Position dependence of ankle joint dynamics--II. Active mechanics

System identification techniques were used to examine the position dependence of active ankle joint mechanics. Subjects were required to maintain tonic contractions in either the tibialis anterior (TA) or triceps surae (TS) muscles while the ankle was stochastically displaced about different mean angular positions. The dynamic relation between ankle position and torque was determined for each mean position/tonic torque combination; a non-linear minimization technique was used to estimate the three parameters (inertial, viscous and elastic) of a second-order, underdamped system. Whereas the inertial parameter remained essentially invariant across all test conditions, the viscous and elastic (K) parameters became larger as the level of tonic activity increased and as the joint was rotated toward the extremes of the range of motion. The relation between K and torque was linear at all ankle angles. The slope of this relation remained constant at all mean positions during plantarflexor contractions; during dorsiflexor contractions the slope increased as the ankle was rotated from maximum plantarflexion to maximum dorsiflexion. These findings are discussed in terms of: the physiological correlates of ankle mean position, the relative significance of passive and active joint mechanics and contrasts in joint behaviour during active dorsiflexor and plantarflexor contractions.     

Hi-TOM: a platform for high-throughput tracking of mutations induced by CRISPR/Cas systems

The CRISPR/Cas system has been extensively applied to make precise genetic modifications in various organisms. Despite its importance and widespread use, large-scale mutation screening remains time-consuming, labour-intensive and costly. Here, we developed Hi-TOM(available at http://www.hi-tom.net/hi-tom/), an online tool to track the mutations with precise percentage for multiple samples and multiple target sites. We also described a corresponding next-generation sequencing(NGS) library construction strategy by fixing the bridge sequences and barcoding primers. Analysis of the samples from rice, hexaploid wheat and human cells reveals that the Hi-TOM tool has high reliability and sensitivity in tracking various mutations, especially complex chimeric mutations frequently induced by genome editing. Hi-TOM does not require special design of barcode primers,cumbersome parameter configuration or additional data analysis. Thus, the streamlined NGS library construction and comprehensive result output make Hi-TOM particularly suitable for high-throughput identification of all types of mutations induced by CRISPR/Cas systems.     

Identification of the limiting component of the medium during microbial continuous cultivation

The paper presents a method allowing a rapid identification of the growth limiting component of the medium. This is done with respect to the fast change in the low inertial parameter of fermentation (rate of titration or oxygen consumption) in response to an insignificant variation of the concentration of the growth limiting nutrient component in the fermentation medium.     

Interaction torque contributes to planar reaching at slow speed

Background

How the central nervous system (CNS) organizes the joint dynamics for multi-joint movement is a complex problem, because of the passive interaction among segmental movements. Previous studies have demonstrated that the CNS predictively compensates for interaction torque (INT) which is arising from the movement of the adjacent joints. However, most of these studies have mainly examined quick movements, presumably because the current belief is that the effects of INT are not significant at slow speeds. The functional contribution of INT for multijoint movements performed in various speeds is still unclear. The purpose of this study was to examine the contribution of INT to a planer reaching in a wide range of motion speeds for healthy subjects.

Methods

Subjects performed reaching movements toward five targets under three different speed conditions. Joint position data were recorded using a 3-D motion analysis device (50 Hz). Torque components, muscle torque (MUS), interaction torque (INT), gravity torque (G), and net torque (NET) were calculated by solving the dynamic equations for the shoulder and elbow. NET at a joint which produces the joint kinematics will be an algebraic sum of torque components; NET = MUS - G - INT. Dynamic muscle torque (DMUS = MUS-G) was also calculated. Contributions of INT impulse and DMUS impulse to NET impulse were examined.

Results

The relative contribution of INT to NET was not dependent on speed for both joints at every target. INT was additive (same direction) to DMUS at the shoulder joint, while in the elbow DMUS counteracted (opposed to) INT. The trajectory of reach was linear and two-joint movements were coordinated with a specific combination at each target, regardless of motion speed. However, DMUS at the elbow was opposed to the direction of elbow movement, and its magnitude varied from trial to trial in order to compensate for the variability of INT.

Conclusion

Interaction torque was important at slow speeds. Muscle torques at the two joints were not directly related to each other to produce coordinated joint movement during a reach. These results support Bernstein's idea that coordinated movement is not completely determined by motor command in multi-joint motion. Based on the data presented in this study and the work of others, a model for the connection between joint torques (muscle and passive torques including interaction torque) and joint coordination is proposed.     

Automated nonlinear system modeling with multiple fuzzy neural networks and kernel smoothing

This paper, presents a novel identification approach using fuzzy neural networks. It focuses on structure and parameters uncertainties which have been widely explored in the literatures. The main contribution of this paper is that an integrated analytic framework is proposed for automated structure selection and parameter identification. A kernel smoothing technique is used to generate a model structure automatically in a fixed time interval. To cope with structural change, a hysteresis strategy is proposed to guarantee finite times switching and desired performance.     

Dynamical model development and parameter identification for an anaerobic wastewater treatment process.

This paper deals with the development and the parameter identification of an anaerobic digestion process model. A two-step (acidogenesis-methanization) mass-balance model has been considered. The model incorporates electrochemical equilibria in order to include the alkalinity, which has to play a central role in the related monitoring and control strategy of a treatment plant. The identification is based on a set of dynamical experiments designed to cover a wide spectrum of operating conditions that are likely to take place in the practical operation of the plant. A step by step identification procedure to estimate the model parameters is presented. The results of 70 days of experiments in a 1-m(3) fermenter are then used to validate the model.     

A grid based simulation environment for agent-based models with vast parameter spaces

Agent-based simulation models with large experiments for a precise and robust result over a vast parameter space are becoming a common practice, where enormous runs intrinsically require highly intensive computational resources. This paper proposes a grid based simulation environment, named Social Macro Scope (SOMAS) to support parallel exploration on agent-based models with vast parameter space. We focus on three types of simulation methods for agent-based models with various objectives (1) forward simulation to conduct experiments in a straightforward way by simply operating sets of parameter values to perform sensitivity analysis; (2) inverse simulation to search for solutions that reduce the error between simulated results and actual data by means of solving “inverse problem”, which executes the simulation steps in a reverse order and employs optimization algorithms to fit the simulation results to the desired objectives; and (3) model selection to find an optimal model structure with subset of parameters and procedures, which conducts two-layer optimization to obtain a simple and more accurate simulation result. We have confirmed the practical scalability and efficiency of SOMAS by one case study in history simulation domain.     

Functional Synergies Underlying Control of Upright Posture during Changes in Head Orientation

Background

Studies of human upright posture typically have stressed the need to control ankle and hip joints to achieve postural stability. Recent studies, however, suggest that postural stability involves multi degree-of-freedom (DOF) coordination, especially when performing supra-postural tasks. This study investigated kinematic synergies related to control of the body’s position in space (two, four and six DOF models) and changes in the head’s orientation (six DOF model).

Methodology/Principal Findings

Subjects either tracked a vertically moving target with a head-mounted laser pointer or fixated a stationary point during 4-min trials. Uncontrolled manifold (UCM) analysis was performed across tracking cycles at each point in time to determine the structure of joint configuration variance related to postural stability or tracking consistency. The effect of simulated removal of covariance among joints on that structure was investigated to further determine the role of multijoint coordination. Results indicated that cervical joint motion was poorly coordinated with other joints to stabilize the position of the body center of mass (CM). However, cervical joints were coordinated in a flexible manner with more caudal joints to achieve consistent changes in head orientation.

Conclusions/Significance

An understanding of multijoint coordination requires reference to the stability/control of important performance variables. The nature of that coordination differs depending on the reference variable. Stability of upright posture primarily involved multijoint coordination of lower extremity and lower trunk joints. Consistent changes in the orientation of the head, however, required flexible coordination of those joints with motion of the cervical spine. A two-segment model of postural control was unable to account for the observed stability of the CM position during the tracking task, further supporting the need to consider multijoint coordination to understand postural stability.     

Human ankle joint stiffness over the full range of muscle activation levels

System identification techniques have been used to track changes in dynamic stiffness of the human ankle joint over a wide range of muscle contraction levels. Subjects lay supine on an experimental table with their left foot encased in a rigid, low-inertia cast which was fixed to an electro-hydraulic actuator operating as a position servo. Subjects generated tonic plantarflexor or dorsiflexor torques of different magnitudes ranging from rest to maximum voluntary contractions (MVC) during repeated presentations of a stochastic ankle angular position perturbation. Compliance impulse response functions (IRF) were determined from every 2.5 s perturbation sequence. The gain (G), natural frequency (omega n), and damping (zeta) parameters of the second-order model providing the best fit to each IRF were determined and used to compute the corresponding inertial (I), viscous (B) and elastic (K) stiffness parameters. The behaviour of these parameters with mean torque was found to follow two simple rules. First, the elastic parameter (K) increased in proportion to mean ankle torque as it was varied from rest to MVC; these changes were considerable involving increases of more than an order of magnitude. Second, the damping parameter (zeta) remained almost invariant over the entire range of contractions despite the dramatic changes in K.     

Body segment inertial parameters and low back load in individuals with central adiposity

There is a paucity of information regarding the impact of central adiposity on the inertial characteristics of body segments. Deriving low back loads during lifting requires accurate estimate of inertial parameters. The purpose was to determine the body segment inertial parameters of people with central adiposity using a photogrammetric technique, and then to evaluate the impact on lumbar spine loading. Five participants with central adiposity (waist:hip ratio>0.9, waist circumference>102 cm) were compared to a normal BMI group. A 3D wireframe model of the surface topography was constructed, partitioned into 8 body segments and then body segment inertial parameters were calculated using volumetric integration assuming uniform segment densities for the segments. Central adiposity dependent increases in body segment parameters ranged from 12 to 400%, varying across segments (greatest for trunk) and parameters. The increase in mass distribution to the trunk was accompanied by an anterior and inferior shift of the centre of mass. A proximal shift in centre of mass was detected for the extremities, along with a reduction in mass distribution to the lower extremity. L5/S1 torques (392 vs 263 Nm) and compressive forces (5918 vs 3986 N) were substantially elevated in comparison to the normal BMI group, as well as in comparison to torques and forces predicted using published BSIP equations. Central adiposity resulted in substantial but non-uniform increases in inertial parameters resulting in task specific increases in torque and compressive loads arising from different inertial and physical components.     

Validation of a calibration technique for 6-DOF instrumented spatial linkages

This paper presents a practical and effective approach to the calibration of instrumented spatial linkages for biomechanical applications. A 6-DOF mechanical linkage with rotational transducers is designed and in-house manufactured for this purpose. In order to assess the validity of the proposed calibration technique and to distinguish between geometrical and electrical parameters uncertainties, high-precision optical encoders are used and calibration is addressed from a kinematic point of view only. The proposed technique is based on a closed-loop method, in which the end segments of the linkage are connected to each other by revolute joints. A parametrical model of the system is formulated using a standard link-to-link transformation matrices approach. Continuous data collection is carried out and a recursive identification of kinematic parameters is implemented by the use of an extended Kalman filter algorithm. Results shows that the proposed technique, despites its simplicity, is effective in improving the accuracy of the system up to its theoretically computed resolution, which limits the performance of the real system.     

A computationally efficient optimisation-based method for parameter identification of kinematically determinate and over-determinate biomechanical systems

This paper introduces a general optimisation-based method for identification of biomechanically relevant parameters in kinematically determinate and over-determinate systems from a given motion. The method is designed to find a set of parameters that is constant over the time frame of interest as well as the time-varying system coordinates, and it is particularly relevant for biomechanical motion analysis where the system parameters can be difficult to accurately determine by direct measurements. Although the parameter identification problem results in a large-scale optimisation problem, we show that, due to a special structure in the linearised Karush–Kuhn–Tucker optimality conditions, the solution can be found very efficiently. The method is applied to a set of test problems relevant for gait analysis. These involve determining the local coordinates of markers placed on the model, segment lengths and joint axes of rotation from both gait and range of motion experiments.     

An induced acceleration index for examining joint couplings

A muscle produces moments at the joints it crosses, but these moments can also cause accelerations at joints not crossed by the muscle. This phenomenon, the acceleration of a joint caused by a muscle not crossing the joint, is referred to as induced acceleration. For a system of rigid bodies this study examines how system configuration, and segmental inertial properties dictate the potential of one joint to cause the acceleration of other joints in the system. From the equations of motion for a series of rigid bodies, an induced acceleration index (IAI) was developed. The IAI permits quantification of the relative potential of moments produced at joints in the kinematic chain to accelerate other joints in the kinematic chain. The IAI is a function of system orientation, segment lengths, and inertial properties. The IAI was used to examine the roles of the ankle and hip joints in quiet standing. The ankle joint had over 12 times the ability to accelerate the hip joint, than the hip had to accelerate the ankle joint. These results in part explain the relative merits of the two strategies predominantly used to maintain upright stance: the ankle and hip strategies. This index permits an understanding of how the induced accelerations are dependent on system configuration and inertial properties. The IAI is also useful in situations where the inertial properties of the system under investigation changes, for example due to the fitting of a new prostheses to a trans-tibial amputee.     

Molecular variability elicits a tunable switch with discrete neuromodulatory response phenotypes

Conductance-based compartment modeling requires tuning of many parameters to fit the neuron model to target electrophysiological data. Automated parameter optimization via evolutionary algorithms (EAs) is a common approach to accomplish this task, using error functions to quantify differences between model and target. We present a three-stage EA optimization protocol for tuning ion channel conductances and kinetics in a generic neuron model with minimal manual intervention. We use the technique of Latin hypercube sampling in a new way, to choose weights for error functions automatically so that each function influences the parameter search to a similar degree. This protocol requires no specialized physiological data collection and is applicable to commonly-collected current clamp data and either single- or multi-objective optimization. We applied the protocol to two representative pyramidal neurons from layer 3 of the prefrontal cortex of rhesus monkeys, in which action potential firing rates are significantly higher in aged compared to young animals. Using an idealized dendritic topology and models with either 4 or 8 ion channels (10 or 23 free parameters respectively), we produced populations of parameter combinations fitting the target datasets in less than 80 hours of optimization each. Passive parameter differences between young and aged models were consistent with our prior results using simpler models and hand tuning. We analyzed parameter values among fits to a single neuron to facilitate refinement of the underlying model, and across fits to multiple neurons to show how our protocol will lead to predictions of parameter differences with aging in these neurons.     

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.     

Parameter identification of a dynamic model of CHO cell cultures: an experimental case study

In this paper, we address the problem of parameter identification in dynamic models of animal cultures, and we propose a step-by-step procedure, which gradually considers more detailed models. This procedure allows subsets of parameters to be estimated at each step, which can be used in the initialization of the next identification step. Finally, the full parameter set can be re-estimated starting from the results of the last step. The efficiency of the procedure is illustrated with a simulation case study and with the identification of a dynamic model from experimental data collected in CHO cell culture.     

Precise Reconstruction of Veins and Bile Ducts in Rat Liver Transplantation

Rat orthotopic liver transplantation (ROLT) remains a technically demanding procedure, especially regarding the reconstruction of the suprahepatic vena cava (SHVC). In this study, a new microsuture technique was developed for anastomosis of the SHVC, and a special single-groove cuff and blade-cut stent were introduced. With these modified techniques, we aimed to make a precise anastomosis of the SHVC and to provide optimal cuffs and stents for the reconstruction of the veins and bile ducts. According to different microsuture techniques for the SHVC and different types of cuffs and stents, three ROLT groups were created to compare the operation times and prognoses. Sham operations were performed as controls in the fourth group. The time expenditures with each step were compared among the transplantation groups. Biochemical parameters were tested at the end of a 1-month observation period. The short- and long-term survival rates of the transplantation groups were recorded and compared. Our new microsuture technique was faster than the conventional continuous suture technique for SHVC anastomosis (P < 0.05). The use of a single-groove cuff for reconstruction of the portal vein and the infrahepatic vena cava shortened the anastomotic time (P < 0.05). The use of blade-cut stents resulted in fewer biliary complications and better survival over the short and long terms (P < 0.05). Our new microsuture technique and the single-groove cuffs proved to be a precise method for venous reconstruction which shortened the anhepatic time and the anastomotic time significantly. The blade-cut stents apparently reduced the incidence of biliary complications. In summary, with this precise microsuture technique and delicate cuffs and stents, excellent long-term survival can be achieved easily and stably for ROLT.     

Active Force with Fuzzy Logic Control of a Two-Link Arm Driven by Pneumatic Artificial Muscles

In this paper,the practicality and feasibility of Active Force Control (AFC) integrated with Fuzzy Logic(AFCAFL) appliedto a two link planar arm actuated by a pair of Pneumatic Artificial Muscle (PAM) is investigated.The study emphasizes on the application and control of PAM actuators which may be considered as the new generation of actuators comprising fluidic muscle that has high-tension force,high power to weight ratio and high strength in spite of its drawbacks in the form of high nonlinearity behaviour,high hysteresis and time varying parameters.Fuzzy Logic (FL) is used as a technique to estimate the best value of the inertia matrix of robot arm essential for the AFC mechanism that is complemented with a conventional Proportional-Integral-Derivative (PID) control at the outermost loop.A simulation study was first performed followed by an experimental investigation for validation.The experimental study was based on the independent joint tracking control and coordinated motion control of the arm in Cartesian or task space.In the former,the PAM actuated arm is commanded to track the prescribed trajectories due to harmonic excitations at the joints for a given frequency,whereas for the latter,two sets of trajectories with different loadings were considered.A practical rig utilizing a Hardware-In-The-Loop Simulation (H1LS) configuration was developed and a number of experiments were carried out.The results of the experiment and the simulation works were in good agreement,which verified the effectiveness and robustness of the proposed AFCAFL scheme actuated by PAM.     

Methods for parameter identification in oscillatory networks and application to cortical and thalamic 600 Hz activity.

Directed information transfer in the human brain occurs presumably by oscillations. As of yet, most approaches for the analysis of these oscillations are based on time-frequency or coherence analysis. The present work concerns the modeling of cortical 600 Hz oscillations, localized within the Brodmann Areas 3b and 1 after stimulation of the nervus medianus, by means of coupled differential equations. This approach leads to the so-called parameter identification problem, where based on a given data set, a set of unknown parameters of a system of ordinary differential equations is determined by special optimization procedures. Some suitable algorithms for this task are presented in this paper. Finally an oscillatory network model is optimally fitted to the data taken from ten volunteers.     

Reaction time and movement duration influence on end point accuracy in a fast reaching task

In labor and sport physiology a great deal of interest concerns the conceptual model of governance of both rapid and precise target-directed movements. Widely known in the theory of motor control, Fitts' paradigm determines the time of motion, calculated from the distance to the target and the diameter of the target. However this paradigm does not take into account the time of preparation for movement, which can have a significant impact on accuracy. In addition, the literature highlights little evidence of temporal and spatial asymmetry in the production of fast and accurate movements. The aim of our work was to investigate the influence of the duration of the preparatory phase (reaction time - T(R)) and duration of protractile motion of the arm (T(M)) on the speed and accuracy of movement. Also, the in-dividual asymmetry of the temporal characteristics and accuracy of performance of movements were studied. We measured three aspects of translational motion of the arm to the computerized target: reaction time (T(R), s), time of motion of the arm (T(M), s), and error in the achievement of the target (deltaL, mm). The group of participants consisted of 12 healthy, right-handed, untrained girls, each of whom completed 5 series of 10 discrete movements by each of the left and right arms. Mathematical analysis of the results revealed the existence of five models of performance. Each model was represented in the participant's performance with different probability. The combination of high speed and high precision when the arm moved towards the target was found only in model 5, which combines a long period of preparation for the movement (T(R)) and a short time of motion (T(M)). The probability of its occurrence in the untrained subjects was very low (2-3%). We suggest that it may be possible to develop special methods of training, geared towards the ability to increase the probability of appearance of this model. Asymmetry of motor action appeared clearly evident only in the parameter of accuracy (right arm committed the least errors), especially when the reaction time (T(R)) and movement time (T(M)) were close to average values of the sample. This result enables us to recommend this method for the determination of "handedness". The results allow us to conclude that in the process of development of new motor skills which include both precise and rapid movements we must take into account the initial values of reaction time. We also think that Fitts' existing formula should be modified by including the parameter of reaction time.