Software variability in service robotics.

Robots artificially replicate human capabilities thanks to their software, the main embodiment of intelligence. However, engineering robotics software has become increasingly challenging. Developers need expertise from different disciplines as well as they are faced with heterogeneous hardware and uncertain operating environments. To this end, the software needs to be variable-to customize robots for different customers, hardware, and operating environments. However, variability adds substantial complexity and needs to be managed-yet, ad hoc practices prevail in the robotics domain, challenging effective software reuse, maintenance, and evolution. To improve the situation, we need to enhance our empirical understanding of variability in robotics. We present a multiple-case study on software variability in the vibrant and challenging domain of service robotics. We investigated drivers, practices, methods, and challenges of variability from industrial companies building service robots. We analyzed the state-of-the-practice and the state-of-the-art-the former via an experience report and eleven interviews with two service robotics companies; the latter via a systematic literature review. We triangulated from these sources, reporting observations with actionable recommendations for researchers, tool providers, and practitioners. We formulated hypotheses trying to explain our observations, and also compared the state-of-the-art from the literature with the-state-of-the-practice we observed in our cases. We learned that the level of abstraction in robotics software needs to be raised for simplifying variability management and software integration, while keeping a sufficient level of customization to boost efficiency and effectiveness in their robots' operation. Planning and realizing variability for specific requirements and implementing robust abstractions permit robotic applications to operate robustly in dynamic environments, which are often only partially known and controllable. With this aim, our companies use a number of mechanisms, some of them based on formalisms used to specify robotic behavior, such as finite-state machines and behavior trees. To foster software reuse, the service robotics domain will greatly benefit from having software components-completely decoupled from hardware-with harmonized and standardized interfaces, and organized in an ecosystem shared among various companies.

Modulation of gamma oscillations as a possible therapeutic tool for neuropsychiatric diseases: A review and perspective.

Gamma oscillations (30-80 Hz) are well-known for their role in cortical signal transmission and cognitive brain functions. Aberrant gamma activity has been observed in various neuropsychiatric disorders, but the clinical potential of restoring gamma oscillations via noninvasive brain stimulation has been widely neglected. Only recently, therapeutic effects of gamma entrainment were documented in mouse models of Alzheimer's dementia (AD) using rhythmic sensory stimulation. In the present review, we first summarize the current status of the research on gamma entrainment in mouse models of AD and human AD patients. Then, we suggest transcranial alternating current stimulation (tACS) as an alternative brain stimulation technique and review the recent literature on the effects of gamma tACS in healthy volunteers and neuropsychiatric diseases to document the efficacy of gamma tACS in improving cognitive functions. We discuss several advantages of tACS compared to rhythmic sensory stimulation for the entrainment of gamma oscillations in the human brain and emphasize the need for more clinical studies applying tACS to drive gamma oscillations and, in turn, to improve cognitive functioning not only in AD but also in patients suffering from other neuropsychiatric disorders.

Non-invasive Brain Stimulation: A Paradigm Shift in Understanding Brain Oscillations.

Cognitive neuroscience set out to understand the neural mechanisms underlying cognition. One central question is how oscillatory brain activity relates to cognitive processes. Up to now, most of the evidence supporting this relationship was correlative in nature. This situation changed dramatically with the recent development of non-invasive brain stimulation (NIBS) techniques, which open up new vistas for neuroscience by allowing researchers for the first time to validate their correlational theories by manipulating brain functioning directly. In this review, we focus on transcranial alternating current stimulation (tACS), an electrical brain stimulation method that applies sinusoidal currents to the intact scalp of human individuals to directly interfere with ongoing brain oscillations. We outline how tACS can impact human brain oscillations by employing different levels of observation from non-invasive tACS application in healthy volunteers and intracranial recordings in patients to animal studies demonstrating the effectiveness of alternating electric fields on neurons in vitro and in vivo. These findings likely translate to humans as comparable effects can be observed in human and animal studies. Neural entrainment and plasticity are suggested to mediate the behavioral effects of tACS. Furthermore, we focus on mechanistic theories about the relationship between certain cognitive functions and specific parameters of brain oscillaitons such as its amplitude, frequency, phase and phase coherence. For each of these parameters we present the current state of testing its functional relevance by means of tACS. Recent developments in the field of tACS are outlined which include the stimulation with physiologically inspired non-sinusoidal waveforms, stimulation protocols which allow for the observation of online-effects, and closed loop applications of tACS.

Ten Minutes of α-tACS and Ambient Illumination Independently Modulate EEG α-Power.

Transcranial alternating current stimulation (tACS) sees increased use in neurosciences as a tool for the exploration of brain oscillations. It has been shown that tACS stimulation in specific frequency bands can result in aftereffects of modulated oscillatory brain activity that persist after the stimulation has ended. The general relationship between persistency of the effect and duration of stimulation is sparsely investigated but previous research has shown that the occurrence of tACS aftereffects depends on the brain state before and during stimulation. Early alpha neurofeedback research suggests that particularly in the alpha band the responsiveness to a manipulation depends on the ambient illumination during measurement. Therefore, in the present study we assessed the brain's susceptibility to tACS at the individual alpha frequency during darkness compared to ambient illumination. We measured alpha power after 10 min of stimulation in 30 participants while they continuously performed a visual vigilance task. Our results show that immediately after stimulation, the alpha power in the illumination condition for both the stimulated and sham group has increased by only about 7%, compared to about 20% in both groups in the 'dark' condition. For the group that did not receive stimulation, the power in darkness remained stable after stimulation, whereas the power in light increased by an additional 10% during the next 30 min. For the group that did receive stimulation, alpha power during these 30 min increased by another 11% in light and 22% in darkness. Since alpha power already increased by about 10% without stimulation, the effect of illumination does not seem to have interacted with the effect of stimulation. Instead, both effects seem to have added up linearly. Although our findings do not show that illumination-induced differences in oscillatory activity influence the susceptibility toward tACS, they stress the importance of controlling for factors like ambient light that might add an independent increase or decrease to the power of brain oscillations during periods, where possible persistent effects of stimulation are explored.

EEG oscillations: From correlation to causality.

Already in his first report on the discovery of the human EEG in 1929, Berger showed great interest in further elucidating the functional roles of the alpha and beta waves for normal mental activities. Meanwhile, most cognitive processes have been linked to at least one of the traditional frequency bands in the delta, theta, alpha, beta, and gamma range. Although the existing wealth of high-quality correlative EEG data led many researchers to the conviction that brain oscillations subserve various sensory and cognitive processes, a causal role can only be demonstrated by directly modulating such oscillatory signals. In this review, we highlight several methods to selectively modulate neuronal oscillations, including EEG-neurofeedback, rhythmic sensory stimulation, repetitive transcranial magnetic stimulation (rTMS), and transcranial alternating current stimulation (tACS). In particular, we discuss tACS as the most recent technique to directly modulate oscillatory brain activity. Such studies demonstrating the effectiveness of tACS comprise reports on purely behavioral or purely electrophysiological effects, on combination of behavioral effects with offline EEG measurements or on simultaneous (online) tACS-EEG recordings. Whereas most tACS studies are designed to modulate ongoing rhythmic brain activity at a specific frequency, recent evidence suggests that tACS may also modulate cross-frequency interactions. Taken together, the modulation of neuronal oscillations allows to demonstrate causal links between brain oscillations and cognitive processes and to obtain important insights into human brain function.

Multistable perception in children: Prefrontal delta oscillations in the developing brain.

The prefrontal cortex (PFC) is considered to be the primary source of attentional control during elementary visual processing as exemplified in perceptual ambiguity. Assuming that multistable perception activates a fronto-parietal network, we contrast the results of mature and developing cognitive systems to deduce the developmental status of underlying structures from behavioral performances and functional EEG parameters. We analyzed the topographical distribution, amplitude characteristics and inter-trial variability of a reversal-related delta response that accompanies perceptual switches between the two alternative percepts of an ambiguous motion pattern. Fourteen ten-year old children and an adult control group indicated changes of perceived motion directions by a button-press. EEG was recorded from frontal, central, parietal, and occipital locations of both hemispheres. Behavioral data shows a considerably lower reversal rate within the children sample, suggesting that the related mechanisms are not yet operating on an adult level. In contrast to findings in adults, the involved delta component emerges as part of an unspecific posterior activation, suggesting that a cortical specialization process has not been accomplished yet. On frontal locations the ten-year old children fail to yield a stable component. The synchronized fronto-parietal activity in adults may constitute the result of a specialization process that determined connection patterns and functionally tuned the involved areas. This implies a deficit in timing and temporal sequencing of neuronal activity in children, mainly attributable to a less functional differentiated PFC that has not been fully integrated yet into the cognitive ensemble.

Theta response in schizophrenia is indifferent to perceptual illusion.

OBJECTIVE: Patients with schizophrenia are impaired in maintaining coherent perceptual experiences. This is reflected in the oscillatory theta response and can be investigated by visual illusions. Ambiguous stimuli elicit illusory perceptual switches while the stimulus remains unchanged. METHODS: Theta responses elicited by an ambiguous and unambiguous control stimulus were measured using the EEG during time periods of perceptual switching and perceptual stability (non-switching). RESULTS: For the ambiguous task, theta activity increased during perceptual switching in healthy controls only. For the unambiguous task, the switching-related increase of theta activity was larger in controls than in patients. This reduced modulation of the theta response seems not to be related to a general decrease of theta activity in patients. CONCLUSIONS: These findings may be related to disturbances in the spatio-temporal integration of neural activity in patients. Reporting ambiguous and unambiguous perceptual switches seems to be more demanding for patients with schizophrenia than healthy controls. SIGNIFICANCE: This is one of the first studies on the neurophysiologic correlates of illusory perception in schizophrenia. Focussing on the relation between different brain states (such as switching and non-switching) might integrate different findings about altered theta oscillations in schizophrenia.

On the possible role of stimulation duration for after-effects of transcranial alternating current stimulation.

Transcranial alternating current stimulation is a novel method that allows application of sinusoidal currents to modulate brain oscillations and cognitive processes. Studies in humans have demonstrated transcranial alternating current stimulation (tACS) after-effects following stimulation durations in the range of minutes. However, such after-effects are absent in animal studies using much shorter stimulation protocols in the range of seconds. Thus, stimulation duration might be a critical parameter for after-effects to occur. To test this hypothesis, we repeated a recent human tACS experiment with a short duration. We applied alpha tACS intermittently for 1 s duration while keeping other parameters identical. The results demonstrate that this very short intermittent protocol did not produce after-effects on amplitude or phase of the electroencephalogram. Since synaptic plasticity has been suggested as a possible mechanism for after-effects, our results indicate that a stimulation duration of 1 s is too short to induce synaptic plasticity. Future studies in animals are required that use extended stimulation durations to reveal the neuronal underpinnings. A better understanding of the mechanisms of tACS after-effects is crucial for potential clinical applications.

Selective modulation of interhemispheric functional connectivity by HD-tACS shapes perception.

Oscillatory neuronal synchronization between cortical areas has been suggested to constitute a flexible mechanism to coordinate information flow in the human cerebral cortex. However, it remains unclear whether synchronized neuronal activity merely represents an epiphenomenon or whether it is causally involved in the selective gating of information. Here, we combined bilateral high-density transcranial alternating current stimulation (HD-tACS) at 40 Hz with simultaneous electroencephalographic (EEG) recordings to study immediate electrophysiological effects during the selective entrainment of oscillatory gamma-band signatures. We found that interhemispheric functional connectivity was modulated in a predictable, phase-specific way: In-phase stimulation enhanced synchronization, anti-phase stimulation impaired functional coupling. Perceptual correlates of these connectivity changes were found in an ambiguous motion task, which strongly support the functional relevance of long-range neuronal coupling. Additionally, our results revealed a decrease in oscillatory alpha power in response to the entrainment of gamma band signatures. This finding provides causal evidence for the antagonistic role of alpha and gamma oscillations in the parieto-occipital cortex and confirms that the observed gamma band modulations were physiological in nature. Our results demonstrate that synchronized cortical network activity across several spatiotemporal scales is essential for conscious perception and cognition.

Impact of early adversity on glucocorticoid regulation and later mental disorders.

Early adverse experiences such as abuse or neglect can influence brain development and consequently bring forth a predisposition toward mental and behavioral disorders. Many authors suggest that long-term changes in the functionality of the HPA axis might be involved in mediating this relationship. The direction of change and its consequences have not been clarified though: Do early adverse experiences yield a stable glucocorticoid hyperfunction or a long-term glucocorticoid hypofunction, and how is this change of functionality associated with mental or behavioral disorders? This review summarizes correlative findings and illustrates inconsistencies of current research literature. It focuses on the specific neurochemical milieu accompanying early adverse experiences and discusses possible interactions of the glucocorticoid system with oxytocin and components of the serotonergic system. On the basis of this physiological view, a novel two-pathway model is presented, according to which specific early experiences are associated with characteristic early changes in the functionality of these systems and result in a predisposition to distinct mental and behavioral disorders.

Time-frequency analysis of event-related potentials: a brief tutorial.

Event-related potentials (ERPs) reflect cognitive processes and are usually analyzed in the so-called time domain. Additional information on cognitive functions can be assessed when analyzing ERPs in the frequency domain and treating them as event-related oscillations (EROs). This procedure results in frequency spectra but lacks information about the temporal dynamics of EROs. Here, we describe a method-called time-frequency analysis-that allows analyzing both the frequency of an ERO and its evolution over time. In a brief tutorial, the reader will learn how to use wavelet analysis in order to compute time-frequency transforms of ERP data. Basic steps as well as potential artifacts are described. Rather than in terms of formulas, descriptions are in textual form (written text) with numerous figures illustrating the topics. Recommendations on how to present frequency and time-frequency data in journal articles are provided. Finally, we briefly review studies that have applied time-frequency analysis to mismatch negativity paradigms. The deviant stimulus of such a paradigm evokes an ERO in the theta frequency band that is stronger than for the standard stimulus. Conversely, the standard stimulus evokes a stronger gamma-band response than does the deviant. This is interpreted in the context of the so-called match-and-utilization model.

Antiphasic 40 Hz oscillatory current stimulation affects bistable motion perception.

When viewing ambiguous stimuli, conscious perception alternates spontaneously between competing interpretations of physically unchanged stimulus information. As one possible neural mechanism underlying the perceptual switches, it has been suggested that neurons dynamically change their pattern of synchronized oscillatory activity in the gamma band (30-80 Hz). In support of this hypothesis, there is correlative evidence from human electroencephalographic (EEG) studies for gamma band modulations during ambiguous perception. To establish a causal role of gamma band oscillations in the current study, we applied transcranial alternating current stimulation (tACS) at 40 Hz over occipital-parietal areas of both hemispheres during the presentation of bistable apparent motion stimuli that can be perceived as moving either horizontally or vertically. In this paradigm, the switch between horizontal and vertical apparent motion is likely to involve a change in interhemispheric functional coupling. We examined gamma tACS effects on the durations of perceived horizontal and vertical motion as well as on interhemispheric EEG coherence and found a decreased proportion of perceived horizontal motion together with an increase of interhemispheric gamma band coherence. In a control experiment using 6 Hz tACS, we did not observe any stimulation effects on behavior or coherence. Furthermore, external stimulation at 40 Hz was only effective when applied with 180° phase difference between hemispheres (anti-phase), as compared to in-phase stimulation with 0° phase difference. These findings suggest that externally desynchronizing gamma oscillations between hemispheres impairs interhemispheric motion integration and in turn biases conscious experience of bistable apparent motion.

Transcranial alternating current stimulation: a review of the underlying mechanisms and modulation of cognitive processes.

Brain oscillations of different frequencies have been associated with a variety of cognitive functions. Convincing evidence supporting those associations has been provided by studies using intracranial stimulation, pharmacological interventions and lesion studies. The emergence of novel non-invasive brain stimulation techniques like repetitive transcranial magnetic stimulation (rTMS) and transcranial alternating current stimulation (tACS) now allows to modulate brain oscillations directly. Particularly, tACS offers the unique opportunity to causally link brain oscillations of a specific frequency range to cognitive processes, because it uses sinusoidal currents that are bound to one frequency only. Using tACS allows to modulate brain oscillations and in turn to influence cognitive processes, thereby demonstrating the causal link between the two. Here, we review findings about the physiological mechanism of tACS and studies that have used tACS to modulate basic motor and sensory processes as well as higher cognitive processes like memory, ambiguous perception, and decision making.

Neural correlates of social motivation: an fMRI study on power versus affiliation.

Power versus affiliation motivations refer to two different strivings relevant in the context of social relationships. We used functional magnetic resonance imaging (fMRI) to determine neural structures involved in power versus affiliation motivation based on an individual differences approach. Seventeen participants provided self-reports of power and affiliation motives and were presented with love, power-related, and control movie clips. The power motive predicted activity in four clusters within the left prefrontal cortex (PFC), while participants viewed power-related film clips. The affiliation motive predicted activity in the right putamen/pallidum while participants viewed love stories. The present findings extend previous research on social motivations to the level of neural functioning and suggest differential networks for power-related versus affiliation-related social motivations.

Neurophysiological correlates of laboratory-induced aggression in young men with and without a history of violence.

In order to further understand the mechanisms involved in planning an aggressive act, we conducted an event-related potential (ERP) study of young men with and without a history of violence. Participants completed a competitive reaction time task (based on the Taylor aggression paradigm) against a virtual opponent. In "passive" blocks, participants were punished by the opponent when losing the trial but could not punish, when winning, whereas in "active" blocks, participants were able to punish the opponent when winning, but were not punished when losing. Participants selected punishment strength in a decision phase prior to each reaction time task and were informed whether they had won or lost in the outcome phase. Additionally, a flanker task was conducted to assess basic performance monitoring. Violent participants selected stronger punishments, especially in "active" blocks. During the decision phase, a frontal P200 was more pronounced for violent participants, whereas non-violent participants showed an enhanced frontal negativity around 300 ms. The P200 might reflect the decision to approach the opponent at a very early state, the latter negativity could reflect inhibition processes, leading to a more considerate reaction in non-violent participants. During the outcome phase, a Feedback-Related Negativity was seen in both groups. This effect was most pronounced when losing entailed a subsequent inability to retaliate. The groups did not differ in the flanker task, indicating intact basic performance monitoring. Our data suggest that the planning of an aggressive act is associated with distinct brain activity and that such activity is differentially represented in violent and non-violent individuals.

Auditory event-related response in visual cortex modulates subsequent visual responses in humans.

Growing evidence from electrophysiological data in animal and human studies suggests that multisensory interaction is not exclusively a higher-order process, but also takes place in primary sensory cortices. Such early multisensory interaction is thought to be mediated by means of phase resetting. The presentation of a stimulus to one sensory modality resets the phase of ongoing oscillations in another modality such that processing in the latter modality is modulated. In humans, evidence for such a mechanism is still sparse. In the current study, the influence of an auditory stimulus on visual processing was investigated by measuring the electroencephalogram (EEG) and behavioral responses of humans to visual, auditory, and audiovisual stimulation with varying stimulus-onset asynchrony (SOA). We observed three distinct oscillatory EEG responses in our data. An initial gamma-band response around 50 Hz was followed by a beta-band response around 25 Hz, and a theta response around 6 Hz. The latter was enhanced in response to cross-modal stimuli as compared to either unimodal stimuli. Interestingly, the beta response to unimodal auditory stimuli was dominant in electrodes over visual areas. The SOA between auditory and visual stimuli--albeit not consciously perceived--had a modulatory impact on the multisensory evoked beta-band responses; i.e., the amplitude depended on SOA in a sinusoidal fashion, suggesting a phase reset. These findings further support the notion that parameters of brain oscillations such as amplitude and phase are essential predictors of subsequent brain responses and might be one of the mechanisms underlying multisensory integration.

Gamma in motion: pattern reversal elicits stronger gamma-band responses than motion.

Previous studies showed higher gamma-band responses (GBRs, ≈40 Hz) of the electroencephalogram (EEG) for moving compared to stationary stimuli. However, it is unclear whether this modulation by motion reflects a special responsiveness of the GBR to the stimulus feature "motion," or whether GBR enhancements of similar magnitude can be elicited also by a salient change within a static stimulus that does not include motion. Therefore, we measured the EEG of healthy subjects watching stationary square wave gratings of high contrast that either started to move or reversed their black and white pattern shortly after their onset. The strong contrast change of the pattern reversal represented a salient but motionless change within the grating that was compared to the onset of the stationary grating and the motion onset. Induced and evoked GBRs were analyzed for all three display conditions. In order to assess the influence of fixational eye movements on the induced GBRs, we also examined the time courses of microsaccade rates during the three display conditions. Amplitudes of both evoked and induced GBRs were stronger for pattern reversal than for motion onset. There was no significant amplitude difference between the onsets of the stationary and moving gratings. However, mean frequencies of the induced GBR were ~10 Hz higher in response to the onsets of moving compared to stationary gratings. Furthermore, the modulations of the induced GBR did not parallel the modulations of microsaccade rate, indicating that our induced GBRs reflect neuronal processes. These results suggest that, within the gamma-band range, the encoding of moving gratings in early visual cortex is primarily based on an upward frequency shift, whereas contrast changes within static gratings are reflected by amplitude enhancement.

[Neurobiological aspects of reactive and proactive violence in antisocial personality disorder and "psychopathy"]. / Neurobiologische Aspekte reaktiver und proaktiver Gewalt bei antisozialer Persönlichkeitsstörung und "Psychopathie".

Impulsive-reactive violent offenders show increased autonomic activity in response to negative emotional and threatening stimuli. A volume reduction and/or activity decrease of frontal brain structures associated with impulse control and the regulation of fear and anger are likewise found in combination with a fear-related hyperactivity of the amygdala. In addition, impulsive aggression is facilitated by variants of gene polymorphisms influencing the serotonergic system. Conversely, proactive-instrumental violent offender with psychopathy, who are characterized by a lack of empathy and remorse, demonstrate an autonomic hypo-responsivity as well as dysfunctions of the amygdala and of cortical regions related to empathic and social behavior. Developmentally, aggressive children exhibit temperamental differences from early childhood on that are characteristic of a developmental pathway towards either reactive or proactive violence later in life. Exposure to negative environmental factors like ineffective parenting or childhood maltreatment has been related to a heightened risk for developing reactive violence. A developmental trajectory of proactive violence, however, has been related to a mostly genetically determined callous unemotional temperament of the child that disrupts the parental socialization efforts during childhood.

Sex, aggression and impulse control: an integrative account.

There is evidence that the male sex and a personality style characterized by low self-control/high impulsivity and a propensity for negative emotionality increase the risk for impulsive aggressive, antisocial and criminal behavior. This article aims at identifying neurobiological factors underlying this association. It is concluded that the neurobiological correlates of impulsive aggression act through their effects on the ability to modulate impulsive expression more generally, and that sex-related differences in the neurobiological correlates of impulse control and emotion regulation mediate sex differences in direct aggression. A model is proposed that relates impulse control and its neurobiological correlates to sex differences in direct aggression.