IMU-based ambulatory walking speed estimation in constrained treadmill and overground walking

This study evaluated the performance of a walking speed estimation system based on using an inertial measurement unit (IMU), a combination of accelerometers and gyroscopes. The walking speed estimation algorithm segments the walking sequence into individual stride cycles (two steps) based on the inverted pendulum-like behaviour of the stance leg during walking and it integrates the angular velocity and linear accelerations of the shank to determine the displacement of each stride. The evaluation was performed in both treadmill and overground walking experiments with various constraints on walking speed, step length and step frequency to provide a relatively comprehensive assessment of the system. Promising results were obtained in providing accurate and consistent walking speed/step length estimation in different walking conditions. An overall percentage root mean squared error (%RMSE) of 4.2 and 4.0% was achieved in treadmill and overground walking experiments, respectively. With an increasing interest in understanding human walking biomechanics, the IMU-based ambulatory system could provide a useful walking speed/step length measurement/control tool for constrained walking studies.     

Maximum walking speed and lower limb length in hominids

In 1984, Helene (Am. J. Physics 52:656) and Alexander (Am. Scientist 72:348–354) presented equations which purported to explain how lower limb length limited maximum walking speed in humans. The equations were based on a simplified model of human walking in which the center of mass (CoM) “vaults” over the supporting leg. Increasing walking speed by increasing stride frequency or stride length would increase the upward acceleration of the CoM in the first half of stance phase, to the point that it would be greater than the downward pull of gravity, and the individual would become airborne. This constitutes running by most definitions. While these models ignored various mechanical factors, such as knee flexion during midstance, that reduce the vertical movement of the CoM, the general idea is plausible inasmuch as the CoM of the body does oscillate vertically with each step. One hypothesis tested here is whether it is indeed the interaction between the pull of gravity and the individual's own upward acceleration that determines at what speed (or cadence) he changes from walking to running. Another hypothesis considered is that increased lower limb length (L) was selected for in early hominids, because of the locomotor advantages of longer lower limbs. Results indicate, however, that while L was clearly related to maximum possible walking speed, it was not an important factor in determining maximum “comfortable” walking speed. These and other results from the recent literature suggest that increased lower limb length provided no selective advantage in locomotion, and other explanations should be sought. © 1996 Wiley-Liss, Inc.     

Continuous ambulatory hand force monitoring during manual materials handling using instrumented force shoes and an inertial motion capture suit

Hand forces (HFs) are commonly measured during biomechanical assessment of manual materials handling; however, it is often a challenge to directly measure HFs in field studies. Therefore, in a previous study we proposed a HF estimation method based on ground reaction forces (GRFs) and body segment accelerations and tested it with laboratory equipment: GFRs were measured with force plates (FPs) and segment accelerations were measured using optical motion capture (OMC). In the current study, we evaluated the HF estimation method based on an ambulatory measurement system, consisting of inertial motion capture (IMC) and instrumented force shoes (FSs).Sixteen participants lifted and carried a 10-kg crate from ground level while 3D full-body kinematics were measured using OMC and IMC, and 3D GRFs were measured using FPs and FSs. We estimated 3D hand force vectors based on: (1) FP+OMC, (2) FP+IMC and (3) FS+IMC. We calculated the root-mean-square differences (RMSDs) between the estimated HFs to reference HFs calculated based on crate kinematics and the GRFs of a FP that the crate was lifted from.Averaged over subjects and across 3D force directions, the HF RMSD ranged between 10-15N when using the laboratory equipment (FP + OMC), 11-18N when using the IMC instead of OMC data (FP+IMC), and 17-21N when using the FSs in combination with IMC (FS + IMC). This error is regarded acceptable for the assessment of spinal loading during manual lifting, as it would results in less than 5% error in peak moment estimates.     

Optokinetic speed control and estimation of travel distance in walking honeybees

Honeybees returning from foraging trips were video-filmed while they walked through a narrow transparent gangway to reach the hive entrance. On their way they were presented with black-and-white gratings viewed underneath as well as to both sides of the gangway. Bees could exit the gangway through one of two or three side exits installed at different distances from the gangway entrance. In one set of experiments, the substrate on which the bees walked was moved either in the bee's direction or against it. In another set of experiments, the substrate was stationary, but the pattern was moved in one or the other direction. The bee's walking speed (WS) was evaluated from the video tapes. When the substrate moved against, or the pattern in the bee's direction, in either case decreasing the speed of pattern flow (PFS), the bees increased WS, and, at the same time, they preferred the more distant exit. When the substrate moved in, or the pattern against the bee's direction, thus increasing PFS, WS decreased and the bees preferred the nearer exit. These results suggest that the speed of optic flow controls the speed of locomotion and might therefore also serve for assessing the distance travelled.Abbreviations PFS pattern-flow speed - WS walking speed Dedicated to Hans-Jochen Autrum, editor emeritus, for help in giving birth to this and many other papers over very many years, often with criticism but nevertheless with encouragement and sympathy.     

马拉河流域植被生态需水特征及估算

生态需水是生态用水控制和区域生态环境恢复建设的基本依据。马拉河流域拥有世界著名的生态系统,植被生态需水占流域总需水量的很大一部分。基于1980—2020年ERA5气象数据、叶面积指数(LAI)与世界土壤数据库数据,采用Penman-Monteith法计算了马拉河流域四个季节(短旱季、长雨季、长旱季、短雨季)植被生态需水量的时空变化特征。在此基础上,使用支持向量机(SVM)、随机森林(RF)和卷积神经网络(CNN)3种机器学习方法与7个环境因子(气温、降水、10 m风速、LAI、太阳辐射、相对湿度、地形)建立了回归模型,分别估算了2011—2020年逐年不同季节的植被生态需水量,并与Penman-Monteith法计算结果进行时间序列拟合度和空间相似性的比较。结果表明：马拉河流域植被生态需水量在过去40年所有季节都呈现为波动变化,植被生态需水量长雨季>长旱季>短雨季>短旱季,长雨季的植被生态需水量约为短旱季的1.5倍。不同季节均呈现出上下游高、中游低的植被生态需水量空间分布格局。LAI为最大的正影响因子,风速为最大的负影响因子。就不同方法估算的植被生态需水量准确性而言,...     

Cell identification and sizing using digital image analysis for estimation of cell biomass in High Rate Algal Ponds

Current environmental concerns make estimation of microbial biomass apriority for monitoring purposes and to advance scientific understanding. Thispaper considers problems associated with algal cell imaging and measurement forcell biomass estimation in samples from high rate algal ponds. In a complexsystem, the only way of measuring microbial activity is to measure theindividual cells and estimate biovolumes. Accurate biomass determinationsdemanddirect microscopic counting and measurement of the sizes of individualmicrobialcells taken from known volumes of water. The system used for routinemeasurementat the laboratory where the images were generated, based on standard microscopeequipment, is only suitable for treatment of well dispersed specimens.Differential interference contrast (DIC) microscopy, on the other hand, offersthe best solution for optical enhancement of cell contrast, and produces animage with well defined edges, yet presents a great challenge to routine cellidentification by digital image analysis, owing to the bas-relief type imageproduced. The paper outlines several image analysis methods developedspecifically for this purpose, and presents illustrative results.     

Functional limits of agreement applied as a novel method comparison tool for accuracy and precision of inertial measurement unit derived displacement of the distal limb in horses

Over ground motion analysis in horses is limited by a small number of strides and restraints of the indoor gait laboratory. Inertial measurement units (IMUs) are transforming the knowledge of human motion and objective clinical assessment through the opportunity to obtain clinically relevant data under various conditions. When using IMUs on the limbs of horses to determine local position estimates, conditions with high dynamic range of both accelerations and rotational velocities prove particularly challenging. Here we apply traditional method agreement and suggest a novel method of functional data analysis to compare motion capture with IMUs placed over the fetlock joint in seven horses. We demonstrate acceptable accuracy and precision at less than or equal to 5% of the range of motion for detection of distal limb mounted cranio-caudal and vertical position. We do not recommend the use of the latero-medial position estimate of the distal metacarpus/metatarsus during walk where the average error is 10% and the maximum error 111% of the range. We also show that functional data analysis and functional limits of agreement are sensitive methods for comparison of cyclical data and could be applied to differentiate changes in gait for individuals across time and conditions.     

Speciation of chromium in plasma and liver tissue of endstage renal failure patients on continuous ambulatory peritoneal dialysis

This work is a first attempt to determine the speciation of Cr in human plasma. With the aid of in vitro and in vivo⁵¹Cr-labeled experiments, it was possible to develop the necessary biochemical techniques for the separation of the plasma proteins. Further work will use real samples, taking care to avoid contamination of the various fractions and to preserve the original binding of the Cr to the specific plasma compounds. In a first attempt on the distribution of Cr over the different organelles of liver tissue, work will be restricted to in vivo labeled experiments with rats. The procedure to do the speciation work seems so elaborate that it may be impossible ever to achieve the contemplated speciation of Cr in human liver tissue by subcellular fractionation.