Planning versus online control: dynamic illusion effects in grasping?

The planning/control model of action assumes that grasping is sensitive to the context of an object only in early stages of the movement (planning), but not in later stages (control). In consequence, the effects of context-induced illusions (such as the Ebbinghaus/Titchener illusion) should decrease during a grasping movement. Here, we tested this claim by reanalysing a large data set (N = 26) on grasping in the Ebbinghaus illusion. Contrary to the predictions of the planning/control model, we found that the effects of the illusion did not decrease over time. Instead, the illusion effects stayed remarkably constant.     

Effects of the Ebbinghaus illusion on different behaviors: one- and two-handed grasping; one- and two-handed manual estimation; metric and comparative judgment

Many studies have suggested that visually-guided action is largely immune to the effects of several pictorial illusions that strongly influence perceptual judgments. The judgments in these experiments, however, have usually involved comparisons of multiple elements within a display, whereas the visually-guided actions have typically involved a pincer grip directed to only one display element. The three experiments presented here assess the influence of this confound on the perception versus action illusion dissociation. In general, the studies suggest (a) that the confound affects perceptual judgment but not grasping or manual estimation, and (b) that difficult visuomotor tasks are more affected by the Ebbinghaus illusion than easier tasks. In Experiment 1, participants reached for or made judgments about plastic disks placed in the center of the Ebbinghaus illusion display. Some participants reached for or made judgments about only the disk on the right, whereas others reached for or judged both disks simultaneously. A large effect of the illusion was found for grasping and comparative judgment, but not for manual estimation or metric judgment. In Experiment 2, the disks were elevated slightly to make gripping the targets easier, and the effects of the illusion on grasping were greatly reduced. For Experiment 3, participants performed the manual estimation task while the hands were placed in view, on the surface of the table, and the effects of the illusion were significantly increased. Taken together, the experiments indicate that task difficulty and hand visibility affect whether a task will be influenced by pictorial illusions or not. One- and two-handed grasping seem to be affected approximately equally.     

The dissociation between perception and action in the Ebbinghaus illusion: nonillusory effects of pictorial cues on grasp

According to a recently proposed distinction [1] between vision for perception and vision for action, visually guided movements should be largely immune to the perceptually compelling changes in size produced by pictorial illusions. Tests of this prediction that use the Ebbinghaus illusion have revealed only small effects of the illusion on grasp scaling as compared to its effect on perception [2-4]. Nevertheless, some have argued that the small effect on grasp implies that there is a single representation of size for both perception and action [5]. Recent findings, however, suggest that the 2-D pictorial elements, such as those comprising illusory backgrounds, can sometimes be treated as obstacles and thereby influence the programming of grasp [6]. The arrangement of the 2-D elements commonly used in previous studies examining the Ebbinghaus illusion could therefore give rise to an effect on grasp scaling that is independent of its effect on perceptual judgements, even though the two effects are in the same direction. We present evidence demonstrating that when the gap between the target and the illusion-making elements in the Ebbinghaus illusion is equidistant across different perceptual conditions (Figure 1a), the apparent effect of the illusion on grasp scaling is eliminated.     

Accurate visuomotor control below the perceptual threshold of size discrimination

Background

Human resolution for object size is typically determined by psychophysical methods that are based on conscious perception. In contrast, grasping of the same objects might be less conscious. It is suggested that grasping is mediated by mechanisms other than those mediating conscious perception. In this study, we compared the visual resolution for object size of the visuomotor and the perceptual system.

Methodology/Principal Findings

In Experiment 1, participants discriminated the size of pairs of objects once through perceptual judgments and once by grasping movements toward the objects. Notably, the actual size differences were set below the Just Noticeable Difference (JND). We found that grasping trajectories reflected the actual size differences between the objects regardless of the JND. This pattern was observed even in trials in which the perceptual judgments were erroneous. The results of an additional control experiment showed that these findings were not confounded by task demands. Participants were not aware, therefore, that their size discrimination via grasp was veridical.

Conclusions/Significance

We conclude that human resolution is not fully tapped by perceptually determined thresholds. Grasping likely exhibits greater resolving power than people usually realize.     

Going round in circles: shape effects in the Ebbinghaus illusion

The Ebbinghaus illusion has traditionally been considered as either a sensory or a cognitive illusion, or some combination of these two. Cognitive contrast explanations take support from the way the illusion varies with the degree of shape similarity between the test and inducing elements; we show, however, that contour interaction explanations may account for this result too. We therefore tested these alternative theories by measuring the illusion with different test shapes as well as different inducer shapes, in all combinations. We found that for angular or hexagonal test shapes there is no similarity effect, and for some shape combinations there is no significant illusion, in contradiction to both of the traditional hypotheses. Instead, we suggest that an integrated model of visual processing is needed to account for the illusion.     

The visual ambiguity of a moving plane

It is shown that the optic flow field arising from motion relative to a visually textured plane may be characterized by eight parameters that depend on the observer's linear and angular velocity and the coordinate vector of the plane. These three vectors are not, however, uniquely determined by the values of the eight parameters. First, the optic flow field does not supply independent values for the observer's speed and distance from the plane; it only gives the ratio of these two quantities. But more unexpectedly, the equations relating the observer's linear velocity and the plane's coordinate vector to the eight parameters are still satisfied if the two vectors are interchanged or reversed in direction, or both. So in addition to the veridical interpretation of the optic flow field there exist three spurious interpretations to be considered and if possible excluded. This purpose is served by the condition that an interpretation can be seriously entertained only if it attributes every image element to a light source in the observer's field of view. This condition immediately eliminates one of the spurious interpretations, and exhibits the other two as mutually inconsistent: one of them is tenable only if all the visible sources lie on the forward half of the plane (relative to the observer's linear velocity); the other only if they all lie on the backward half-plane. If the sources are distributed over both halves of the plane, only the veridical interpretation survives. Its computation involves solving a 3 X 3 eigenvalue problem derived from the flow field. If the upper two eigenvalues coincide, the observer must be moving directly towards the plane; if the lower two eigenvalues coincide, his motion must be directly away from it; in both cases the spurious interpretation merges with the veridical one. If all three eigenvalues are equal, it may be inferred that either the observer's linear velocity vanishes or the plane is infinitely distant.     

Object Grasping using the Minimum Variance Model

Reaching-to-grasp has generally been classified as the coordination of two separate visuomotor processes: transporting the hand to the target object and performing the grip. An alternative view has recently been formed that grasping can be explained as pointing movements performed by the digits of the hand to target positions on the object. We have previously implemented the minimum variance model of human movement as an optimal control scheme suitable for control of a robot arm reaching to a target. Here, we extend that scheme to perform grasping movements with a hand and arm model. Since the minimum variance model requires that signal-dependent noise be present on the motor commands to the actuators of the movement, our approach is to plan the reach and the grasp separately, in line with the classical view, but using the same computational model for pointing, in line with the alternative view. We show that our model successfully captures some of the key characteristics of human grasping movements, including the observations that maximum grip size increases with object size (with a slope of approximately 0.8) and that this maximum grip occurs at 60–80% of the movement time. We then use our model to analyse contributions to the digit end-point variance from the two components of the grasp (the transport and the grip). We also briefly discuss further areas of investigation that are prompted by our model.     

Spatiotemporal representation of 3D hand trajectory based on beta-elliptic models

The aim of this paper was to model the hand trajectory during grasping by an extension in 3D of the 2D written language beta-elliptic model. The interest of this model is that it takes into account both geometric and velocity information. The method relies on the decomposition of the task space trajectories in elementary bricks. The latter is characterized by a velocity profile modelled with beta functions and a geometry modelled with elliptic shapes. A data base of grasping movements has been constructed and the errors of reconstruction were assessed (distance and curvature) considering two variations of the beta-elliptic model (‘quarter ellipse’ and ‘two tangents points’ method). The results showed that the method based on two tangent points outperforms the quarter ellipse method with average and maximum relative errors of 2.73% and 8.62%, respectively, and a maximum curvature error of 9.26% for the former. This modelling approach can find interesting application to characterize the improvement due to a rehabilitation or teaching process by a quantitative measurement of hand trajectory parameters.     

Grasping kinematics from the perspective of the individual digits: a modelling study

Grasping is a prototype of human motor coordination. Nevertheless, it is not known what determines the typical movement patterns of grasping. One way to approach this issue is by building models. We developed a model based on the movements of the individual digits. In our model the following objectives were taken into account for each digit: move smoothly to the preselected goal position on the object without hitting other surfaces, arrive at about the same time as the other digit and never move too far from the other digit. These objectives were implemented by regarding the tips of the digits as point masses with a spring between them, each attracted to its goal position and repelled from objects' surfaces. Their movements were damped. Using a single set of parameters, our model can reproduce a wider variety of experimental findings than any previous model of grasping. Apart from reproducing known effects (even the angles under which digits approach trapezoidal objects' surfaces, which no other model can explain), our model predicted that the increase in maximum grip aperture with object size should be greater for blocks than for cylinders. A survey of the literature shows that this is indeed how humans behave. The model can also adequately predict how single digit pointing movements are made. This supports the idea that grasping kinematics follow from the movements of the individual digits.     

Design of grasping methodologies for rotational assembly components

This article describes a design methodology for grasping assembly components. Three heuristics are developed. The first determines feasible grasping configurations based on component geometric information. The second heuristic determines feasible grasping configurations by including gripper functional attributes. The third heuristic generates the final set of grasping configurations by including the area available for grasping a component. An interactive program written in Fortran 77 is developed to capture the user inputs, and a sample application is described. The methodology does not assume an initial feeding state of the component to the robot. The grasping configurations generated (if more than one) provide the designer with alternate feasible feeding methods.     

Combining choice modeling estimates and stochastic simulations to assess the potential of new crops—The case of lignocellulosic perennials in Southwestern Germany

In the future, the lignocellulosic perennial crops short rotation coppice (SRC) and miscanthus are supposed to provide renewable raw materials for a bio‐based economy. To assess the potential regional supply of these crops, which are not yet widespread in Baden–Wuerttemberg (Southwest Germany), we used a two‐step approach. In a first step, we conducted a Discrete Choice Experiment (DCE) in regions of Baden–Wuerttemberg that—given their site conditions—are suitable for SRC or miscanthus. The respondents were characterized by significant preference heterogeneity for both (negatively valued) perennial crops and for all presented choice attributes. Thus, it was appropriate to estimate a random parameter logit model (RPL). The attributes average yearly contribution margin, long‐term purchase guarantee and cultivation by colleagues in the neighborhood had a significantly positive effect on the likelihood of cultivation, whereas the attributes contribution margin variability and initial investment need showed a significantly negative effect. In a second step, assuming realistic values for the levels of the attributes considered in the DCE, in stochastic simulations, we randomly draw part‐worth utilities from the multivariate normal distribution of these parameters according to the RPL results. This way, for alternative biomass prices, we derived shares of farmers’ willing to engage in perennial crop production and produced related regional supply functions. Under moderate yield and realistic input and farmland opportunity cost assumptions, the full regional miscanthus potential can only be achieved when farmers are offered either subsidies or price‐risk‐reducing long‐term contracts. Based on empirically determined heterogeneous farmer preferences, our two‐step approach is suitable to yield realistic estimations of any not yet implemented farming practices. We finally note caveats related to our analysis and discuss some policy implications of the major findings.     

All Effects of Psychophysical Variables on Color Attributes: A Classification System

This paper reports the research and structuring of a classification system for the effects of psychophysical variables on the color attributes. A basic role of color science is to psychophysically specify color appearance. An early stage is to specify the effects of the psychophysical variables (as singles, pairs, etc) on the color attributes (as singles, pairs, etc), for example to model color appearance. Current data on effects are often scarce or conflicting. Few effects are well understood, and the practice of naming effects after their discoverer(s) is inadequate and can be confusing. The number and types of possible effects have never been systematically analyzed and categorized. We propose a simple and rigorous system of classification including nomenclature. The total range of effects is computed from the possible combinations of three psychophysical variables (luminance, dominant wavelength, purity) and six color attributes (lightness, brightness, hue, chroma, colorfulness, saturation) in all modes of appearance. Omitting those effects that are normally impossible to perceive at any one time (such as four- or five-dimensional colors), the total number perceivable is 161 types of effects for all modes of appearance. The type of effect is named after the psychophysical stimulus (or stimuli) and the relevant color attribute(s), e.g., Luminance-on-hue effect (traditionally known as Bezold-Brucke effect). Each type of effect may include slightly different effects with infinite variations depending on experimental parameters.     

Big‐sized trees overrule remaining trees' attributes and species richness as determinants of aboveground biomass in tropical forests

Large‐diameter, tall‐stature, and big‐crown trees are the main stand structures of forests, generally contributing a large fraction of aboveground biomass, and hence play an important role in climate change mitigation strategies. Here, we hypothesized that the effects of large‐diameter, tall‐stature, and big‐crown trees overrule the effects of species richness and remaining trees attributes on aboveground biomass in tropical forests (i.e., we term the “big‐sized trees hypothesis”). Specifically, we assessed the importance of: (a) the “top 1% big‐sized trees effect” relative to species richness; (b) the “99% remaining trees effect” relative to species richness; and (c) the “top 1% big‐sized trees effect” relative to the “99% remaining trees effect” and species richness on aboveground biomass. Using environmental factor and forest inventory datasets from 712 tropical forest plots in Hainan Island of southern China, we tested several structural equation models for disentangling the relative effects of big‐sized trees, remaining trees attributes, and species richness on aboveground biomass, while considering for the full (indirect effects only) and partial (direct and indirect effects) mediation effects of climatic and soil conditions, as well as interactions between species richness and trees attributes. We found that top 1% big‐sized trees attributes strongly increased aboveground biomass (i.e., explained 55%–70% of the accounted variation) compared to species richness (2%–18%) and 99% remaining trees attributes (6%–10%). In addition, species richness increased aboveground biomass indirectly via increasing big‐sized trees but via decreasing remaining trees. Hence, we show that the “big‐sized trees effect” overrides the effects of remaining trees attributes and species richness on aboveground biomass in tropical forests. This study also indicates that big‐sized trees may be more susceptible to atmospheric drought. We argue that the effects of big‐sized trees on species richness and aboveground biomass should be tested for better understanding of the ecological mechanisms underlying forest functioning.     

Use of a self-propelled,fish-shaped,computer model to study the effects of shape and tail-beat frequency on torque and velocity in salmon-shaped fish

The relationship between fish shape, swimming ability and energy consumption during swimming in fish is complex and not well understood. In this paper, we show how a self-propelled 3-D fish model can be used to examine the effect of controlled changes in some shape parameters. Parameters of the model fish are modified and the resulting fish activated for short swimming episodes during which swimming velocity, torque and energy expenditure are calculated in the computer environment. The effect of shape was determined for two different fish shapes swimming at three different tail-beat frequencies (1.43, 0.94 and 0.64?Hz). The simulation results indicate that fish model one (based on a salmon) has stronger swimming ability than fish model two (a modified salmon fish shape) even though energy expenditure of fish shape two is greater than that of fish shape one. In the same fish types, the fish-swimming velocity and energy expenditure are proportional to tail-beat frequency. This model has the potential to be useful, particularly for predicting fish behavior in fish swim ways and the tail-water of energy turbines.     

Learning visuomotor transformations for gaze-control and grasping

For reaching to and grasping of an object, visual information about the object must be transformed into motor or postural commands for the arm and hand. In this paper, we present a robot model for visually guided reaching and grasping. The model mimics two alternative processing pathways for grasping, which are also likely to coexist in the human brain. The first pathway directly uses the retinal activation to encode the target position. In the second pathway, a saccade controller makes the eyes (cameras) focus on the target, and the gaze direction is used instead as positional input. For both pathways, an arm controller transforms information on the target’s position and orientation into an arm posture suitable for grasping. For the training of the saccade controller, we suggest a novel staged learning method which does not require a teacher that provides the necessary motor commands. The arm controller uses unsupervised learning: it is based on a density model of the sensor and the motor data. Using this density, a mapping is achieved by completing a partially given sensorimotor pattern. The controller can cope with the ambiguity in having a set of redundant arm postures for a given target. The combined model of saccade and arm controller was able to fixate and grasp an elongated object with arbitrary orientation and at arbitrary position on a table in 94% of trials.     

A Common Cortical Circuit Mechanism for Perceptual Categorical Discrimination and Veridical Judgment

Perception involves two types of decisions about the sensory world: identification of stimulus features as analog quantities, or discrimination of the same stimulus features among a set of discrete alternatives. Veridical judgment and categorical discrimination have traditionally been conceptualized as two distinct computational problems. Here, we found that these two types of decision making can be subserved by a shared cortical circuit mechanism. We used a continuous recurrent network model to simulate two monkey experiments in which subjects were required to make either a two-alternative forced choice or a veridical judgment about the direction of random-dot motion. The model network is endowed with a continuum of bell-shaped population activity patterns, each representing a possible motion direction. Slow recurrent excitation underlies accumulation of sensory evidence, and its interplay with strong recurrent inhibition leads to decision behaviors. The model reproduced the monkey's performance as well as single-neuron activity in the categorical discrimination task. Furthermore, we examined how direction identification is determined by a combination of sensory stimulation and microstimulation. Using a population-vector measure, we found that direction judgments instantiate winner-take-all (with the population vector coinciding with either the coherent motion direction or the electrically elicited motion direction) when two stimuli are far apart, or vector averaging (with the population vector falling between the two directions) when two stimuli are close to each other. Interestingly, for a broad range of intermediate angular distances between the two stimuli, the network displays a mixed strategy in the sense that direction estimates are stochastically produced by winner-take-all on some trials and by vector averaging on the other trials, a model prediction that is experimentally testable. This work thus lends support to a common neurodynamic framework for both veridical judgment and categorical discrimination in perceptual decision making.     

The Genetic Basis of Phenotypic Adaptation I: Fixation of Beneficial Mutations in the Moving Optimum Model

We study the genetic basis of adaptation in a moving optimum model, in which the optimal value for a quantitative trait increases over time at a constant rate. We first analyze a one-locus two-allele model with recurrent mutation, for which we derive accurate analytical approximations for (i) the time at which a previously deleterious allele becomes beneficial, (ii) the waiting time for a successful new mutation, and (iii) the time the mutant allele needs to reach fixation. On the basis of these results, we show that the shortest total time to fixation is for alleles with intermediate phenotypic effect. We derive an approximation for this “optimal” effect, and we show that it depends in a simple way on a composite parameter, which integrates the ecological parameters and the genetic architecture of the trait. In a second step, we use stochastic computer simulations of a multilocus model to study the order in which mutant alleles with different effects go to fixation. In agreement with the one-locus results, alleles with intermediate effect tend to become fixed earlier than those with either small or large effects. However, the effect size of the fastest mutations differs from the one predicted in the one-locus model. We show how these differences can be explained by two specific effects of multilocus genetics. Finally, we discuss our results in the light of three relevant timescales acting in the system—the environmental, mutation, and fixation timescales—which define three parameter regimes leading to qualitative differences in the adaptive substitution pattern.     

Landscape attributes affecting patch occupancy by howler monkeys (Alouatta palliata mexicana) at Los Tuxtlas, Mexico

Understanding how forest cover is related to patch attributes such as size, shape, and isolation, and how this influences the occurrence of a species in fragmented landscapes is an important question in landscape ecology and conservation biology. To study the effects of fragmentation on patch occupancy by the critically endangered Mexican mantled howler monkey (Alouatta palliata mexicana) in the Los Tuxtlas region of Mexico, we selected three landscapes of ca. 5,000 ha, which differed in their remaining forest cover (24, 11, and 4%). For each landscape, we related patch occupancy to forest cover, patch size and shape, and four isolation parameters. Landscape attributes varied according to forest cover, and the percentage of occupation was greater in landscapes with more forest cover. The attributes affecting the probability of occupancy differed among landscapes. Occupancy was positively related to patch size in all landscapes, but in the northernmost landscape, shape irregularity had a negative effect on occupancy, whereas in the southernmost landscape, occupancy was favored by greater distances to the nearest village. The results show that not only the total amount of forest cover but also patch configuration need to be taken into consideration when designing management strategies for the conservation of the Mexican mantled howler monkey.     

Climate and landscape explain richness patterns depending on the type of species’ distribution data

Understanding the patterns of species richness and their environmental drivers, remains a central theme in ecological research and especially in the continental scales where many conservation decisions are made. Here, we analyzed the patterns of species richness from amphibians, reptiles and mammals at the EU level. We used two different data sources for each taxon: expert-drawn species range maps, and presence/absence atlases. As environmental drivers, we considered climate and land cover. Land cover is increasingly the focus of research, but there still is no consensus on how to classify land cover to distinct habitat classes, so we analyzed the CORINE land cover data with three different levels of thematic resolution (resolution of classification scheme ˗ less to more detailed). We found that the two types of species richness data explored in this study yielded different richness maps. Although, we expected expert-drawn range based estimates of species richness to exceed those from atlas data (due to the assumption that species are present in all locations throughout their region), we found that in many cases the opposite is true (the extreme case is the reptiles where more than half of the atlas based estimates were greater than the expert-drawn range based estimates). Also, we detected contrasting information on the richness drivers of biodiversity patterns depending on the dataset used. For atlas based richness estimates, landscape attributes played more important role than climate while for expert-drawn range based richness estimates climatic variables were more important (for the ectothermic amphibians and reptiles). Finally we found that the thematic resolution of the land cover classification scheme, also played a role in quantifying the effect of land cover diversity, with more detailed thematic resolution increasing the relative contribution of landscape attributes in predicting species richness.     

A model-based approach to study nearest-neighbor influences reveals complex substitution patterns in non-coding sequences

In this article, we present a likelihood-based framework for modeling site dependencies. Our approach builds upon standard evolutionary models but incorporates site dependencies across the entire tree by letting the evolutionary parameters in these models depend upon the ancestral states at the neighboring sites. It thus avoids the need for introducing new and high-dimensional evolutionary models for site-dependent evolution. We propose a Markov chain Monte Carlo approach with data augmentation to infer the evolutionary parameters under our model. Although our approach allows for wide-ranging site dependencies, we illustrate its use, in two non-coding datasets, in the case of nearest-neighbor dependencies (i.e., evolution directly depending only upon the immediate flanking sites). The results reveal that the general time-reversible model with nearest-neighbor dependencies substantially improves the fit to the data as compared to the corresponding model with site independence. Using the parameter estimates from our model, we elaborate on the importance of the 5-methylcytosine deamination process (i.e., the CpG effect) and show that this process also depends upon the 5' neighboring base identity. We hint at the possibility of a so-called TpA effect and show that the observed substitution behavior is very complex in the light of dinucleotide estimates. We also discuss the presence of CpG effects in a nuclear small subunit dataset and find significant evidence that evolutionary models incorporating context-dependent effects perform substantially better than independent-site models and in some cases even outperform models that incorporate varying rates across sites.