Muscle Synergies Facilitate Computational Prediction of Subject-Specific Walking Motions.

Researchers have explored a variety of neurorehabilitation approaches to restore normal walking function following a stroke. However, there is currently no objective means for prescribing and implementing treatments that are likely to maximize recovery of walking function for any particular patient. As a first step toward optimizing neurorehabilitation effectiveness, this study develops and evaluates a patient-specific synergy-controlled neuromusculoskeletal simulation framework that can predict walking motions for an individual post-stroke. The main question we addressed was whether driving a subject-specific neuromusculoskeletal model with muscle synergy controls (5 per leg) facilitates generation of accurate walking predictions compared to a model driven by muscle activation controls (35 per leg) or joint torque controls (5 per leg). To explore this question, we developed a subject-specific neuromusculoskeletal model of a single high-functioning hemiparetic subject using instrumented treadmill walking data collected at the subject's self-selected speed of 0.5 m/s. The model included subject-specific representations of lower-body kinematic structure, foot-ground contact behavior, electromyography-driven muscle force generation, and neural control limitations and remaining capabilities. Using direct collocation optimal control and the subject-specific model, we evaluated the ability of the three control approaches to predict the subject's walking kinematics and kinetics at two speeds (0.5 and 0.8 m/s) for which experimental data were available from the subject. We also evaluated whether synergy controls could predict a physically realistic gait period at one speed (1.1 m/s) for which no experimental data were available. All three control approaches predicted the subject's walking kinematics and kinetics (including ground reaction forces) well for the model calibration speed of 0.5 m/s. However, only activation and synergy controls could predict the subject's walking kinematics and kinetics well for the faster non-calibration speed of 0.8 m/s, with synergy controls predicting the new gait period the most accurately. When used to predict how the subject would walk at 1.1 m/s, synergy controls predicted a gait period close to that estimated from the linear relationship between gait speed and stride length. These findings suggest that our neuromusculoskeletal simulation framework may be able to bridge the gap between patient-specific muscle synergy information and resulting functional capabilities and limitations

A Practical Type Analysis for Verification of Modular Prolog Programs

Regular types are a powerful tool for computing very precise descriptive types for logic programs. However, in the context of real life, modular Prolog programs, the accurate results obtained by regular types often come at the price of efficiency. In this paper we propose a combination of techniques aimed at improving analysis efficiency in this context. As a first technique we allow optionally reducing the accuracy of inferred types by using only the types defined by the user or present in the libraries. We claim that, for the purpose of verifying type signatures given in the form of assertions the precision obtained using this approach is sufficient, and show that analysis times can be reduced significantly. Our second technique is aimed at dealing with situations where we would like to limit the amount of reanalysis performed, especially for library modules. Borrowing some ideas from polymorphic type systems, we show how to solve the problem by admitting parameters in type specifications. This allows us to compose new call patterns with some pre computed analysis info without losing any information. We argue that together these two techniques contribute to the practical and scalable analysis and verification of types in Prolog programs

Deciding Quantifier-Free Presburger Formulas Using Parameterized Solution Bounds

Given a formula in quantifier-free Presburger arithmetic, if it has a satisfying solution, there is one whose size, measured in bits, is polynomially bounded in the size of the formula. In this paper, we consider a special class of quantifier-free Presburger formulas in which most linear constraints are difference (separation) constraints, and the non-difference constraints are sparse. This class has been observed to commonly occur in software verification. We derive a new solution bound in terms of parameters characterizing the sparseness of linear constraints and the number of non-difference constraints, in addition to traditional measures of formula size. In particular, we show that the number of bits needed per integer variable is linear in the number of non-difference constraints and logarithmic in the number and size of non-zero coefficients in them, but is otherwise independent of the total number of linear constraints in the formula. The derived bound can be used in a decision procedure based on instantiating integer variables over a finite domain and translating the input quantifier-free Presburger formula to an equi-satisfiable Boolean formula, which is then checked using a Boolean satisfiability solver. In addition to our main theoretical result, we discuss several optimizations for deriving tighter bounds in practice. Empirical evidence indicates that our decision procedure can greatly outperform other decision procedures.Comment: 26 page

Description and Optimization of Abstract Machines in a Dialect of Prolog

In order to achieve competitive performance, abstract machines for Prolog and related languages end up being large and intricate, and incorporate sophisticated optimizations, both at the design and at the implementation levels. At the same time, efficiency considerations make it necessary to use low-level languages in their implementation. This makes them laborious to code, optimize, and, especially, maintain and extend. Writing the abstract machine (and ancillary code) in a higher-level language can help tame this inherent complexity. We show how the semantics of most basic components of an efficient virtual machine for Prolog can be described using (a variant of) Prolog. These descriptions are then compiled to C and assembled to build a complete bytecode emulator. Thanks to the high level of the language used and its closeness to Prolog, the abstract machine description can be manipulated using standard Prolog compilation and optimization techniques with relative ease. We also show how, by applying program transformations selectively, we obtain abstract machine implementations whose performance can match and even exceed that of state-of-the-art, highly-tuned, hand-crafted emulators.Comment: 56 pages, 46 figures, 5 tables, To appear in Theory and Practice of Logic Programming (TPLP

Sensitivity of water stress in a two-layered sandy grassland soil to variations in groundwater depth and soil hydraulic parameters

Monitoring and modelling tools may improve irrigation strategies in precision agriculture. We used non-invasive soil moisture monitoring, a crop growth and a soil hydrological model to predict soil water content fluctuations and crop yield in a heterogeneous sandy grassland soil under supplementary irrigation. The sensitivity of the soil hydrological model to hydraulic parameters, water stress, crop yield and lower boundary conditions was assessed after integrating models. Free drainage and incremental constant head conditions were implemented in a lower boundary sensitivity analysis. A time-dependent sensitivity analysis of the hydraulic parameters showed that changes in soil water content are mainly affected by the soil saturated hydraulic conductivity K-s and the Mualem-van Genuchten retention curve shape parameters n and alpha. Results further showed that different parameter optimization strategies (two-, three-, four- or six-parameter optimizations) did not affect the calculated water stress and water content as significantly as does the bottom boundary. In this case, a two-parameter scenario, where K-s was optimized for each layer under the condition of a constant groundwater depth at 135-140 cm, performed best. A larger yield reduction, and a larger number and longer duration of stress conditions occurred in the free drainage condition as compared to constant boundary conditions. Numerical results showed that optimal irrigation scheduling using the aforementioned water stress calculations can save up to 12-22 % irrigation water as compared to the current irrigation regime. This resulted in a yield increase of 4.5-6.5 %, simulated by the crop growth model