew station environments. Specifically, we have related the benefits of on-line evaluation of physiological data to projected mission requirements for a 1990 tactical aircraft. The salient role that tactical air power must continue to play in the structure of U.S. defense forces has engendered a sophisticated technological approach to weapon system development. Therefore, we begin with an overview of the components of a 'high technology' weapon system - real-time command and control, advanced crew station and avionics design, effective defense suppression, sensor aided target acquisition, and precision-guided ordnance. Although a reliance upon advanced technology and a trend toward greater automation of aircraft functions are clearly evident, the importance of the human element should not be underestimated. This is especially true if the system is to retain the capacity to anticipate and respond to unpredictable threats. Herein lies the present dilemma. Man-in-the-loop assures that tactical aircraft will have an inherent flexibility. However, if man is unable to perform increasingly complex tasks both rapidly and accurately under all combat situations, he may severely limit, and perhaps even undermine, the inventive technology of the system he controls. It may be possible to solve this problem by taking advantage of the same improvements in digital computation and signal processing that currently influence hardware development.

The objective in the DARPA Biocybernetics Program was to investigate the use of pupillary responses in assessing attentional demands on operators of complex man-machine systems. The results of this project were strongly positive: the task-evoked pupillary response has emerged as an excellent physiological indicator of mental workload., Sponsored in part by DARPA.

This report outlines the experimental progress of the biocybernetics project in FY 1976, describes the facilities of the Cognitive Psychophysiology Laboratory, and outlines directions of current and future research. The separate components of the event related potential (ERP) are described, emphasizing the relation to task relevance, event expectancy, and information content. Also the ability to employ single trial extraction techniques for ERP classification utilizing discriminant analysis is demonstrated. Experimental reports describing these research efforts are included.

This report includes a summary and overall conclusions from the 5- year research program concerned with self-regulation as an aid to human effectiveness. While the findings clearly demonstrated that self-regulation of most physiological variables was possible, the control of these various physiological measures did not consistently lead to enhanced performance. The report also includes the current subcontracts awarded under the Biocybernetics Technology and Behavior program. The research goals and first year's progress of each subcontractor are also presented., Sponsored in part by DARPA.

CCA's biocybernetics effort had two major parts: support of the ARPA biocybernetics community and a research program focusing on EEG correlates of attention. In the area of cybernetics community support, CCA has funded a successful pilot effort to share data and analysis tools using the ARPA network. In its own research, CCA has demonstrated the feasibility of using evoked potential experiments to study a model of human learning., See also report dated 31 Dec 73, AD-779 062.

The goal of this research project is to develop biocybernetic concepts and techniques useful for the analysis and development of skills needed for the enhancement of concrete images of the 'eidetic' type. The authors treat scanpaths of the eye during observation of visual patterns as indicators of the brain's strategy for the intake of visual information. The authors attempt to determine the features that differentiate visual scanpaths associated with superior imagery from scanpaths associated with inferior imagery, and simultaneously, to differentiate the electroencephalographic features correlated with superior imagery from those correlated with inferior imagery. Incorporating this information, a closely-coupled man-machine system to generate image enhancement and to train the individual to exert greater voluntary control over his own imagery will be designed and implemented., See also Semi-annual rept. AD0773393, dated 1 Jun-30 Nov 1973.

Contents: Calibration and distortion correction of eye-movement measurement; Eye-movement monitoring and tracking; Scene-difference study: methods and analysis; Real-time scanpath analysis; Modeling of EEG signals during photic stimulation; Phase contingent averages., See also AD0773393.

The research reported involves the detection of human bioelectric phenomena that have been made analogues of ongoing cognitive processes and the utilization of these phenomena to control and/or communicate with external devices. The technique is applicable to situations requiring rapid human intervention in the control of complex systems operation. The major advantage of this project is the virtually automatic control of systems by the trained subject., See also AD0756701 and AD0764106.

The objective of this research is to test the feasibility of designing a close-coupled, two-way communication link between man and computer using biological information. The research plan is to conduct experiments to determine whether biological information from the central nervous system and muscles of portions of the vocal apparatus can be directly related to thought processes. Should a close-coupling between man and machine prove to be feasible, an individual using such a biocybernetic communication system would be able to both send and receive with a computer at the speed of thought.