Control of bimanual rhythmic movements: Trading efficiency for robustness depending on the context

This paper investigates how the efficiency and robustness of a skilled rhythmic task compete against each other in the control of a bimanual movement. Human subjects juggled a puck in 2D through impacts with two metallic arms, requiring rhythmic bimanual actuation. The arms kinematics were only constrained by the position, velocity and time of impacts while the rest of the trajectory did not influence the movement of the puck. In order to expose the task robustness, we manipulated the task context in two distinct manners: the task tempo was assigned at four different values (hence manipulating the time available to plan and execute each impact movement individually); and vision was withdrawn during half of the trials (hence reducing the sensory inflows). We show that when the tempo was fast, the actuation was rhythmic (no pause in the trajectory) while at slow tempo, the actuation was discrete (with pause intervals between individual movements). Moreover, the withdrawal of visual information encouraged the rhythmic behavior at the four tested tempi. The discrete versus rhythmic behavior give different answers to the efficiency/robustness trade-off: discrete movements result in energy efficient movements, while rhythmic movements impact the puck with negative acceleration, a property preserving robustness. Moreover, we report that in all conditions the impact velocity of the arms was negatively correlated with the energy of the puck. This correlation tended to stabilize the task and was influenced by vision, revealing again different control strategies. In conclusion, this task involves different modes of control that balance efficiency and robustness, depending on the context. © 2008 Springer-Verlag.

Context-dependent decay of motor memories during skill acquisition.

Current models of motor learning posit that skill acquisition involves both the formation and decay of multiple motor memories that can be engaged in different contexts. Memory formation is assumed to be context dependent, so that errors most strongly update motor memories associated with the current context. In contrast, memory decay is assumed to be context independent, so that movement in any context leads to uniform decay across all contexts. We demonstrate that for both object manipulation and force-field adaptation, contrary to previous models, memory decay is highly context dependent. We show that the decay of memory associated with a given context is greatest for movements made in that context, with more distant contexts showing markedly reduced decay. Thus, both memory formation and decay are strongest for the current context. We propose that this apparently paradoxical organization provides a mechanism for optimizing performance. While memory decay tends to reduce force output, memory formation can correct for any errors that arise, allowing the motor system to regulate force output so as to both minimize errors and avoid unnecessary energy expenditure. The motor commands for any given context thus result from a balance between memory formation and decay, while memories for other contexts are preserved.

practical type checking of functions defined on context-free languages

A type checking method for the functional language LFC is presented. A distinct feature of LFC is that it uses Context-Free (CF) languages as data types to represent compound data structures. This makes LFC a dynamically typed language. To improve efficiency, a practical type checking method is presented, which consists of both static and dynamic type checking. Although the inclusion relation of CF.languages is not decidable,a special subset of the relation is decidable, i.e., the sentential form relation, which can be statically checked.Moreover, most of the expressions in actual LFC programs appear to satisfy this relation according to the statistic data of experiments. So, despite that the static type checking is not complete, it undertakes most of the type checking task. Consequently the run-time efficiency is effectively improved. Another feature of the type checking is that it converts the expressions with implicit structures to structured representation. Structure reconstruction technique is presented.

pattern matching compilation of functions defined in context-free languages

LFC is a functional language based on recursive functions defined in context-free languages. In this paper, a new pattern matching algorithm for LFC is presented, which can represent a sequence of patterns as an integer by an encoding method. It is a rather simple method and produces efficient case-expressions for pattern matching definitions of LFC. The algorithm can also be used for other functional languages, but for nested patterns it may become complicated and further studies are needed.

facilitating formal specification acquisition by using recursive functions on context-free languages

Although formal specification techniques are very useful in software development, the acquisition of formal specifications is a difficult task. This paper presents the formal specification language LFC, which is designed to facilitate the acquisition and validation of formal specifications. LFC uses context-free languages for syntactic aspect and relies on a new kind of recursive functions, i.e. recursive functions on context-free languages, for semantic aspect of specifications. Construction and validation of LFC specifications are machine-aided. The basic ideas behind LFC, the main aspects of LFC, and the use of LFC and illustrative examples are described.

海量层次信息的Focus+Context交互式可视化技术

综述了海量层次信息可视化与Focus+Context技术的相关工作,针对海量层次信息可视化的交互问题,在嵌套圆可视化技术的基础上提出了基于上下文感知的Focus+Context交互式可视化技术.首先,基于外切圆排列方法提出对圆心进行三角网格剖分的方法,为变形计算建立上下文;然后,针对变形计算前后上下文一致性问题,在三角网格邻居跟踪方法的基础上,提出了用于同层兄弟节点上下文感知的外切圆变形排列方法,以及用于父子节点上下文感知的嵌套圆迭代排列方法.实验结果表明。上述方法在实现焦点突出的鱼眼视图的同时,能够有效地解决Focus+Context交互式可视化的上下文感知问题.上述方法应用于文件系统海量层次信息的交互式可视化问题,提供了交互式可视化工具.

Visual-Context Boosting for Eye Detection

Eye detection plays an important role in many practical applications. This paper presents a novel two-step scheme for eye detection. The first step models an eye by a newly defined visual-context pattern (VCP), and the second step applies semisupervised boosting for precise detection. VCP describes both the space and appearance relations between an eye region (region of eye) and a reference region (region of reference). The context feature of a VCP is extracted by using the integral image. Aiming to reduce the human labeling efforts, we apply semisupervised boosting, which integrates the context feature and the Haar-like features for precise eye detection. Experimental results on several standard face data sets demonstrate that the proposed approach is effective, robust, and efficient. We finally show that this approach is ready for practical applications.

Context and conformation dictate function of a transcription antitermination switch

In bacteriophage, transcription elongation is regulated by the N protein, which binds a nascent mRNA hairpin ( termed boxB) and enables RNA polymerase to read through distal terminators. We have examined the structure, energetics and in vivo function of a number of N boxB complexes derived from in vitro protein selection. Trp18 fully stacks on the RNA loop in the wild-type structure, and can become partially or completely unstacked when the sequence context is changed three or four residues away, resulting in a recognition interface in which the best binding residues depend on the sequence context. Notably, in vivo antitermination activity correlates with the presence of a stacked aromatic residue at position 18, but not with N boxB binding affinity. Our work demonstrates that RNA polymerase responds to subtle conformational changes in cis-acting regulatory complexes and that approximation of components is not sufficient to generate a fully functional transcription switch.

Context-Based Vision System for Place and Object Recognition

While navigating in an environment, a vision system has to be able to recognize where it is and what the main objects in the scene are. In this paper we present a context-based vision system for place and object recognition. The goal is to identify familiar locations (e.g., office 610, conference room 941, Main Street), to categorize new environments (office, corridor, street) and to use that information to provide contextual priors for object recognition (e.g., table, chair, car, computer). We present a low-dimensional global image representation that provides relevant information for place recognition and categorization, and how such contextual information introduces strong priors that simplify object recognition. We have trained the system to recognize over 60 locations (indoors and outdoors) and to suggest the presence and locations of more than 20 different object types. The algorithm has been integrated into a mobile system that provides real-time feedback to the user.

Activity Zones for Context-Aware Computing

Location is a primary cue in many context-aware computing systems, and is often represented as a global coordinate, room number, or Euclidean distance various landmarks. A user?s concept of location, however, is often defined in terms of regions in which common activities occur. We show how to partition a space into such regions based on patterns of observed user location and motion. These regions, which we call activity zones, represent regions of similar user activity, and can be used to trigger application actions, retrieve information based on previous context, and present information to users. We suggest that context-aware applications can benefit from a location representation learned from observing users. We describe an implementation of our system and present two example applications whose behavior is controlled by users? entry, exit, and presence in the zones.