Analysis of human body kinematics using a hybrid markerless video acquisition and processing

A main objective of the human movement analysis is the quantitative description of joint kinematics and kinetics. This information may have great possibility to address clinical problems both in orthopaedics and motor rehabilitation. Previous studies have shown that the assessment of kinematics and kinetics from stereophotogrammetric data necessitates a setup phase, special equipment and expertise to operate. Besides, this procedure may cause feeling of uneasiness on the subjects and may hinder with their walking. The general aim of this thesis is the implementation and evaluation of new 2D markerless techniques, in order to contribute to the development of an alternative technique to the traditional stereophotogrammetric techniques. At first, the focus of the study has been the estimation of the ankle-foot complex kinematics during stance phase of the gait. Two particular cases were considered: subjects barefoot and subjects wearing ankle socks. The use of socks was investigated in view of the development of the hybrid method proposed in this work. Different algorithms were analyzed, evaluated and implemented in order to have a 2D markerless solution to estimate the kinematics for both cases. The validation of the proposed technique was done with a traditional stereophotogrammetric system. The implementation of the technique leads towards an easy to configure (and more comfortable for the subject) alternative to the traditional stereophotogrammetric system. Then, the abovementioned technique has been improved so that the measurement of knee flexion/extension could be done with a 2D markerless technique. The main changes on the implementation were on occlusion handling and background segmentation. With the additional constraints, the proposed technique was applied to the estimation of knee flexion/extension and compared with a traditional stereophotogrammetric system. Results showed that the knee flexion/extension estimation from traditional stereophotogrammetric system and the proposed markerless system were highly comparable, making the latter a potential alternative for clinical use. A contribution has also been given in the estimation of lower limb kinematics of the children with cerebral palsy (CP). For this purpose, a hybrid technique, which uses high-cut underwear and ankle socks as “segmental markers” in combination with a markerless methodology, was proposed. The proposed hybrid technique is different than the abovementioned markerless technique in terms of the algorithm chosen. Results showed that the proposed hybrid technique can become a simple and low-cost alternative to the traditional stereophotogrammetric systems.

Design and Setup of a New HPGe Detector Based Body Counter Capable of Detecting Also Low Energy Photon Emitters

The present work describes the development of a new body-counter system based on HPGe detectors and installed at IVM of KIT. The goal, achieved, was the improvement of the ability to detect internal contaminations in the human body, especially the ones concerning low-energy emitters and multiple nuclides. The development of the system started with the characterisation of detectors purchased for this specific task, with the optimisation of the different desired measurement configurations following and ending with the installation and check of the results. A new software has been developed to handle the new detectors.

Wireless Networks for Body-Centric Communications

Progress in miniaturization of electronic components and design of wireless systems paved the way towards ubiquitous and pervasive communications, enabling anywhere and anytime connectivity. Wireless devices present on, inside, around the human body are becoming commonly used, leading to the class of body-centric communications. The presence of the body with all its peculiar characteristics has to be properly taken into account in the development and design of wireless networks in this context. This thesis addresses various aspects of body-centric communications, with the aim of investigating network performance achievable in different scenarios. The main original contributions pertain to the performance evaluation for Wireless Body Area Networks (WBANs) at the Medium Access Control layer: the application of Link Adaptation to these networks is proposed, Carrier Sense Multiple Access with Collision Avoidance algorithms used for WBAN are extensively investigated, coexistence with other wireless systems is examined. Then, an analytical model for interference in wireless access network is developed, which can be applied to the study of communication between devices located on humans and fixed nodes of an external infrastructure. Finally, results on experimental activities regarding the investigation of human mobility and sociality are presented.

From Radio Channel Modeling to a System Level Perspective in Body-Centric Communications

Body-centric communications are emerging as a new paradigm in the panorama of personal communications. Being concerned with human behaviour, they are suitable for a wide variety of applications. The advances in the miniaturization of portable devices to be placed on or around the body, foster the diffusion of these systems, where the human body is the key element defining communication characteristics. This thesis investigates the human impact on body-centric communications under its distinctive aspects. First of all, the unique propagation environment defined by the body is described through a scenario-based channel modeling approach, according to the communication scenario considered, i.e., on- or on- to off-body. The novelty introduced pertains to the description of radio channel features accounting for multiple sources of variability at the same time. Secondly, the importance of a proper channel characterisation is shown integrating the on-body channel model in a system level simulator, allowing a more realistic comparison of different Physical and Medium Access Control layer solutions. Finally, the structure of a comprehensive simulation framework for system performance evaluation is proposed. It aims at merging in one tool, mobility and social features typical of the human being, together with the propagation aspects, in a scenario where multiple users interact sharing space and resources.

Exploring host-pathogen interactions through protein microarray. Large-scale protein microarray analysis revealed novel human receptors for the staphylococcal immune evasion protein FLIPr and for the neisserial adhesin NadA

Adhesion, immune evasion and invasion are key determinants during bacterial pathogenesis. Pathogenic bacteria possess a wide variety of surface exposed and secreted proteins which allow them to adhere to tissues, escape the immune system and spread throughout the human body. Therefore, extensive contacts between the human and the bacterial extracellular proteomes take place at the host-pathogen interface at the protein level. Recent researches emphasized the importance of a global and deeper understanding of the molecular mechanisms which underlie bacterial immune evasion and pathogenesis. Through the use of a large-scale, unbiased, protein microarray-based approach and of wide libraries of human and bacterial purified proteins, novel host-pathogen interactions were identified. This approach was first applied to Staphylococcus aureus, cause of a wide variety of diseases ranging from skin infections to endocarditis and sepsis. The screening led to the identification of several novel interactions between the human and the S. aureus extracellular proteomes. The interaction between the S. aureus immune evasion protein FLIPr (formyl-peptide receptor like-1 inhibitory protein) and the human complement component C1q, key players of the offense-defense fighting, was characterized using label-free techniques and functional assays. The same approach was also applied to Neisseria meningitidis, major cause of bacterial meningitis and fulminant sepsis worldwide. The screening led to the identification of several potential human receptors for the neisserial adhesin A (NadA), an important adhesion protein and key determinant of meningococcal interactions with the human host at various stages. The interaction between NadA and human LOX-1 (low-density oxidized lipoprotein receptor) was confirmed using label-free technologies and cell binding experiments in vitro. Taken together, these two examples provided concrete insights into S. aureus and N. meningitidis pathogenesis, and identified protein microarray coupled with appropriate validation methodologies as a powerful large scale tool for host-pathogen interactions studies.

Marinetti ultimo mitografo

La ricognizione delle opere composte da Filippo Tommaso Marinetti tra il 1909 e il 1912 è sostenuta da una tesi paradossale: il futurismo di Marinetti non sarebbe un'espressione della modernità, bensì una reazione anti-moderna, che dietro a una superficiale ed entusiastica adesione ad alcune parole d'ordine della seconda rivoluzione industriale nasconderebbe un pessimismo di fondo nei confronti dell'uomo e della storia. In questo senso il futurismo diventa un emblema del ritardo culturale e del gattopardismo italiano, e anticipa l’analoga operazione svolta in politica da Mussolini: dietro un’adesione formale ad alcune istanze della modernità, la preservazione dello Status Quo. Marinetti è descritto come un corpo estraneo rispetto alla cultura scientifica del Novecento: un futurista senza futuro (rarissime in Marinetti sono le proiezioni fantascientifiche). Questo aspetto è particolarmente evidente nelle opere prodotte del triennio 1908-1911, che non solo sono molto diverse dalle opere futuriste successive, ma per alcuni aspetti rappresentano una vera e propria antitesi di ciò che diventerà il futurismo letterario a partire dal 1912, con la pubblicazione del Manifesto tecnico della letteratura futurista e l'invenzione delle parole in libertà. Nelle opere precedenti, a un sostanziale disinteresse per il progressismo tecnologico corrispondeva un'attenzione ossessiva per la corporeità e un ricorso continuo all'allegoria, con effetti particolarmente grotteschi (soprattutto nel romanzo Mafarka le futuriste) nei quali si rilevano tracce di una concezione del mondo di sapore ancora medioevo-rinascimentale. Questa componente regressiva del futurismo marinettiano viene platealmente abbandonata a partire dal 1912, con Zang Tumb Tumb, salvo riaffiorare ciclicamente, come una corrente sotterranea, in altre fasi della sua carriera: nel 1922, ad esempio, con la pubblicazione de Gli indomabili (un’altra opera allegorica, ricca di reminiscenze letterarie). Quella del 1912 è una vera e propria frattura, che nel primo capitolo è indagata sia da un punto di vista storico (attraverso la documentazione epistolare e giornalistica vengono portate alla luce le tensioni che portarono gran parte dei poeti futuristi ad abbandonare il movimento proprio in quell'anno) che da un punto di vista linguistico: sono sottolineate le differenze sostanziali tra la produzione parolibera e quella precedente, e si arrischia anche una spiegazione psicologica della brusca svolta impressa da Marinetti al suo movimento. Nel secondo capitolo viene proposta un'analisi formale e contenutistica della ‘funzione grottesca’ nelle opere di Marinetti. Nel terzo capitolo un'analisi comparata delle incarnazioni della macchine ritratte nelle opere di Marinetti ci svela che quasi sempre in questo autore la macchina è associata al pensiero della morte e a una pulsione masochistica (dominante, quest'ultima, ne Gli indomabili); il che porta ad arrischiare l'ipotesi che l'esperienza futurista, e in particolare il futurismo parolibero posteriore al 1912, sia la rielaborazione di un trauma. Esso può essere interpretato metaforicamente come lo choc del giovane Marinetti, balzato in pochi anni dalle sabbie d'Alessandria d'Egitto alle brume industriali di Milano, ma anche come una reale esperienza traumatica (l'incidente automobilistico del 1908, “mitologizzato” nel primo manifesto, ma che in realtà fu vissuto dall'autore come esperienza realmente perturbante).

Adaptive multiscale biological signal processing

Biological processes are very complex mechanisms, most of them being accompanied by or manifested as signals that reflect their essential characteristics and qualities. The development of diagnostic techniques based on signal and image acquisition from the human body is commonly retained as one of the propelling factors in the advancements in medicine and biosciences recorded in the recent past. It is a fact that the instruments used for biological signal and image recording, like any other acquisition system, are affected by non-idealities which, by different degrees, negatively impact on the accuracy of the recording. This work discusses how it is possible to attenuate, and ideally to remove, these effects, with a particular attention toward ultrasound imaging and extracellular recordings. Original algorithms developed during the Ph.D. research activity will be examined and compared to ones in literature tackling the same problems; results will be drawn on the base of comparative tests on both synthetic and in-vivo acquisitions, evaluating standard metrics in the respective field of application. All the developed algorithms share an adaptive approach to signal analysis, meaning that their behavior is not dependent only on designer choices, but driven by input signal characteristics too. Performance comparisons following the state of the art concerning image quality assessment, contrast gain estimation and resolution gain quantification as well as visual inspection highlighted very good results featured by the proposed ultrasound image deconvolution and restoring algorithms: axial resolution up to 5 times better than algorithms in literature are possible. Concerning extracellular recordings, the results of the proposed denoising technique compared to other signal processing algorithms pointed out an improvement of the state of the art of almost 4 dB.

La scuola di Gundēšābūr. La conoscenza del corpo umano (anatomia e fisiologia) e la trasmissione delle teorie medico-scientifiche nel mondo sasanide e post-sasanide.

Questo lavoro traccia un quadro della diffusione e trasmissione delle conoscenze riguardanti l’anatomia e la fisiologia del corpo umano nel mondo iranico in età sasanide (III-VII sec. d.C.). La tesi analizza il ruolo delle scuole di medicina in territorio iranico, come quelle sorte a Nisibi e Gundēšābūr, delle figure dei re sasanidi interessati alla filosofia e alla scienza greca, e dei centri di studio teologico e medico che, ad opera dei cristiani siro-orientali, si fecero promotori della conoscenza medico-scientifica greca in terra d’Iran.

Il corpo e l'individuo tra proprietà ed autodeterminazione. Con particolare riferimento al fenomeno delle biobanche

La bioetica è il luogo ideale per cercare risposte ai grandi interrogativi concernenti la vita, la morte e la cura dell'essere umano. I recenti dibattiti sull'uso, ed il temuto abuso, del corpo umano in medicina hanno messo in evidenza la necessità di una discussione approfondita sul potere di scelta che l'individuo può esercitare sulla propria mente e sul proprio corpo. Spinta dal desidero di indagare l'estensione di tale potere di scelta ho voluto analizzare le tematiche riguardanti “il corpo”, “l'individuo”, “la proprietà” e “l'autodeterminazione”. L'analisi è stata condotta individuando alcuni dei differenti significati che questi termini assumono nei diversi ambiti che la bioetica lambisce e mostrando, in particolare, la visione di tale realtà attraverso le lenti del giurista. A chi appartiene il corpo? Chi ha il potere di decidere su di esso? Il potere di scelta valica gli antichi i confini legati al corpo del paziente e coinvolge tessuti, organi e cellule staccati dal corpo umano, parti che un tempo erano considerati scarti operatori sono oggi divenuti tesori inestimabili per la ricerca. L'importanza assunta dai campioni biologici ha portato alla creazione di biobanche nelle quali sono raccolti, catalogati e il DNA studiato in campioni biologici Le biobanche riflettono le tensioni della bioetica e del biodititto. Lo studio delle biobanche riguarda, tra l'altro, la riceca dell'equilibrio tra le diverse esigenze meritevoli di tutela: in primo luogo il diritto alla privacy, diritto a che le “proprie informazioni” non vengano divulgate ed il diritto a non essere discriminato ed in secondo luogo le necessità dettate dalla ricerca e dalla scienza medica. Nel 2009 la rivista Times messo biobanche tra le 10 idee in grado di cambiare il mondo anche in considarazione della medicina personalizzata e del fatto che costituiscono una la speranza per la ricerca contro le malattie attuali e future.

Gait analysis using a single wearable inertial measurement unit

Procedures for quantitative walking analysis include the assessment of body segment movements within defined gait cycles. Recently, methods to track human body motion using inertial measurement units have been suggested. It is not known if these techniques can be readily transferred to clinical measurement situations. This work investigates the aspects necessary for one inertial measurement unit mounted on the lower back to track orientation, and determine spatio-temporal features of gait outside the confines of a conventional gait laboratory. Apparent limitations of different inertial sensors can be overcome by fusing data using methods such as a Kalman filter. The benefits of optimizing such a filter for the type of motion are unknown. 3D accelerations and 3D angular velocities were collected for 18 healthy subjects while treadmill walking. Optimization of Kalman filter parameters improved pitch and roll angle estimates when compared to angles derived using stereophotogrammetry. A Weighted Fourier Linear Combiner method for estimating 3D orientation angles by constructing an analytical representation of angular velocities and allowing drift free integration is also presented. When tested this method provided accurate estimates of 3D orientation when compared to stereophotogrammetry. Methods to determine spatio-temporal features from lower trunk accelerations generally require knowledge of sensor alignment. A method was developed to estimate the instants of initial and final ground contact from accelerations measured by a waist mounted inertial device without rigorous alignment. A continuous wavelet transform method was used to filter and differentiate the signal and derive estimates of initial and final contact times. The technique was tested with data recorded for both healthy and pathologic (hemiplegia and Parkinson’s disease) subjects and validated using an instrumented mat. The results show that a single inertial measurement unit can assist whole body gait assessment however further investigation is required to understand altered gait timing in some pathological subjects.

Lo spazio senso-motorio come rappresentazione dei comportamenti intersoggettivi. Una nuova ipotesi sperimentale dalla filosofia alle neuroscienze

La ricerca ha preso le mosse da tre ipotesi fondamentali: 1) Esiste un legame tra processi cognitivi di basso ed alto livello; 2) Lo spazio senso-motorio è una percezione soggettiva; 3) Lo spazio senso-motorio varia in funzione delle diverse modalità di interazione sociale. La tesi sostiene che lo spazio senso-motorio si lascia modulare dalla semplice co-presenza di un altro agente umano e da interazioni cooperative e non cooperative. I capitoli I, II, III, hanno lo scopo di scomporre e spiegare il significato della prima, seconda e terza ipotesi; giungendo a formulare la tesi centrale che sarà poi dimostrata sperimentalmente nel capitolo IV. Il capitolo V introduce future linee di ricerca nell’ambito dell’etica proponendo una nuova ipotesi sul legame che potrebbe sussistere tra la percezione dello spazio durante l’interazione sociale e i giudizi morali. Il lavoro svolto chiama ad operare insieme diverse discipline che concorrono a formare le scienze cognitive: la storia della filosofia, la filosofia della mente contemporanea, la neuropsicologia sperimentale ed alcuni temi della psicologia sociale.

Development, degeneration and neural network of the bodily self

The question addressed by this dissertation is how the human brain builds a coherent representation of the body, and how this representation is used to recognize its own body. Recent approaches by neuroimaging and TMS revealed hints for a distinct brain representation of human body, as compared with other stimulus categories. Neuropsychological studies demonstrated that body-parts and self body-parts recognition are separate processes sub-served by two different, even if possibly overlapping, networks within the brain. Bodily self-recognition is one aspect of our ability to distinguish between self and others and the self/other distinction is a crucial aspect of social behaviour. This is the reason why I have conducted a series of experiment on subjects with everyday difficulties in social and emotional behaviour, such as patients with autism spectrum disorders (ASD) and patients with Parkinson’s disease (PD). More specifically, I studied the implicit self body/face recognition (Chapter 6) and the influence of emotional body postures on bodily self-processing in TD children as well as in ASD children (Chapter 7). I found that the bodily self-recognition is present in TD and in ASD children and that emotional body postures modulate self and others’ body processing. Subsequently, I compared implicit and explicit bodily self-recognition in a neuro-degenerative pathology, such as in PD patients, and I found a selective deficit in implicit but not in explicit self-recognition (Chapter 8). This finding suggests that implicit and explicit bodily self-recognition are separate processes subtended by different mechanisms that can be selectively impaired. If the bodily self is crucial for self/other distinction, the space around the body (personal space) represents the space of interaction and communication with others. When, I studied this space in autism, I found that personal space regulation is impaired in ASD children (Chapter 9).

Multimethodological study of molecular recognition phenomena

The study of the bio-recognition phenomena behind a biological process is nowadays considered a useful tool to deeply understand physiological mechanisms allowing the discovery of novel biological target and the development of new lead candidates. Moreover, understanding this kind of phenomena can be helpful in characterizing absorption, distribution, metabolism, elimination and toxicity properties of a new drug (ADMET parameters). Recent estimations show that about half of all drugs in development fail to make it to the market because of ADMET deficiencies; thus a rapid determination of ADMET parameters in early stages of drug discovery would save money and time, allowing to choose the better compound and to eliminate any losers. The monitoring of drug binding to plasma proteins is becoming essential in the field of drug discovery to characterize the drug distribution in human body. Human serum albumin (HSA) is the most abundant protein in plasma playing a fundamental role in the transport of drugs, metabolites and endogenous factors; so the study of the binding mechanism to HSA has become crucial to the early characterization of the pharmacokinetic profile of new potential leads. Furthermore, most of the distribution experiments carried out in vivo are performed on animals. Hence it is interesting to determine the binding of new compounds to albumins from different species to evaluate the reliability of extrapolating the distribution data obtained in animals to humans. It is clear how the characterization of interactions between proteins and drugs determines a growing need of methodologies to study any specific molecular event. A wide variety of biochemical techniques have been applied to this purpose. High-performance liquid affinity chromatography, circular dichroism and optical biosensor represent three techniques that can be able to elucidate the interaction of a new drug with its target and with others proteins that could interfere with ADMET parameters.

In vivo evaluation of the translations of the gleno-humeral joint using Magnetic resonance imaging

Gleno-humeral joint (GHJ) is the most mobile joint of the human body. This is related to theincongr uence between the large humeral head articulating with the much smaller glenoid (ratio 3:1). The GHJ laxity is the ability of the humeral head to be passively translated on the glenoid fossa and, when physiological, it guarantees the normal range of motion of the joint. Three-dimensional GHJ linear displacements have been measured, both in vivo and in vitro by means of different instrumental techniques. In vivo gleno-humeral displacements have been assessed by means of stereophotogrammetry, electromagnetic tracking sensors, and bio-imaging techniques. Both stereophotogrammetric systems and electromagnetic tracking devices, due to the deformation of the soft tissues surrounding the bones, are not capable to accurately assess small displacements, such as gleno-humeral joint translations. The bio-imaging techniques can ensure for an accurate joint kinematic (linear and angular displacement) description, but, due to the radiation exposure, most of these techniques, such as computer tomography or fluoroscopy, are invasive for patients. Among the bioimaging techniques, an alternative which could provide an acceptable level of accuracy and that is innocuous for patients is represented by magnetic resonance imaging (MRI). Unfortunately, only few studies have been conducted for three-dimensional analysis and very limited data is available in situations where preset loads are being applied. The general aim of this doctoral thesis is to develop a non-invasive methodology based on open-MRI for in-vivo evaluation of the gleno-humeral translation components in healthy subjects under the application of external loads.

Shape memory and elastoplastic materials: from constitutive and numerical to fatigue modeling

Shape memory materials (SMMs) represent an important class of smart materials that have the ability to return from a deformed state to their original shape. Thanks to such a property, SMMs are utilized in a wide range of innovative applications. The increasing number of applications and the consequent involvement of industrial players in the field have motivated researchers to formulate constitutive models able to catch the complex behavior of these materials and to develop robust computational tools for design purposes. Such a research field is still under progress, especially in the prediction of shape memory polymer (SMP) behavior and of important effects characterizing shape memory alloy (SMA) applications. Moreover, the frequent use of shape memory and metallic materials in biomedical devices, particularly in cardiovascular stents, implanted in the human body and experiencing millions of in-vivo cycles by the blood pressure, clearly indicates the need for a deeper understanding of fatigue/fracture failure in microsize components. The development of reliable stent designs against fatigue is still an open subject in scientific literature. Motivated by the described framework, the thesis focuses on several research issues involving the advanced constitutive, numerical and fatigue modeling of elastoplastic and shape memory materials. Starting from the constitutive modeling, the thesis proposes to develop refined phenomenological models for reliable SMA and SMP behavior descriptions. Then, concerning the numerical modeling, the thesis proposes to implement the models into numerical software by developing implicit/explicit time-integration algorithms, to guarantee robust computational tools for practical purposes. The described modeling activities are completed by experimental investigations on SMA actuator springs and polyethylene polymers. Finally, regarding the fatigue modeling, the thesis proposes the introduction of a general computational approach for the fatigue-life assessment of a classical stent design, in order to exploit computer-based simulations to prevent failures and modify design, without testing numerous devices.