Alexander V. Terekhov

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We consider the problem of what is being optimized in human actions with respect to various aspects of human movements and different motor tasks. From the mathematical point of view this problem consists of finding an unknown objective function given the values at which it reaches its minimum. This problem is called the inverse optimization problem. Until(More)
One of the key problems of motor control is the redundancy problem, in particular how the central nervous system (CNS) chooses an action out of infinitely many possible. A promising way to address this question is to assume that the choice is made based on optimization of a certain cost function. A number of cost functions have been proposed in the(More)
The goal of the research is to reconstruct the unknown cost (objective) function(s) presumably used by the neural controller for sharing the total force among individual fingers in multifinger prehension. The cost function was determined from experimental data by applying the recently developed Analytical Inverse Optimization (ANIO) method (Terekhov et al.(More)
This is an exploratory study of the accurate endpoint force vector production by the human arm in isometric conditions. We formulated three common-sense hypotheses and falsified them in the experiment. The subjects (n = 10) exerted static forces on the handle in eight directions in a horizontal plane for 25 s. The forces were of 4 magnitude levels (10, 20,(More)
The neural control of movement has been described using different sets of elemental variables. Two possible sets of elemental variables have been suggested for finger pressing tasks: the forces of individual fingers and the finger commands (also called finger modes or central commands). The authors analyzed which of the 2 sets of the elemental variables is(More)
In our previous work we proposed Model-Driven Performance Engineering (MDPE) as a methodology to integrate performance engineering into the model-driven engineering process. MDPE enables domain experts, who generally lack performance expertise, to profit from performance engineering by automating the performance analysis process using model transformations.(More)
The question of the nature of space around us has occupied thinkers since the dawn of humanity, with scientists and philosophers today implicitly assuming that space is something that exists objectively. Here, we show that this does not have to be the case: the notion of space could emerge when biological organisms seek an economic representation of their(More)
In this study we develop a feedback controller for a four wheeled autonomous mobile robot. The purpose of the controller is to guarantee robust performance of an aggressive maneuver (90 degrees turn) at high velocity (about 10 m/s) on a loose surface (dirty road). To tackle this highly nonlinear control problem, we employ multi-objective evolutionary(More)