109,312 research outputs found
A Selective Change Driven System for High-Speed Motion Analysis
Vision-based sensing algorithms are computationally-demanding tasks due to the large amount of data acquired and processed. Visual sensors deliver much information, even if data are redundant, and do not give any additional information. A Selective Change Driven (SCD) sensing system is based on a sensor that delivers, ordered by the magnitude of its change, only those pixels that have changed most since the last read-out. This allows the information stream to be adjusted to the computation capabilities. Following this strategy, a new SCD processing architecture for high-speed motion analysis, based on processing pixels instead of full frames, has been developed and implemented into a Field Programmable Gate-Array (FPGA). The programmable device controls the data stream, delivering a new object distance calculation for every new pixel. The acquisition, processing and delivery of a new object distance takes just 1.7 μ s. Obtaining a similar result using a conventional frame-based camera would require a device working at roughly 500 Kfps, which is far from being practical or even feasible. This system, built with the recently-developed 64 × 64 CMOS SCD sensor, shows the potential of the SCD approach when combined with a hardware processing system
Analog VLSI-Based Modeling of the Primate Oculomotor System
One way to understand a neurobiological system is by building a simulacrum that replicates its behavior in real time using similar constraints. Analog very large-scale integrated (VLSI) electronic circuit technology provides such an enabling technology. We here describe a neuromorphic system that is part of a long-term effort to understand the primate oculomotor system. It requires both fast sensory processing and fast motor control to interact with the world. A one-dimensional hardware model of the primate eye has been built that simulates the physical dynamics of the biological system. It is driven by two different analog VLSI chips, one mimicking cortical visual processing for target selection and tracking and another modeling brain stem circuits that drive the eye muscles. Our oculomotor plant demonstrates both smooth pursuit movements, driven by a retinal velocity error signal, and saccadic eye movements, controlled by retinal position error, and can reproduce several behavioral, stimulation, lesion, and adaptation experiments performed on primates
High-fidelity quantum logic gates using trapped-ion hyperfine qubits
We demonstrate laser-driven two-qubit and single-qubit logic gates with
fidelities 99.9(1)% and 99.9934(3)% respectively, significantly above the
approximately 99% minimum threshold level required for fault-tolerant quantum
computation, using qubits stored in hyperfine ground states of calcium-43 ions
held in a room-temperature trap. We study the speed/fidelity trade-off for the
two-qubit gate, for gate times between 3.8s and 520s, and develop a
theoretical error model which is consistent with the data and which allows us
to identify the principal technical sources of infidelity.Comment: 1 trap, 2 ions, 3 nines. Detailed write-up of arXiv:1406.5473
including single-qubit gate data als
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The effects of virtual reality game training on trunk to pelvis coupling in a child with cerebral palsy
Background: Good control of trunk and pelvic movements is necessary for well controlled leg movements required to perform activities of daily living. The nature of movement coupling between the trunk and pelvis varies and depends on the type of activity. Children with cerebral palsy often have reduced ability to modulate coupling between the trunk and pelvis but movement patterns of the pelvis can be improved by training. The aim of this study was to examine how pelvis to trunk coupling changed while playing a computer game driven by pelvic rotations
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Playing the Goblin Post Office game improves movement control of the core: a case study
Movement function of the core (trunk and pelvis) can be improved in cerebral palsy, potentially leading to benefits which transfer to activities of daily living. A single child with CP diplegia played our custom made game which runs on the CAREN system. Three playing postures gradually introduced more and more joints in the legs to be controlled. Vicon cameras tracked trunk and pelvic rotations which drove a dragon towards envelope targets. Forward speed of the game was adjusted by an adaptive algorithm leading to a maximum settled speed for the various conditions. Results showed that core control improved after the six week training period. The trunk was better controlled than the pelvis, sideways rotations were better controlled than fore-aft rotations of body segments, and single plane rotations were more efficient than cross-plane rotations of the core. The quantifiable improvements suggest a good potential for our technique to improve core control which is a prerequisite for good movement control of the legs and arms
Event-based Vision: A Survey
Event cameras are bio-inspired sensors that differ from conventional frame
cameras: Instead of capturing images at a fixed rate, they asynchronously
measure per-pixel brightness changes, and output a stream of events that encode
the time, location and sign of the brightness changes. Event cameras offer
attractive properties compared to traditional cameras: high temporal resolution
(in the order of microseconds), very high dynamic range (140 dB vs. 60 dB), low
power consumption, and high pixel bandwidth (on the order of kHz) resulting in
reduced motion blur. Hence, event cameras have a large potential for robotics
and computer vision in challenging scenarios for traditional cameras, such as
low-latency, high speed, and high dynamic range. However, novel methods are
required to process the unconventional output of these sensors in order to
unlock their potential. This paper provides a comprehensive overview of the
emerging field of event-based vision, with a focus on the applications and the
algorithms developed to unlock the outstanding properties of event cameras. We
present event cameras from their working principle, the actual sensors that are
available and the tasks that they have been used for, from low-level vision
(feature detection and tracking, optic flow, etc.) to high-level vision
(reconstruction, segmentation, recognition). We also discuss the techniques
developed to process events, including learning-based techniques, as well as
specialized processors for these novel sensors, such as spiking neural
networks. Additionally, we highlight the challenges that remain to be tackled
and the opportunities that lie ahead in the search for a more efficient,
bio-inspired way for machines to perceive and interact with the world
Self-propelled particles with selective attraction-repulsion interaction - From microscopic dynamics to coarse-grained theories
In this work we derive and analyze coarse-grained descriptions of
self-propelled particles with selective attraction-repulsion interaction, where
individuals may respond differently to their neighbours depending on their
relative state of motion (approach versus movement away). Based on the
formulation of a nonlinear Fokker-Planck equation, we derive a kinetic
description of the system dynamics in terms of equations for the Fourier modes
of a one-particle density function. This approach allows effective numerical
investigation of the stability of possible solutions of the system. The
detailed analysis of the interaction integrals entering the equations
demonstrates that divergences at small wavelengths can appear at arbitrary
expansion orders.
Further on, we also derive a hydrodynamic theory by performing a closure at
the level of the second Fourier mode of the one-particle density function. We
show that the general form of equations is in agreement with the theory
formulated by Toner and Tu.
Finally, we compare our analytical predictions on the stability of the
disordered homogeneous solution with results of individual-based simulations.
They show good agreement for sufficiently large densities and non-negligible
short-ranged repulsion. Disagreements of numerical results and the hydrodynamic
theory for weak short-ranged repulsion reveal the existence of a previously
unknown phase of the model consisting of dense, nematically aligned filaments,
which cannot be accounted for by the present Toner and Tu type theory of polar
active matter.Comment: revised version, 37pages, 11 figure
The neural basis of centre-surround interactions in visual motion processing
Perception of a moving visual stimulus can be suppressed or enhanced by surrounding context in adjacent parts of the visual field. We studied the neural processes underlying such contextual modulation with fMRI. We selected motion selective regions of interest (ROI) in the occipital and parietal lobes with sufficiently well defined topography to preclude direct activation by the surround. BOLD signal in the ROIs was suppressed when surround motion direction matched central stimulus direction, and increased when it was opposite. With the exception of hMT+/V5, inserting a gap between the stimulus and the surround abolished surround modulation. This dissociation between hMT+/V5 and other motion selective regions prompted us to ask whether motion perception is closely linked to processing in hMT+/V5, or reflects the net activity across all motion selective cortex. The motion aftereffect (MAE) provided a measure of motion perception, and the same stimulus configurations that were used in the fMRI experiments served as adapters. Using a linear model, we found that the MAE was predicted more accurately by the BOLD signal in hMT+/V5 than it was by the BOLD signal in other motion selective regions. However, a substantial improvement in prediction accuracy could be achieved by using the net activity across all motion selective cortex as a predictor, suggesting the overall conclusion that visual motion perception depends upon the integration of activity across different areas of visual cortex
Intrinsically Motivated Learning of Visual Motion Perception and Smooth Pursuit
We extend the framework of efficient coding, which has been used to model the
development of sensory processing in isolation, to model the development of the
perception/action cycle. Our extension combines sparse coding and reinforcement
learning so that sensory processing and behavior co-develop to optimize a
shared intrinsic motivational signal: the fidelity of the neural encoding of
the sensory input under resource constraints. Applying this framework to a
model system consisting of an active eye behaving in a time varying
environment, we find that this generic principle leads to the simultaneous
development of both smooth pursuit behavior and model neurons whose properties
are similar to those of primary visual cortical neurons selective for different
directions of visual motion. We suggest that this general principle may form
the basis for a unified and integrated explanation of many perception/action
loops.Comment: 6 pages, 5 figure
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