Characterizing the performance of human leg external force control

Our legs act as our primary contact with the surrounding environment, generating external forces that enable agile motion. To be agile, the nervous system has to control both the magnitude of the force that the feet apply to the ground and the point of application of this force. The purpose of this study was to characterize the performance of the healthy human neuromechanical system in controlling the force-magnitude and position of an externally applied force. To accomplish this, we built an apparatus that immobilized participants but allowed them to exert variable but controlled external forces with a single leg onto a ground embedded force plate. We provided real-time visual feedback of either the leg force-magnitude or position that participants were exerting against the force platform and instructed participants to best match their real-time signal to prescribed target step functions. We tested target step functions of a range of sizes and quantified the responsiveness and accuracy of the control. For the control of force-magnitude and for intermediate step sizes of 0.45 bodyweights, we found a bandwidth of 1.8+/-0.5 Hz, a steady-state error of 2.6+/-0.9%, and a steady-state variability of 2.7+/-0.9%. We found similar control performance in terms of responsiveness and accuracy across step sizes and between force-magnitude and position control. Increases in responsiveness correlated with reductions in other measures of control performance, such as a greater magnitude of overshooting. We modelled the observed control performance and found that a second-order model was a good predictor of external leg force control. We discuss how benchmarking force control performance in young healthy humans aids in understanding differences in agility between humans, between humans and other animals, and between humans and engineered systems.

Orthonormalized basic of fractal stepped multiwavelets – a new multiwavelet technology for signal and image processing

A new class of fractal step functions with linear and nonlinear changes in values is described, and on their basis a recurrent method for constructing functions of a new class of fractal step multiwavelets (FSMW) of various shapes with linear and nonlinear changes in values is developed. A method and an algorithm for constructing a whole family of basic FSMW systems have been developed. An algorithm for calculating the coefficients of a discrete multiwavelet transform based on a multiwavelet packet without performing convolution and decimated sampling operations, in contrast to the classical method, is presented. A method and algorithm for fast multiwavelet transform of low computational complexity has been developed, which, in comparison with the well-known classical Mall's algorithm, is 70 times less in multiplicative complexity, and 20 times less in additive complexity.

The Multiple K -Riemann Integral

The aim of this paper is to extend the notion of K -Riemann integrability of functions defined over a , b to functions defined over a rectangular box of ℝ n . As a generalization of step functions, we introduce a notion of K -step functions which allows us to give an equivalent definition of the K -Riemann integrable functions.

Disturbance Triggers Non-Linear Microbe-Environment Feedbacks

Conceptual frameworks linking microbial community membership, properties, and processes with the environment and emergent function have been proposed but remain untested. Here we refine and test a recent conceptual framework using hyporheic zone sediments exposed to wetting/drying transitions. Throughout the system we found threshold-like responses to the duration of desiccation. Membership of the putatively active community – but not the whole community – responded due to enhanced deterministic selection (an emergent community property). Concurrently, the thermodynamic properties of organic matter became less favorable for oxidation (an environmental component) and respiration decreased (a microbial process). While these responses were step functions of desiccation, we observed continuous monotonic relationships among community assembly, respiration, and organic matter thermodynamics. Placing the results in context of our conceptual framework points to previously unrecognized internal feedbacks that are initiated by disturbance, mediated by thermodynamics, and that cause the impacts of disturbance to be dependent on the history of disturbance.

A study of Babylonian planetary theory III. The planet Mercury

In this series of papers I attempt to provide an answer to the question how the Babylonian scholars arrived at their mathematical theory of planetary motion. Papers I and II were devoted to system A theory of the outer planets and of the planet Venus. In this third and last paper I will study system A theory of the planet Mercury. Our knowledge of the Babylonian theory of Mercury is at present based on twelve Ephemerides and seven Procedure Texts. Three computational systems of Mercury are known, all of system A. System A1 is represented by nine Ephemerides covering the years 190 BC to 100 BC and system A2 by two Ephemerides covering the years 310 to 290 BC. System A3 is known from a Procedure Text and from Text M, an Ephemeris of the last evening visibility of Mercury for the years 424 to 403 BC. From an analysis of the Babylonian observations of Mercury preserved in the Astronomical Diaries and Planetary Texts we find: (1) that dates on which Mercury reaches its stationary points are not recorded, (2) that Normal Star observations on or near dates of first and last appearance of Mercury are rare (about once every twenty observations), and (3) that about one out of every seven pairs of first and last appearances is recorded as “omitted” when Mercury remains invisible due to a combination of the low inclination of its orbit to the horizon and the attenuation by atmospheric extinction. To be able to study the way in which the Babylonian scholars constructed their system A models of Mercury from the available observational material I have created a database of synthetic observations by computing the dates and zodiacal longitudes of all first and last appearances and of all stationary points of Mercury in Babylon between 450 and 50 BC. Of the data required for the construction of an ephemeris synodic time intervals Δt can be directly derived from observed dates but zodiacal longitudes and synodic arcs Δλ must be determined in some other way. Because for Mercury positions with respect to Normal Stars can only rarely be determined at its first or last appearance I propose that the Babylonian scholars used the relation Δλ = Δt −3;39,40, which follows from the period relations, to compute synodic arcs of Mercury from the observed synodic time intervals. An additional difficulty in the construction of System A step functions is that most amplitudes are larger than the associated zone lengths so that in the computation of the longitudes of the synodic phases of Mercury quite often two zone boundaries are crossed. This complication makes it difficult to understand how the Babylonian scholars managed to construct System A models for Mercury that fitted the observations so well because it requires an excessive amount of computational effort to find the best possible step function in a complicated trial and error fitting process with four or five free parameters. To circumvent this difficulty I propose that the Babylonian scholars used an alternative more direct method to fit System A-type models to the observational data of Mercury. This alternative method is based on the fact that after three synodic intervals Mercury returns to a position in the sky which is on average only 17.4° less in longitude. Using reduced amplitudes of about 14°–25° but keeping the same zone boundaries, the computation of what I will call 3-synarc system A models of Mercury is significantly simplified. A full ephemeris of a synodic phase of Mercury can then be composed by combining three columns of longitudes computed with 3-synarc step functions, each column starting with a longitude of Mercury one synodic event apart. Confirmation that this method was indeed used by the Babylonian astronomers comes from Text M (BM 36551+), a very early ephemeris of the last appearances in the evening of Mercury from 424 to 403 BC, computed in three columns according to System A3. Based on an analysis of Text M I suggest that around 400 BC the initial approach in system A modelling of Mercury may have been directed towards choosing “nice” sexagesimal numbers for the amplitudes of the system A step functions while in the later final models, dating from around 300 BC onwards, more emphasis was put on selecting numerical values for the amplitudes such that they were related by simple ratios. The fact that different ephemeris periods were used for each of the four synodic phases of Mercury in the later models may be related to the selection of a best fitting set of System A step function amplitudes for each synodic phase.

Comparing different wavelet transforms on removing electrocardiogram baseline wanders and special trends

Background Electrocardiogram (ECG) signal, an important indicator for heart problems, is commonly corrupted by a low-frequency baseline wander (BW) artifact, which may cause interpretation difficulty or inaccurate analysis. Unlike current state-of-the-art approach using band-pass filters, wavelet transforms can accurately capture both time and frequency information of a signal. However, extant literature is limited in applying wavelet transforms (WTs) for baseline wander removal. In this study, we aimed to evaluate 5 wavelet families with a total of 14 wavelets for removing ECG baseline wanders from a semi-synthetic dataset. Methods We created a semi-synthetic ECG dataset based on a public QT Database on Physionet repository with ECG data from 105 patients. The semi-synthetic ECG dataset comprised ECG excerpts from the QT database superimposed with artificial baseline wanders. We extracted one ECG excerpt from each of 105 patients, and the ECG excerpt comprised 14 s of randomly selected ECG data. Twelve baseline wanders were manually generated, including sinusoidal waves, spikes and step functions. We implemented and evaluated 14 commonly used wavelets up to 12 WT levels. The evaluation metric was mean-square-error (MSE) between the original ECG excerpt and the processed signal with artificial BW removed. Results Among the 14 wavelets, Daubechies-3 wavelet and Symlets-3 wavelet with 7 levels of WT had best performance, MSE = 0.0044. The average MSEs for sinusoidal waves, step, and spike functions were 0.0271, 0.0304, 0.0199 respectively. For artificial baseline wanders with spikes or step functions, wavelet transforms in general had lower performance in removing the BW; however, WTs accurately located the temporal position of an impulse edge. Conclusions We found wavelet transforms in general accurately removed various baseline wanders. Daubechies-3 and Symlets-3 wavelets performed best. The study could facilitate future real-time processing of streaming ECG signals for clinical decision support systems.

Two Alternative Proofs of the Grüss Inequality

The classical Grüs inequality has spurred a range of improvements, generalizations, and extensions. In this article, we provide new functional bounds that ultimately lead to two elementary proofs of the inequality that might be of interest. Our results are motivated by the extreme cases where the equality is reached, namely step functions of equal support. Our first proof is based on the standard Cauchy-Schwarz inequality and a simple bound on the variance of a function. Its simplicity would be of particular interest to those who are new to the study of functional inequalities. Our second proof utilizes non-intuitive and novel bounds on functionals defined on L∞(0, 1). As a result, we provide a detailed and new insight into the nature of the Grüss inequality.

Disturbance Triggers Non-Linear Microbe-Environment Feedbacks

Conceptual frameworks linking microbial community membership, properties, and processes with the environment and emergent function have been proposed but remain untested. Here we refine and test a recent conceptual framework using hyporheic zone sediments exposed to wetting/drying transitions. Throughout the system we found threshold-like responses to the duration of desiccation. Membership of the putatively active community--but not the whole community--responded due to enhanced deterministic selection (an emergent community property). Concurrently, the thermodynamic properties of organic matter became less favorable for oxidation (an environmental component) and respiration decreased (a microbial process). While these responses were step functions of desiccation, we observed continuous monotonic relationships among community assembly, respiration, and organic matter thermodynamics. Placing the results in context of our conceptual framework points to previously unrecognized internal feedbacks that are initiated by disturbance, mediated by thermodynamics, and that cause the impacts of disturbance to be dependent on the history of disturbance.

Variation diminishing-type properties for multivariate sampling Kantorovich operators

In this paper we establish a variation-diminishing type estimate for the multivariate Kantorovich sampling operators with respect to the concept of multidimensional variation introduced by Tonelli. A sharper estimate can be achieved when step functions with compact support (digital images) are considered. Several examples of kernels have been presented.