ObjectiveThis study aimed to develop a diagnostic model of multi-kinematic parameters for patients with amnestic mild cognitive impairment (aMCI).MethodIn this cross-sectional study, 94 older adults were included (33 cognitively normal, CN; and 61 aMCI). We conducted neuropsychological battery tests, such as global cognition and cognitive domains, and collected gait parameters by an inertial-sensor gait analysis system. Multivariable regression models were used to identify the potential diagnostic variables for aMCI. Receiver operating characteristic (ROC) curves were applied to (...) assess the diagnostic accuracy of kinematic parameters in discriminating aMCI from healthy subjects.ResultsMultivariable regression showed that multi-kinematic parameters were the potential diagnostic variables for aMCI. The multi-kinematic parameter model, developed using Timed Up and Go (TUG) time, stride length, toe-off/heel stride angles, one-leg standing (OLS) time, and braking force, showed areas under ROC (AUC), 0.96 [95% confidence interval (CI), 0.905–0.857]; sensitivity, 0.90; and specificity, 0.91. In contrast, a single kinematic parameter’s sensitivity was 0.26–0.95 and specificity was 0.21–0.90. Notably, the separating capacity of multi-kinematic parameters was highly similar to Montreal Cognitive Assessment (MoCA; AUC: 0.96 vs. 0.95). Compared to cognitive domain tests, the separating ability was comparable to Auditory Verbal Learning Test (AVLT) and Boston Naming Test (BNT; AUC: 0.96 vs. 0.97; AUC: 0.96 vs. 0.94).ConclusionWe developed one diagnostic model of multi-kinematic parameters for patients with aMCI in Foshan. (shrink)

Automatized scalable healthcare support solutions allow real-time 24/7 health monitoring of patients, prioritizing medical treatment according to health conditions, reducing medical appointments in clinics and hospitals, and enabling easy exchange of information among healthcare professionals. With recent health safety guidelines due to the COVID-19 pandemic, protecting the elderly has become imperative. However, state-of-the-art health wearable device platforms present limitations in hardware, parameter estimation algorithms, and software architecture. This paper proposes a complete framework for health systems composed of multi-sensor wearable (...) health devices, high-resolution parameter estimation, and real-time monitoring applications. The framework is appropriate for real-time monitoring of elderly patients' health without physical contact with healthcare professionals, maintaining safety standards. The hardware includes sensors for monitoring steps, pulse oximetry, heart rate, and temperature using low-power wireless communication. In terms of parameter estimation, the embedded circuit uses high-resolution signal processing algorithms that result in an improved measure of the HR. The proposed high-resolution signal processing-based approach outperforms state-of-the-art HR estimation measurements using the photoplethysmography sensor. (shrink)

This paper proposes an adaptive formation tracking control algorithm optimized by Q-learning scheme for multiple mobile robots. In order to handle the model uncertainties and external disturbances, a desired linear extended state observer is designed to develop an adaptive formation tracking control strategy. Then an adaptive method of sliding mode control parameters optimized by Q-learning scheme is employed, which can avoid the complex parameter tuning process. Furthermore, the stability of the closed-loop control system is rigorously proved by means of (...) matrix properties of graph theory and Lyapunov theory, and the formation tracking errors can be guaranteed to be uniformly ultimately bounded. Finally, simulations are presented to show the proposed algorithm has the advantages of faster convergence rate, higher tracking accuracy, and better steady-state performance. (shrink)

A hypothesis about sensorimotor integration (the λ model) is described and applied to movement control and kinesthesia. The central idea is that the nervous system organizes positional frames of reference for the sensorimotor apparatus and produces active movements by shifting the frames in terms of spatial coordinates. Kinematic and electromyographic patterns are not programmed, but emerge from the dynamic interaction among the system s components, including external forces within the designated frame of reference. Motoneuronal threshold properties and proprioceptive inputs (...) to motoneurons may be cardinal components of the physiological mechanism that produces positional frames of reference. The hypothesis that intentional movements are produced by shifting the frame of reference is extended to multi-muscle and multi-degrees-of-freedom systems with a solution of the redundancy problem that allows the control of a joint alone or in combination with other joints to produce any desired limb configuration and movement trajectory. The model also implies that for each motor behavior, the nervous system uses a strategy that minimizes the number of changeable control variables and keeps the parameters of these changes invariant. Examples are provided of simulated kinematic and electromyographic signals from single- and multi-joint arm movements produced by suggested patterns of control variables. Empirical support is provided and additional tests of the model are suggested. The model is contrasted with others based on the ideas of programming of motoneuronal activity, muscle forces, stiffness, or movement kinematics. (shrink)

To improve the positioning accuracy of industrial robots and avoid using the coordinates of the end effector, a novel kinematic calibration method based on the distance information is proposed. The kinematic model of an industrial robot is established. The relationship between the moving distance of the end effector and the kinematic parameters is analyzed. Based on the results of the analysis and the kinematic model of the robot, the error model with displacements as the reference (...) is built, which is linearized for the convenience of the following identification. The singular value decomposition is used to eliminate the redundant parameters of the error model. To solve the problem that traditional optimization algorithms are easily affected by data noise in high dimension identification, a novel extended Kalman filter and regularized particle filter hybrid identification method is presented. EKF is used in the preidentification of the linearized error model. With the preidentification results as the initial parameters, RPF is used to identify the kinematic parameters of the linearized error model. Simulations are carried out to validate the effectiveness of the proposed method, which shows that the method can identify the error of the parameters and after compensation the accuracy of the robot is improved. (shrink)

We try to find a possible origin of the holographic principle in the Lorentz-covariant Yang’s quantized space-time algebra (YSTA). YSTA, which is intrinsically equipped with short- and long-scale parameters, λ and R, gives a finite number of spatial degrees of freedom for any bounded spatial region, providing a basis for divergence-free quantum field theory. Furthermore, it gives a definite kinematical reduction of spatial degrees of freedom, compared with the ordinary lattice space. On account of the latter fact, we find (...) a certain kind of kinematical holographic relation in YSTA, which may be regarded as a primordial form of the holographic principle suggested so far in the framework of the present quantum theory that appears now in the contraction limit of YSTA, λ→0 and R→∞. (shrink)

The present volume contains a selection of papers presented at the conference Mapping Parameters of Meaning, an event organized by the GReG (Groupe de Rèflexion sur les Grammaires) linguistics research group in the Language Department of the University of Paris Ouest Nanterre on November 19-20, 2010. The book addresses the description of meaning construction processes, and the necessity for new linguistic interface-tools to analyze it in its dynamic and multi-dimensional aspect. Syntax, grammar, prosody, discourse organization, subjective and situational (...) filters are not considered as autonomous systems; on the contrary, they are shown to systematically converge in the process of meaning construction and interpretation. The notion of context is discussed throughout the volume, a major concern being to try and define the precise nature of the link between variable contextual parameters and stable linguistic systems. The book will be of value to anyone interested in the interaction between syntax, semantics and pragmatics in the gradual construction and interpretation of meaning in natural languages, including researchers, students and scholars of formal linguistics, cognitive linguistics and discourse analysis. (shrink)

Generalizing the notion that muscles are positional frames of reference, a high-dimensional muscle space is defined for multi-muscle systems with an embedded low-dimensional motor manifold of functional articulators. A central representation of such a manifold is proposed as computational body schema. The example of the jaw-tongue system is presented, discussing the relation of functional articulators with kinematic invariances and control problems.

To cover as much as possible the various questions raised by the commentators, I have divided my Response into three major sections. In section R1, I reply to the major comments and remarks dealing with the basic hypothesis upon which the kinematic theory is built (Plamondon 1993b; 1993c; 1995a; 1995b). I focus on linearity, determinism, kinematics, and the biological significance of the model parameters. I conclude this section by showing how, from a practical point of view, the delta-lognormal (...) law can be used to group similar data prior to proceeding with further statistical analysis. In section R2, I address the main comments and remarks dealing with the speed/accuracy tradeoffs. First, I focus on the origin of speed/accuracy tradeoffs and the effect of visual feedback. Then I clarify some terminology problems and mathematical misinterpretations prior to providing new support for the theory using the experiments and data referred to by some commentators. I devote section R3 to a generalization of the kinematic theory and to some potential applications. I first provide new explanations of some classical experiments; then I show how more complex movements can be analyzed using the delta-lognormal law. I focus on perturbed and oscillatory movements as well as on cursive script and signature analysis. I conclude this section and my Response by showing some possible applications to the study of movement learning in children as well as to the study of aging phenomena in movement control. I complete my Response by recalling some technical problems that still need further analysis. Throughout the text, I try to convince the reader that the kinematic theory provides a new window on old and new data in the field. (shrink)

Plamondon & Alimi's derivation of the kinematic model is mathematically flawed. By simply naming a particular parameter combination the model fails to explicate the sources of variability. As a result, the model cannot distinguish between various sources of error, such as those resulting from task demands and those resulting from movement execution.

The paper introduces the problem of unawareness into multi-dimensional Principal–Agent theory. We introduce two key parameters to describe the problem, the extent and the effect of unawareness, show under what conditions it is optimal for the Principal to propose an incomplete or a complete contract, and characterize the incentive power of optimal linear contracts. If Agents differ in their unawareness, optimal incentive schemes can be distorted for both aware and unaware Agents, because, different from standard contract theory, the (...) single-crossing property fails to hold. In this case, even aware Agents can be subject to inefficiently high or low incentives. (shrink)

The purpose of the present paper is to develop kinematics of the special relativity with an anisotropy of the one-way speed of light. As distinct from a common approach, when the issue of anisotropy of the light propagation is placed into the context of conventionality of distant simultaneity, it is supposed that an anisotropy of the one-way speed of light is due to a real space anisotropy. In that situation, some assumptions used in developing the standard special relativity kinematics are (...) not valid so that the “anisotropic special relativity” kinematics should be developed based on the first principles, without refereeing to the relations of the standard relativity theory. In particular, using condition of invariance of the interval between two events becomes unfounded in the presence of anisotropy of space since the standard proofs drawing the interval invariance from the invariance of equation of light propagation are not valid in that situation. Instead, the invariance of the equation of light propagation, which is a physical law, should be taken as a first principle. A number of other physical requirements, associativity, reciprocity and so on are satisfied by the requirement that the transformations between the frames form a group. Finally, the correspondence principle is to be satisfied which implies that the coordinate transformations should turn into the Galilean transformations in the limit of small velocities. The above formulation based on the invariance and group property suggests applying the Lie group theory apparatus which includes the following steps: constructing determining equations for the infinitesimal group generators using the invariance condition; solving the determining equations; specifying the solutions using the correspondence principle; defining the finite transformations by solving the Lie equations; relating the group parameter to physical parameters. The transformations derived in such a way, as distinct from the transformations derived in the context of conventionality of distant simultaneity, cannot be converted into the standard Lorentz transformations by a coordinate change. The anisotropic nature of the presented transformations manifests itself in that they do not leave the interval invariant but only provide the conformal invariance of the interval. The relations that represent measurable effects include the conformal factor which depends on the relative velocity of the frames and the anisotropy degree. It is important to note the use of the correspondence principle as a heuristic principle which allows to relate the conformal factor to the anisotropy degree and thus completely specify the transformations and observable quantities. (shrink)

Intrinsic gait variability, i.e., fluctuations in the regularity of gait patterns between repetitive cycles, is inherent to the sensorimotor system and influenced by factors such as age and pathology. Increased GV is associated with gait impairments in individuals with cerebral palsy and has been mainly studied based on spatiotemporal parameters. The present study aimed to describe kinematic GV in young people with CP and its associations with clinical impairments [i.e., passive range of motion, muscle weakness, reduced selective motor (...) control, and spasticity]. This retrospective study included 177 participants with CP representing 289 clinical gait analyses [n = 172 for unilateral CP vs. 117 for bilateral CP ]. As variability metrics, Root Mean Square Deviation for nine lower-limb kinematic parameters and Gait Standard Deviation – as composite score of the kinematic parameters – were computed for the affected and most affected side, respectively, as defined by clinical scores. GaitSD was then computed for the non/less-affected side for between leg comparisons. Uni- and multivariate linear regressions were subsequently performed on GaitSD of the affected/most affected side with all clinical impairments as independent variables. Highest RMSD were found in the transverse plane, for distal joints in the sagittal plane and for foot progression. GaitSD was not different between uCP and bCP but higher in the non-affected vs. affected side in uCP. GaitSD was associated with age, gait deviation index, muscle weakness, selectivity, and pROM. After adjustment for age and GDI, GaitSD remained associated with muscle weakness and selectivity. Kinematic GV can be expressed as global indicator of variability in young people with CP given the strong correlation of RMSD for lower-limb kinematic parameters. In terms of asymmetry, increased variability of the non-affected vs. affected side may indicate contralateral compensation mechanisms in uCP. Notably muscle weakness and selectivity – but not spasticity – were associated with GaitSD. Further studies need to explore the clinical relevance of kinematic GV in CP to support the interpretation of clinical gait analyses and therapeutic decision-making. (shrink)

Current models of speech motor control rely on either trajectory-based control (DIVA, GEPPETO, ACT) or a dynamical systems approach based on feedback control (Task Dynamics, FACTS). While both approaches have provided insights into the speech motor system, it is difficult to connect these findings across models given the distinct theoretical and computational bases of the two approaches. We propose a new extension of the most widely used dynamical systems approach, Task Dynamics, that incorporates many of the strengths of trajectory-based approaches, (...) providing a way to bridge the theoretical divide between what have been two separate approaches to understanding speech motor control. The Task Dynamics (TD) model posits that speech gestures are governed by point attractor dynamics consistent with a critically damped harmonic oscillator. Kinematic trajectories associated with such gestures should therefore be consistent with a second-order dynamical system, possibly modified by blending with temporally overlapping gestures or altering oscillator parameters. This account of observed kinematics is powerful and theoretically appealing, but may be insufficient to account for deviations from predicted kinematics – i.e., changes produced in response to some external perturbations to the jaw, changes in control during acquisition and development, or effects of word/syllable frequency. Optimization, such as would be needed to minimize articulatory effort, is also incompatible with the current TD model, though the idea that the speech production systems economizes effort has a long history and, importantly, also plays a critical role in current theories of domain-general human motor control. To address these issues, we use Dynamic Movement Primitives (DMPs) to expand a dynamical systems framework for speech motor control to allow modification of kinematic trajectories by incorporating a simple, learnable forcing term into existing point attractor dynamics. We show that integration of DMPs with task- based point-attractor dynamics enhances the potential explanatory power of TD in a number of critical ways, including the ability to account for external forces in planning and optimizing both kinematic and dynamic movement costs. At the same time, this approach preserves the successes of Task Dynamics in handling multi-gesture planning and coordination. (shrink)

Silent gestures consist of complex multi‐articulatory movements but are now primarily studied through categorical coding of the referential gesture content. The relation of categorical linguistic content with continuous kinematics is therefore poorly understood. Here, we reanalyzed the video data from a gestural evolution experiment (Motamedi, Schouwstra, Smith, Culbertson, & Kirby, 2019), which showed increases in the systematicity of gesture content over time. We applied computer vision techniques to quantify the kinematics of the original data. Our kinematic analyses demonstrated (...) that gestures become more efficient and less complex in their kinematics over generations of learners. We further detect the systematicity of gesture form on the level of thegesture kinematic interrelations, which directly scales with the systematicity obtained on semantic coding of the gestures. Thus, from continuous kinematics alone, we can tap into linguistic aspects that were previously only approachable through categorical coding of meaning. Finally, going beyond issues of systematicity, we show how unique gesture kinematic dialects emerged over generations as isolated chains of participants gradually diverged over iterations from other chains. We, thereby, conclude that gestures can come to embody the linguistic system at the level of interrelationships between communicative tokens, which should calibrate our theories about form and linguistic content. (shrink)

After a consideration of Reichenbach's and Winnie's axiomatizations of Special Relativity, three synchrony-free axioms which can be used to simultaneously axiomatize Special Relativity, Classical Aether Theory, and a threefold continuum of theories in between are suggested. The specific theory obtained from the axioms depends on the value of a parameter in each axiom. It is shown that the values of the three parameters are empirically determined by the Michelson-Morley, Kennedy-Thorndike, and Ives-Stilwell experiments.

We propose a descriptive version of the classical multi-attribute utility model; to that end, we add a new parameter, momentary salience, to the customary formulation. The addition of this parameter allows the theory to accommodate changes in the decision maker’s mood and circumstances, as the saliencies of anticipated consequences are driven by concerns of the moment. By allowing for the number of consequences given attention at the moment of decision to vary, the new model mutes the criticism that SEU (...) models call for an omniscient decision maker. Use of the model is illustrated with a large-scale longitudinal study showing that adolescent smokers have higher utility for smoking than nonsmokers. We also propose to use the model hierarchically to describe everyday decisions that people deal with repeatedly. Big decisions, which set policy, guide a host of nested little decisions, which in turn lead to action. For a little decision, one of the options will be consistent with the policy, and will inherit its high utility. Accordingly, most little decisions will be made quickly and will follow the policy. However, people do sometimes decide to violate their own policies, and we describe how these lapses can lead to collapse of the policy. (shrink)

The aim of this study was to examine the influence of somatic maturation in anthropometric, physical, and game-related variables in youth basketball age groups under-13 and under-15. One-hundred and eighty-five basketball players performed anthropometrical and physical tests during a non-official youth basketball tournament. Predicted maturity offset and game-related variables were also analyzed. Cluster analysis was used to analyze the between-maturation status differences in all parameters in each age group. Also, regularized generalized canonical correlation analysis was used to assess relative (...) contributions of maturational, physical, and game-related variables within each age group. Based on MO, two different clusters were identified within each age category. Greater differences in MO were identified among U-13 clusters than among U-15 clusters. No significant differences were observed between clusters in terms of physical and game-related variables. High correlations between maturational, physical, and game-related variables were found for boys. In girls, different trends in terms of correlations were observed. The strongest association between blocks was observed between physical tests and game-related variables in all age categories, except for U-15 girls. Knowing and identifying performance profiles according to biological age is of upmost importance since it allows the coach to create challenging situations adjusted to the individual’s needs. (shrink)

Consensus of fractional-order multiagent systems with single integral has been wildly studied. However, the dynamics with multiple integral also exist in FOMASs, and they are rarely studied at present. In this paper, consensus problems for multi-integral fractional-order multiagent systems with nonuniform time-delays are addressed. The consensus conditions for MIFOMASs are obtained by a novel frequency-domain method which properly eliminates consensus problems of the systems associated with nonuniform time-delays. Besides, the method revealed in this paper is applicable to classical high-order (...) multiagent systems which is a special case of MIFOMASs. Finally, several numerical simulations with different parameters are performed to validate the correctness of the results. (shrink)

We study prefixed tableaux for first-order multi-modal logic, providing proofs for soundness and completeness theorems, a Herbrand theorem on deductions describing the use of Herbrand or Skolem terms in place of parameters in proofs, and a lifting theorem describing the use of variables and constraints to describe instantiation. The general development applies uniformly across a range of regimes for defining modal operators and relating them to one another; we also consider certain simplifications that are possible with restricted modal (...) theories and fragments. (shrink)

The COVID-19 pandemic has plunged the housing affordability and living sanitary conditions of China's low-income groups into a crisis. Public rental housing has made a significant contribution to alleviating this crisis, yet its exit problem has become more acute due to the impact of the epidemic. In order to explore how to effectively play the role of multi-governance in public rental housing exit, this paper adopts game theory to analyze the evolution of the behavioral strategies of government departments and (...) public rental housing tenants in public rental housing exit by combining four influencing parameters: the epidemic severity, the epidemic influence coefficient, the public participation degree, and the public reporting fairness. In response to exploring the conditions for the effective functioning of the multi-governance model under the impact of the epidemic, the influences of parameter change on the stability of the system are analyzed. The results show that when the COVID-19 epidemic impact coefficient is high, government departments need to reduce their own supervision costs to achieve better multi-governance effects; when public reports are distorted, the government departments’ own supervision capabilities determine the impact of public participation on governance effects. (shrink)

Two aspects of the target article, (1) the extension of the equilibrium point theory to multi-joint movements, and (2) the consequence that the EMG pattern is not directly controlled by the central nervous system (CNS), are discussed in light of the experiments on upper trunk bending in humans. The principle component kinematic analysis and the analysis of the EMG data, obtained under microgravity and additional loading conditions, support the application of Feldman and Levin's for multi-joint pointing movement (...) to equilibrium control during upper trunk movement. (shrink)

This paper has two main objectives. The first one is to reflect on the validity of data in analysis and projections that underpin the engineering asset management of organizations, considering, on the one hand, a certain resistance or even inadequate use of data and information of a subjective nature and; on the other hand, a consolidated reliance on quantitative approaches and decisions based on data series. The second objective is to contextualize the applicability of combining qualitative data based on experts’ (...) experience and on the tacit knowledge built in organizations, with approaches based essentially on quantitative data, according to the data availability and the decision scenario over the asset life cycle. We present two application of an approach combining quali and quanti data. One example interrelates Statistics with Psychology and the other combines elicitated data about asset indicators with parameters deterministically calculated. Both applications aiming at providing more realistic indicators and supporting the Asset Management process to make more assertive decisions. (shrink)

Convolutional neural networks, which automatically learn features from raw data to approximate functions, are being increasingly applied to the end-to-end analysis of electroencephalographic signals, especially for decoding brain states in brain-computer interfaces. Nevertheless, CNNs introduce a large number of trainable parameters, may require long training times, and lack in interpretability of learned features. The aim of this study is to propose a CNN design for P300 decoding with emphasis on its lightweight design while guaranteeing high performance, on the effects (...) of different training strategies, and on the use of post-hoc techniques to explain network decisions. The proposed design, named MS-EEGNet, learned temporal features in two different timescales in an efficient and optimized way, and was validated on three P300 datasets. The CNN was trained using different strategies and was compared with several state-of-the-art algorithms. Furthermore, variants of the baseline MS-EEGNet were analyzed to evaluate the impact of different hyper-parameters on performance. Lastly, saliency maps were used to derive representations of the relevant spatio-temporal features that drove CNN decisions. MS-EEGNet was the lightest CNN compared with the tested SOA CNNs, despite its multiple timescales, and significantly outperformed the SOA algorithms. Post-hoc hyper-parameter analysis confirmed the benefits of the innovative aspects of MS-EEGNet. Furthermore, MS-EEGNet did benefit from transfer learning, especially using a low number of training examples, suggesting that the proposed approach could be used in BCIs to accurately decode the P300 event while reducing calibration times. Representations derived from the saliency maps matched the P300 spatio-temporal distribution, further validating the proposed decoding approach. This study, by specifically addressing the aspects of lightweight design, transfer learning, and interpretability, can contribute to advance the development of deep learning algorithms for P300-based BCIs. (shrink)

To investigate the effects of two different modes of physical activity on body composition, physical fitness, cardiometabolic risk, and psychological responses in female adolescents participating in a multi-disciplinary program. The 12-week randomized intervention included 25-adolescents with overweight divided into two groups: sports practice-SPG and functional training-FTG. The SPG intervention was divided into three sports: basketball, handball, and futsal. SPG participants performed one sport 3-times/week, over the course of 1 month. The FTG performed concurrent exercises 3-times/week. This study was registered (...) in Clinical Trials Registry Platform under number: RBR-45ywtg and registered in Local Ethics Committee number: 2,505.200/2018. The intensity of physical exercises-PE was matched between groups by the rating of perceived exertion. The primary outcome was body composition, and secondary outcomes were physical fitness, cardiometabolic risk, and psychological responses. There was a significant time-effect for body mass, body mass index, and low-density lipoprotein, all being reduced. There were increases over time for musculoskeletal mass, aerobic fitness, and high-density lipoprotein. There was a group time interaction with body fat percentage being lower post-intervention in the SPG. No significant differences were observed for the other variables. Both physical activity models were effective in improving a subset of obesity-related health parameters. The findings should be extended by further investigation using more sophisticated measures of energy expenditure.Clinical Trial Registration:https://ensaiosclinicos.gov.br/, identifier: RBR-45ywtg. (shrink)

We have two main objections to Kerr and Godfrey-Smith's (2002) meticulous analysis. First, they misunderstand the position we took in Unto Others – we do not claim that individual-level statements about the evolution of altruism are always unexplanatory and always fail to capture causal relationships. Second, Kerr and Godfrey-Smith characterize the individual and the multi-level perspectives in terms of different sets of parameters. In particular, they do not allow the multi-level perspective to use the individual fitness (...) class='Hi'>parameters i and i. We don't see why the multi-level perspective prevents one from thinking in these terms. Kerr and Godfrey-Smith's argument that Uyenoyama and Feldman's (1980, 1992) definition of altruism belongs more to the individualist perspective than it does to the multi-level perspective is an artifact of their choice of parameters; the same point applies to their argument about the individualism inherent in the idea of Class I and Class II fitness structures. (shrink)

The search for simplifying principles in motor control motivates the target article. One method that the CNS uses to simplify the task of controlling a limb's mechanical properties is absent from the article. Evidence from multi-joint, force-field measurements and from kinematics that points to the existence of multi-joint primitives as control variables is discussed.

Effective and personalized treatment relies heavily on skin disease categorization. In the stratification of skin disorders, it is crucial to identify the subtypes of illnesses to provide an efficient therapy. To attain this aim, researchers have focused their attention on cluster algorithms for the stratification of skin disorders in recent decades. But, cluster algorithms have real-world drawbacks, including experimental noises, a large number of dimensions, and a poor ability to comprehend. Cluster algorithms, in particular, determine the quality of clusters using (...) a single internal evaluation operation in the majority of cases. A single internal assessment procedure is difficult to design and robust for all datasets, which is a problem. The multi-objective particle swarm obtained high sensitivity in the existing work, but it is not able to anticipate all kinds of classes. An optimized cluster distance parameter for K-means clustering is determined using a hybrid particle swarm and moth flame optimization. Multi-objective is guided by two cluster value indices, including the K-means clustering misclassification rate and neural network classification rate. Hybrid PSO will solve the multi-objective problem to identify the optimal cluster for clustering. On the dermatological dataset from the UCI repository, MATLAB R2020a will be used to evaluate the proposed method. This will be followed by an evaluation of the proposed method’s performance using the cluster evaluation indices. (shrink)

Infertility is a huge problem nowadays, not only from the medical but also from the social point of view. A key step to improve treatment outcomes is the possibility of effective prediction of treatment result. In a situation when a phenomenon with more than 2 states needs to be explained, e.g. pregnancy, miscarriage, non-pregnancy, the use of multinomial logistic regression is a good solution. The aim of this paper is to select those features that have a significant impact on achieving (...) clinical pregnancy as well as those that determine the occurrence of spontaneous miscarriage. Two multi-factor models were obtained, used in predicting infertility treatment outcomes. One of the models enabled to conclude that the number of follicles and the percentage of retrieved mature oocytes have a significant impact when prediction of treatment outcome is made on the basis of information about oocytes. The other model, built on the basis of information about embryos, showed the significance of the number of fertilized oocytes, the percentage of at least 7-cell embryos on day 3, the percentage of blasts on day 5, and the day of transfer. (shrink)

This paper investigates the stabilization and trajectory tracking problem of wheeled mobile robot with a ceiling-mounted camera in complex environment. First, an adaptive visual servoing controller is proposed based on the uncalibrated kinematic model due to the complex operation environment. Then, an adaptive controller is derived to provide a solution of uncertain dynamic control for a wheeled mobile robot subject to parametric uncertainties. Furthermore, the proposed controllers can be applied to a more general situation where the parallelism requirement between (...) the image plane and operation plane is no more needed. The overparameterization of regressor matrices is avoided by exploring the structure of the camera-robot system, and thus, the computational complexity of the controller can be simplified. The Lyapunov method is employed to testify the stability of a closed-loop system. Finally, simulation results are presented to demonstrate the performance of the suggested control. (shrink)

When describing motion along both the horizontal and vertical axes, languages from different families express the elements encoding verticality before those coding for horizontality (e.g., going up right instead of right up). In light of the motor grounding of language, the present study investigated whether the prevalence of verticality in Path expression also governs the trajectory of arm biological movements. Using a 3D virtual-reality setting, we tracked the kinematics of hand pointing movements in five spatial directions, two of which implied (...) the vertical and horizontal vectors equally (i.e., up right +45° and bottom right −45°). Movement onset could be prompted by visual or auditory verbal cues, the latter being canonical in French (“en haut à droite”/up right) or not (“à droite en haut”/right up). In two experiments, analyses of the index finger kinematics revealed a significant effect of gravity, with earlier acceleration, velocity, and deceleration peaks for upward (+45°) than downward (−45°) movements, irrespective of the instructions. Remarkably, confirming the linguistic observations, we found that vertical kinematic parameters occurred earlier than horizontal ones for upward movements, both for visual and congruent verbal cues. Non-canonical verbal instructions significantly affected this temporal dynamic: for upward movements, the horizontal and vertical components temporally aligned, while they reversed for downward movements where the kinematics of the vertical axis was delayed with respect to that of the horizontal one. This temporal dynamic is so deeply anchored that non-canonical verbal instructions allowed for horizontality to precede verticality only for movements that do not fight against gravity. Altogether, our findings provide new insights into the embodiment of language by revealing that linguistic path may reflect the organization of biological movements, giving priority to the vertical axis. (shrink)

It is our contention that the concept of planning in Glover's model is too broadly defined, encompassing both action/goal selection and the programming of the constituent movements required to acquire the goal. We argue that this monolithic view of planning is untenable on neuropsychological, neurophysiological, and behavioural grounds. The evidence demands instead that a distinction be made between action planning and the specification of the initial kinematic parameters, with the former depending on processing in the ventral stream and (...) the latter on processing in the dorsal stream. (shrink)

Prism Adaptation is a useful method to study the mechanisms of sensorimotor adaptation. After-effects following adaptation to the prismatic deviation constitute the probe that adaptive mechanisms occurred, and current evidence suggests an involvement of the cerebellum at this level. Whether after-effects are transferable to another task is of great interest both for understanding the nature of sensorimotor transformations and for clinical purposes. However, the processes of transfer and their underlying neural substrates remain poorly understood. Transfer from throwing to pointing is (...) known to occur only in individuals who had previously reached a good level of expertise in throwing, not in novices. The aim of this study was to ascertain whether anodal stimulation of the cerebellum could boost after-effects transfer from throwing to pointing in novice participants. Healthy participants received anodal or sham transcranial direction current stimulation of the right cerebellum during a PA procedure involving a throwing task and were tested for transfer on a pointing task. Terminal errors and kinematic parameters were in the dependent variables for statistical analyses. Results showed that active stimulation had no significant beneficial effects on error reduction or throwing after-effects. Moreover, the overall magnitude of transfer to pointing did not change. Interestingly, we found a significant effect of the stimulation on the longitudinal evolution of pointing errors and on pointing kinematic parameters during transfer assessment. These results provide new insights on the implication of the cerebellum in transfer and on the possibility to use anodal tDCS to enhance cerebellar contribution during PA in further investigations. From a network approach, we suggest that cerebellum is part of a more complex circuitry responsible for the development of transfer which is likely embracing the primary motor cortex due to its role in motor memories consolidation. This paves the way for further work entailing multiple-sites stimulation to explore the role of M1-cerebellum dynamic interplay in transfer. (shrink)

Currently, there are no computerized tools enabling objective interpretation of observational gait assessment based on Wisconsin Gait Scale, which is a reliable and well-tested tool. The solution envisaged by us may provide a practical tool for assessing gait deviations in patients with hemiparesis after stroke. The present study assessed agreement between a new application software for computerized WGS and 3-dimensional gait analysis, and reliability of the application. The study involved 33 individuals with hemiparesis after stroke. The software was developed based (...) on a model designed taking into account components of the WGS and incorporating auxiliary lines passing through the relevant anthropometric points on the patient’s body, as well as measurements of angular values, distances and duration of the specific gait phases, which make it possible to substantiate assessment based on this scale. Series of videos were made to record gait of the qualified patients. After the gait evaluation was carried out using the app, the data were retrieved from the software. The gait assessment was performed separately by three independent examiners who reviewed the video recording using the new app twice. Additionally, 3DGA was carried out for all the subjects, and the results of the app-aided assessment were compared to those acquired using 3DGA. The findings show statistically significant correlations between majority of the WGS items measured using the new app, and the relevant spatiotemporal and kinematic parameters identified by 3DGA. Agreement between the scores reported by the three examiners was high in both measurements, as reflected by Cronbach’s alpha exceeding 0.8. The findings reflect very good intra-observer reliability and inter-observer reliability of the new application software for computerized WGS. The opportunities offered by the observational gait scale objectified through our new software for computerized WGS result from the fact that the tool provides a useful low-cost and time-effective feedback to monitor ongoing treatments or formulate hypotheses. (shrink)

Background: Clinical tests for detecting central and peripheral shoulder fatigue are limited. The discrimination of these two types of fatigue is necessary to better adapt recovery intervention. The Kinematic Theory of Rapid Human Movements describes the neuromotor impulse response using lognormal functions and has many applications in pathology detection. The ideal motor control is modeled and a change in the neuromuscular system is reflected in parameters extracted according to this theory. Objective: The objective of this study was to (...) assess whether a shoulder neuromuscular fatigue could be detected through parameters describing the theory, if there is the possibility to discriminate central from peripheral fatigue, and which handwriting test gives the most relevant information on fatigue. Methods: Twenty healthy participants performed two sessions of fast stroke handwriting on a tablet, before and after a shoulder fatigue. The fatigue was in internal rotation for one session and in external rotation during the other session. The drawings consisted of simple strokes, triangles, horizontal and vertical oscillations. Parameters of these strokes were extracted according to the Sigma-Lognormal model of the Kinematic Theory. The evolution of each participant was analyzed through a U-Mann-Whitney test for individual comparisons. A Hotelling’s T² test and a U-Mann-Whitney test were also performed on all participants to assess the group evolution after fatigue. Moreover, a correlation among parameters was calculated through Spearman coefficients to assess intrinsic parameters properties of each handwriting test. Results: Central and peripheral parameters were statistically different before and after fatigue with a possibility to discriminate them. Participants had various responses to fatigue. However, when considering the group, parameters related to the motor program execution showed significant increase in the handwriting tests after shoulder fatigue. The test of simple strokes permits to know more specifically where the fatigue comes from, whereas the oscillations tests were the most sensitive to fatigue. Conclusion: The results of this study suggest that the Sigma-Lognormal model of the Kinematic Theory is an innovative approach for fatigue detection with discrimination between the central and peripheral systems. Overall, there is a possibility to implement the setting for clinics and sports personalized follow-up. (shrink)

We present a model for several early stages of the sensorimotor transformations involved in targeted arm movement. In psychophysical experiments, human subjects pointed to the remembered locations of randomly placed targets in three-dimensional space. They made consistent errors in distance, and from these errors stages in the sensorimotor transformation were deduced. When subjects attempted to move the right index finger to a virtual target they consistently undershot the distance of the more distal targets. Other experiments indicated that the error was (...) in the sensorimotor transformation rather than in the perception of distance. The error was most consistent when evaluated using a spherical coordinate system based at the right shoulder, indicating that the neural representation of target parameters is transformed from a retinocentric representation to a shoulder-centered representation. According to the model, the error in distance results from the neural implementation of a linear approximation in the algorithm to transform shoulder-centered target parameters into a set of arm orientations appropriate for placing the finger on the target. The transformation to final arm orientations places visually derived information into a frame of reference where it can readily be combined with kinesthetically derived information about initial arm orientations. The combination of these representations of initial and final arm orientations could give rise to the representation of movement direction recorded in the motor cortex by Georgopoulos and his colleagues. Later stages, such as the transformation from kinematic to dynamic parameters, or to levels of muscle activation, are beyond the scope of the present model. (shrink)

In this research, we proposed multi-robot system that has robustness to the change of environments and has adaptability to the change of tasks and number of robots. To implement them, we use parameter learning on subsumption architecture.The subsumption architecture control robots' fundamental behaviors and robots move continuously in principle.The optimal value of the parameter and the number of robot that does the task in field are searched by learning. As the result,the robot's action on the task is improved.Proposed system (...) has functions to recognize the task and to generate the recordation memory.And then robots adapt to the change of tasks and the number of robots.In this paper, the function of proposed system is tested in simulation experiments. (shrink)

A program for the simulation of rational social normative trust, predictive `trust,' and predictive reliance between agents will be introduced. It offers a tool for social scientists or a trust component for multi-agent simulations/multi-agent systems, which need to include trust between agents to guide the decisions about the course of action. It is based on an analysis of rational social normative trust (RSNTR) (revised version of M. Tuomela 2002), which is presented and briefly argued. For collective agents, belief (...) conditions for collective agency should be added. For the various forms of trust agents must have (at least) subjectively rational reasons to believe that the conditions of the trust account are fulfilled. A list of such reasons (of varied weights), e.g., given by empirical research, can manually be built into a parameter file or be generated by a calling program in a fixed format. From this list of reasons the program randomly generates a belief base for the agents of the artificial society. Reasons can be chained together so that one set of reasons satisfies several belief conditions. The program checks if the conditions are fulfilled for the artificial agents' social normative trust/predictive `trust'/`predictive reliance' in another agent that he will perform an action X. Each outcome is logged to a result file. In conclusion we discuss various aspects of the application of a trust component of the suggested kind in empirical research, social simulation, and multi-agent systems. (shrink)

Systems biologists often distance themselves from reductionist approaches and formulate their aim as understanding living systems “as a whole.” Yet, it is often unclear what kind of reductionism they have in mind, and in what sense their methodologies would offer a superior approach. To address these questions, we distinguish between two types of reductionism which we call “modular reductionism” and “bottom-up reductionism.” Much knowledge in molecular biology has been gained by decomposing living systems into functional modules or through detailed studies (...) of molecular processes. We ask whether systems biology provides novel ways to recompose these findings in the context of the system as a whole via computational simulations. As an example of computational integration of modules, we analyze the first whole-cell model of the bacterium M. genitalium. Secondly, we examine the attempt to recompose processes across different spatial scales via multi-scale cardiac models. Although these models rely on a number of idealizations and simplifying assumptions as well, we argue that they provide insight into the limitations of reductionist approaches. Whole-cell models can be used to discover properties arising at the interfaces of dynamically coupled processes within a biological system, thereby making more apparent what is lost through decomposition. Similarly, multi-scale modeling highlights the relevance of macroscale parameters and models and challenges the view that living systems can be understood “bottom-up.” Specifically, we point out that system-level properties constrain lower-scale processes. Thus, large-scale modeling reveals how living systems at the same time are more and less than the sum of the parts. (shrink)

I argue that 'know' is only partly, though considerably, gradable. Its being only partly gradable is explained by its multi-parametrical character. That is, its truth-conditions involve different parameters, which are scalar in character, each of which is fully gradable. Robustness of knowledge may be higher or lower along different dimensions and different modes. This has little to do with whether 'know' is context-dependent, but it undermines Stanley's argument that the non-gradability of 'know' renders it non-context-dependent.

Multi-level discrete models of genetic networks, or the more general piecewise affine differential models, provide qualitative information on the dynamics of the system, based on a small number of parameters (such as synthesis and degradation rates). Boolean models also provide qualitative information, but are based simply on the structure of interconnections. To explore the relationship between the two formalisms, a piecewise affine differential model and a Boolean model are compared, for the carbon starvation response network in E. coli (...) . The asymptotic dynamics of both models are shown to be quite similar. This study suggests new tools for analysis and reduction of biological networks. (shrink)

A completely Lorentz-invariant Bohmian model has been proposed recently for the case of a system of non-interacting spinless particles, obeying Klein-Gordon equations. It is based on a multi-temporal formalism and on the idea of treating the squared norm of the wave function as a space-time probability density. The particle’s configurations evolve in space-time in terms of a parameter σ with dimensions of time. In this work this model is further analyzed and extended to the case of an interaction with (...) an external electromagnetic field. The physical meaning of σ is explored. Two special situations are studied in depth: (1) the classical limit, where the Einsteinian Mechanics of Special Relativity is recovered and the parameter σ is shown to tend to the particle’s proper time; and (2) the non-relativistic limit, where it is obtained a model very similar to the usual non-relativistic Bohmian Mechanics but with the time of the frame of reference replaced by σ as the dynamical temporal parameter. (shrink)

Cost-based abduction, which is a technique for identifying the best explanation for a given observation based on the assumption of a set of hypothesis, is a useful knowledge processing framework for practical problems such as diagnosis, design and planning. However, the speed of reasoning of this approach is often slow. To overcome this problem, Kato et al. previously presented a more efficient cost-based abduction system, that utilized the A * search technique, however, the time and space complexities in this technique (...) are exponential, so the identification of the optimal solution is difficult in practical applications. In this paper, we present three new systems in which the user can define the computational complexity, for identification of a near-optimal solution. First, we introduce two search control techniques; a real-time A * search approach in which the user can define the look-ahead depth or space, and the multi-agent real-time A * approach in which the user can define the number of real-time A * agents used in the search. We describe the implementation of three cost-based abduction reasoning systems for predicate logic knowledge bases and test the proposed systems using a diagnostic logic circuit problem. The results show that proposed systems can identify a near-optimal solution according to the predefined polynomial order of complexity, including the selection of either linear or exponential computational complexity. It is also shown that inference time and success rate are dependent on the user-defined parameters, that the three proposed systems exhibit similar performance characteristics, and that they all offer significant speed advantages over the previously described technique. (shrink)

A new multi-stage deterministic model for the transmission dynamics of syphilis, which incorporates disease transmission by individuals in the early latent stage of syphilis infection and the reversions of early latent syphilis to the primary and secondary stages, is formulated and rigorously analysed. The model is used to assess the population-level impact of preventive and therapeutic measures against the spread of the disease in a community. It is shown that the disease-free equilibrium of the model is globally-asymptotically stable whenever (...) the associated control reproduction number is less than unity. A special case of the model is shown to have a unique and globally-asymptotically stable endemic equilibrium whenever the associated reproduction number exceeds unity. Uncertainty and sensitivity analysis of the model, using parameter values and ranges relevant to syphilis transmission dynamics in Nigeria, show that the top three parameters that drive the syphilis infection are the disease transmission rate, compliance in condom use and efficacy of condom. Numerical simulations of the model show that the targeted treatment of secondary syphilis cases is more effective than the targeted treatment of individuals in the primary or early latent stage of syphilis infection. (shrink)

By applying Multi-Dimensional Analysis, this study has provided a thorough description of the lexico-grammatical characteristics of courtroom discourse to see to what extent it employs both linguistic features of oral registers and literate registers. In particular, this study focuses on language used in the four public sub-registers of courtroom discourse and analyzes how oral/literate each sub-register is, instead of characterizing courtroom discourse as oral/literate overall. Detailed interpretation of results focuses on Dimension 1 and 2 as these two dimensions are (...) identified as universal parameters of register variation. A corpus of high-profile courtroom trials was compiled for this study that includes the O. J. Simpson criminal trial, the Boston Marathon bombing trial, and the Oklahoma bombing trial. (shrink)