A novel method for assessing the 3-D orientation accuracy of inertial/magnetic sensors

A novel method for assessing the accuracy of inertial/magnetic sensors is presented. The method, referred to as the “residual matrix” method, is advantageous because it decouples the sensor's error with respect to Earth's gravity vector (attitude residual error: pitch and roll) from the sensor's error with respect to magnetic north (heading residual error), while remaining insensitive to singularity problems when the second Euler rotation is close to ±90°. As a demonstration, the accuracy of an inertial/magnetic sensor mounted to a participant's forearm was evaluated during a reaching task in a laboratory. Sensor orientation was measured internally (by the inertial/magnetic sensor) and externally using an optoelectronic measurement system with a marker cluster rigidly attached to the sensor's enclosure. Roll, pitch and heading residuals were calculated using the proposed novel method, as well as using a common orientation assessment method where the residuals are defined as the difference between the Euler angles measured by the inertial sensor and those measured by the optoelectronic system. Using the proposed residual matrix method, the roll and pitch residuals remained less than 1° and, as expected, no statistically significant difference between these two measures of attitude accuracy was found; the heading residuals were significantly larger than the attitude residuals but remained below 2°. Using the direct Euler angle comparison method, the residuals were in general larger due to singularity issues, and the expected significant difference between inertial/magnetic sensor attitude and heading accuracy was not present.     

Dosimetric effect of intrafraction motion and different localization strategies in prostate SBRT

The aim of this study was to evaluate the dosimetric effect of continuous motion monitoring based localization (Calypso, Varian Medical Systems), gating and intrafraction motion correction in prostate SBRT. Delivered doses were modelled by reconstructing motion inclusive dose distributions for different localization strategies. Actually delivered dose (strategy A) utilized initial Calypso localization, CBCT and additional pre-treatment motion correction by kV-imaging and Calypso, and gating during the irradiation. The effect of gating was investigated by simulating non-gated treatments (strategy B). Additionally, non-gated and single image-guided (CBCT) localization was simulated (strategy C). A total of 308 fractions from 22 patients were reconstructed. The dosimetric effect was evaluated by comparing motion inclusive target and risk organ dose-volume parameters to planned values. Motion induced dose deficits were seen mainly in PTV and CTV to PTV margin regions, whereas CTV dose deficits were small in all strategies: mean ± SD difference in CTVD99% was –0.3 ± 0.4%, −0.4 ± 0.6% and –0.7 ± 1.2% in strategies A, B and C, respectively. Largest dose deficits were seen in individual fractions for strategy C (maximum dose reductions were −29.0% and –7.1% for PTVD95% and CTVD99%, respectively). The benefit of gating was minor, if additional motion correction was applied immediately prior to irradiation. Continuous motion monitoring based localization and motion correction ensured the target coverage and minimized the OAR exposure for every fraction and is recommended to use in prostate SBRT. The study is part of clinical trial NCT02319239.     

Macroevolutionary insights into sedges (Carex: Cyperaceae): The effects of rapid chromosome number evolution on lineage diversification

Changes in holocentric chromosome number due to fission and fusion have direct and immediate effects on genome structure and recombination rates. These, in turn, may influence ecology and evolutionary trajectories profoundly. Sedges of the genus Carex (Cyperaceae) comprise ca. 2000 species with holocentric chromosomes. The genus exhibits a phenomenal range in the chromosome number (2n = 10 − 132) with almost not polyploidy. In this study, we integrated the most comprehensive cytogenetic and phylogenetic data for sedges with associated climatic and morphological data to investigate the hypothesis that high recombination rates are selected when evolutionary innovation is required, using chromosome number evolution as a proxy for recombination rate. We evaluated Ornstein–Uhlenbeck models to infer shifts in chromosome number equilibrium and selective regime. We also tested the relationship between chromosome number and diversification rates. Our analyses demonstrate significant correlations between morphology and climatic niche and chromosome number in Carex. Nevertheless, the amount of chromosomal variation that we are able to explain is very small. We recognized a large number of shifts in mean chromosome number, but a significantly lower number in climatic niche and morphology. We also detected a peak in diversification rates near intermediate recombination rates. In combination, these analyses point toward the importance of chromosome evolution to the evolutionary history of Carex. Our work suggests that the effect of chromosome evolution on recombination rates, not just on reproductive isolation, may be central to the evolutionary history of sedges.     

Reliability and sources of variability of 3D kinematics and electromyography measurements to assess newly-acquired gait in toddlers with typical development and unilateral cerebral palsy

The aim was to 1) determine intersession and intertrial reliability and 2) assess three sources of variability (intersubject, intersession and intertrial) of lower limb kinematic and electromyographic (EMG) variables during gait in toddlers with typical development (TD) and unilateral cerebral palsy (UCP) (age <3 years, independent walking experience ≤6 months). Gait kinematics and surface EMG were recorded in 30 toddlers (19 TD and 11 UCP), during two, 3D-motion capture sessions. Standard error of measurement (SEM) between trials (gait cycles) of the same session and between sessions was calculated to assess reliability. Standard deviations (SD) between subjects, sessions and trials were calculated to estimate sources of variability. Sixty-four percent of kinematic SEM-values were acceptable (2°-5°). Frontal plane measurements were most reliable (SEM 2°-4.6°). In toddlers with UCP, EMG variables were most reliable for affected side, distal muscles. Intrinsic (intertrial and intersubject) variability was high, reflecting both motor immaturity and the high variability of toddler gait patterns. In toddlers with UCP, variability was amplified by motor impairment and delayed motor development. 3D gait analysis and surface EMG are partially reliable tools to study individual gait patterns in toddlers in clinical practice and research, although some variables must be interpreted with caution.     

Unweighted state as a sidestep preparation improve the initiation and reaching performance for basketball players

The preparatory motion of a defensive motion in contact sport such as basketball should be small and involve landing on both feet for strict time and motion constraints. We thus proposed the movement creating a unweighted state. Ten basketball players performed a choice reaction sidestepping task with and without the voluntary, continuous vertical fluctuation movement. The results indicated that the preparatory movement shortened the time of their sidestep initiation (301 vs. 314 ms, p = 0.011) and reaching performance (883 vs. 910 ms, p = 0.018) but did not increase their peak ground reaction force or movement velocity. The mechanism of the improvement was estimated to be the following: in the preparation phase, the vertical body fluctuation created the force fluctuation; after the direction signal, the unweighted state can shorten the time required to initiate the sidestepping (unweighted: 279 ms; weighted: 322 ms, p = 0.002); around the initiation phase, the dropping down of the body and weighted state can contribute to the reaching performance. We conducted additional experiment investigating muscle–tendon-complex dynamics and muscle activity using ultrasound device and electromyography. The result suggests that the building up of active state of muscle might explain the improvement of sidestepping performance.     

Introducing a new staircase design to quantify healthy knee function during stair ascent and descent

The design, manufacture and validation of a new free standing staircase for motion analysis measurements are described in this paper. The errors in vertical force measurements introduced when the stairs interface with a force plate (FP) are less than 0.6%. The centre of pressure error introduced is less than 0.7 mm compared to the error from the FP. The challenges of introducing stair gait into a clinical trial with a limited number of FPs and time limitations for assessment sessions are addressed by introducing this cost effective solution.

The staircase was used in a study to measure non-pathological knee function of 10 subjects performing stair ascent and descent. The resulting knee kinematics and knee joint moments are in agreement with previous studies. The kinematic and joint moment profiles provide a normative range, which will be useful in future studies for identifying alterations in joint function associated with pathology and intervention.     

An analytical model for the ergometer rowing: inverse multibody dynamics analysis

A model for the ergometer rowing exercise is presented in this paper. From the quantitative observations of a particular trajectory (motion), the model is used to determine the moment of the forces produced by the muscles about each joint. These forces are evaluated according to the continuous system of equations of motion. An inverse dynamics analysis is performed in order to predict the joint torques developed by the muscles during the execution of the task. An elementary multibody mechanical system is used as an example to discuss the assumptions and procedures adopted.     

Kinematic analysis of over-determinate biomechanical systems

In this paper, we introduce a new general method for kinematic analysis of rigid multi body systems subject to holonomic constraints. The method extends the standard analysis of kinematically determinate rigid multi body systems to the over-determinate case. This is accomplished by introducing a constrained optimisation problem with the objective function given as a function of the set of system equations that are allowed to be violated while the remaining equations define the feasible set.

We show that exact velocity and acceleration analysis can also be performed by solving linear sets of equations, originating from differentiation of the Karush–Kuhn–Tucker optimality conditions.

The method is applied to the analysis of an 18 degrees-of-freedom gait model where the kinematical drivers are prescribed with data from a motion capture experiment.

The results show that significant differences are obtained between applying standard kinematic analysis or minimising the least-square errors on the two fully equivalent 3D gait models with only the way the experimental data is processed being different.     

Numerical Models for the Simulation of Flexible Artificial Heart Valves: Part I - Computational Methods

Abstract

A numerical model of the coupled motion of a flexing surface in a high Reynolds number flow is presented for the simulation of flexible polyurethane heart valves in the aortic position. This is achieved by matching a Lagrangian dynamic leaflet model with a panel method based flow solver. The two models are coupled via the time-dependent pressure field using the unsteady Bernoulli equation.

Incorporation of sub-cycling in the dynamic model equations and fast pre conditioning techniques in the panel method solver yields efficient convergence and near real-time simulations of valve motion. The generality of dynamic model allows different material properties and/or geometries to be studied easily and interactively. This interactivity is realized by embedding the models within a design environment created using the software IRIS Explorer ^TM.

Two flow domains are developed, an infinite domain and an internal domain using conformal mapping theory. In addition bending stress on the valve is computed using a simple stress model based on spline and circle equation techniques.