Real-time simulation of three-dimensional shoulder girdle and arm dynamics

Electrical stimulation is a promising technology for the restoration of arm function in paralyzed individuals. Control of the paralyzed arm under electrical stimulation, however, is a challenging problem that requires advanced controllers and command interfaces for the user. A real-time model describing the complex dynamics of the arm would allow user-in-the-loop type experiments where the command interface and controller could be assessed. Real-time models of the arm previously described have not included the ability to model the independently controlled scapula and clavicle, limiting their utility for clinical applications of this nature. The goal of this study therefore was to evaluate the performance and mechanical behavior of a real-time, dynamic model of the arm and shoulder girdle. The model comprises seven segments linked by eleven degrees of freedom and actuated by 138 muscle elements. Polynomials were generated to describe the muscle lines of action to reduce computation time, and an implicit, first-order Rosenbrock formulation of the equations of motion was used to increase simulation step-size. The model simulated flexion of the arm faster than real time, simulation time being 92% of actual movement time on standard desktop hardware. Modeled maximum isometric torque values agreed well with values from the literature, showing that the model simulates the moment-generating behavior of a real human arm. The speed of the model enables experiments where the user controls the virtual arm and receives visual feedback in real time. The ability to optimize potential solutions in simulation greatly reduces the burden on the user during development

Using the Fermilab Proton Source for a Muon to Electron Conversion Experiment

The Fermilab proton source is capable of providing 8 GeV protons for both the future long-baseline neutrino program (NuMI), and for a new program of low energy muon experiments. In particular, if the 8 GeV protons are rebunched and then slowly extracted into an external beamline, the resulting proton beam would be suitable for a muon-to-electron conversion experiment designed to improve on the existing sensitivity by three orders of magnitude. We describe a scheme for the required beam manipulations. The scheme uses the Accumulator for momentum stacking, and the Debuncher for bunching and slow extraction. This would permit simultaneous operation of the muon program with the future NuMI program, delivering 10^20 protons per year at 8 GeV for the muon program at the cost of a modest (~10%) reduction in the protons available to the neutrino program.Comment: 18 pages, 7 figure

Corporate Blockholdings and Firm Performance: A Multivariate Analysis

A report submitted by James D. Bogert to the Research and Creative Productions Committee in 1999 on corporate blockholdings and firm performance

Corporate Blockholdings and Firm Performance: Theory Development

A report submitted by James D. Bogert to the Research and Creative Productions Committee in 1999 on corporate blockholdings and firm performance

A Fresh Look at the Stratigraphy of Northern Australe

The roughly circular collection of mare deposits centered at ~38.9S, 93E is often re- ferred to as Mare Australe. It is located outside of the Procellarum KREEP Terrain. The circular arrangement of Australes mare patches has suggested an ancient, heavily degraded or relaxed impact basin roughly 900 km in diameter. The mare deposits are generally thought to have erupted into smaller post- basin craters. The type, volume, and distribution of mare eruptions potentially resembles the early stages of basin-filling mare events, but which are preserved in Australe and some farside locations. Gravity data suggest that if there was a basin, it is much smaller than originally proposed (now ~600 km) and located in the northern part of Mare Australe, between Humboldt, Milne, and Jenner craters. As a whole, Mare Australe lacks the topography typically associated with a basin; however, northern Australe has a slight topographic depression that roughly corresponds to the basin-like Bouguer gravity signature in the same area. The compositions exposed in Humboldt crater suggest that a preexisting basin might have excavated deeper crustal material. However, the underlying cause of the circularity of Mare Australes deposits, particularly those extending outside of the potential impact basin setting, is not yet understood. Thus, Australe may preserve fundamental information about mare volcanism potentially uncoupled from basin formation and structure. The objectives of this study are to use new high- resolution data (images, gravity, topography, and com- position) to reassess Australes mare deposits, deter- mine the timing and style of volcanism, identify discrete basalt deposits, and to further characterize the evolution of magmatism and subsurface structure in this area. Here, we focus on the northern Australe deposits (between Humboldt, Jenner, and Milne). As originally noted by Whitford-Stark (1979), Humboldt crater and its ejecta make an excellent stratigraphic marker that can be traced across much of the Australe region. The ejecta serves as a stratigraphic constraint for absolute model ages (AMAs) derived from crater size-frequency distributions (CSFDs)

Antagonistic Co-Contraction Can Minimize Muscular Effort in Systems With Uncertainty

Muscular co-contraction of antagonistic muscle pairs is often observed in human movement, but it is considered inefficient and it can currently not be predicted insimulations where muscular effort or metabolic energy are minimized. Here, we investigated the relationship between minimizing effort and muscular co-contractionin systems with random uncertainty to see if muscular co-contraction can minimize effort in such system. We also investigated the effect of time delay in the muscle, by varying the time delay in the neural control as well as the activation time constant.We solved optimal control problems for a one-degree-of-freedom pendulum actuated by two identical antagonistic muscles, using forward shooting, to find controller parameters that minimized muscular effort while the pendulum remained upright in the presence of noise added to the moment at the base of the pendulum. We compared a controller with and without feed forward control. Task precision was defined by bounding the root mean square deviation from the upright position, while different perturbation levels defined task difficulty. We found that effort was minimized when the feedforward control was nonzero, even when feedforward control was not necessary to perform the task, which indicates that co-contraction can minimize effort in systems with uncertainty. We also found that the optimal level of co-contraction increased with time delay, both when the activation time constant was increased and when neural time delay was added. Furthermore, we found that for controllers with a neural time delay, a different trajectory was optimal for a ontroller with feedforward control than for one without, which indicates that simulation trajectories are dependent on the controller architecture. Future movement predictions should therefore account for uncertainty in dynamics and control, and carefully choose the controller architecture. The ability of models to predict co-contraction from effort or energy minimization has important clinical and sports applications. If co-contraction is undesirable, one should aim to remove the cause of co-contraction rather than the co-contraction itself

Relationship Between Jump Landing Kinematics and Peak ACL Force During a Jump in Downhill Skiing: A Simulation Study

Recent data highlight that competitive skiers face a high risk of injuries especially during off-balance jump landing maneuvers in downhill skiing. The purpose of the present study was to develop a musculo-skeletal modeling and simulation approach to investigate the cause-and-effect relationship between a perturbed landing position, i.e., joint angles and trunk orientation, and the peak force in the anterior cruciate ligament (ACL) during jump landing. A two-dimensional musculo-skeletal model was developed and a baseline simulation was obtained reproducing measurement data of a reference landing movement. Based on the baseline simulation, a series of perturbed landing simulations (n=1000) was generated. Multiple linear regression was performed to determine a relationship between peak ACL force and the perturbed landing posture. Increased backward lean, hip flexion, knee extension, and ankle dorsiflexion as well as an asymmetric position were related to higher peak ACL forces during jump landing. The orientation of the trunk of the skier was identified as the most important predictor accounting for 60% of the variance of the peak ACL force in the simulations. Teaching of tactical decisions and the inclusion of exercise regimens in ACL injury prevention programs to improve trunk control during landing motions in downhill skiing was concluded

Relationship Between Jump Landing Kinematics and Peak ACL Force During a Jump in Downhill Skiing: A Simulation Study

Recent data highlight that competitive skiers face a high risk of injuries especially during off-balance jump landing maneuvers in downhill skiing. The purpose of the present study was to develop a musculo-skeletal modeling and simulation approach to investigate the cause-and-effect relationship between a perturbed landing position, i.e., joint angles and trunk orientation, and the peak force in the anterior cruciate ligament (ACL) during jump landing. A two-dimensional musculo-skeletal model was developed and a baseline simulation was obtained reproducing measurement data of a reference landing movement. Based on the baseline simulation, a series of perturbed landing simulations (n=1000) was generated. Multiple linear regression was performed to determine a relationship between peak ACL force and the perturbed landing posture. Increased backward lean, hip flexion, knee extension, and ankle dorsiflexion as well as an asymmetric position were related to higher peak ACL forces during jump landing. The orientation of the trunk of the skier was identified as the most important predictor accounting for 60% of the variance of the peak ACL force in the simulations. Teaching of tactical decisions and the inclusion of exercise regimens in ACL injury prevention programs to improve trunk control during landing motions in downhill skiing was concluded

Metabolic Cost Calculations of Gait Using Musculoskeletal Energy Models, a Comparison Study

This paper compares predictions of metabolic energy expenditure in gait using seven metabolic energy expenditure models to assess their correlation with experimental data. Ground reaction forces, marker data, and pulmonary gas exchange data were recorded for six walking trials at combinations of two speeds, 0.8 m/s and 1.3 m/s, and three inclines, -8% (downhill), level, and 8% (uphill). The metabolic cost, calculated with the metabolic energy models was compared to the metabolic cost from the pulmonary gas exchange rates. A repeated measures correlation showed that all models correlated well with experimental data, with correlations of at least 0.9. The model by Bhargava et al. (J Biomech, 2004: 81-88) and the model by Lichtwark and Wilson (J Exp Biol, 2005: 2831-3843) had the highest correlation,0.95. The model by Margaria (Int Z Angew Physiol Einschl Arbeitsphysiol, 1968: 339-351) predicted the increase in metabolic cost following a change in dynamics best in absoluteterms

Response Time is More Important than Walking Speed for the Ability of Older Adults to Avoid a Fall after a Trip

We previously reported that the probability of an older adult recovering from a forward trip and using a “lowering” strategy increases with decreased walking velocity and faster response time. To determine the within-subject interaction of these variables we asked three questions: (1) Is the body orientation at the time that the recovery foot is lowered to the ground (“tilt angle”) critical for successful recovery? (2) Can a simple inverted pendulum model, using subject-specific walking velocity and response time as input variables, predict this body orientation, and thus success of recovery? (3) Is slower walking velocity or faster response time more effective in preventing a fall after a trip? Tilt angle was a perfect predictor of a successful recovery step, indicating that the recovery foot placement must occur before the tilt angle exceeds a critical value of between 23° and 26° from vertical. The inverted pendulum model predicted the tilt angle from walking velocity and response time with an error of 0.4±2.2° and a correlation coefficient of 0.93. The model predicted that faster response time was more important than slower walking velocity for successful recovery. In a typical individual who is at risk for falling, we predicted that a reduction of response time to a normal value allows a 77% increase in safe walking velocity. The mathematical model produced patient-specific recommendations for fall prevention, and suggested the importance of directing therapeutic interventions toward improving the response time of older adults