6,367 research outputs found

    Spatially-distributed coverage optimization and control with limited-range interactions

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    This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing/communication radius. Based on the geometry of Voronoi partitions and proximity graphs, we analyze a class of aggregate objective functions and propose coverage algorithms in continuous and discrete time. These algorithms have convergence guarantees and are spatially distributed with respect to appropriate proximity graphs. Numerical simulations illustrate the results.Comment: 31 pages, some figures left out because of size limits. Complete preprint version available at http://motion.csl.uiuc.ed

    Relationships between lumbar inter-vertebral kinematics and paraspinal myoelectric activity during sagittal flexion: a quantitative fluoroscopy and surface electromyography study

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    Introduction. Previous investigations that have attempted to relate mechanical parameters to NSLBP groups are often contradictory of each other, and currently clear mechanical markers for LBP remain elusive. In order to move forward in this area, it may be necessary to take a step back, and improve understanding of ‘normal’ spinal biomechanics (i.e. in low back pain free populations). Indeed, Peach et al. (1998) stated “By knowing what is “normal” and what is “abnormal” it may be possible to provide objective evaluation of rehabilitation protocols, and possibly classify different low back pathologies” (Peach et al. 1998). Therefore, an improved understanding of biomechanical behaviours in groups of back pain free people is desirable, particularly at an inter-vertebral level, an area where clear knowledge gaps still exist. Control of the spine during voluntary movement requires finely-tuned coordination of numerous trunk muscles. This dynamic control is believed to be achieved via communication between three sub-systems, the passive (vertebrae, discs and ligaments), the active (muscles and tendons) and the control (central and peripheral nervous system) systems. Investigating the interplay between these sub-systems however is difficult, as the spine is a complex structure with a hidden kinematic chain. Quantitative fluoroscopy (QF) is an imaging technology capable of measuring continuous spinal kinematics at the inter-vertebral level, and surface electromyography (sEMG) provides a non-invasive means of objectively quantifying muscle activity. This study used QF and sEMG technologies concurrently to investigate relationships between and amongst lumbar kinematic (QF determined) and muscle activity (sEMG determined) variables, during weight-bearing active forward flexion. This was the first time such technologies have been combined to investigate the biomechanics of the lumbar spine in vivo. An improved understanding of normal lumbar kinematic and myoelectric behaviour, will assist in the interpretation of what is abnormal in terms of inter-vertebral spinal mechanics. Methods. Contemporaneous lumbar sEMG and QF motion sequences were recorded during controlled active flexion of 60° in 20 males with no history of low back pain in the previous year. Electrodes were placed adjacent to the spinous processes of T9, L2 and L5 bilaterally, to record the myoelectric activity of the thoracic and lumbar erector spinae (TES and LES) and lumbar multifidus (LMU) respectively. QF was used concurrently to measure the maximum inter-vertebral rotation during flexion (IV-RoMmax) and initial attainment rate for the inter-vertebral levels between L2 and S1, as well as each participant’s lordotic angle. The sEMG amplitude data were expressed as a percentage of a sub-maximal voluntary contraction (sMVC). Ratios were calculated between the mean sEMG amplitudes of all three muscles examined. Each flexion cycle was also divided into five epochs, and the changes in mean sEMG amplitude between epochs were calculated. This was repeated to determine changes between all epochs for each muscle group. Relationships between IV-RoMmax and all other kinematic, morphological (i.e. lordosis) and muscle activity variables were determined using correlation coefficients, and simple linear regression was used to determine the effects of any significant relationships. The reliability and agreement of the IV-RoMmax, initial attainment rate, and normalised RMS sEMG measurements were also assessed. Results. The reliability and agreement of IV-RoMmax, initial attainment rate and sEMG amplitude measurements were high. There were significant correlations between the IV-RoMmax at specific levels and the IV-RoMmax at other lumbar motion segments (r = -0.64 to 0.65), lordosis (r = -0.52 to 0.54), initial attainment rate (-0.64 to 0.73), sEMG amplitude ratios (r = -0.53) and sEMG amplitude changes (r = -0.48 to 0.59). Simple linear regression analysis of all significant relationships showed that these variables predict between 18% and 42% of the variance in IV-RoMmax. Conclusion. The study found moderately strong relationships between kinematic, morphological and muscle activity amplitude variables and the IV-RoMmax of lumbar motion segments. The effects of individual parameters, when combined, may be important when such inter-vertebral levels are considered to be sources of pain generation or targets for therapy. This is an important consideration for future non-specific low back pain (NSLBP) research, as any attempts to associate these parameters with low back pain (LBP), should also now take in to account the normal biomechanical behaviour of an individual’s lumbar spine. Indeed, consideration should be given to the interactions that exists between such parameters, and they should not be considered in isolation. Multivariate investigations in larger samples are warranted to determine the relative independent contribution of these variables to the IV-RoMmax

    Chlamydia pneumoniae Infection of the Central Nervous System Worsens Experimental Allergic Encephalitis

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    Experimental allergic encephalitis (EAE) is considered by many to be a model for human multiple sclerosis. Intraperitoneal inoculation of mice with Chlamydia pneumoniae, after immunization with neural antigens, increased the severity of EAE. Accentuation of EAE required live infectious C. pneumoniae, and the severity of the disease was attenuated with antiinfective therapy. After immunization with neural antigens, systemic infection with C. pneumoniae led to the dissemination of the organism into the central nervous system (CNS) in mice with accentuated EAE. Inoculation with Chlamydia trachomatis did not worsen EAE and infectious organisms were not seen in the CNS. These observations suggest that dissemination of C. pneumoniae results in localized infection in CNS tissues in animals with EAE. We propose that infection of the CNS by C. pneumoniae can amplify the autoreactive pool of lymphocytes and regulate the expression of an autoimmune disease

    Asymmetric Cyclopropanation of Styrene Catalyzed by Chiral Macrocyclic Iron(II) Complexes

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    Three chiral tetraaza macrocyclic ligands (4a−c) were synthesized by the cyclization reaction of diamines with dithioaldehydes. The iron(II) complexes of ligands 4a and 4c, as well as two chiral iron(II) porphyrin complexes, FeII(D4-TpAP) and Fe(α2β2-BNP), are efficient catalysts for the cyclopropanation of styrene with diazoacetate reagents. The cyclopropyl esters were produced with high diastereoselectivities and good yields. However, the enantioselectivities were modest at best. The rationalization of the stereoselectivity in these cyclopropanation reactions is presented. The results of a single-crystal X-ray analysis of the ligand 4a are also reported

    What Sequences on High-Field MR Best Depict Temporal Resolution of Experimental ICH and Edema Formation in Mice?

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    Background and Purpose. Pilot study to examine the use of T1-, T2-, and T2*-weighted images for evaluating hematoma size and extent of edema in mouse brain at high field. Methods. Following collagenase-induced intracerebral hemorrhage, nine mice were imaged at 4.7 T using T1-, T2-, and T2*-weighted images for hematoma and edema quantitation on days 1, 3, 10, and 21 after surgery. Values were compared with morphometric analysis of cryosections at the time of final MR imaging. Results. For hematoma quantitation, the Spearman correlation coefficient (r) between T1 signal change and histology was 0.70 (P < 0.04) compared with r = 0.61 (P < 0.09) for T2*. The extent of perihematomal edema formation on cryosections was well reflected on T2 with r = 0.73 (P < 0.03). Conclusions. Within the limits of our pilot study, MR imaging on 4.7 T appears to approximate the temporal changes in hematoma and edema sizes in murine ICH well, thus laying the groundwork for longitudinal studies on hematoma resorption and edema formation
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