Comparative analysis of methods for estimating arm segment parameters and joint torques from inverse dynamics

A common problem in the analyses of upper limb unfettered reaching movements is the estimation of joint torques using inverse dynamics. The inaccuracy in the estimation of joint torques can be caused by the inaccuracy in the acquisition of kinematic variables, body segment parameters (BSPs), and approximation in the biomechanical models. The effect of uncertainty in the estimation of body segment parameters can be especially important in the analysis of movements with high acceleration. A sensitivity analysis was performed to assess the relevance of different sources of inaccuracy in inverse dynamics analysis of a planar arm movement. Eight regression models and one water immersion method for the estimation of BSPs were used to quantify the influence of inertial models on the calculation of joint torques during numerical analysis of unfettered forward arm reaching movements. Thirteen subjects performed 72 forward planar reaches between two targets located on the horizontal plane and aligned with the median plane. Using a planar, double link model for the arm with a floating shoulder, we calculated the normalized joint torque peak and a normalized root mean square (rms) of torque at the shoulder and elbow joints. Statistical analyses quantified the influence of different BSP models on the kinetic variable variance for given uncertainty on the estimation of joint kinematics and biomechanical modeling errors. Our analysis revealed that the choice of BSP estimation method had a particular influence on the normalized rms of joint torques. Moreover, the normalization of kinetic variables to BSPs for a comparison among subjects showed that the interaction between the BSP estimation method and the subject specific somatotype and movement kinematics was a significant source of variance in the kinetic variables. The normalized joint torque peak and the normalized root mean square of joint torque represented valuable parameters to compare the effect of BSP estimation methods on the variance in the population of kinetic variables calculated across a group of subjects with different body types. We found that the variance of the arm segment parameter estimation had more influence on the calculated joint torques than the variance of the kinematics variables. This is due to the low moments of inertia of the upper limb, especially when compared with the leg. Therefore, the results of the inverse dynamics of arm movements are influenced by the choice of BSP estimation method to a greater extent than the results of gait analysis.     

A sensitivity analysis method for the body segment inertial parameters based on ground reaction and joint moment regressor matrices

This paper presents a method allowing a simple and efficient sensitivity analysis of dynamics parameters of complex whole-body human model. The proposed method is based on the ground reaction and joint moment regressor matrices, developed initially in robotics system identification theory, and involved in the equations of motion of the human body. The regressor matrices are linear relatively to the segment inertial parameters allowing us to use simple sensitivity analysis methods. The sensitivity analysis method was applied over gait dynamics and kinematics data of nine subjects and with a 15 segments 3D model of the locomotor apparatus. According to the proposed sensitivity indices, 76 segments inertial parameters out the 150 of the mechanical model were considered as not influent for gait. The main findings were that the segment masses were influent and that, at the exception of the trunk, moment of inertia were not influent for the computation of the ground reaction forces and moments and the joint moments. The same method also shows numerically that at least 90% of the lower-limb joint moments during the stance phase can be estimated only from a force-plate and kinematics data without knowing any of the segment inertial parameters.     

Measurement of body segment parameters using dual energy X-ray absorptiometry and three-dimensional geometry: An application in gait analysis

Body segment parameters (BSP) are essential input for the computations in kinetics of motion applied in the field of biomechanics. These data are usually obtained from population-specific predictive equations which present limitations in being representative of the population under study. More recently, medical imaging techniques have been adopted but are limited to two-dimensional (2-D) measurements or required extensive tomographic images for three-dimensional (3-D) reconstruction. We proposed an in vivo method to measure 3-D BSP using X-ray imaging and 3-D exterior geometry. Criterion values of the BSP were determined using magnetic resonance imaging (MRI) which has previously been validated. Errors for all BSP values were less than 2% when values derived from our method were compared to the criterion values. We found no significant difference between our method and four selected BSP models in both stance and swing phase. Significant phase effects were observed for our method and other BSP models between stance and swing phase. Significant differences (p<0.05) between root mean square error (RMSE) ranged from 0.0177 to 0.0234 and 0.0234 to 0.097 Nm kg^?1 for the knee and hip joints, respectively. However, these BSP variations brought about effects on moment output that were less than 0.09 Nm kg^?1. Our findings suggest joint kinetic computations during normal gait are relatively insensitive to BSP variations. However, the influence of BSP cannot be undermined in movements that generate higher acceleration at the limbs. Considering the accuracy of our method, it could be used as a novel in vivo method to obtain direct 3-D BSP measurements.     

An efficient protocol for obtaining accurate hydration free energies using quantum chemistry and reweighting from molecular dynamics simulations

The non-Boltzmann Bennett (NBB) free energy estimator method is applied to 21 molecules from the blind subset of the SAMPL4 challenge. When NBB is applied with the SMD implicit solvent model, and the OLYP/DZP level of quantum chemistry, highly accurate hydration free energy calculations are obtained with respect to experiment (RMSD = 0.89 kcal·mol⁻¹). Other quantum chemical methods are also tested, and the effects of solvent model, density functional, basis set are explored in this benchmarking study, providing a framework for improvements in calculating hydration free energies. We provide a practical guide for using the best QM-NBB protocols that are consistently more accurate than either pure QM or pure MM alone. In situations where high accuracy hydration free energy predictions are needed, the QM-NBB method with SMD implicit solvent should be the first choice of quantum chemists.     

Specific selection of recommendations for estimating body height from skeletal findings, comparability of estimated results and general problems in estimating body height during life

Problems in estimating stature from skeletal remains are not enough analysed in anthropology. Certainly, a great number of statements exists but the problems of recommendability and comparability of these statements must studied more complete. Reasons for these ommisions must be searched in the neglect of the fact that physical constitutions differed in historical and geographical respects. Therefore in this paper, some basic problems in estimating stature are represented, some aids for better comparability and recommendability are given.     

An efficient and accurate integration of mini-Mu transposons in vitro: a general methodology for functional genetic analysis and molecular biology applications.

Transposons are mobile genetic elements and have been utilized as essential tools in genetics over the years. Though highly useful, many of the current transposon-based applications suffer from various limitations, the most notable of which are: (i) transposition is performed in vivo, typically species specifically, and as a multistep process; (ii) accuracy and/or efficiency of the in vivo or in vitro transposition reaction is not optimal; (iii) a limited set of target sites is used. We describe here a genetic analysis methodology that is based on bacteriophage Mu DNA transposition and circumvents such limitations. The Mu transposon tool is composed of only a few components and utilizes a highly efficient and accurate in vitro DNA transposition reaction with a low stringency of target preference. The utility of the Mu system in functional genetic analysis is demonstrated using restriction analysis and genetic footprinting strategies. The Mu methodology is readily applicable in a variety of current and emerging transposon-based techniques and is expected to generate novel approaches to functional analysis of genes, genomes and proteins.     

Quantitative genetics parameters show partial independent evolutionary potential for body mass and metabolism in stonechats from different populations

Phenotypic variation in physiological traits, such as energy metabolism, is commonly subjected to adaptive interpretations, but little is known about the heritable basis or genetic correlations among physiological traits in non-domesticated species. Basal metabolic rate (BMR) and body mass are related in complex ways. We studied the quantitative genetics of BMR, residual BMR (on body mass), mass-specific BMR and body mass of stonechats originating from four different populations and bred in captivity. Heritabilities ranged from 0.2 to 0.7. The genetic variance–covariance structure implied that BMR, mass-specific BMR and body mass can in part evolve independently of each other, because we found genetic correlations deviating significantly from one and minus one. BMR, mass-specific BMR and body mass further differed among populations at the phenotypic level; differences in the genetic correlation among populations are discussed.     

简单快捷建立高频黄瓜子叶离体再生体系

以１０种我国市场上常见的黄瓜品种为材料,建立了一个简单高效的黄瓜子叶离体再生系统。从种子萌发到获得再生植株仅需６周。子叶外植体在ＭＳ＝０．５ｍｇ／Ｌ ＢＡ培养基上不经愈伤组织诱导阶段而直接走器官发生途径。４～５天的子叶外 植体的不定芽发生能力最强。供试１０种基因型中,“碧春”和“甜翠绿”的再生率高达１００％。待不定芽长度超过１．０ｍｃ时,直接将不定芽转移到ＭＳ培养基生根成苗,幼苗移栽温室后正常结实     

An efficient approach for cloning the dNDP-glucose synthase gene from actinomycetes and its application in Streptomyces spectabilis, a spectinomycin producer

Specifically designed PCR primers were applied to amplify a segment of dTDP-glucose synthase gene from six actinomycete strains. About 300-bp or 580-bp DNA fragments were obtained from all the organisms tested. By DNA sequence analysis, seven amplified fragments showed high homology with dTDP-glucose synthase genes that participate in the biosynthesis of secondary metabolites or in deoxy-sugar moieties in lipopolysaccharides. In addition, we have cloned a 45-kb region of DNA from Streptomyces spectabilis ATCC27741, a spectinomycin producer which contained the dTDP-glucose synthase and dTDP-glucose 4,6-dehydratase genes named spcD and spcE, respectively. The spcE gene was expressed in Escherichia coli and the activity was assayed in cell extracts. The enzyme showed substrate specificity only to dTDP-glucose.     

An efficient method for selecting unique-sequence clones from DNA libraries and its application to fluorescent staining of human chromosome 21 using in situ hybridization

This paper describes an efficient procedure for selecting large numbers of unique-sequence or very low repeat-sequence probes from recombinant phage libraries. Probes were selected from the Charon 21A library LL21NS02 (made from DNA from human chromosome 21) in a multistep process in which (1) inserts from LL21NS02 were subcloned into Bluescribe plasmids, (2) plasmids were grown at high density in colonies on nitrocellulose, and (3) plasmids were selected as containing unique-sequence inserts if DNA from the colonies failed to hybridize, at low stringency, to radiolabeled total human DNA. In this manner, 1530 colonies were picked to form the library pBS-U21/1530. About 80% of the recombinants constituting pBS-U21/1530 were shown by Southern analysis to carry inserts that are present in only one copy in haploid genomic human DNA. Approximately 70% of the sequences mapped to human chromosome 21. Fluorescence in situ hybridization with DNA from pBS-U21/1530 allowed specific, intense staining of the number 21 chromosomes in metaphase spreads made from human lymphocytes.