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Research on biological objects requires tracking hundreds of micro-objects from the microscopy video. We propose an automated tracking framework to extract trajectories of micro-objects. This framework uses a particle probability hypothesis density (PF-PHD) tracker to implement a recursive Bayesian state estimation and trajectories association. In the framework, an ellipse target model is presented...
Tcl is the original embeddable dynamic language. Introduced in 1990, Tcl has been the foundation of the scripting interface of the popular biomolecular visualization and analysis program VMD since 1995 and was extended to the parallel molecular dynamics program NAMD in 1999. The two programs together have over 200,000 users who have enjoyed for nearly two decades the stability and flexibility provided...
Recent findings regarding dorsal premotor area (PMd) activation during observation of smooth biological movements suggest that this motor-related area detects biological motions. We hypothesize that a neural network in the PMd acquires an invariance of self-induced motor commands for smooth movements and interprets the observed biological motions as ones satisfying the invariance in self-movements...
A large class of human movements rely on the so-called hand-eye coordination for precise and versatile performance. Teleoperation of agile robotic systems in three dimensional environments would benefit from a detailed understanding of the perceptual control mechanisms used by the operator both for the design of operator interfaces and potentially for the use of gaze information as part of the control...
This paper describes a novel method for the identification of time-varying ankle joint dynamic stiffness during large passive movements. The method estimates a linear parameter varying parallel-cascade (LPV-PC) model of joint stiffness consisting of two pathways: (a) an LPV impulse response function (IRF) for intrinsic mechanics and (b) an LPV Hammerstein cascade with time-varying static nonlinearity...
Hybrid systems often appear as models of mechatronic devices, and are used to express the discontinuous transition in dynamics that occurs when mechanical contacts are made or broken. Contact state changes can coincide with dramatic shifts in control authority, and become sources of unwanted disturbance when they are exogenously driven. In the natural world, such systems appear in rapid legged locomotion...
For applications of face recognition (FR) in video surveillance, it is often costly or unfeasible to collect several high quality reference samples a priori to design representative facial models. Moreover, changes in capture conditions and human physiology create divergence between facial models and input captures. Multiple classifier systems (MCS) have been successfully applied to video-to-video...
Among various aspects of cell cycle, understanding synchronization mechanism of cell cycle is important because of the following reasons. (1)Cycles of cell assembly should synchronize to form an organ. (2) Synchronizing cell cycles are required to experimental analysis of regulatory mechanisms of cell cycles. (3) Cell cycle has a distinct phase relationship with the other biological rhythms such as...
Electrocorticogram (ECoG) is a promising long-term signal acquisition platform for brain-computer interface (BCI) systems such as upper extremity prostheses. Several studies have demonstrated decoding of arm and finger trajectories from ECoG high-gamma band (80–160 Hz) signals. In this study, we systematically vary the velocity of three elementary movement types (pincer grasp, elbow and shoulder flexion/extension)...
Sit-to-stand (STS) transfers are a common human task which involves very complex sensorimotor processes to control the highly nonlinear musculoskeletal system. In this paper, typical unassisted and assisted human STS transfers are formulated as optimal feedback control problem that finds a compromise between task end-point accuracy, human balance, jerk, effort, and torque change and takes further...
Leader-follower formation control of Autonomous Underwater Vehicle is studied in this paper, and a three-dimensional formation control and obstacle avoidance method of multi-AUV is presented, which is based on back stepping control and biological inspired neural network model. The follower tracks the virtual AUV, during which the back stepping control method is lead up to realize three dimensional...
The positive realization of externally positive systems described by their transfer matrix H(z) is a difficult problem whose analysis has been completed only recently on the basis of algebraic and geometric approaches that underline the many constraints that condition the solution of this problem. These constraints concern the minimal order of the obtained models, the minimality of their parameterizations...
An elbow biomechanical model can provide theoretical guidance for the rehabilitation of the human arm. Researches on the mechanism of elbow movement are developed mainly through analysis of surface electromyographic (sEMG), but the signals that were captured are redundant, without the consideration of muscle groups, while output of the model are mostly muscle force or torque, which is not intuitive...
A novel biologically-motivated neural networks approach associated with developed vector-driven autonomous robot navigation is proposed in this paper. The biologically-motivated neural networks (BNN) algorithm is employed to guide an autonomous robot to reach goal with obstacle avoidance motivated by Grossberg's model for a biological neural system. As the robot plans its trajectory toward the goal,...
The activated sludge process is an important treatment method of civil wastewater. Controlling of the activated sludge process is one of the most important and challenging tasks because of its strong nonlinearities and large uncertain dynamics. In this paper we present a nonlinear adaptive control approach to solve the dissolved oxygen concentration control problem for an uncertain wastewater treatment...
This paper presents new methods to develop a running long jump for a simulated humanoid robot. Starting from a steady-state running motion, a new spring loaded inverted pendulum (SLIP) based 3D template model for a running jump is presented. The use of this model is motivated by a simpler model from biomechanics which describes the dynamics of human long jumpers in the sagittal plane. While previously...
Sensorimotor integration during spinal reflexes is discontinuous and context based unlike previously proposed continuous feedback models. Cutaneous and proprioceptive modalities play a key role in planning and execution of the hindlimb wipe reflex in adult spinal bullfrogs (Rana catesbeiana). However the temporal dynamics of this integration is still unclear. Studies have suggested that intrinsic...
Simulation of crowd behaviors is a widely discussed topic for over a decade for computer games, architecture and entertainment. The most important thing is that agents should execute the human like behaviors in real life scenarios. This situation becomes very complex with dense crowds. Our proposed Realistic Behavior Agent Simulation (RBAS) model simulates the agents from the knowledge of empirical...
This paper discusses the usefulness of human body-parts tracking for acquiring subtle cues in social interactions. While many kinds of body-parts tracking algorithms have been proposed, we focus on particle filtering-based tracking using prior models, which have several advantages for researches on social interactions. As a first step for extracting subtle cues from videos of social interaction behaviors,...
In this paper, we present a biomechanical model capable of generating six-DoF trajectories of a swimming dolphin. Our model attempts to closely emulate an actual surfacing and diving dolphin. The degree of biomechanical complexity of our model stands as a reasonable compromise between a complicated flexible multi-link body and an overly-simplified pointmass. We constructed our model through analyzing...
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