Virtual Target Research Articles

Training of Hand Rehabilitation Using Low Cost Exoskeleton and Vision-Based Game Interface

Motivating game-based training have the potential to improve therapy for people with neurological impairments. In recent years, the serious games have become extremely useful tools in rehabilitation field. They aim to stimulate the mobility of the body through an immersive experience that puts the user in interactive virtual environment. This paper is concerned about developing a customized augmented reality system for stroke rehabilitation. This will be done through integrating an interactive serious game interface with a hand exoskeleton device. This game-based rehabilitation system allows users to carry out physical rehabilitation therapies using a natural user interface based on Kinect’s skeletal tracking features and the electromyography (EMG) sensor. During game playing, the interactive user interface provides useful real-time feedback information such as the time required to grasp a desired dynamic virtual object, and the assigned score and thus the ability of the proposed system to provide a compensatory action regarding the dynamic behavior of the virtual target. The main goal of the developed virtual environment is to create positive influences on the rehabilitation process. Patient movement information and signals obtained from the developed exoskeleton device are used together to monitor the rehabilitation progress. The developed exoskeleton hand is a 3D printed low cost device suitable for grasping tasks that can be used even for domestic stroke patients. The developed exoskeleton device is not only a mechanical system able to perform the rehabilitation act but also it presents an effective tracking and traceability software solution. The EMG signals measured during hand motion are used to detect the intention of hand opening or closing which in turn will actuate the mechanical structure to accomplish the desired task. Parameters and results of patients’ exercises are stored and analyzed when needed to evaluate patients’ progress. The developed system is tested experimentally and it is able to restore the functions of the upper limb and mainly give patients more motivation to undergo the rehabilitation exercises.

Evaluation and Validation of IBA I'MatriXX Array for Patient-Specific Quality Assurance of TomoTherapy®.

TomoTherapy® is a modern radiation treatment technique in which intensity-modulated radiation therapy (IMRT) is delivered in helical fashion. A two-dimensional (2D) array which has been existing for IMRT patient-specific quality assurance (PSQA) verifications for many years is I'MatriXX. Our objectives were to validate this I'MatriXX and to evaluate it for different patient sites and fractionation schedules of TomoTherapy treatment. Twenty-five plans were created with virtual target for different possible pitch values and field widths for validation. Gamma index criteria of 3%/2% dose differences and 3/2 mm distance to agreement were used. QA plans of 26 different treatment sites and different fractionation schedules were used. Results indicated that the matrix response is independent of field width, pitch, and modulation factor of TomoTherapy with 3%, 3 mm criteria. High passing rate ranging from 99.7% to 90.7% was observed for selected patient plans. We found that I'MatriXX 2D array can be utilized for easy and quick TomoTherapy PSQA.

Smart Navigation of Humanoid Robots Using DAYKUN-BIP Virtual Target Displacement and Petri-Net Strategy

SummaryWith an ability to mimic the human behaviour and replace human efforts in proper platforms, humanoid robots have always acquired a special place among robotics practitioners. Being a complex method of analysis, navigation and path planning, humanoid robots still possess an interesting yet challenging area of investigation. In the current work, a novel navigational strategy has been proposed for smooth and hassle-free movement of single as well as multi-humanoid robots in complex environments. Here, the navigational plan is based on a virtual target displacement strategy which is activated when the robot is unable to find a safe path along the actual target line. After detection of a potential obstacle by the sensors of the robot, a number of virtual targets are generated around the actual target. Then, the most feasible path and point to move are calculated by assigning suitable weightage through several selected parameters to each target line and visualizing the safest path. The proposed approach is implemented on a V-REP simulation platform, and the simulation results are also validated against an experimental set-up prepared under test conditions. The validation of simulation results against experimental counterparts has revealed satisfactory agreement between them. To avoid possibility of any inter-collision during navigation of multi-humanoids under a common platform, a Petri-Net strategy has been integrated along with the proposed control strategy. Finally, the developed approach is also assessed against another existing navigational controller, and a significant performance improvement has been observed.

Can Wearable Haptic Devices Foster the Embodiment of Virtual Limbs?

Increasing presence is one of the primary goals of virtual reality research. A crucial aspect is that users are capable of distinguishing their self from the external virtual world. The hypothesis we investigate is that wearable haptics play an important role in the body experience and could thereby contribute to the immersion of the user in the virtual environment. A within-subject study (n=32) comparing the embodiment of a virtual hand with different implementations of haptic feedback (force feedback, vibrotactile feedback, and no haptic feedback) is presented. Participants wore a glove with haptic feedback devices at thumb and index finger. They were asked to put virtual cubes on a moving virtual target. Touching a virtual object caused vibrotactile-feedback, force-feedback or no feedback depending on the condition. These conditions were provided both synchronously and asynchronously. Embodiment was assessed quantitatively with the proprioceptive drift and subjectively via a questionnaire. Results show that haptic feedback significantly improves the subjective embodiment of a virtual hand and that force feedback leads to stronger responses to certain subscales of subjective embodiment. These outcomes are useful guidelines for wearable haptic designer and represent a basis for further research concerning human body experience, in reality, and in virtual environments.

The primacy of rhythm: how discrete actions merge into a stable rhythmic pattern.

This study examined how humans spontaneously merge a sequence of discrete actions into a rhythmic pattern, even when periodicity is not required. Two experiments used a virtual throwing task, in which subjects performed a long sequence of discrete throwing movements, aiming to hit a virtual target. In experiment 1, subjects performed the task for 11 sessions. Although there was no instruction to perform rhythmically, the variability of the interthrow intervals decreased to a level comparable to that of synchronizing with a metronome; furthermore, dwell times shortened or even disappeared with practice. Floquet multipliers and decreasing variability of the arm trajectories estimated in state space indicated an increasing degree of dynamic stability. Subjects who achieved a higher level of periodicity and stability also displayed higher accuracy in the throwing task. To directly test whether rhythmicity affected performance, experiment 2 disrupted the evolving continuity and periodicity by enforcing a pause between successive throws. This discrete group performed significantly worse and with higher variability in their arm trajectories than the self-paced group. These findings are discussed in the context of previous neuroimaging results showing that rhythmic movements involve significantly fewer cortical and subcortical activations than discrete movements and therefore may pose a computationally more parsimonious solution. Such emerging stable rhythms in neuromotor subsystems may serve as building blocks or dynamic primitives for complex actions. The tendency for humans to spontaneously fall into a rhythm in voluntary movements is consistent with the ubiquity of rhythms at all levels of the physiological system. NEW & NOTEWORTHY When performing a series of throws to hit a target, humans spontaneously merged successive actions into a continuous approximately periodic pattern. The degree of rhythmicity and stability correlated with hitting accuracy. Enforcing irregular pauses between throws to disrupt the rhythm deteriorated performance. Stable rhythmic patterns may simplify control of movement and serve as dynamic primitives for more complex actions. This observation reveals that biological systems tend to exhibit rhythmic behavior consistent with a plethora of physiological processes.

Adaptive Fuzzy Planar Path Following Control for Underactuated Wave Glider

This paper addresses a path following problem of wave glider along a predefined path in horizontal plane. Based on the LOS guidance law and the virtual target method, a planar guidance controller for underactuated wave glider is presented to ensure the stability of the path following. And then, according to the classic feedback linearization PID controller and fuzzy controller, a fuzzy adaptive PID controller is developed. Furthermore, analysing the typical application scenario of wave glider, we set a simulation path in horizontal plane named polyline path. Numerical simulation results illustrate the proposed control design is effective to deal with planar following problem of wave glider.

IoT Data Prefetching in Indoor Navigation SOAs

Internet-based Indoor Navigation Service-Oriented Architectures (IIN-SOA) organize signals collected by IoT-based devices to enable a wide range of novel applications indoors, where people spend 80--90% of their time. In this article, we study the problem of prefetching (or hoarding) the most important IoT data from an IIN-SOA to a mobile device, without knowing its user’s destination during navigation . Our proposed Grap (Graph Prefetching) framework structurally analyzes building topologies to identify important areas that become virtual targets to an online heuristic search algorithm we developed. We tested Grap with datasets from a real IIN-SOA and found it to be impressively accurate.

Virtual-Target-Based trajectory following using a light-of-sight angle constraint for long-range guided projectiles

This paper proposes a novel trajectory-following algorithm by combining the concept of virtual target with terminal guidance for a class of long-range guided projectiles. A virtual target point (VTP) is selected from a reference trajectory, and a line-of-sight (LOS) angle constraint that takes the curvature of the reference trajectory into account is presented for the projectile to track the VTP. The trajectory-following problem is transformed into a LOS angle-constrained terminal guidance problem with respect to the VTP. It has been proven that the trajectory-following error is simply proportional to the tracking error of the desired LOS angle. With the use of the nonsingular fast terminal sliding mode control technique, the finite-time trajectory-following position error convergence of the proposed guidance method is presented. The effectiveness and advantage of the proposed method are verified by using extensive dispersion simulations with a realistic guided projectile model. Comparative simulations highlight significant improvement in trajectory-following errors by employing the proposed LOS angle constraint.

Peripheral tumour targeting using open-source virtual bronchoscopy with electromagnetic tracking: a multi-user pre-clinical study

Objectives: The goal was to demonstrate the utility of open-source tracking and visualisation tools in the targeting of lung cancer.Material and methods: The study demonstrates the first deployment of the Anser electromagnetic (EM) tracking system with the CustusX image-guided interventional research platform to navigate using an endobronchial catheter to injected tumour targets. Live animal investigations validated the deployment and targeting of peripheral tumour models using an innovative tumour marking routine.Results: Novel tumour model deployment was successfully achieved at all eight target sites across two live animal investigations without pneumothorax. Virtual bronchoscopy with tracking successfully guided the tracked catheter to 2–12 mm from the target tumour site. Deployment of a novel marker was achieved at all eight sites providing a reliable measure of targeting accuracy. Targeting accuracy within 10 mm was achieved in 7/8 sites and in all cases, the virtual target distance at marker deployment was within the range subsequently measured with x-ray.Conclusions: Endobronchial targeting of peripheral airway targets is feasible using existing open-source technology. Notwithstanding the shortcomings of current commercial platforms, technological improvements in EM tracking and registration accuracy fostered by open-source technology may provide the impetus for widespread clinical uptake of electromagnetic navigation in bronchoscopy.

Quantifying the setup uncertainty of a stereotactic murine micro-image guided radiation therapy system.

Investigate the reproducibility of murine cranial positioning using solely a stereotactic stage, and quantify the potential improvements from the on-board image guidance of the X-RAD SmART irradiator. For intermouse reproducibility, athymic nude mice (N = 5, ×4 groups) were cranially fixed on a stereotactic stage. Each mouse was imaged via cone-beam CT (CBCT). A virtual isocenter target was placed in the brain, the stage shifted to that target, and the couch positions recorded. The mouse was removed from the stage and this process repeated twice (N=60 measurements). The first acquired CBCT coordinates (within each group of five mice) were used to define "stereotactic couch coordinates." CBCT shifts were calculated to quantify the accuracy of setup based on couch coordinates alone. For intramouse reproducibility, C57BL/6 mice (N=4) were imaged daily for 7 days. Each mouse had individual stereotactic coordinates defined from their first day of CBCT localization, and positional shifts required on the six subsequent days of imaging were quantified (N = 24 measurements). The mean vector shift between stereotactic setup and CBCT alignment for inter and intramouse analysis was 0.78 ± 0.27 mm and 0.82 ± 0.34 mm, respectively. Cranial irradiation that can permit positional uncertainties on the order of a millimeter can rely solely on stereotactic coordinates derived from a single daily CBCT. Irradiations of subregions requiring submillimeter accuracy require daily image guidance for each mouse. This is the first investigation of stereotactic reproducibility using the X-RAD SmART and it suggests a method for increased efficiency in high-throughput experiments.

Application of Bioactivity Profile-Based Fingerprints for Building Machine Learning Models.

The volume of high throughput screening data has considerably increased since the beginning of the automated biochemical and cell-based assays era. This information-rich data source provides tremendous repurposing opportunities for data mining. It was recently shown that biochemical or cell-based assay results can be compiled into so-called high-throughput fingerprints (HTSFPs) as a new type of descriptor describing molecular bioactivity profiles which can be applied in virtual screening, iterative screening, and target deconvolution. However, so far, studies around HTSFPs and machine learning have mainly focused on predicting the outcome of molecules in single high-throughput assays, and no one has reported the modeling of compounds' biochemical assay activities toward a panel of target proteins. In this article, we aim at comparing how our in-house HTSFPs perform at this when combined with multitask deep learning versus the single task support vector machine method both in terms of hit identification and of scaffold hopping potential. Performances obtained from the two HTSFP models were reported with respect to the performances of multitask deep learning and support vector machine models built with the structural descriptors ECFP. Moreover, we investigated the effect of high throughput screening false positives and negatives on the performance of the generated models. Our results showed that the two fingerprints yielded in similar performances and diverse hits with very little overlap, thus demonstrating the orthogonality of bioactivity profile-based descriptors with structural descriptors. Therefore, modeling compound activity data using ECFPs together with HTSFPs increases the scaffold hopping potential of the predictive models.

Impact of parallax and interpupillary distance on size judgment performances of virtual objects in stereoscopic displays

Effective interactions in both real and stereoscopic environments require accurate perceptions of size and position. This study investigated the effects of parallax and interpupillary distance (IPD) on size perception of virtual objects in widescreen stereoscopic environments. Twelve participants viewed virtual spherical targets displayed at seven different depth positions, based on seven parallax levels. A perceptual matching task using five circular plates of different sizes was used to report the size judgment. The results indicated that the virtual objects were perceived as larger and smaller than the corresponding theoretical sizes, respectively, in negative and positive parallaxes. Similarly, the estimates from participants with small IPDs were greater than the predicted estimates. The findings of this study are used to explain human factor issues such as the phenomenon of inaccurate depth judgments in virtual environments, where compression is widely reported, especially at farther egocentric distances. Furthermore, a multiple regression model was developed to describe how the size was affected by parallax and IPD.Practitioner Summary: The study investigates the effects of parallax and interpupillary distance on size perception of virtual targets in a stereoscopic environment. Virtual objects were perceived as larger in negative and smaller in positive parallax. Also, size estimates were greater than the theoretical sizes for participants with smaller IPD. A multiple-regression model explains the impact of parallax and measured IPD.AbbreviationsIPDinterpupillary distanceVRvirtual ealityHMDhead mounted-displays2AFCtwo-alternative forced choiceIODinterocular distancePDpupillary distanceANOVAanalysis of variance

V-RBNN Based Small Drone Detection in Augmented Datasets for 3D LADAR System.

A common countermeasure to detect threatening drones is the electro-optical infrared (EO/IR) system. However, its performance is drastically reduced in conditions of complex background, saturation and light reflection. 3D laser sensor LiDAR is used to overcome the problems of 2D sensors like EO/IR, but it is not enough to detect small drones at a very long distance because of low laser energy and resolution. To solve this problem, A 3D LADAR sensor is under development. In this work, we study the detection methodology adequate to the LADAR sensor which can detect small drones at up to 2 km. First, a data augmentation method is proposed to generate a virtual target considering the laser beam and scanning characteristics, and to augment it with the actual LADAR sensor data for various kinds of tests before full hardware system developed. Second, a detection algorithm is proposed to detect drones using voxel-based background subtraction and variable radially bounded nearest neighbor (V-RBNN) method. The results show that 0.2 m L2 distance and 60% expected average overlap (EAO) indexes are satisfied for the required specification to detect 0.3 m size of small drones.

Identification of Glycine Receptor α3 as a Colchicine-Binding Protein

Colchicine (Col) is considered a kind of highly effective alkaloid for preventing and treating acute gout attacks (flares). However, little is known about the underlying mechanism of Col in pain treatment. We have previously developed a customized virtual target identification method, termed IFPTarget, for small-molecule target identification. In this study, by using IFPTarget and ligand similarity ensemble approach (SEA), we show that the glycine receptor alpha 3 (GlyRα3), which play a key role in the processing of inflammatory pain, is a potential target of Col. Moreover, Col binds directly to the GlyRα3 as determined by the immunoprecipitation and bio-layer interferometry assays using the synthesized Col-biotin conjugate (linked Col and biotin with polyethylene glycol). These results suggest that GlyRα3 may mediate Col-induced suppression of inflammatory pain. However, whether GlyRα3 is the functional target of Col and serves as potential therapeutic target in gouty arthritis requires further investigations.

IDeLog: Iterative Dual Spatial and Kinematic Extraction of Sigma-Lognormal Parameters.

The Kinematic Theory of rapid movements and its associated Sigma-Lognormal model have been extensively used in a large variety of applications. While the physical and biological meaning of the model have been widely tested and validated for rapid movements, some shortcomings have been detected when it is used with continuous long and complex movements. To alleviate such drawbacks, and inspired by the motor equivalence theory and a conceivable visual feedback, this paper proposes a novel framework to extract the Sigma-Lognormal parameters, namely iDeLog. Specifically, iDeLog consists of two steps. The first one, influenced by the motor equivalence model, separately derives an initial action plan defined by a set of virtual points and angles from the trajectory and a sequence of lognormals from the velocity. In the second step, based on a hypothetical visual feedback compatible with an open-loop motor control, the virtual target points of the action plan are iteratively moved to improve the matching between the observed and reconstructed trajectory and velocity. During experiments conducted with handwritten signatures, iDeLog obtained promising results as compared to the previous development of the Sigma-Lognormal.

MiR-21 and miR-19b delivered by hMSC-derived EVs regulate the apoptosis and differentiation of neurons in patients with spinal cord injury.

In this study, we aimed to evaluate the therapeutic effects of extracellular vesicles (EVs), which were collected from differentiated PC12 cells and mesenchymal cells (MSCs), on the treatment of spinal cord injury (SCI). In addition, we aimed to identify miRNAs related to the inhibitory effect of EVs against cell apoptosis. Electron microscopy was used to observe the distributions of EVs in the samples. Real-time PCR, western blot, thiazolyl blue tetrazolium bromide (MTT) assay, and flow cytometry were performed to establish the molecular signaling pathway underlying the effect of EVs in SCI. In addition, a Basso-Beattie-Bresnahan (BBB) score system, Nissl staining, immunohistochemistry assay, and TdT-mediated dUTP nick-end labeling (TUNEL) assay were conducted to validate the molecular signaling pathway established above. The expression of miR-21 and miR-19b was upregulated in EVs isolated from induced PC12 cells and MSCs, along with decreased expression of phosphatase and tensin homolog (PTEN) messenger RNA (mRNA)/protein and a lower level of cell apoptosis. The transfection of miR-21/miR-19b precursors into the cells also exhibited an inhibitory effect on cell apoptosis. In addition, in-silicon analysis and luciferase assays validated the role of PTEN as a virtual target of miR-21/miR-19b. Finally, the BBB scores and Nissl staining also validated the therapeutic effects of EVs derived from differentiated P12 cells/MSCs in SCI rats. Accordingly, the negative correlations between miR-21/miR-19b and PTEN mRNA/protein were implicated in the post-SCI recovery. The increased levels of miR-21/miR-19b in the EVs derived from differentiated PC12 cells and MSCs suppresses the apoptosis of neuron cells by downregulating the expression of PTEN.

Rs6265 polymorphism in brain-derived neurotrophic factor (Val/Val and Val/Met) promotes proliferation of bladder cancer cells by suppressing microRNA-205 and enhancing expression of cyclin J.

In this study, we evaluated the effect of rs6265 polymorphism on the expression of brain-derived neurotrophic factor (BDNF) and relevant downstream targets, as well as the involvement of this polymorphism in bladder cancer. A computational analysis and luciferase assays were used to explore the interaction among BDNF, miR-205, and cyclin J (CCNJ). Real-time polymerase chain reaction (RT-PCR) and Western blot analysis were carried out to determine the effect of rs6265 polymorphism on the expression of BDNF and relevant downstream genes. BDNF directly inhibited miR-205 expression but enhanced the expression of CCNJ, which was identified as a virtual target gene of miR-205. Furthermore, the inhibitory effect of BDNF carrying the Val genotype, defined as BDNF (Val), on miR-205 expression was much stronger than that of BDNF (Met), while the inductive effect of BDNF (Val) on CCNJ expression was much weaker than that of BDNF (Met). miR-205 and CCNJ small interfering RNA (siRNA) were found to reduce cell proliferation and arrest the cells in G0/G1 phase. In addition, miR-205 expression in patients carrying BDNF genotyped as Met/Met (defined as Met/Met group) was much higher than patients carrying BDNF genotyped as Val/Val and Val/Met (defined as Val/Val group and Val/Met group). As an inhibitor of CCNJ expression, the inhibitory effect of miR-205 was much higher in the Met/Met group than that in the Val/Val and Val/Met groups. In summary, we suggested that the rs6265 polymorphism in BDNF upregulates the expression of CCNJ in bladder cancer via the inhibition of miR-205 expression, which leads to the promoted proliferation of bladder cancer cells.

Rs217727 polymorphism in H19 promotes cell apoptosis by regulating the expressions of H19 and the activation of its downstream signaling pathway.

The objective of the current study was to explore the role of H19 rs217727 polymorphism in the control of hepatocellular carcinoma (HCC). The Student's t test, Cox regression, and Kaplan-Meier analyses were used to clarify whether the H19 rs217727 polymorphism played an important role in the development of HCC. Real-time polymerase chain reaction (PCR) and western-blot analysis were carried out to measure the levels of H19, microRNA (miR)-675, FAS-associated death domain (FADD), caspase-8, and caspase-3 among H19 CC, CT, and TT groups, as well as in cells transfected with H19/si-H19, or miR-675 mimic/inhibitor. The MTT assay, colony formation assay, and flow cytometry assay were performed to detect the effect of H19/miR-675 on cell viability, cell colony formation, and cell apoptosis. T allele of H19 rs217727 polymorphism apparently increased the survival rate of patients with HCC. Meanwhile, H19 enhanced miR-675 expression but reduced the mRNA and protein levels of FADD, caspase-3, and caspase-8. The T allele of H19 rs217727 polymorphism apparently increased the apoptotic rate of HCC cells. Furthermore, FADD was a virtual target gene of miR-675 with a potential "hit" located in the 3'-untranslated region (UTR) of FADD, whereas H19 inhibited FADD expression via increasing the expression of miR-675. Moreover, H19 upregulated the expression of miR-675 whereas reducing the expression of FADD, caspase-3, and caspase-8. Finally, H19 and miR-675 promoted cell proliferation and cell colony formation but repressed cell apoptosis. In summary, the above findings demonstrated that the polymorphism of rs217727 in H19 was associated with HCC via the H19/miR-675/FADD/caspase-8/caspase-3/apoptosis signaling pathway.

Performance enhancement using durational model predictive control combined with backstepping control and disturbance observer for electrical drives

Model predictive control (MPC) is widely used in a cascaded structure for electrical drives, in which, the MPC is applied as inner-loop for current regulating while another controller such as proportional–integral (PI) is applied as outer-loop for speed regulating. However, the benefits of MPC for multiple targets optimizing simultaneously are not sufficiently utilized. Moreover, characteristics of these drives rely on the outer-loop controller due to the cascaded strategy, and they are parameter-sensitive. A durational MPC is proposed in this paper to optimize the speed and currents of permanent-magnet synchronous machine (PMSM) simultaneously, and it is combined with backstepping control (BSC) and disturbance observer to improve the disturbance rejection ability and parameter robustness. The nonlinear characteristics of drives are considered, and the voltage reference is constructed by combining the optimal voltage vector and virtual voltage target produced by MPC and BSC, respectively. The proposed method takes advantages of both MPC and BSC and thus provides significant performance enhancement compared with the conventional PI-base cascaded MPC. Simulation and experiment for the PMSM drives with the proposed method are conducted to prove its stability, feasibility, and efficiency.

Corticospinal excitability is modulated by temporal feedback gaps.

The integration of sensorimotor information is important for accurate goal-directed movement and affects corticospinal excitability (CE). This study investigated CE during the motor preparation period in a goal-directed movement task with temporal feedback gaps. Each trial began with a pair of first-informative and second-response beeps presented successively as cues. Trials with temporal feedback gaps showed that virtual hand movements lagged 400 ms behind actual performed movements. The participants were instructed to prepare for movement in accordance with the first beep, start the movement upon hearing the second beep, and perform movements that were both fast and accurate to the virtual target. We delivered a single-pulse of transcranial magnetic stimulation to the first dorsal interosseous muscle 250 ms before the presentation of the response beep. Motor-evoked potential amplitudes with temporal feedback gaps were significantly higher than those without temporal feedback gaps. Moreover, motor-evoked potential amplitudes with temporal feedback gaps gradually decreased over the course of the trials, whereas those without temporal feedback gaps did not change. In summary, CE during the motor preparation period was increased by temporal feedback gaps, and this excitation decreased in accordance with adaptation to temporal feedback gaps.