End-point Location Research Articles

Exploration biases forelimb reaching strategies

The brain can generate actions, such as reaching to a target, using different movement strategies. We investigate how such strategies are learned in a task where perched head-fixed mice learn to reach to an invisible target area from a set start position using a joystick. This can be achieved by learning to move in a specific direction or to a specific endpoint location. As mice learn to reach the target, they refine their variable joystick trajectories into controlled reaches, which depend on the sensorimotor cortex. We show that individual mice learned strategies biased to either direction- or endpoint-based movements. This endpoint/direction bias correlates with spatial directional variability with which the workspace was explored during training. Model-free reinforcement learning agents can generate both strategies with similar correlation between variability during training and learning bias. These results provide evidence that reinforcement of individual exploratory behavior during training biases the reaching strategies that mice learn.

HPRoP: Hierarchical Privacy-preserving Route Planning for Smart Cities

Route Planning Systems (RPS) are a core component of autonomous personal transport systems essential for safe and efficient navigation of dynamic urban environments with the support of edge-based smart city infrastructure, but they also raise concerns about user route privacy in the context of both privately owned and commercial vehicles. Numerous high-profile data breaches in recent years have fortunately motivated research on privacy-preserving RPS, but most of them are rendered impractical by greatly increased communication and processing overhead. We address this by proposing an approach called Hierarchical Privacy-Preserving Route Planning (HPRoP), which divides and distributes the route-planning task across multiple levels and protects locations along the entire route. This is done by combining Inertial Flow partitioning, Private Information Retrieval (PIR), and Edge Computing techniques with our novel route-planning heuristic algorithm. Normalized metrics were also formulated to quantify the privacy of the source/destination points ( endpoint location privacy ) and the route itself ( route privacy ). Evaluation on a simulated road network showed that HPRoP reliably produces routes differing only by ≤ 20% in length from optimal shortest paths, with completion times within ∼ 25 seconds, which is reasonable for a PIR-based approach. On top of this, more than half of the produced routes achieved near-optimal endpoint location privacy (∼ 1.0) and good route privacy (≥ 0.8).

Kinesthetic Feedback for Understanding Program Execution.

To better prepare future generations, knowledge about computers and programming are one of the many skills that are part of almost all Science, Technology, Engineering, and Mathematic programs; however, teaching and learning programming is a complex task that is generally considered difficult by students and teachers alike. One approach to engage and inspire students from a variety of backgrounds is the use of educational robots. Unfortunately, previous research presents mixed results on the effectiveness of educational robots on student learning. One possibility for this lack of clarity may be because students have a wide variety of styles of learning. It is possible that the use of kinesthetic feedback, in addition to the normally used visual feedback, may improve learning with educational robots by providing a richer, multi-modal experience that may appeal to a larger number of students with different learning styles. It is also possible, however, that the addition of kinesthetic feedback, and how it may interfere with the visual feedback, may decrease a student's ability to interpret the program commands being executed by a robot, which is critical for program debugging. In this work, we investigated whether human participants were able to accurately determine a sequence of program commands performed by a robot when both kinesthetic and visual feedback were being used together. Command recall and end point location determination were compared to the typically used visual-only method, as well as a narrative description. Results from 10 sighted participants indicated that individuals were able to accurately determine a sequence of movement commands and their magnitude when using combined kinesthetic + visual feedback. Participants' recall accuracy of program commands was actually better with kinesthetic + visual feedback than just visual feedback. Although the recall accuracy was even better with the narrative description, this was primarily due to participants confusing an absolute rotation command with a relative rotation command with the kinesthetic + visual feedback. Participants' zone location accuracy of the end point after a command was executed was significantly better for both the kinesthetic + visual feedback and narrative methods compared to the visual-only method. Together, these results suggest that the use of both kinesthetic + visual feedback improves an individual's ability to interpret program commands, rather than decreases it.

Heat Flow Characteristics of Ferrofluid in Magnetic Field Patterns for Electric Vehicle Power Electronics Cooling

The ferrofluid is a kind of nanofluid that has magnetization properties in addition to excellent thermophysical properties, which has resulted in an effective performance trend in cooling applications. In the present study, experiments are conducted to investigate the heat flow characteristics of ferrofluid based on thermomagnetic convection under the influence of different magnetic field patterns. The temperature and heat dissipation characteristics are compared for ferrofluid under the influence of no-magnet, I, L, and T magnetic field patterns. The results reveal that the heat gets accumulated within ferrofluid near the heating part in the case of no magnet, whereas the heat flows through ferrofluid under the influence of different magnetic field patterns without any external force. Owing to the thermomagnetic convection characteristic of ferrofluid, the heat dissipates from the heating block and reaches the cooling block by following the path of the I magnetic field pattern. However, in the case of the L and T magnetic field patterns, the thermomagnetic convection characteristic of ferrofluid drives the heat from the heating block to the endpoint location of the pattern instead of the cooling block. The asymmetrical heat dissipation in the case of the L magnetic field pattern and the symmetrical heat dissipation in the case of the T magnetic field pattern are observed following the magnetization path of ferrofluid in the respective cases. The results confirm that the direction of heat flow could be controlled based on the type of magnetic field pattern and its path by utilizing the thermomagnetic behavior of ferrofluid. The proposed lab-scale experimental set-up and results database could be utilized to design an automatic energy transport system for the cooling of power conversion devices in electric vehicles.

Insights into motor performance deficits after stroke: an automated and refined analysis of the lower-extremity motor coordination test (LEMOCOT)

BackgroundThe lower-extremity motor coordination test (LEMOCOT) is a performance-based measure used to assess motor coordination deficits after stroke. We aimed to automatically quantify performance on the LEMOCOT and to extract additional performance parameters based on error analysis in persons with stroke (PwS) and healthy controls. We also aimed to explore whether these parameters provide additional information regarding motor control deficit that is not captured by the traditional LEMOCOT score. In addition, the associations between the LEMOCOT score, parameters of error and performance-based measures of lower-extremity impairment and gait were tested.MethodsTwenty PwS (age: 62 ± 11.8 years, time after stroke onset: 84 ± 83 days; lower extremity Fugl-Meyer: 30.2 ± 3.7) and 20 healthy controls (age: 42 ± 15.8 years) participated in this cross-sectional exploratory study. Participants were instructed to move their big toe as fast and accurately as possible between targets marked on an electronic mat equipped with force sensors (Zebris FDM-T, 60 Hz). We extracted the contact surface area of each touch, from which the endpoint location, the center of pressure (COP), and the distance between them were computed. In addition, the absolute and variable error were calculated.ResultsPwS touched the targets with greater foot surface and demonstrated a greater distance between the endpoint location and the location of the COP. After controlling for the number of in-target touches, greater absolute and variable errors of the endpoint were observed in the paretic leg than in the non-paretic leg and the legs of controls. Also, the COP variable error differentiated between the paretic, non-paretic, and control legs and this parameter was independent of in-target counts. Negative correlations with moderate effect size were found between the Fugl Meyer assessment and the error parameters.ConclusionsPwS demonstrated lower performance in all outcome measures than did controls. Several parameters of error indicated differences between legs (paretic leg, non-paretic leg and controls) and were independent of in-target touch counts, suggesting they may reflect motor deficits that are not identified by the traditional LEMOCOT score.

Cortical Surfaces Integration with Tractography for Structural Connectivity Analysis.

Background: Mapping diffusion MRI tractography streamlines to the cortical surface facilitates the integration of white matter features onto gray matter, especially for connectivity analysis. Method: In this work, we present methods that combine cortical surface meshes with tractography reconstruction to improve endpoint precision and coverage. This cortical mapping also enables the study of structural measures from tractography along the cortex and subcortical structures. In addition to structural connectivity analysis, novel adaptive and dynamic surface seeding methods are proposed. These improvements are made by incorporating cortical maps such as endpoint density. Results: The proposed dynamic surface seeding increases the cortical coverage and reduces endpoint location biases. Our results suggest that the use of cortical and subcortical meshes together with a proper seeding strategy can reduce the variability in structural connectivity analysis. Conclusion: The proposed adaptive and dynamic seeding utilize cortical maps to better distribute tractography interconnections, thus increasing cortical coverage and reducing endpoint bias. This also facilitates the analysis of white matter & diffusion MRI features along the cortex, combined with cortical measures or functional activation. Impact statement This research presents an overview of surface mapping methods for tractography to reduce structural connectivity variability. The proposed adaptive and dynamic seeding utilize cortical maps to better distribute tractography interconnections, thus increasing cortical coverage and reducing end-point bias. This also facilitates the analysis of white matter and diffusion magnetic resonance imaging features along the cortex, combined with cortical measures or functional activation.

Dimensionality Reduction and Motion Clustering During Activities of Daily Living: Decoupling Hand Location and Orientation.

This article is the second in a two-part series analyzing human arm and hand motion during a wide range of unstructured tasks. In this work, we track the hand of healthy individuals as they perform a variety of activities of daily living (ADLs) in three ways decoupled from hand orientation: end-point locations of the hand trajectory, whole path trajectories of the hand, and straight-line paths generated using start and end points of the hand. These data are examined by a clustering procedure to reduce the wide range of hand use to a smaller representative set. Hand orientations are subsequently analyzed for the end-point location clustering results and subsets of orientations are identified in three reference frames: global, torso, and forearm. Data driven methods that are used include dynamic time warping (DTW), DTW barycenter averaging (DBA), and agglomerative hierarchical clustering with Ward's linkage. Analysis of the end-point locations, path trajectory, and straight-line path trajectory identified 5, 5, and 7 ADL task categories, respectively, while hand orientation analysis identified up to 4 subsets of orientations for each task location, discretized and classified to the facets of a rhombicuboctahedron. Together these provide insight into our hand usage in daily life and inform an implementation in prosthetic or robotic devices using sequential control.

Chiral transition and the chiral charge density of the hot and dense QCD matter.

We study the chirally imbalanced hot and dense strongly interacting matter by means of the Dyson-Schwinger equations (DSEs). The chiral phase diagram is studied in the presence of chiral chemical potential μ5. The chiral quark condensate leftlangle overline{psi}psi rightrangle is obtained with the Cornwall-Jackiw-Tomboulis (CJT) effective action in concert with the Rainbow truncation. Catalysis effect of dynamical chiral symmetry breaking (DCSB) by μ5 is observed. We examine with two popular gluon models and consistency is found within the DSE approach, as well as in comparison with lattice QCD. The critical end point (CEP) location (μE, TE ) shifts toward larger TE but constant μE as μ5 increases. A technique is then introduced to compute the chiral charge density n5 from the fully dressed quark propagator. We find the n5 generally increases with temperature T , quark number chemical potential μ and μ5. Since the chiral magnetic effect (CME) is typically investigated with peripheral collisions, we also investigate the finite size effect on n5 and find an increase in n5 with smaller system size.

The effect of differential spatiotopic information on the acquisition and generalization of fear of movement-related pain.

Fear of movement-related pain significantly contributes to musculoskeletal chronic pain disability. Previous research has shown that fear of movement-related pain can be classically conditioned. That is, in a differential fear conditioning paradigm, after (repeatedly) pairing a neutral joystick movement (conditioned stimulus; CS+) with a painful stimulus (unconditioned stimulus; pain-US), that movement in itself starts to elicit self-reported fear and elevated psychophysiological arousal compared to a control joystick movement (CS−) that was never paired with pain. Further, it has been demonstrated that novel movements that are more similar to the original CS+ elicit more fear than novel movements that are more similar to the CS−, an adaptive process referred to as stimulus generalization. By default, movement/action takes place in reference to the three-dimensional space: a movement thus not only involves proprioceptive information, but it also contains spatiotopic information. Therefore, the aim of this study was to investigate to what extent spatiotopic information (i.e., endpoint location of movement) contributes to the acquisition and generalization of such fear of movement-related pain besides proprioception (i.e., movement direction). In a between-subjects design, the location group performed joystick movements from the middle position to left and right; the movement group moved the joystick from left and right to the middle. One movement (CS+) was paired with pain, another not (CS−). Feature overlap between CSs typically reduces differential learning. The endpoint of both CSs in the movement group is an overlapping feature whereas in the location group the endpoint of both CSs is distinct; therefore we hypothesized that there would be less differential fear learning in the movement group compared to the location group. We also tested generalization to movements with similar proprioceptive features but different endpoint location. Following the principle of stimulus generalization, we expected that novel movements in the same direction as the CS+ but with a different endpoint would elicit more fear than novel movement in the same direction of the CS− but with a different endpoint. Main outcome variables were self-reported fear and pain-US expectancy and eyeblink startle responses (electromyographic). Corroborating the feature overlap hypothesis, the location group showed greater differential fear acquisition. Fear generalization emerged for both groups in the verbal ratings, suggesting that fear indeed accrued to proprioceptive CS features; these effects, however, were not replicated in the startle measures.

Human Machine Interface Design for a 3 DoF Robot Manipulator

This paper represents a Human Machine Interface (HMI) design to control a 3 DoF robot manipulator. This manipulator has two parallelograms to make the moving platform always parallel to the ground. We used inverse kinematic analysis of the robot manipulator to control the end point location. Inverse kinematic results are verified using design parameters and end effector location. According to our algorithm, user defines the end point location from HMI, and then program solves inverse kinematics of the robot manipulator. The angles are sent to Arduino microcontroller to set the position of the servo motors. Using this HMI, the user picks and places the object in real time. The user can also give command to draw linear, circular and rectangular paths on the HMI.

Characterization of ion exchange functionalized cyclic olefin polymer open tubular columns

We describe both the cation-exchange (CEX) and anion-exchange (AEX) capacity measurements of functionalized cyclic olefin polymer (COP) open tubular (OT) columns. COP capillaries were sulfonated to provide CEX functionality and then coated with AEX latex to provide AEX functionality. We measure functionalization uniformity along the column by (a) separately measuring capacities of two halves of a column, (b) measuring retention factors for several ions in successive 10 cm segments of a column in multiple injections and (c) measuring retention variance of a single ion in different segments of a column from a single injection. Data were collected in both flow directions. Errors in CEX capacity determination arises primarily from uncertainties in titration end point location. AEX capacities are typically 10x higher, reducing the relative measurement error. In the AEX case, both titration end point location error and variations in column internal diameter contribute to the overall uncertainty. Although sulfonation of COP results in nonuniform CEX functionalization, AEX latex coating of this surface results in uniform AEX coverage. Frontal displacement chromatography (using both admittance and optical detection) and acid-base titrimetry were compared for capacity measurement. In a pooled standard deviation based t-test for the data on 8 columns, at the 95% confidence level, CEX capacity differed significantly between two halves of a column. But AEX capacity of AEX columns prepared by coating the same CEX columns with AEX latex did not.

A role of goals for social inhibition of return?

The social inhibition of return (sIOR) effect refers to the finding that response initiation times are longer if a movement is executed to a location where another person has responded to just before. Previous studies have examined the influence of the goal of the action on sIOR. In these studies, however, the movement endpoint and to-be-attained goal (e.g., touching/pressing a response key) were at the same spatial location. In the present two experiments, we disentangled movement endpoint and goal's identity and locations by means of introducing action effects that followed directly from a movement. Similar methods were previously shown powerful enough to clearly show the importance of action goals for other phenomena-a finding consistent with effect-based theories of action control, such as the ideomotor theory. The results of the present study revealed that sIOR was shaped by the movement endpoint location, not the goal's identity or location. That is, in both experiments, an sIOR effect was observed, but the magnitude of the sIOR effect was not modulated by repetitions/switches of goals or their locations. Thus, results indicate that goals play a negligible role in the emergence of the sIOR and, consequently, highlight the importance of action observation for the emergence of the sIOR effect.

Does the crossed-limb deficit affect the uncrossed portions of limbs?

When locating touch, we remap its location from skin-based to external coordinates as a function of body posture. While remapping is thought to occur whenever there is tactile input, research has focused on a special case, the crossed-hands deficit, where tactile localization is impaired when the limbs are crossed compared with uncrossed. To date, these studies have always stimulated portions of the limbs that are crossed, such as a finger of each hand. It is therefore unknown whether the deficit induced by arm crossing is specific to the crossed portion of the limb or affects the limb as a whole. In Experiments 1 and 2, we stimulated the shoulders and elbows and found that tactile localization, measured with temporal order judgments, was unaffected by crossing the forearms. In Experiment 3, a crossed-limbs deficit was observed for touches on a single skin location when that location was distal-but not proximal-to the crossing point of the arms. In Experiment 4, we found a similar crossed-limbs deficit irrespective of how far distally to the crossing point touch was applied. Together, these results demonstrate that crossing the limbs affects tactile perception only distal to the point of crossing. The process of remapping tactile events does not take into account the end-point location of the limb, but an extremely precise metric description of the touch relative to the configuration of both arms. (PsycINFO Database Record

Reliability of a Manual Procedure for Marking the EZ Endpoint Location in Patients with Retinitis Pigmentosa.

PurposeWe developed and evaluated a training procedure for marking the endpoints of the ellipsoid zone (EZ), also known as the inner segment/outer segment (IS/OS) border, on frequency domain optical coherence tomography (fdOCT) scans from patients with retinitis pigmentosa (RP).MethodsA manual for marking EZ endpoints was developed and used to train 2 inexperienced graders. After training, an experienced grader and the 2 trained graders marked the endpoints on fdOCT horizontal line scans through the macula from 45 patients with RP. They marked the endpoints on these same scans again 1 month later.ResultsIntragrader agreement was excellent. The intraclass correlation coefficient (ICC) was 0.99, the average difference of endpoint locations (19.6 μm) was close to 0 μm, and the 95% limits were between −284 and 323 μm, approximately ±1.1°. Intergrader agreement also was excellent. The ICC values were 0.98 (time 1) and 0.97 (time 2), the average difference among graders was close to zero, and the 95% limits of these differences was less than 350 μm, approximately 1.2°, for both test times.ConclusionsWhile automated algorithms are becoming increasingly accurate, EZ endpoints still have to be verified manually and corrected when necessary. With training, the inter- and intragrader agreement of manually marked endpoints is excellent.Translational RelevanceFor clinical studies, the EZ endpoints can be marked by hand if a training procedure, including a manual, is used. The endpoint confidence intervals, well under ±2.0°, are considerably smaller than the 6° spacing for the typically used static visual field.

Coordinate Representations for Interference Reduction in Motor Learning.

When opposing force fields are presented alternately or randomly across trials for identical reaching movements, subjects learn neither force field, a behavior termed ‘interference’. Studies have shown that a small difference in the endpoint posture of the limb reduces this interference. However, any difference in the limb’s endpoint location typically changes the hand position, joint angles and the hand orientation making it ambiguous as to which of these changes underlies the ability to learn dynamics that normally interfere. Here we examine the extent to which each of these three possible coordinate systems—Cartesian hand position, shoulder and elbow joint angles, or hand orientation—underlies the reduction in interference. Subjects performed goal-directed reaching movements in five different limb configurations designed so that different pairs of these configurations involved a change in only one coordinate system. By specifically assigning clockwise and counter-clockwise force fields to the configurations we could create three different conditions in which the direction of the force field could only be uniquely distinguished in one of the three coordinate systems. We examined the ability to learn the two fields based on each of the coordinate systems. The largest reduction of interference was observed when the field direction was linked to the hand orientation with smaller reductions in the other two conditions. This result demonstrates that the strongest reduction in interference occurred with changes in the hand orientation, suggesting that hand orientation may have a privileged role in reducing motor interference for changes in the endpoint posture of the limb.

Time Course of Motor Preparation during Visual Search with Flexible Stimulus-Response Association

Whether allocation of visuospatial attention can be divorced from saccade preparation has been the subject of intense research efforts. A variant of the visual search paradigm, in which a feature singleton indicates that the correct saccade should be directed to it (prosaccade) or to the opposite distractor (antisaccade), has been influential in addressing this core topic. We performed a causal assessment of this controversy by delivering an air puff to one eye to invoke the trigeminal blink reflex as monkeys performed this visual search task. Blinks effectively remove saccadic inhibition and prematurely trigger impending saccades in reaction time tasks, thus providing a behavioral readout of the premotor plan. We found that saccades accompanied blinks during the initial allocation of attention epoch and that these movements were directed to the singleton for both prosaccade and antisaccade trials. Blinks evoked at later times were accompanied with saccades to the correct end point location: the singleton on prosaccade trials and the opposite distractor on antisaccade trials. These results provide support for concurrent encoding of visuospatial attention and saccade preparation during visual search behavior.

Planning and coordination of a reach–grasp–eat task in children with hemiplegia

Children with hemiplegia have deficits in motor planning in addition to their impairments in movement of their more-affected upper extremity (UE). However, little is known about the relationship between motor planning and multi-segment coordination during functional activities in this population. In the present study, motor planning strategies and multi-segment coordination of the head, trunk, and UE were examined during a functional reach-grasp-eat task in children with hemiplegia. Ten children with hemiplegia (age 4-10 years; MACS levels I-II) and ten age-matched, typically developing children participated in the study. Children were asked to reach, grasp and transport a cookie to the mouth with one hand while 3-D kinematic analyses were performed. A more extended wrist (p = 0.001) and higher end-point position of grasping (p = 0.001) were found for both UEs of children with hemiplegia. The less-affected UE had greater trunk contribution (p = 0.018) and greater shoulder flexion (p = 0.002) and elbow extension (p = 0.005) during reaching compared to the TDC. The more-affected UE had impaired movement control with greater head rotation (p = 0.011), higher variability of end-point location in space (p = 0.001), greater trunk contribution (p = 0.018), and reduced wrist rotation (p = 0.007) compared with the less-affected UE and TDC. Additionally, delayed timing of maximum shoulder (p = 0.03) and elbow flexion (p = 0.008) during reaching, and maximum wrist pronation (p = 0.004) during eating were found for the more-affected UE. The results showed different multi-segment control for both UEs in children with hemiplegia compared to TDC. They also reflect impaired motor planning since the same movement strategies were used for both UEs. Furthermore, we suggest that inefficient multi-segment coordination of the more-affected UE is used to compensate for impaired motor planning and control.

Repetitive arm motion-induced fatigue affects shoulder but not endpoint position sense

Neck/shoulder pain has previously been linked to repetitive work and muscle fatigue. We have shown that asymptomatic people performing repetitive upper limb tasks display signs of shoulder fatigue and of whole-body compensatory strategies. However, the role played by the proprioceptive system in the production of these compensatory strategies has not been studied. A group of asymptomatic adults (n = 18) performed a repetitive pointing task at shoulder height to fatigue. Before and after fatigue, they performed two position sense tasks, eyes closed: a single-joint task where they abducted their shoulder to the perceived horizontal and a multi-joint task, where they stood and placed their finger at the perceived location of a target in front of them at shoulder height. After fatigue, subjects made larger shoulder errors by raising their elbow higher above the horizontal (~ +1.3 cm) than before fatigue; however, their finger position accuracy was not changed, despite all subjects performing the movement in less time (~ -0.18 s) while fatigued. There were no gender differences in shoulder or finger position accuracy before or after fatigue; however, there were gender differences in the perceived finger-target location and in the temporal characteristics of the finger movement toward the target. Results suggest that healthy individuals are able to develop strategies to compensate for fatigue-induced deficits at one joint to maintain the endpoint accuracy of a multi-joint task constant. Gender differences in movement strategies and perception of endpoint location may play parts in the previously reported gender differences in work-related neck/shoulder symptoms.

Output Variables Control in Mechanical Systems

Manipulator endpoint location autonomous control procedures are suggested. A method of uplimited control hierarchy has been designed, which allows to provide a desired tracking precision under conditions of uncertainty of the control object operator and the effect of external unmeasured disturbances. Sliding mode state observers synthesis procedures have been designed, which allow, in a theoretically limited time interval, to obtain information on immeasurable variables of the state vector and available uncertainty. The results of the designed algorithms modeling are presented.

Estimating Segment Inertial Parameters Using Fan-Beam DXA

Body segment inertial parameters are required as input parameters when the kinetics of human motion is to be analyzed. However, owing to interindividual differences in body composition, noninvasive inertial estimates are problematic. Dual-energy x-ray absorptiometry (DXA) is a relatively new imaging approach that can provide cost- and time-effective means for estimating these parameters with minimal exposure to radiation. With the introduction of a new generation of DXA machines, utilizing a fan-beam configuration, this study examined their accuracy as well as a new interpolative data-reduction process for estimating inertial parameters. Specifically, the inertial estimates of two objects (an ultra-high molecular density plastic rod and an animal specimen) and 50 participants were obtained. Results showed that the fan-beam DXA, along with the new interpolative data-reduction process, provided highly accurate estimates (0.10-0.39%). A greater variance was observed in the center of mass location and moment of inertia estimates, likely as a result of the course end-point location (1.31 cm). However, using a midpoint interpolation of the end-point locations, errors in the estimates were greatly reduced for the center of mass location (0.64-0.92%) and moments of inertia (-0.23 to -0.48%).