Temporal precision of interceptive action: differential effects of target size and speed

The duration of movements made to intercept moving targets decreases and movement speed increases when interception requires greater temporal precision. Changes in target size and target speed can have the same effect on required temporal precision, but the response to these changes differs: changes in target speed elicit larger changes in response speed. A possible explanation is that people attempt to strike the target in a central zone that does not vary much with variation in physical target size: the effective size of the target is relatively constant over changes in physical size. Three experiments are reported that test this idea. Participants performed two tasks: (1) strike a moving target with a bat moved perpendicular to the path of the target; (2) press on a force transducer when the target was in a location where it could be struck by the bat. Target speed was varied and target size held constant in experiment 1. Target speed and size were co-varied in experiment 2, keeping the required temporal precision constant. Target size was varied and target speed held constant in experiment 3 to give the same temporal precision as experiment 1. Duration of hitting movements decreased and maximum movement speed increased with increases in target speed and/or temporal precision requirements in all experiments. The effects were largest in experiment 1 and smallest in experiment 3. Analysis of a measure of effective target size (standard deviation of strike locations on the target) failed to support the hypothesis that performance differences could be explained in terms of effective size rather than actual physical size. In the pressing task, participants produced greater peak forces and shorter force pulses when the temporal precision required was greater, showing that the response to increasing temporal precision generalizes to different responses. It is concluded that target size and target speed have independent effects on performance.

The moving targets algorithm for difficult temporal credit assignment problems

The 'moving targets' algorithm for training recurrent networks is reviewed and applied to a task which demonstrates the ability of this algorithm to use distant contextual information. Some practical difficulties are discussed, especially with regard to the minimization process. Results on performance and computational requirements of several different 2nd-order minimization algorithms are presented for moving target problems.

A matemática na constituição de um currículo integrado : possibilidades e desafios para o ensino médio e a educação profissional de jovens e adultos

O universo que circunda a Educação de Jovens e Adultos nos sensibiliza e nos provoca. Observar que estes alunos e alunas estão em busca de conquistas e sonhos que não puderam se concretizar quando foram gerados nos impulsiona a conduzir esta pesquisa com seriedade e esperança. Este estudo investigou que conhecimentos matemáticos utilizados por professores do Curso Técnico em Metalurgia Integrado ao Ensino Médio na modalidade de Educação de Jovens e Adultos. Influenciam diálogos entre matemática e outras disciplinas do curso considerando a perspectiva da formação integral dos estudantes. Assim, nos propomos a analisar conhecimentos matemáticos que estão presentes em ações e materiais didáticos utilizados por professores em diferentes disciplinas do Curso Técnico em Metalurgia Integrado ao Ensino Médio na modalidade de Educação de Jovens e Adultos. No intuito de responder a questão proposta e alcançar os objetivos expostos, este estudo torna-se mais relevante por estar diretamente envolvido no processo de consolidação do Programa Nacional de Integração da Educação Profissional com a Educação Básica na Modalidade de Educação de Jovens e Adultos – PROEJA do Curso de Metalurgia ofertado pelo IFES/Vitória, pautado na idealização de integração do seu currículo. Portanto, discutir o projeto de integração curricular que norteia o PROEJA tornou-se uma meta em movimento dessa investigação. Nesta direção, observamos o reflexo de como as práticas e materiais didáticos utilizados por professores, que atuam nesta modalidade, puderam contribuir para discussões que nos ajudaram na compreensão do processo de ensino e aprendizagem dos educandos participantes, com vistas ao desenvolvimento no trabalho ou na formação profissional, como na constituição de conhecimentos científicos, escolares/tecnológicos e culturais. Optamos por direcionar a reflexão teórica deste capítulo em conceitos específicos. Assim, ao tratar da Educação de Jovens e Adultos seremos conduzidos pelos estudos e pesquisas de Paulo Freire (1996, 2000, 2005), Maria da Conceição Fonseca (2007) e Jane Paiva (2009); ao direcionarmos para a Teoria do Ensino Integrado e a Educação Profissional faremos uso dos estudos de Gaudêncio Frigotto (2010) e Marise Ramos (2010); quanto às discussões que refletem acerca da Educação Matemática Critica recorremos às ideias de Ole Skovsmose (2001, 2007).

Sensor Fusion of Proprioception, Force and Vision in Estimation and Robot

Sensor-based robot control allows manipulation in dynamic environments with uncertainties. Vision is a versatile low-cost sensory modality, but low sample rate, high sensor delay and uncertain measurements limit its usability, especially in strongly dynamic environments. Force is a complementary sensory modality allowing accurate measurements of local object shape when a tooltip is in contact with the object. In multimodal sensor fusion, several sensors measuring different modalities are combined to give a more accurate estimate of the environment. As force and vision are fundamentally different sensory modalities not sharing a common representation, combining the information from these sensors is not straightforward. In this thesis, methods for fusing proprioception, force and vision together are proposed. Making assumptions of object shape and modeling the uncertainties of the sensors, the measurements can be fused together in an extended Kalman filter. The fusion of force and visual measurements makes it possible to estimate the pose of a moving target with an end-effector mounted moving camera at high rate and accuracy. The proposed approach takes the latency of the vision system into account explicitly, to provide high sample rate estimates. The estimates also allow a smooth transition from vision-based motion control to force control. The velocity of the end-effector can be controlled by estimating the distance to the target by vision and determining the velocity profile giving rapid approach and minimal force overshoot. Experiments with a 5-degree-of-freedom parallel hydraulic manipulator and a 6-degree-of-freedom serial manipulator show that integration of several sensor modalities can increase the accuracy of the measurements significantly.

Länsimaisten SAR/GMTI-tutkien suorituskyky

SAR/GMTI-tutka (Synthetic Aperture Radar/Ground Moving Target Indicator) tuottaa tiedustelutietoa johtamisen, tiedustelun, valvonnan ja maalinosoituksen tueksi. SAR/GMTI -tutka on luotettava tiedusteluväline tutkataajuusalueella tapahtuvan tiedustelutiedon tuottamisen ansiosta, jolloin tutkan käyttö ja tiedustelutiedon tuottaminen onnistuvat huonoissakin sääolosuhteissa. SAR/GMTI-tutkien käyttö on yleistynyt sotilaskäytössä viimeisen kahdenkymmenen vuoden aikana ja niillä on ollut suuri merkitys kaikissa suuremmissa konflikteissa kylmän sodan loppumisen jälkeen. SAR-tutka käyttää lavettina liikkuvaa alustaa, useimmiten lentokonetta, muodostaakseen virtuaalisen antenniryhmän ja signaaliprosessoinnin avulla, jolloin vastaanottimeen palautuvat kaiut sijoitetaan kohdilleen ja muodostetaan SAR-kuvaa. Tarkimmillaan nykyisten SARtutkien resoluutio on muutaman kymmenen senttimetrin luokkaa ja mittausetäisyydet suurimmillaan satoja kilometrejä. GMTI-tutka havaitsee liikkuvat kohteet, kun liikkuvista kohteista palautuvat kaiuilla on eri taajuus kuin ympäröivästä maastosta palautuvilla kaiuilla ja kohteet pystytään erottelemaan välkkeen seasta. GMTI-tutkan toiminta perustuu doppler-ilmiöön. SAR-tutkaa pystytään useimmiten käyttämään GMTI-moodissa. Sotilaskäytössä olevat GMTI-tutkat pystyvät havaitsemaan keskimäärin noin henkilöauton kokoisen maalin, joka liikkuu noin 5 km/h nopeudella. SAR/GMTI-tutkia on käytetty menestyksellisesti molemmissa Irakin sodissa Yhdysvaltojen toimesta, kun tasainen aavikko ei aiheuttanut juurikaan ongelmia alueen valvontaan ilmasta käsin. Sen sijaan haasteita SAR/GMTI-tutkille ovat aiheuttaneet operaatiot Balkanilla ja Afganistanissa korkean vuoriston, peitteisen maaston ja kohteiden hankalan tunnistettavuuden takia. Suoraan taistelun tukemiseen liittyen GMTI-tutkat ovat olleet hyödyllisiä, kun valvontakoneilta saadut tiedot liikkuvista vihollisosastoista on voitu lähettää datalinkkien kautta lähestulkoon reaaliajassa. SAR-tutkat ovat olleet hyödyllisiä ennen taisteluiden alkua tiedustelutiedon keräämisessä ja vaikeakulkuisessa maastossa SAR-tutkia on käytetty esimerkiksi taisteluvaikutuksen jälkiarviointiin. SAR/GMTI-tutkien suorituskyky kehittyy jatkuvasti laitteiden resoluution ja koon pienentyessä. Datalinkeillä voidaan välittää tietoa alajohtoportaille ja SAR/GMTI-tutkia on voitu sijoittaa esimerkiksi UAV-lennokkeihin (Unmanned Aerial Vehicle), joilla on voitu suorittaa tarkempaa aluevalvontaa kuin mitä isomman kokoluokan valvontakoneilla voitaisiin toteuttaa.

Dinámica del anillo mitral en pacientes con insuficiencia mitral isquemica

OBJETIVOS: Describir y comparar los cambios dinámicos de la geometría del anillo mitral durante todo el ciclo cardiaco en pacientes con insuficiencia mitral isquémica y pacientes con válvula mitral normal. MATERIALES Y MÉTODOS: Los estudios ecocardiográficos analizados fueron 37, 23 con insuficiencia mitral isquémica y 14 con válvula mitral normal. La reconstrucción del anillo se realizó en la estación de trabajo Xcelera (Philips Medial Systems) mediante la herramienta de análisis mitral (MVQ), en 5 momentos del ciclo cardiaco: Comienzo de Sístole, Mitad de Sístole, Final de Sístole, Mitad de Diástole y Final de Diástole. RESULTADOS: El anillo del grupo control, fue más dinámico, con sus menores dimensiones al final de la diástole, presentando incremento progresivo durante la sístole. Los cambios en el perímetro y el área, fueron significativos entre el comienzo y mitad de la sístole (p:0.087 y p: 0.055). En el grupo con insuficiencia mitral isquémica, el anillo fue más estático. Todas las dimensiones en este grupo, fueron mayores en los cinco momentos del ciclo cardiaco. (p < 0.1). El anillo también fue más plano, con un índice morfológico anular menor al del grupo control (p:0.087). DISCUSIÓN Y CONCLUSIONES: En pacientes sin insuficiencia mitral, el anillo es una estructura dinámica. Durante la sístole, las menores dimensiones se produjeron al comienzo de este periodo y la conformación en silla de montar se mantuvo, protegiendo contra la insuficiencia mitral. El anillo del grupo con insuficiencia mitral fue más estático y plano, perdiendo los mecanismos protectores.

Driving saccade to pursuit using image motion

Within the context of active vision, scant attention has been paid to the execution of motion saccades—rapid re-adjustments of the direction of gaze to attend to moving objects. In this paper we first develop a methodology for, and give real-time demonstrations of, the use of motion detection and segmentation processes to initiate capture saccades towards a moving object. The saccade is driven by both position and velocity of the moving target under the assumption of constant target velocity, using prediction to overcome the delay introduced by visual processing. We next demonstrate the use of a first order approximation to the segmented motion field to compute bounds on the time-to-contact in the presence of looming motion. If the bound falls below a safe limit, a panic saccade is fired, moving the camera away from the approaching object. We then describe the use of image motion to realize smooth pursuit, tracking using velocity information alone, where the camera is moved so as to null a single constant image motion fitted within a central image region. Finally, we glue together capture saccades with smooth pursuit, thus effecting changes in both what is being attended to and how it is being attended to. To couple the different visual activities of waiting, saccading, pursuing and panicking, we use a finite state machine which provides inherent robustness outside of visual processing and provides a means of making repeated exploration. We demonstrate in repeated trials that the transition from saccadic motion to tracking is more likely to succeed using position and velocity control, than when using position alone.

Reactions to peripheral image motion using a head/eye platform

The authors demonstrate four real-time reactive responses to movement in everyday scenes using an active head/eye platform. They first describe the design and realization of a high-bandwidth four-degree-of-freedom head/eye platform and visual feedback loop for the exploration of motion processing within active vision. The vision system divides processing into two scales and two broad functions. At a coarse, quasi-peripheral scale, detection and segmentation of new motion occurs across the whole image, and at fine scale, tracking of already detected motion takes place within a foveal region. Several simple coarse scale motion sensors which run concurrently at 25 Hz with latencies around 100 ms are detailed. The use of these sensors are discussed to drive the following real-time responses: (1) head/eye saccades to moving regions of interest; (2) a panic response to looming motion; (3) an opto-kinetic response to continuous motion across the image and (4) smooth pursuit of a moving target using motion alone.

Intermittently-visual tracking experiments reveal the roles of error-correction and predictive mechanisms in the human visual-motor control system

Prediction mechanism is necessary for human visual motion to compensate a delay of sensory-motor system. In a previous study, “proactive control” was discussed as one example of predictive function of human beings, in which motion of hands preceded the virtual moving target in visual tracking experiments. To study the roles of the positional-error correction mechanism and the prediction mechanism, we carried out an intermittently-visual tracking experiment where a circular orbit is segmented into the target-visible regions and the target-invisible regions. Main results found in this research were following. A rhythmic component appeared in the tracer velocity when the target velocity was relatively high. The period of the rhythm in the brain obtained from environmental stimuli is shortened more than 10%. The shortening of the period of rhythm in the brain accelerates the hand motion as soon as the visual information is cut-off, and causes the precedence of hand motion to the target motion. Although the precedence of the hand in the blind region is reset by the environmental information when the target enters the visible region, the hand motion precedes the target in average when the predictive mechanism dominates the error-corrective mechanism.

Roll of the rhythmic component in the proactive control of a human hand

In terms of evolution, the strategy of catching prey would have been an important part of survival in a constantly changing environment. A prediction mechanism would have developed to compensate for any delay in the sensory-motor system. In a previous study, “proactive control” was found, in which the motion of the hands preceded the virtual moving target. These results implied that the positive phase shift of the hand motion represents the proactive nature of the visual-motor control system, which attempts to minimize the brief error in the hand motion when the target changes position unexpectedly. In our study, a visual target moves in circle (13 cm diameter) on a computer screen, and each subject is asked to keep track of the target’s motion by the motion of a cursor. As the frequency of the target increases, a rhythmic component was found in the velocity of the cursor in spite of the fact that the velocity of the target was constant. The generation of a rhythmic component cannot be explained simply as a feedback mechanism for the phase shifts of the target and cursor in a sensory-motor system. Therefore, it implies that the rhythmic component was generated to predict the velocity of the target, which is a feed-forward mechanism in the sensory-motor system. Here, we discuss the generation of the rhythmic component and its roll in the feed-forward mechanism.

Reduction of setup uncertainties and tumor motion in the radiation therapy of lung tumors

Because the goal of radiation therapy is to deliver a lethal dose to the tumor, accurate information on the location of the tumor needs to be known. Margins are placed around the tumor to account for variations in the daily position of the tumor. If tumor motion and patient setup uncertainties can be reduced, margins that account for such uncertainties in tumor location in can be reduced allowing dose escalation, which in turn could potentially improve survival rates. ^ In the first part of this study, we monitor the location of fiducials implanted in the periphery of lung tumors to determine the extent of non-gated and gated fiducial motion, and to quantify patient setup uncertainties. In the second part we determine where the tumor is when different methods of image-guided patient setup and respiratory gating are employed. In the final part we develop, validate, and implement a technique in which patient setup uncertainties are reduced by aligning patients based upon fiducial locations in projection images. ^ Results from the first part indicate that respiratory gating reduces fiducial motion relative to motion during normal respiration and setup uncertainties when the patients were aligned each day using externally placed skin marks are large. The results from the second part indicate that current margins that account for setup uncertainty and tumor motion result in less than 2% of the tumor outside of the planning target volume (PTV) when the patient is aligned using skin marks. In addition, we found that if respiratory gating is going to be used, it is most effective if used in conjunction with image-guided patient setup. From the third part, we successfully developed, validated, and implemented on a patient a technique for aligning a moving target prior to treatment to reduce the uncertainties in tumor location. ^ In conclusion, setup uncertainties and tumor motion are a significant problem when treating tumors located within the thoracic region. Image-guided patient setup in conjunction with treatment delivery using respiratory gating reduces these uncertainties in tumor locations. In doing so, margins around the tumor used to generate the PTV can be reduced, which may allow for dose escalation to the tumor. ^

Scanned Ion Beam Therapy for Thoracic Tumors

Although frequently cured of Hodgkin lymphoma, adolescents and young adults can develop radiation induced second cancers. These patients could potentially benefit from scanned ion radiotherapy yet likely would require motion mitigation strategies. In theory, four-dimensional (4D) optimization of ion beam fields for individual motion states of respiration can enable superior sparing of healthy tissue near moving targets, compared to other motion mitigation strategies. Furthermore, carbon-ion therapy can sometimes provide greater relative biological effectiveness (RBE) for cell sterilization in a target but nearly equivalent RBE in tissue upstream of the target, compared to proton therapy. Thus, we expected that for some patients with Hodgkin lymphoma, carbon-ion therapy would reduce the predicted risk of second cancer incidence in the breast compared with proton therapy. The purpose of this work was to determine whether 4D-optimized carbon-ion therapy would significantly reduce the predicted risk of radiation induced second cancers in the breast for female Hodgkin lymphoma patients while preserving tumor control compared with proton therapy. To achieve our goals, we first investigated whether 4D-optimized carbon beam tracking could reduce dose to volumes outside a moving target compared with 3D-optimized carbon beam tracking while preserving target dose coverage. To understand the reliability of scanned carbon beam tracking, we studied the robustness of dose distributions in thoracic targets to uncertainties in patient motion. Finally, we investigated whether using carbon-ion therapy instead of proton therapy would significantly reduce the predicted risk of second cancer in the breast for a sample of Hodgkin lymphoma patients. We found that 4D-optimized ion beam tracking therapy can reduce the maximum dose to critical structures near a moving target by as much as 53%, compared to 3D-optimized ion beam tracking therapy. We validated these findings experimentally using a scanned carbon ion synchrotron and a motion phantom. We found scanned carbon beam tracking to be sensitive to a number of motion uncertainties, most notably phase delays in tracking, systematic spatial errors, and interfractional motion changes. Our findings indicate that a lower risk of second cancer in the breast might be expected for some Hodgkin lymphoma patients using carbon-ion therapy instead of proton therapy. For our reference scenario, we found the ratio of risk to be 0.77 ± 0.35 for radiogenic breast cancer after carbon-ion therapy versus proton therapy. Our findings were dependent on the RBE values for tumor induction and the radiosensitivity of breast tissue, as well as the physical dose distribution.

3D Object following based on visual information for Unmanned Aerial Vehicles

This article presents a novel system and a control strategy for visual following of a 3D moving object by an Unmanned Aerial Vehicle UAV. The presented strategy is based only on the visual information given by an adaptive tracking method based on the color information, which jointly with the dynamics of a camera fixed to a rotary wind UAV are used to develop an Image-based visual servoing IBVS system. This system is focused on continuously following a 3D moving target object, maintaining it with a fixed distance and centered on the image plane. The algorithm is validated on real flights on outdoors scenarios, showing the robustness of the proposed systems against winds perturbations, illumination and weather changes among others. The obtained results indicate that the proposed algorithms is suitable for complex controls task, such object following and pursuit, flying in formation, as well as their use for indoor navigation

Aerial Object Following Using Visual Fuzzy Servoing

This article presents a visual servoing system to follow a 3D moving object by a Micro Unmanned Aerial Vehicle (MUAV). The presented control strategy is based only on the visual information given by an adaptive tracking method based on the colour information. A visual fuzzy system has been developed for servoing the camera situated on a rotary wing MAUV, that also considers its own dynamics. This system is focused on continuously following of an aerial moving target object, maintaining it with a fixed safe distance and centred on the image plane. The algorithm is validated on real flights on outdoors scenarios, showing the robustness of the proposed systems against winds perturbations, illumination and weather changes among others. The obtained results indicate that the proposed algorithms is suitable for complex controls task, such object following and pursuit, flying in formation, as well as their use for indoor navigation

Influence apart from Adoption: How Interaction between Programming and Scientific Practices Shapes Modes of Inquiry in Four Oceanography Teams

Thesis (Ph.D.)--University of Washington, 2016-06