A theory on the determination of 3D motion and 3D structure from features

The present paper proposes a mathematical theory and a method of recognition of both the 3D structure and the motion of a moving object from its monocular image. Initially, characteristic features are extracted from the 2D perspective image of the object. Because motion of the object induces a change in its 2D perspective image, it also induces a change in the features which depends on the 3D structure and the velocity of the object. This suggests the possibility of detecting the 3D structure and the motion directly from the features and their changing rate, without the need for calculating optical flows. An analysis is made of the relation between the 3D rigid motion of a surface element and the change in local linear features. From this relation, a method is proposed for calculating the velocity of and the normal to the surface element without considering any correspondence of points. An optical flow can also be calculated by this method. Two simple computer simulations are provided.     

Characterizing 3D printing in the fabrication of variable density phantoms for quality assurance of radiotherapy

PurposeTo present characterization, process flow, and applications of 3D fabricated low density phantoms for radiotherapy quality assurance (QA).Material and methodsA Rostock 3D printer using polystyrene was employed to print slabs of varying relative electron densities (0.18–0.75). A CT scan was used to calibrate infill-to-density and characterize uniformity of the print. Two printed low relative density rods (0.18, 0.52) were benchmarked against a commercial CT-electron-density phantom. Density scaling of Anisotropic Analytical Algorithm (AAA) was tested with EBT3 film for a 0.57 slab. Gamma criterion of 3% and 3 mm was used for analysis.Results3D printed slabs demonstrated uniformity for densities 0.4–0.75. The printed 0.52 rod had close agreement with the commercial phantom. Dosimetric comparison for 0.57 density slab showed >95% agreement between calculation and measurements.Conclusion3D printing allows fabrication of variable density phantoms for QA needs of a small clinic.     

On the inverse problem of binocular 3D motion perception

It is shown that existing processing schemes of 3D motion perception such as interocular velocity difference, changing disparity over time, as well as joint encoding of motion and disparity, do not offer a general solution to the inverse optics problem of local binocular 3D motion. Instead we suggest that local velocity constraints in combination with binocular disparity and other depth cues provide a more flexible framework for the solution of the inverse problem. In the context of the aperture problem we derive predictions from two plausible default strategies: (1) the vector normal prefers slow motion in 3D whereas (2) the cyclopean average is based on slow motion in 2D. Predicting perceived motion directions for ambiguous line motion provides an opportunity to distinguish between these strategies of 3D motion processing. Our theoretical results suggest that velocity constraints and disparity from feature tracking are needed to solve the inverse problem of 3D motion perception. It seems plausible that motion and disparity input is processed in parallel and integrated late in the visual processing hierarchy.     

Detecting binocular 3D motion in static 3D noise: no effect of viewing distance

Relative binocular disparity cannot tell us the absolute 3D shape of an object, nor the 3D trajectory of its motion, unless the visual system has independent access to how far away the object is at any moment. Indeed, as the viewing distance is changed, the same disparate retinal motions will correspond to very different real 3D trajectories. In this paper we were interested in whether binocular 3D motion detection is affected by viewing distance. A visual search task was used, in which the observer is asked to detect a target dot, moving in 3D, amidst 3D stationary distractor dots. We found that distance does not affect detection performance. Motion-in-depth is consistently harder to detect than the equivalent lateral motion, for all viewing distances. For a constant retinal motion with both lateral and motion-in-depth components, detection performance is constant despite variations in viewing distance that produce large changes in the direction of the 3D trajectory. We conclude that binocular 3D motion detection relies on retinal, not absolute, visual signals.     

Dynamic motion planning of 3D human locomotion using gradient-based optimization

Since humans can walk with an infinite variety of postures and limb movements, there is no unique solution to the modeling problem to predict human gait motions. Accordingly, we test herein the hypothesis that the redundancy of human walking mechanisms makes solving for human joint profiles and force time histories an indeterminate problem best solved by inverse dynamics and optimization methods. A new optimization-based human-modeling framework is thus described for predicting three-dimensional human gait motions on level and inclined planes. The basic unknowns in the framework are the joint motion time histories of a 25-degree-of-freedom human model and its six global degrees of freedom. The joint motion histories are calculated by minimizing an objective function such as deviation of the trunk from upright posture that relates to the human model's performance. A variety of important constraints are imposed on the optimization problem, including (1) satisfaction of dynamic equilibrium equations by requiring the model's zero moment point (ZMP) to lie within the instantaneous geometrical base of support, (2) foot collision avoidance, (3) limits on ground-foot friction, and (4) vanishing yawing moment. Analytical forms of objective and constraint functions are presented and discussed for the proposed human-modeling framework in which the resulting optimization problems are solved using gradient-based mathematical programming techniques. When the framework is applied to the modeling of bipedal locomotion on level and inclined planes, acyclic human walking motions that are smooth and realistic as opposed to less natural robotic motions are obtained. The aspects of the modeling framework requiring further investigation and refinement, as well as potential applications of the framework in biomechanics, are discussed.     

Integration of the bacteriophage phi 3T-coded thymidylate synthetase gene into the Bacillus subtilis chromosome

Transformation of Bacillus subtilis 168 Thy- auxotrophs with phi 3T deoxyribonucleic acid (DNA) to thymine independence was found to involve site-specific recombination of phi 3T DNA sequences with their homologous counterparts in the bacterial chromosome. During the transformation, the phage phi 3T-encoded thymidylate synthetase gene, thyP3, was shown to integrate at two genetically distinct sites in the B. Subtilis 168 chromosome. The first site was identified to be in the bacterial thymidylate synthetase gene, thyA. The second site was in a prophage (SPB) known to be carried in the host genome. The frequency of the integration of the thyP3 gene at each of the two loci and some of the parameters affecting this frequency were studied. The common origin of the thyP3 and thyA genes and their molecular evolution are also reported.     

Integration of phage Mu into the RP4::D3112A-plasmid in Escherichia coli cells

Hybrid plasmids obtained as a result of Mu phage insertions into the RP4::D3112 plasmid in Escherichia coli cells were studied. Stable maintenance of RP4::D3112 plasmid in E. coli cells was provided by using the D3112 phage genome with a point polar mutation in the A gene which prevented early genes' expression. The presence of D3112A- in the RP4 plasmid has been shown to have no effect on efficiency of phage Mu transposition into this plasmid. Moreover, RP4 and D3112 genomes were equivalent targets for Mu integration. The integration of transposable phage into genome of nonrelated phage can be used as one of the approaches to construct recombinant phage genomes in vivo in the absence of DNA homology.     

From 1D to 2D via 3D: dynamics of surface motion segmentation for ocular tracking in primates.

In primates, tracking eye movements help vision by stabilising onto the retinas the images of a moving object of interest. This sensorimotor transformation involves several stages of motion processing, from the local measurement of one-dimensional luminance changes up to the integration of first and higher-order local motion cues into a global two-dimensional motion immune to antagonistic motions arising from the surrounding. The dynamics of this surface motion segmentation is reflected into the various components of the tracking responses and its underlying neural mechanisms can be correlated with behaviour at both single-cell and population levels. I review a series of behavioural studies which demonstrate that the neural representation driving eye movements evolves over time from a fast vector average of the outputs of linear and non-linear spatio-temporal filtering to a progressive and slower accurate solution for global motion. Because of the sensitivity of earliest ocular following to binocular disparity, antagonistic visual motion from surfaces located at different depths are filtered out. Thus, global motion integration is restricted within the depth plane of the object to be tracked. Similar dynamics were found at the level of monkey extra-striate areas MT and MST and I suggest that several parallel pathways along the motion stream are involved albeit with different latencies to build-up this accurate surface motion representation. After 200-300 ms, most of the computational problems of early motion processing (aperture problem, motion integration, motion segmentation) are solved and the eye velocity matches the global object velocity to maintain a clear and steady retinal image.     

Integration of microsatellite markers into the translocation-based physical RFLP map of barley chromosome 3H

PCR with the DNA of translocation chromosomes and marker-specific primers has been used to merge genetically mapped microsatellite (MS) markers into the physically integrated restriction fragment length polymorphism (RFLP) map of barley chromosome 3H. It was shown that the pronounced clustering of MS markers around the centromeric region within the genetic map of this chromosome results from suppressed recombination. This yielded a refinement of the physically integrated RFLP map of chromosome 3H by subdivision of translocation breakpoints (TBs) that were previously not separated by markers. The physical distribution of MS markers within most of the subchromosomal regions corresponded well with that of the RFLP markers, indicating that both types of markers are similarly valuable for a wide range of applications in barley genetics.     

Turning limited experimental information into 3D models of RNA

Our understanding of RNA functions in the cell is evolving rapidly. As for proteins, the detailed three-dimensional (3D) structure of RNA is often key to understanding its function. Although crystallography and nuclear magnetic resonance (NMR) can determine the atomic coordinates of some RNA structures, many 3D structures present technical challenges that make these methods difficult to apply. The great flexibility of RNA, its charged backbone, dearth of specific surface features, and propensity for kinetic traps all conspire with its long folding time, to challenge in silico methods for physics-based folding. On the other hand, base-pairing interactions (either in runs to form helices or isolated tertiary contacts) and motifs are often available from relatively low-cost experiments or informatics analyses. We present RNABuilder, a novel code that uses internal coordinate mechanics to satisfy user-specified base pairing and steric forces under chemical constraints. The code recapitulates the topology and characteristic L-shape of tRNA and obtains an accurate noncrystallographic structure of the Tetrahymena ribozyme P4/P6 domain. The algorithm scales nearly linearly with molecule size, opening the door to the modeling of significantly larger structures.     

Incorporation of alpha-chymotrypsin into the 3D channels of bicontinuous cubic lipid mesophases

The effects of protein entrapment on the structure and phase behavior of periodically curved lipid mesostructures have been examined by synchrotron small-angle X-ray diffraction and FT-IR spectroscopy. The study was directed towards a better understanding of the effect of confinement in a lipid environment on the stability and unfolding behavior of alpha-chymotrypsin, and, vice versa, the effect of the entrapped protein on the lipid's mesophase structure and temperature- and pressure-dependent phase behavior. We compare the interaction of protein molecules of two different sizes (cytochrome c, 12.4 kDa, and alpha-chymotrypsin, 25.8 kDa) with the cubic Ia3d phase of monoolein (MO), which forms spontaneously in water. The cubic structure changes significantly when cyt c is incorporated: above a protein concentration of 0.2 wt.%, the interaction between the positively charged protein and the lipid headgroups leads to an increase in interfacial curvature which promotes the formation of a new micellar cubic phase, presumably of crystallographic space group P4(3)32, which the lipid system does not form on its own. The larger alpha-chymotrypsin leads to a different scenario. On the basis of an examination of the calculated geometric parameters and water volume fractions, it is concluded that the alpha-chymotrypsin molecules cannot be located exclusively in the water channels of the cubic Ia3d or P4(3)32 phases, but rather form new, less ordered (presumably cubic Pn3m) structures. The new structure disappears above the unfolding temperature of chymotrypsin and exhibits a pressure stability, which-- in contrast to cyt c in MO-- decreases with increasing chymotrypsin concentration in the system. While the secondary structure of cyt c remains unaffected in the confining lipid environment, the structure of alpha-chymotrypsin gets destabilized slightly, and the protein tends to aggregate even at relatively low concentrations.     

A visualization of 3D proteome universe: Mapping of a proteome ensemble into 3D space based on the protein-structure composition

To visualize a bird’s-eye view of an ensemble of proteomes for various species, we recently developed a novel method of mapping a proteome ensemble into Three-Dimensional (3D) vector space. In this study, the “proteome” is defined as the entire set of all proteins encoded in a genome sequence, and these proteins were dealt with at the level of the SCOP Fold. First, we represented the proteome of a species s by a 1053-dimensional vector x(s), where its length ∣x(s)∣ represents the overall amount of all the SCOP Folds in the proteome, and its unit vector x(s)/∣x(s)∣ represents the relative composition of the SCOP Folds in the proteome and the size of the dimension, 1053, is the number of all possible Folds in the proteome ensemble given. Second, we mapped the vector x(s) to the 3D vector y(s), based on the two simple principles: (1) ∣y(s)∣ = ∣x(s)∣, and (2) the angle between y(s) and y(t) maximally correlates with the angle between x(s) and x(t). We applied to the mapping of a proteome ensemble for 456 species, which were retrieved from the Genomes TO Protein structures and functions (GTOP) database. As a result, we succeeded in the mapping in that the properties of the 1053-dimensional vectors were quantitatively conserved in the 3D vectors. Particularly, the angles between vectors before and after the mapping highly correlated with each other (correlation coefficients were 0.95–0.96). This new mapping method will allow researchers to intuitively interpret the visual information presented in the maps in a highly effective manner.     

Integration of future biotechnologies into the equine industry

There has and will continue to be reproductive techniques available that have a positive impact upon the equine breeding industry. This review focuses on semen technologies that have been developed or are in the process of being developed. The use of fluorescent dyes and flow cytometry has provided the researcher and clinician with powerful tools to evaluate several sperm attributes. These procedures have been utilized to evaluate sperm viability, acrosome status, mitochondrial status, DNA integrity and stages of capacitation. Flow cytometry allows several sperm attributes to be evaluated on thousands of spermatozoa in a matter of seconds. Development of procedures for insemination of mares with relatively small numbers of spermatozoa has the potential to change how stallions and their semen are managed. This review discusses the use of insemination of fresh, frozen and sex-sorted spermatozoa in relatively small numbers compared with conventional insemination technologies. The recent acceptance of frozen-thawed semen by many of the major breed registries has stimulated an increase in research on frozen semen. Many of the studies have focused on identifying damage during the freezing and thawing process. Numerous studies also have been conducted to modify freezing extenders so that the sperm are protected during the freezing and thawing process. The production of in vitro-produced embryos is extremely limited in the horse due to the failure of in vitro fertilization. However, intracytoplasmic sperm injection (ICSI) has been used for the production of foals from stallions that have less than typical sperm numbers or from stallions that have died and a limited quantity of frozen semen is available. This technique has been used by several laboratories to produce embryos in vitro. The breeder and veterinarian now have access to techniques that allow assessment of semen quality, improvement of procedures for freezing and thawing and insemination of mares with fewer numbers of spermatozoa. It is likely that the next decade will also produce tremendous advances in semen technologies that can be utilized in the horse industry.     

Integration of the simian virus 40 genome into cellular DNA in temperature-sensitive (N) and temperature-insensitive (A) transformants of 3T3 rat and Chinese hamster lung cells

We studied the pattern of integration of the simian virus 40 (SV40) genome into the cellular DNA of N-transformants (temperature sensitive) and A-transformants (temperature insensitive) derived from 3T3-Fisher rat and Chinese hamster lung cells. The SV40 DNA was covalently linked to the cellular DNA in both types of transformants. In the rat cells, most N-transformants contained SV40 sequences integrated at a single site; most A-transformants contained SV40 sequences integrated at two to five sites. In the Chinese hamster cells, no significant correlation between the number of integration sites and the phenotype of the transformant was found; one of three integration sites were observed for both the N- and A-transformants. Single copies and tandem repeats of SV40 sequences were observed in A- and N-transformants derived from rat cells. A-transformants arise neither by amplification of the SV40 genome nor by integration at a unique site.