Nonlinear modeling of FES-supported standing-up in paraplegia for selection of feedback sensors

This paper presents analysis of the standing-up manoeuvre in paraplegia considering the body supportive forces as a potential feedback source in functional electrical stimulation (FES)-assisted standing-up. The analysis investigates the significance of arm, feet, and seat reaction signals to the human body center-of-mass (COM) trajectory reconstruction. The standing-up behavior of eight paraplegic subjects was analyzed, measuring the motion kinematics and reaction forces to provide the data for modeling. Two nonlinear empirical modeling methods are implemented-Gaussian process (GP) priors and multilayer perceptron artificial neural networks (ANN)-and their performance in vertical and horizontal COM component reconstruction is compared. As the input, ten sensory configurations that incorporated different number of sensors were evaluated trading off the modeling performance for variables chosen and ease-of-use in everyday application. For the purpose of evaluation, the root-mean-square difference was calculated between the model output and the kinematics-based COM trajectory. Results show that the force feedback in COM assessment in FES assisted standing-up is comparable alternative to the kinematics measurement systems. It was demonstrated that the GP provided better modeling performance, at higher computational cost. Moreover, on the basis of averaged results, the use of a sensory system incorporating a six-dimensional handle force sensor and an instrumented foot insole is recommended. The configuration is practical for realization and with the GP model achieves an average accuracy of COM estimation 16 /spl plusmn/ 1.8 mm in horizontal and 39 /spl plusmn/ 3.7 mm in vertical direction. Some other configurations analyzed in the study exhibit better modeling accuracy, but are less practical for everyday usage

Rehabilitation robot cell for multimodal standing-up motion augmentation

The paper presents a robot cell for multimodal standing-up motion augmentation. The robot cell is aimed at augmenting the standing-up capabilities of impaired or paraplegic subjects. The setup incorporates the rehabilitation robot device, functional electrical stimulation system, measurement instrumentation and cognitive feedback system. For controlling the standing-up process a novel approach was developed integrating the voluntary activity of a person in the control scheme of the rehabilitation robot. The simulation results demonstrate the possibility of “patient-driven” robot-assisted standing-up training. Moreover, to extend the system capabilities, the audio cognitive feedback is aimed to guide the subject throughout rising. For the feedback generation a granular synthesis method is utilized displaying high-dimensional, dynamic data. The principle of operation and example sonification in standing-up are presented. In this manner, by integrating the cognitive feedback and “patient-driven” actuation systems, an effective motion augmentation system is proposed in which the motion coordination is under the voluntary control of the user

Mechanochemical models for generating biological pattern and form in development

The central issue in development is the formation of spatial patterns of cells in the early embryo. The mechanisms which generate these patterns are unknown. Here we describe the new Oster-Murray mechanochemical approach to the problem, the elements of which are experimentally well documented. By way of illustration we derive one of the basic models from first principles and apply it to a variety of problems of current interest and research. We specifically discuss the formation of skin organ patterns, such as feather and scale germs, cartilage condensations in the developing vertebrate limb and finally wound healing

The effect of a planet on the dust distribution in a 3D protoplanetary disk

Aims: We investigate the behaviour of dust in protoplanetary disks under the action of gas drag in the presence of a planet. Our goal is twofold: to determine the spatial distribution of dust depending on grain size and planet mass, and therefore to provide a framework for interpretation of coming observations and future studies of planetesimal growth. Method: We numerically model the evolution of dust in a protoplanetary disk using a two-fluid (gas + dust) Smoothed Particle Hydrodynamics (SPH) code, which is non-self-gravitating and locally isothermal. The code follows the three dimensional distribution of dust in a protoplanetary disk as it interacts with the gas via aerodynamic drag. In this work, we present the evolution of a minimum mass solar nebula (MMSN) disk comprising 1% dust by mass in the presence of an embedded planet. We run a series of simulations which vary the grain size and planetary mass to see how they affect the resulting disk structure. Results: We find that gap formation is much more rapid and striking in the dust layer than in the gaseous disk and that a system with a given stellar, disk and planetary mass will have a completely different appearance depending on the grain size. For low mass planets in our MMSN disk, a gap can open in the dust disk while not in the gas disk. We also note that dust accumulates at the external edge of the planetary gap and speculate that the presence of a planet in the disk may enhance the formation of a second planet by facilitating the growth of planetesimals in this high density region.Comment: 13 pages, 12 figures. Accepted for publication in Astronomy & Astrophysic

The effects of tidally induced disc structure on white dwarf accretion in intermediate polars

We investigate the effects of tidally induced asymmetric disc structure on accretion onto the white dwarf in intermediate polars. Using numerical simulation, we show that it is possible for tidally induced spiral waves to propagate sufficiently far into the disc of an intermediate polar that accretion onto the central white dwarf could be modulated as a result. We suggest that accretion from the resulting asymmetric inner disc may contribute to the observed X-ray and optical periodicities in the light curves of these systems. In contrast to the stream-fed accretion model for these periodicities, the tidal picture predicts that modulation can exist even for systems with weaker magnetic fields where the magnetospheric radius is smaller than the radius of periastron of the mass transfer stream. We also predict that additional periodic components should exist in the emission from low mass ratio intermediate polars displaying superhumps.Comment: 9 pages, 5 figures, accepted for publication in MNRA

A hydrogen energy carrier. Volume 2: Systems analysis

A systems analysis of hydrogen as an energy carrier in the United States indicated that it is feasible to use hydrogen in all energy use areas, except some types of transportation. These use areas are industrial, residential and commercial, and electric power generation. Saturation concept and conservation concept forecasts of future total energy demands were made. Projected costs of producing hydrogen from coal or from nuclear heat combined with thermochemical decomposition of water are in the range $1.00 to$1.50 per million Btu of hydrogen produced. Other methods are estimated to be more costly. The use of hydrogen as a fuel will require the development of large-scale transmission and storage systems. A pipeline system similar to the existing natural gas pipeline system appears practical, if design factors are included to avoid hydrogen environment embrittlement of pipeline metals. Conclusions from the examination of the safety, legal, environmental, economic, political and societal aspects of hydrogen fuel are that a hydrogen energy carrier system would be compatible with American values and the existing energy system

Review: Marine natural products

This review covers the literature published in 2003 for marine natural products, with 619 citations (413 for the period January to December 2003) referring to compounds isolated from marine microorganisms and phytoplankton, green algae, brown algae, red algae, sponges, coelenterates, bryozoans, molluscs, tunicates and echinoderms. The emphasis is on new compounds (656 for 2003), together with their relevant biological activities, source organisms and country of origin. Biosynthetic studies or syntheses that lead to the revision of structures or stereochemistries have been included (78), including any first total syntheses of a marine natural product