Query: IntelliArm: An exoskeleton for diagnosis and treatment of patients with neurological impairments

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Real-Time Myoprocessors for a Neural Controlled Powered Exoskeleton Arm <=SEP=> Exoskeleton robots are promising assistive/rehabilitative devices that can help people with force deficits or allow the recovery of patients who have suffered from pathologies such as stroke. The key component that allows the user to control the exoskeleton is the human machine interface (HMI). Setting the HMI at the neuro-muscular level may lead to seamless integration and intuitive control of the exoskeleton arm as a natural extension of the human body. At the core of the exoskeleton HMI there is a model of the human muscle, the "myoprocessor," running in real-time and in parallel to the physiological muscle, that predicts joint torques as a function of the joint kinematics and neural activation levels. This paper presents the development of myoprocessors for the upper limb based on the Hill phenomenological muscle model. Genetic algorithms are used to optimize the internal parameters of the myoprocessors utilizing an experimental database that provides inputs to the model and allows for performance assessment. The results indicate high correlation between joint moment predictions of the model and the measured data. Consequently, the myoprocessor seems an adequate model, sufficiently robust for further integration into the exoskeleton control system

Development of robots for rehabilitation therapy: the Palo Alto VA/Stanford experience. <=SEP=> For over 25 years, personal assistant robots for severely disabled individuals have been in development. More recently, using robots to deliver rehabilitation therapy has been proposed. This paper summarizes the development and clinical testing of three mechatronic systems for post-stroke therapy conducted at the VA Palo Alto in collaboration with Stanford University. We describe the philosophy and experiences that guided their evolution. Unique to the Palo Alto approach is provision for bimanual, mirror-image, patient-controlled therapeutic exercise. Proof-of-concept was established with a 2-degree-of-freedom (DOF) elbow/forearm manipulator. Tests of a second-generation therapy robot producing planar forearm movements in 19 hemiplegic and control subjects confirmed the validity and reliability of interaction forces during mechanically assisted upper-limb movements. Clinical trials comparing 3-D robot-assisted therapy to traditional therapy in 21 chronic stroke subjects showed significant improvement in the Fugl-Meyer (FM) measure of motor recovery in the robot group, which exceeded improvements in the control group.

Robot-aided neurorehabilitation of the upper extremities <=SEP=> Task-oriented repetitive movements can improve muscle strength and movement co-ordination in patients with impairments due to neurological lesions. The application of robotics and automation technology can serve to assist, enhance, evaluate and document the rehabilitation of movements. The paper provides an overview of existing devices that can support movement therapy of the upper extremities in subjects with neurological pathologies. The devices are critically compared with respect to technical function, clinical applicability, and, if they exist, clinical outcomes.

A myosignal-based powered exoskeleton system <=SEP=> Integrating humans and robotic machines into one system offers multiple opportunities for creating assistive technologies that can be used in biomedical, industrial, and aerospace applications. The scope of the present research is to study the integration of a human arm with a powered exoskeleton (orthotic device) and its experimental implementation in an elbow joint, naturally controlled by the human. The Human–Machine interface was set at the neuromuscular level, by using the neuromuscular signal (EMG) as the primary command signal for the exoskeleton system. The EMG signal along with the joint kinematics were fed into a myoprocessor (Hill-based muscle model) which in turn predicted the muscle moments on the elbow joint. The moment-based control system integrated myoprocessor moment prediction with feedback moments measured at the human arm/exoskeleton and external load/exoskeleton interfaces. The exoskeleton structure under study was a two-link, two-joint mechanism, corresponding to the arm limbs and joints, which was mechanically linked (worn) by the human operator. In the present setup the shoulder joint was kept fixed at given positions and the actuator was mounted on the exoskeleton elbow joint. The operator manipulated an external weight, located at the exoskeleton tip, while feeling a scaled-down version of the load. The remaining external load on the joint was carried by the exoskeleton actuator. Four indices of performance were used to define the quality of the human/machine integration and to evaluate the operational envelope of the system. Experimental tests have shown that synthesizing the processed EMG signals as command signals with the external-load/human-arm moment feedback, significantly improved the mechanical gain of the system, while maintaining natural human control of the system, relative to other control algorithms that used only position or contact forces. The results indicated the feasibility of an EMG-based power exoskeleton system as an integrated human–machine system using highlevel neurological signals.

An EMG-driven musculoskeletal model to estimate muscle forces and knee joint moments in vivo. <=SEP=> This paper examined if an electromyography (EMG) driven musculoskeletal model of the human knee could be used to predict knee moments, calculated using inverse dynamics, across a varied range of dynamic contractile conditions. Muscle-tendon lengths and moment arms of 13 muscles crossing the knee joint were determined from joint kinematics using a three-dimensional anatomical model of the lower limb. Muscle activation was determined using a second-order discrete non-linear model using rectified and low-pass filtered EMG as input. A modified Hill-type muscle model was used to calculate individual muscle forces using activation and muscle tendon lengths as inputs. The model was calibrated to six individuals by altering a set of physiologically based parameters using mathematical optimisation to match the net flexion/extension (FE) muscle moment with those measured by inverse dynamics. The model was calibrated for each subject using 5 different tasks, including passive and active FE in an isokinetic dynamometer, running, and cutting manoeuvres recorded using three-dimensional motion analysis. Once calibrated, the model was used to predict the FE moments, estimated via inverse dynamics, from over 200 isokinetic dynamometer, running and sidestepping tasks. The inverse dynamics joint moments were predicted with an average R(2) of 0.91 and mean residual error of approximately 12 Nm. A re-calibration of only the EMG-to-activation parameters revealed FE moments prediction across weeks of similar accuracy. Changing the muscle model to one that is more physiologically correct produced better predictions. The modelling method presented represents a good way to estimate in vivo muscle forces during movement tasks.

Machine Learning in Medical Applications <=SEP=> Research in Machine Learning methods to-date remains centered on technological issues and is mostly application driven. This letter summarizes successful applications of machine learning methods that were presented at the Workshop on Machine Learning in Medical Applications. The goals of the workshop were to foster fundamental and applied research in the application of machine learning methods to medical problem solving and to medical research, to provide a forum for reporting significant results, to determine whether Machine Learning methods are able to underpin the research and development on intelligent systems for medical applications, and to identify those areas where increased research is likely to yield advances. A number of recommendations for a research agenda were produced, including both technical and human-centered issues.

High Performance Emulation of Quantum Circuits <=SEP=> As quantum computers of non-trivial size become available in the near future, it is imperative to develop tools to emulate small quantum computers. This allows for validation and debugging of algorithms as well as exploring hardware-software co-design to guide the development of quantum hardware and architectures. The simulation of quantum computers entails multiplications of sparse matrices with very large dense vectors of dimension 2n, where n denotes the number of qubits, making this a memory-bound and network bandwidth-limited application. We introduce the concept of a quantum computer emulator as a component of a software framework for quantum computing, enabling a significant performance advantage over simulators by emulating quantum algorithms at a high level rather than simulating individual gate operations. We describe various optimization approaches and present benchmarking results, establishing the superiority of quantum computer emulators in terms of performance.

Fire flame detection in video sequences using multi-stage pattern recognition techniques <=SEP=> In this paper, we propose an effective technique that is used to automatically detect fire in video images. The proposed algorithm is composed of four stages: (1) an adaptive Gaussian mixture model to detect moving regions, (2) a fuzzy c-means (FCM) algorithm to segment the candidate fire regions from these moving regions based on the color of fire, (3) special parameters extracted based on the tempospatial characteristics of fire regions, and (4) a support vector machine (SVM) algorithm using these special parameters to distinguish between fire and non-fire. Experimental results indicate that the proposed method outperforms other fire detection algorithms, providing high reliability and a low false alarm rate. & 2012 Elsevier Ltd. All rights reserved.

Prediction of click frauds in mobile advertising <=SEP=> Click fraud represents a serious drain on advertising budgets and can seriously harm the viability of the internet advertising market. This paper proposes a novel framework for prediction of click fraud in mobile advertising which consists of feature selection using Recursive Feature Elimination (RFE) and classification through Hellinger Distance Decision Tree (HDDT).RFE is chosen for the feature selection as it has given better results as compared to wrapper approach when evaluated using different classifiers. HDDT is also selected as classifier to deal with class imbalance issue present in the data set. The efficiency of proposed framework is investigated on the data set provided by Buzzcity and compared with J48, Rep Tree, logitboost, and random forest. Results show that accuracy achieved by proposed framework is 64.07 % which is best as compared to existing methods under study.

SlowFast Networks for Video Recognition <=SEP=> We present SlowFast networks for video recognition. Our model involves (i) a Slow pathway, operating at low frame rate, to capture spatial semantics, and (ii) a Fast pathway, operating at high frame rate, to capture motion at fine temporal resolution. The Fast pathway can be made very lightweight by reducing its channel capacity, yet can learn useful temporal information for video recognition. Our models achieve strong performance for both action classification and detection in video, and large improvements are pin-pointed as contributions by our SlowFast concept. We report 79.0% accuracy on the Kinetics dataset without using any pre-training, largely surpassing the previous best results of this kind. On AVA action detection we achieve a new stateof-the-art of 28.3 mAP. Code will be made publicly available.

Reducing the risk of query expansion via robust constrained optimization <=SEP=> We introduce a new theoretical derivation, evaluation methods, and extensive empirical analysis for an automatic query expansion framework in which model estimation is cast as a robust constrained optimization problem. This framework provides a powerful method for modeling and solving complex expansion problems, by allowing multiple sources of domain knowledge or evidence to be encoded as simultaneous optimization constraints. Our robust optimization approach provides a clean theoretical way to model not only expansion benefit, but also expansion risk, by optimizing over uncertainty sets for the data. In addition, we introduce risk-reward curves to visualize expansion algorithm performance and analyze parameter sensitivity. We show that a robust approach significantly reduces the number and magnitude of expansion failures for a strong baseline algorithm, with no loss in average gain. Our approach is implemented as a highly efficient post-processing step that assumes little about the baseline expansion method used as input, making it easy to apply to existing expansion methods. We provide analysis showing that this approach is a natural and effective way to do selective expansion, automatically reducing or avoiding expansion in risky scenarios, and successfully attenuating noise in poor baseline methods.

Reusing Scientific Data: How Earthquake Engineering Researchers Assess the Reusability of Colleagues’ Data <=SEP=> Investments in cyberinfrastructure and e-Science initiatives are motivated by the desire to accelerate scientific discovery. Always viewed as a foundation of science, data sharing is appropriately seen as critical to the success of such initiatives, but new technologies supporting increasingly data-intensive and collaborative science raise significant challenges and opportunities. Overcoming the technical and social challenges to broader data sharing is a common and important research objective, but increasing the supply and accessibility of scientific data is no guarantee data will be applied by scientists. Before reusing data created by others, scientists need to assess the data’s relevance, they seek confidence the data can be understood, and they must trust the data. Using interview data from earthquake engineering researchers affiliated with the George E. Brown, Jr. Network for Earthquake Engineering Simulation (NEES), we examine how these scientists assess the reusability of colleagues’ experimental data for model validation.

The Multidimensional Knapsack Problem: Structure and Algorithms <=SEP=> Structure and Algorithms Jakob Puchinger NICTA Victoria Laboratory Department of Computer Science & Software Engineering University of Melbourne, Australia jakobp@csse.unimelb.edu.au Günther R. Raidl Institute of Computer Graphics and Algorithms Vienna University of Technology, Austria raidl@ads.tuwien.ac.at Ulrich Pferschy Department of Statistics and Operations Research University of Graz, Austria pferschy@uni-graz.at

State of the Art: Embedding Security in Vehicles <=SEP=> For new automotive applications and services, information technology (IT) has gained central importance. IT-related costs in car manufacturing are already high and they will increase dramatically in the future. Yet whereas safety and reliability have become a relatively well-established field, the protection of vehicular IT systems against systematic manipulation or intrusion has only recently started to emerge. Nevertheless, IT security is already the base of some vehicular applications such as immobilizers or digital tachographs. To securely enable future automotive applications and business models, IT security will be one of the central technologies for the next generation of vehicles. After a state-of-the-art overview of IT security in vehicles, we give a short introduction into cryptographic terminology and functionality. This contribution will then identify the need for automotive IT security while presenting typical attacks, resulting security objectives, and characteristic constraints within the automotive area. We will introduce core security technologies and relevant security mechanisms followed by a detailed description of critical vehicular applications, business models, and components relying on IT security. We conclude our contribution with a detailed statement about challenges and opportunities for the automotive IT community for embedding IT security in vehicles.

Culture as situated cognition : Cultural mindsets , cultural fluency , and meaning making <=SEP=> The publisher does not give any warranty express or implied or make any representation that the contents will be complete or accurate or up to date. The accuracy of any instructions, formulae, and drug doses should be independently verified with primary sources. The publisher shall not be liable

Accurate age classification of 6 and 12 month-old infants based on resting-state functional connectivity magnetic resonance imaging data <=SEP=> Human large-scale functional brain networks are hypothesized to undergo significant changes over development. Little is known about these functional architectural changes, particularly during the second half of the first year of life. We used multivariate pattern classification of resting-state functional connectivity magnetic resonance imaging (fcMRI) data obtained in an on-going, multi-site, longitudinal study of brain and behavioral development to explore whether fcMRI data contained information sufficient to classify infant age. Analyses carefully account for the effects of fcMRI motion artifact. Support vector machines (SVMs) classified 6 versus 12 month-old infants (128 datasets) above chance based on fcMRI data alone. Results demonstrate significant changes in measures of brain functional organization that coincide with a special period of dramatic change in infant motor, cognitive, and social development. Explorations of the most different correlations used for SVM lead to two different interpretations about functional connections that support 6 versus 12-month age categorization.

A Joint Reconstruction and Segmentation Method for Limited-Angle X-Ray Tomography <=SEP=> Limited-angle computed tomography (CT) is common in industrial applications, where incomplete projection data can cause artifacts. For objects made from homogeneous materials, we propose a joint reconstruction and segmentation method that performs joint image reconstruction and segmentation directly on the projection data. We describe an alternating minimization algorithm to solve the resulting optimization problem, and we modify the primal-dual hybrid gradient algorithm for the non-convex piecewise constant Mumford-Shah model, which is a popular approximation model in biomedical image segmentation. The effectiveness of the proposed approach is validated by simulation and by application to actual micro-CT data sets.

Unsupervised document zone identification using probabilistic graphical models <=SEP=> Document zone identification aims to automatically classify sequences of text-spans (e.g. sentences) within a document into predefined zone categories. Current approaches to document zone identification mostly rely on supervised machine learning methods, which require a large amount of annotated data, which is often difficult and expensive to obtain. In order to overcome this bottleneck, we propose graphical models based on the popular Latent Dirichlet Allocation (LDA) model. The first model, which we call zoneLDA aims to cluster the sentences into zone classes using only unlabelled data. We also study an extension of zoneLDA called zoneLDAb, which makes distinction between common words and non-common words within the different zone types. We present results on two different domains: the scientific domain and the technical domain. For the latter one we propose a new document zone classification schema, which has been annotated over a collection of 689 documents, achieving a Kappa score of 85%. Overall our experiments show promising results for both of the domains, outperforming the baseline model. Furthermore, on the technical domain the performance of the models are comparable to the supervised approach using the same feature sets. We thus believe that graphical models are a promising avenue of research for automatic document zoning.

Violence during pregnancy in Jordan: its prevalence and associated risk and protective factors. <=SEP=> This study estimates the lifetime prevalence of physical violence during pregnancy and examines risk and protective factors among women (N = 390) attending reproductive health clinics in Jordan. Approximately 15% reported physical violence during pregnancy. The husband was the sole perpetrator in 83% of the cases. A high frequency of quarreling, the husband's use of alcohol, attitudes supportive of a woman's duty to obey her husband, infrequent communication between the respondent and her family, and exposure to violence as a child increased the risk of violence. Consanguinity (marriage to a blood relative) and higher education levels were protective against violence during pregnancy.

A study on lidar data forensics <=SEP=> 3D LiDAR (Light Imaging Detection and Ranging) data has recently been used in a wide range of applications such as vehicle automation and crime scene reconstruction. Decision making in such applications is highly dependent on LiDAR data. Thus, it becomes crucial to authenticate the data before using it. Though authentication of 2D digital images and video has been widely studied, the area of 3D data forensic is relatively unexplored. In this paper, we investigate and identify three possible attacks on the LiDAR data. We also propose two novel forensic approaches as a countermeasure for such attacks and study their effectiveness. The first forensic approach utilises the density consistency check while the second method leverages the occlusion effect for revealing the forgery. Experimental results demonstrate the effectiveness of the proposed forgery attacks and raise the awareness against unauthenticated use of LiDAR data. The performance analyses of the proposed forensic approaches indicate that the proposed methods are very efficient and provide the detection accuracy of more than 95% for certain kinds of forgery attacks. While the forensic approach is unable to handle all forgery attacks, the study motivates to explore more sophisticated forensic methods for LiDAR data.

Can we Evaluate the Quality of Generated Text? <=SEP=> Evaluating the output of NLG systems is notoriously difficult, and performin g assessments of text quality even more so. A range of automated and subject-based approaches to the evaluation of text quality h ave been taken, including comparison with a putative gold standard text, analysis of specific linguistic features of the output, expert review and task-based evaluation. In this paper we present the results of a variety of such approaches in the context of a case study application. We discuss the problems encountered in the implementation of each approach in the context of the literature, and propo se that a test based on the Turing test for machine intelligence offers a way forward in the evaluation of the subjective notion of text qua lity.

Condensation methodologies for two-dimensional non-uniform constellations <=SEP=> Two-dimensional non-uniform constellations (2D-NUC) have been adopted for the most recent terrestrial broadcasting system called ATSC 3.0. They are known for being more efficient than one-dimensional non uniform constellations (1D-NUC) and uniform constellations (UC). They can be used in any communication system with the bit-interleaved coded modulation (BICM) structure. However, one of the main challenges of such constellations is their design for optimal behaviour in a wide range of cases and the design of a demapper that exploits their advantages. This paper presents two different condensation methodologies to design efficient 2D-NUCs simple in design and with limited demapping complexity. The proposal provides a complexity reduction of the design and demapping processes in the range from 13% to 94%. The demapping stage provides performance losses less than 0.1 dB if compared with standard 2D-NUC demapping.

1 Text Mining Systems for Predicting Market Response to News : A Survey <=SEP=> Several prototypes for predicting the short-term market reaction to news based on text mining techniques have been developed. However, no detailed comparison of the systems and their performances is available thus far. This paper describes the main systems developed and presents a framework for comparing the approaches. The prototypes differ in the text mining methods applied and the data sets used for performance evaluation. Some (mostly implicit) assumptions of these evaluations are rather unrealistic with respect to properties of financial markets and the performance results cannot be achieved in reality. Furthermore, the adequacy of applying text mining techniques for predicting stock price movements in general and approaches for dealing with existing problems are discussed.

Fast routing in road networks with transit nodes. <=SEP=> When you drive to somewhere far away, you will leave your current location via one of only a few important traffic junctions. Starting from this informal observation, we developed an algorithmic approach, transit node routing, that allows us to reduce quickest path queries in road networks to a small number of table lookups. For road maps of Western Europe and the United States, our best query times improved over the best previously published figures by two orders of magnitude. This is also more than one million times faster than the best known algorithm for general networks.

Twin Networks: Using the Future as a Regularizer <=SEP=> Being able to model long-term dependencies in sequential data, such as text, has been among the long-standing challenges of recurrent neural networks (RNNs). This issue is strictly related to the absence of explicit planning in current RNN architectures, more explicitly, the network is trained to predict only the next token given previous ones. In this paper, we introduce a simple way of biasing the RNNs towards planning behavior. Particularly, we introduce an additional neural network which is trained to generate the sequence in reverse order, and we require closeness between the states of the forward RNN and backward RNN that predict the same token. At each step, the states of the forward RNN are required to match the future information contained in the backward states. We hypothesize that the approach eases modeling of long-term dependencies thus helping in generating more globally consistent samples. The model trained with conditional generation achieved 4% relative improvement (CER of 7.3 compared to a baseline of 7.6).

Design of a multi-DOF cable-driven mechanism of a miniature serial manipulator for robot-assisted minimally invasive surgery <=SEP=> While multi-fingered robotic hands have been developed for decades, none has been used for surgical operations. μAngelo is an anthropomorphic master-slave system for teleoperated robot-assisted surgery. As part of this system, this paper focuses on its slave instrument, a miniature three-digit hand. The design of the mechanism of such a manipulator poses a challenge due to the required miniaturization and the many active degrees of freedom. As the instrument has a human-centered design, its relation to the human hand is discussed. Two ways of routing its cable-driven mechanism are investigated and the method of deriving the input-output functions that drive the mechanism is presented.

German version of the Multidimensional Body-Self Relations Questionnaire - Appearance Scales (MBSRQ-AS): confirmatory factor analysis and validation. <=SEP=> The Multidimensional Body-Self Relations Questionnaire (MBSRQ) is a widely used questionnaire that measures body image as a multidimensional construct. The Appearance Scales (AS) of the MBSRQ (Appearance Evaluation, Appearance Orientation, Body Areas Satisfaction, Overweight Preoccupation and Self-Classified Weight) are subscales which facilitate a parsimonious assessment of appearance-related aspects of body image. The current study tested the psychometric properties and factor structure of a German translation of the MBSRQ-AS. Participants were n=230 female patients with the SCID diagnosis of an eating disorder and n=293 female healthy controls. In a confirmatory factor analysis, convincing goodness-of-fit indices emerged. The subscales of the questionnaire yielded good reliability and convergent and discriminant validity coefficients, with most items showing excellent characteristics. Like the English version, the German adaptation of the questionnaire can be recommended for a multidimensional assessment of appearance-related aspects of body image in both research and clinical practice.

“Anarchy is what states make of it: the social construction of power politics,” <=SEP=> Wendt recasts the realist/liberal debate as an argument over the determinants of state action in the international system: i.e., whether state action is influenced by “structure” (anarchy and relative power) or “process” (interaction and learning). He puts forth a “constructivist” argument rejecting the realist belief that the structure of the international system – anarchy and “self-help” – forces states to “play competitive power politics.” Rather, Wendt argues that self-help and power politics do not follow “either logically or causally” from anarchy; if they exist, it is due to process, not structure (394). Thus, Wendt argues that state identities and interests are shaped and transformed within the international system, rather than (as the realists believe) existing as exogenous variables.

Automatic scoring of pronunciation quality <=SEP=> We present a paradigm for the automatic assessment of pronunciation quality by machine. In this scoring paradigm, both native and nonnative speech data is collected and a database of human-expert ratings is created to enable the development of a variety of machine scores. We ®rst discuss issues related to the design of speech databases and the reliability of human ratings. We then address pronunciation evaluation as a prediction problem, trying to predict the grade a human expert would assign to a particular skill. Using the speech and the expert-ratings databases, we build statistical models and introduce dierent machine scores that can be used as predictor variables. We validate these machine scores on the Voice Interactive Language Training System (VILTS) corpus, evaluating the pronunciation of American speakers speaking French and we show that certain machine scores, like the log-posterior and the normalized duration, achieve a correlation with the targeted human grades that is comparable to the human-to-human correlation when a sucient amount of speech data is available. Ó 2000 Elsevier Science B.V. All rights reserved.

Learning from Demonstration for Autonomous Navigation in Complex Unstructured Terrain <=SEP=> Rough terrain autonomous navigation continues to pose a challenge to the robotics community. Robust navigation by a mobile robot depends not only on the individual performance of perception and planning systems, but on how well these systems are coupled. When traversing complex unstructured terrain, this coupling (in the form of a cost function) has a large impact on robot behavior and performance, necessitating a robust design. This paper explores the application of Learning from Demonstration to this task for the Crusher autonomous navigation platform. Using expert examples of desired navigation behavior, mappings from both online and offline perceptual data to planning costs are learned. Challenges in adapting existing techniques to complex online planning systems and imperfect demonstration are addressed, along with additional practical considerations. The benefits to autonomous performance of this approach are examined, as well as the decrease in necessary designer effort. Experimental results are presented from autonomous traverses through complex natural environments.