WorldWideScience

Sample records for human motion tracking

  1. Articulated Human Motion Tracking Using Sequential Immune Genetic Algorithm

    Directory of Open Access Journals (Sweden)

    Yi Li

    2013-01-01

    Full Text Available We formulate human motion tracking as a high-dimensional constrained optimization problem. A novel generative method is proposed for human motion tracking in the framework of evolutionary computation. The main contribution is that we introduce immune genetic algorithm (IGA for pose optimization in latent space of human motion. Firstly, we perform human motion analysis in the learnt latent space of human motion. As the latent space is low dimensional and contents the prior knowledge of human motion, it makes pose analysis more efficient and accurate. Then, in the search strategy, we apply IGA for pose optimization. Compared with genetic algorithm and other evolutionary methods, its main advantage is the ability to use the prior knowledge of human motion. We design an IGA-based method to estimate human pose from static images for initialization of motion tracking. And we propose a sequential IGA (S-IGA algorithm for motion tracking by incorporating the temporal continuity information into the traditional IGA. Experimental results on different videos of different motion types show that our IGA-based pose estimation method can be used for initialization of motion tracking. The S-IGA-based motion tracking method can achieve accurate and stable tracking of 3D human motion.

  2. An adaptive approach to human motion tracking from video

    Science.gov (United States)

    Wu, Lifang; Chen, Chang Wen

    2010-07-01

    Vision based human motion tracking has drawn considerable interests recently because of its extensive applications. In this paper, we propose an approach to tracking the body motion of human balancing on each foot. The ability to balance properly is an important indication of neurological condition. Comparing with many other human motion tracking, there is much less occlusion in human balancing tracking. This less constrained problem allows us to combine a 2D model of human body with image analysis techniques to develop an efficient motion tracking algorithm. First we define a hierarchical 2D model consisting of six components including head, body and four limbs. Each of the four limbs involves primary component (upper arms and legs) and secondary component (lower arms and legs) respectively. In this model, we assume each of the components can be represented by quadrangles and every component is connected to one of others by a joint. By making use of inherent correlation between different components, we design a top-down updating framework and an adaptive algorithm with constraints of foreground regions for robust and efficient tracking. The approach has been tested using the balancing movement in HumanEva-I/II dataset. The average tracking time is under one second, which is much shorter than most of current schemes.

  3. MotionFlow: Visual Abstraction and Aggregation of Sequential Patterns in Human Motion Tracking Data.

    Science.gov (United States)

    Jang, Sujin; Elmqvist, Niklas; Ramani, Karthik

    2016-01-01

    Pattern analysis of human motions, which is useful in many research areas, requires understanding and comparison of different styles of motion patterns. However, working with human motion tracking data to support such analysis poses great challenges. In this paper, we propose MotionFlow, a visual analytics system that provides an effective overview of various motion patterns based on an interactive flow visualization. This visualization formulates a motion sequence as transitions between static poses, and aggregates these sequences into a tree diagram to construct a set of motion patterns. The system also allows the users to directly reflect the context of data and their perception of pose similarities in generating representative pose states. We provide local and global controls over the partition-based clustering process. To support the users in organizing unstructured motion data into pattern groups, we designed a set of interactions that enables searching for similar motion sequences from the data, detailed exploration of data subsets, and creating and modifying the group of motion patterns. To evaluate the usability of MotionFlow, we conducted a user study with six researchers with expertise in gesture-based interaction design. They used MotionFlow to explore and organize unstructured motion tracking data. Results show that the researchers were able to easily learn how to use MotionFlow, and the system effectively supported their pattern analysis activities, including leveraging their perception and domain knowledge.

  4. Markerless human motion tracking using hierarchical multi-swarm cooperative particle swarm optimization.

    Science.gov (United States)

    Saini, Sanjay; Zakaria, Nordin; Rambli, Dayang Rohaya Awang; Sulaiman, Suziah

    2015-01-01

    The high-dimensional search space involved in markerless full-body articulated human motion tracking from multiple-views video sequences has led to a number of solutions based on metaheuristics, the most recent form of which is Particle Swarm Optimization (PSO). However, the classical PSO suffers from premature convergence and it is trapped easily into local optima, significantly affecting the tracking accuracy. To overcome these drawbacks, we have developed a method for the problem based on Hierarchical Multi-Swarm Cooperative Particle Swarm Optimization (H-MCPSO). The tracking problem is formulated as a non-linear 34-dimensional function optimization problem where the fitness function quantifies the difference between the observed image and a projection of the model configuration. Both the silhouette and edge likelihoods are used in the fitness function. Experiments using Brown and HumanEva-II dataset demonstrated that H-MCPSO performance is better than two leading alternative approaches-Annealed Particle Filter (APF) and Hierarchical Particle Swarm Optimization (HPSO). Further, the proposed tracking method is capable of automatic initialization and self-recovery from temporary tracking failures. Comprehensive experimental results are presented to support the claims.

  5. Model-Based Motion Tracking of Infants

    DEFF Research Database (Denmark)

    Olsen, Mikkel Damgaard; Herskind, Anna; Nielsen, Jens Bo

    2014-01-01

    Even though motion tracking is a widely used technique to analyze and measure human movements, only a few studies focus on motion tracking of infants. In recent years, a number of studies have emerged focusing on analyzing the motion pattern of infants, using computer vision. Most of these studies...... are based on 2D images, but few are based on 3D information. In this paper, we present a model-based approach for tracking infants in 3D. The study extends a novel study on graph-based motion tracking of infants and we show that the extension improves the tracking results. A 3D model is constructed...

  6. A Novel Kalman Filter for Human Motion Tracking With an Inertial-Based Dynamic Inclinometer.

    Science.gov (United States)

    Ligorio, Gabriele; Sabatini, Angelo M

    2015-08-01

    Design and development of a linear Kalman filter to create an inertial-based inclinometer targeted to dynamic conditions of motion. The estimation of the body attitude (i.e., the inclination with respect to the vertical) was treated as a source separation problem to discriminate the gravity and the body acceleration from the specific force measured by a triaxial accelerometer. The sensor fusion between triaxial gyroscope and triaxial accelerometer data was performed using a linear Kalman filter. Wrist-worn inertial measurement unit data from ten participants were acquired while performing two dynamic tasks: 60-s sequence of seven manual activities and 90 s of walking at natural speed. Stereophotogrammetric data were used as a reference. A statistical analysis was performed to assess the significance of the accuracy improvement over state-of-the-art approaches. The proposed method achieved, on an average, a root mean square attitude error of 3.6° and 1.8° in manual activities and locomotion tasks (respectively). The statistical analysis showed that, when compared to few competing methods, the proposed method improved the attitude estimation accuracy. A novel Kalman filter for inertial-based attitude estimation was presented in this study. A significant accuracy improvement was achieved over state-of-the-art approaches, due to a filter design that better matched the basic optimality assumptions of Kalman filtering. Human motion tracking is the main application field of the proposed method. Accurately discriminating the two components present in the triaxial accelerometer signal is well suited for studying both the rotational and the linear body kinematics.

  7. Markerless Motion Tracking

    DEFF Research Database (Denmark)

    Brooks, Anthony Lewis; Czarowicz, Alex

    2012-01-01

    This contribution focuses on the Associated Technologies aspect of the ICDVRAT event. Two industry leading markerless motion capture systems are examined that offer advancement in the field of rehabilitation. Residing at each end of the cost continuum, technical differences such as 3D versus 360 ...

  8. A general-purpose framework to simulate musculoskeletal system of human body: using a motion tracking approach.

    Science.gov (United States)

    Ehsani, Hossein; Rostami, Mostafa; Gudarzi, Mohammad

    2016-02-01

    Computation of muscle force patterns that produce specified movements of muscle-actuated dynamic models is an important and challenging problem. This problem is an undetermined one, and then a proper optimization is required to calculate muscle forces. The purpose of this paper is to develop a general model for calculating all muscle activation and force patterns in an arbitrary human body movement. For this aim, the equations of a multibody system forward dynamics, which is considered for skeletal system of the human body model, is derived using Lagrange-Euler formulation. Next, muscle contraction dynamics is added to this model and forward dynamics of an arbitrary musculoskeletal system is obtained. For optimization purpose, the obtained model is used in computed muscle control algorithm, and a closed-loop system for tracking desired motions is derived. Finally, a popular sport exercise, biceps curl, is simulated by using this algorithm and the validity of the obtained results is evaluated via EMG signals.

  9. List-Mode PET Motion Correction Using Markerless Head Tracking: Proof-of-Concept With Scans of Human Subject

    DEFF Research Database (Denmark)

    Olesen, Oline Vinter; Sullivan, Jenna M.; Mulnix, Tim

    2013-01-01

    A custom designed markerless tracking system was demonstrated to be applicable for positron emission tomography (PET) brain imaging. Precise head motion registration is crucial for accurate motion correction (MC) in PET imaging. State-of-the-art tracking systems applied with PET brain imaging rely...... on markers attached to the patient's head. The marker attachment is the main weakness of these systems. A healthy volunteer participating in a cigarette smoking study to image dopamine release was scanned twice for 2 h with $^{11}{\\rm C}$-racolopride on the high resolution research tomograph (HRRT) PET...... in contrast recovery of small structures....

  10. Human body motion tracking based on quantum-inspired immune cloning algorithm

    Science.gov (United States)

    Han, Hong; Yue, Lichuan; Jiao, Licheng; Wu, Xing

    2009-10-01

    In a static monocular camera system, to gain a perfect 3D human body posture is a great challenge for Computer Vision technology now. This paper presented human postures recognition from video sequences using the Quantum-Inspired Immune Cloning Algorithm (QICA). The algorithm included three parts. Firstly, prior knowledge of human beings was used, the key joint points of human could be detected automatically from the human contours and skeletons which could be thinning from the contours; And due to the complexity of human movement, a forecasting mechanism of occlusion joint points was addressed to get optimum 2D key joint points of human body; And then pose estimation recovered by optimizing between the 2D projection of 3D human key joint points and 2D detection key joint points using QICA, which recovered the movement of human body perfectly, because this algorithm could acquire not only the global optimal solution, but the local optimal solution.

  11. Human Motion Tracking and Glove-Based User Interfaces for Virtual Environments in ANVIL

    Science.gov (United States)

    Dumas, Joseph D., II

    2002-01-01

    The Army/NASA Virtual Innovations Laboratory (ANVIL) at Marshall Space Flight Center (MSFC) provides an environment where engineers and other personnel can investigate novel applications of computer simulation and Virtual Reality (VR) technologies. Among the many hardware and software resources in ANVIL are several high-performance Silicon Graphics computer systems and a number of commercial software packages, such as Division MockUp by Parametric Technology Corporation (PTC) and Jack by Unigraphics Solutions, Inc. These hardware and software platforms are used in conjunction with various VR peripheral I/O (input / output) devices, CAD (computer aided design) models, etc. to support the objectives of the MSFC Engineering Systems Department/Systems Engineering Support Group (ED42) by studying engineering designs, chiefly from the standpoint of human factors and ergonomics. One of the more time-consuming tasks facing ANVIL personnel involves the testing and evaluation of peripheral I/O devices and the integration of new devices with existing hardware and software platforms. Another important challenge is the development of innovative user interfaces to allow efficient, intuitive interaction between simulation users and the virtual environments they are investigating. As part of his Summer Faculty Fellowship, the author was tasked with verifying the operation of some recently acquired peripheral interface devices and developing new, easy-to-use interfaces that could be used with existing VR hardware and software to better support ANVIL projects.

  12. Nonlinear Motion Tracking by Deep Learning Architecture

    Science.gov (United States)

    Verma, Arnav; Samaiya, Devesh; Gupta, Karunesh K.

    2018-03-01

    In the world of Artificial Intelligence, object motion tracking is one of the major problems. The extensive research is being carried out to track people in crowd. This paper presents a unique technique for nonlinear motion tracking in the absence of prior knowledge of nature of nonlinear path that the object being tracked may follow. We achieve this by first obtaining the centroid of the object and then using the centroid as the current example for a recurrent neural network trained using real-time recurrent learning. We have tweaked the standard algorithm slightly and have accumulated the gradient for few previous iterations instead of using just the current iteration as is the norm. We show that for a single object, such a recurrent neural network is highly capable of approximating the nonlinearity of its path.

  13. Hybrid markerless tracking of complex articulated motion in golf swings.

    Science.gov (United States)

    Fung, Sim Kwoh; Sundaraj, Kenneth; Ahamed, Nizam Uddin; Kiang, Lam Chee; Nadarajah, Sivadev; Sahayadhas, Arun; Ali, Md Asraf; Islam, Md Anamul; Palaniappan, Rajkumar

    2014-04-01

    Sports video tracking is a research topic that has attained increasing attention due to its high commercial potential. A number of sports, including tennis, soccer, gymnastics, running, golf, badminton and cricket have been utilised to display the novel ideas in sports motion tracking. The main challenge associated with this research concerns the extraction of a highly complex articulated motion from a video scene. Our research focuses on the development of a markerless human motion tracking system that tracks the major body parts of an athlete straight from a sports broadcast video. We proposed a hybrid tracking method, which consists of a combination of three algorithms (pyramidal Lucas-Kanade optical flow (LK), normalised correlation-based template matching and background subtraction), to track the golfer's head, body, hands, shoulders, knees and feet during a full swing. We then match, track and map the results onto a 2D articulated human stick model to represent the pose of the golfer over time. Our work was tested using two video broadcasts of a golfer, and we obtained satisfactory results. The current outcomes of this research can play an important role in enhancing the performance of a golfer, provide vital information to sports medicine practitioners by providing technically sound guidance on movements and should assist to diminish the risk of golfing injuries. Copyright © 2013 Elsevier Ltd. All rights reserved.

  14. Human Capital Tracking Tool -

    Data.gov (United States)

    Department of Transportation — AVS is now required to collect, track, and report on data from the following Flight, Business and Workforce Plan. The Human Resource Management’s Performance Target...

  15. Self-Motion Impairs Multiple-Object Tracking

    Science.gov (United States)

    Thomas, Laura E.; Seiffert, Adriane E.

    2010-01-01

    Investigations of multiple-object tracking aim to further our understanding of how people perform common activities such as driving in traffic. However, tracking tasks in the laboratory have overlooked a crucial component of much real-world object tracking: self-motion. We investigated the hypothesis that keeping track of one's own movement…

  16. Proton spin tracking with symplectic integration of orbit motion

    Energy Technology Data Exchange (ETDEWEB)

    Luo, Y. [Brookhaven National Lab. (BNL), Upton, NY (United States); Dutheil, Y. [Brookhaven National Lab. (BNL), Upton, NY (United States); Huang, H. [Brookhaven National Lab. (BNL), Upton, NY (United States); Meot, F. [Brookhaven National Lab. (BNL), Upton, NY (United States); Ranjbar, V. [Brookhaven National Lab. (BNL), Upton, NY (United States)

    2015-05-03

    Symplectic integration had been adopted for orbital motion tracking in code SimTrack. SimTrack has been extensively used for dynamic aperture calculation with beam-beam interaction for the Relativistic Heavy Ion Collider (RHIC). Recently proton spin tracking has been implemented on top of symplectic orbital motion in this code. In this article, we will explain the implementation of spin motion based on Thomas-BMT equation, and the benchmarking with other spin tracking codes currently used for RHIC. Examples to calculate spin closed orbit and spin tunes are presented too.

  17. Real Time MRI Motion Correction with Markerless Tracking

    DEFF Research Database (Denmark)

    Benjaminsen, Claus; Jensen, Rasmus Ramsbøl; Wighton, Paul

    Prospective motion correction for MRI neuroimaging has been demonstrated using MR navigators and external tracking systems using markers. The drawbacks of these two motion estimation methods include prolonged scan time plus lack of compatibility with all image acquisitions, and difficulties...... validating marker attachment resulting in uncertain estimation of the brain motion respectively. We have developed a markerless tracking system, and in this work we demonstrate the use of our system for prospective motion correction, and show that despite being computationally demanding, markerless tracking...... can be implemented for real time motion correction....

  18. Human motion simulation predictive dynamics

    CERN Document Server

    Abdel-Malek, Karim

    2013-01-01

    Simulate realistic human motion in a virtual world with an optimization-based approach to motion prediction. With this approach, motion is governed by human performance measures, such as speed and energy, which act as objective functions to be optimized. Constraints on joint torques and angles are imposed quite easily. Predicting motion in this way allows one to use avatars to study how and why humans move the way they do, given specific scenarios. It also enables avatars to react to infinitely many scenarios with substantial autonomy. With this approach it is possible to predict dynamic motion without having to integrate equations of motion -- rather than solving equations of motion, this approach solves for a continuous time-dependent curve characterizing joint variables (also called joint profiles) for every degree of freedom. Introduces rigorous mathematical methods for digital human modelling and simulation Focuses on understanding and representing spatial relationships (3D) of biomechanics Develops an i...

  19. Fusion of optical flow based motion pattern analysis and silhouette classification for person tracking and detection

    NARCIS (Netherlands)

    Tangelder, J.W.H.; Lebert, E.; Burghouts, G.J.; Zon, K. van; Den Uyl, M.J.

    2014-01-01

    This paper presents a novel approach to detect persons in video by combining optical flow based motion analysis and silhouette based recognition. A new fast optical flow computation method is described, and its application in a motion based analysis framework unifying human tracking and detection is

  20. Disappearance of the inversion effect during memory-guided tracking of scrambled biological motion.

    Science.gov (United States)

    Jiang, Changhao; Yue, Guang H; Chen, Tingting; Ding, Jinhong

    2016-08-01

    The human visual system is highly sensitive to biological motion. Even when a point-light walker is temporarily occluded from view by other objects, our eyes are still able to maintain tracking continuity. To investigate how the visual system establishes a correspondence between the biological-motion stimuli visible before and after the disruption, we used the occlusion paradigm with biological-motion stimuli that were intact or scrambled. The results showed that during visually guided tracking, both the observers' predicted times and predictive smooth pursuit were more accurate for upright biological motion (intact and scrambled) than for inverted biological motion. During memory-guided tracking, however, the processing advantage for upright as compared with inverted biological motion was not found in the scrambled condition, but in the intact condition only. This suggests that spatial location information alone is not sufficient to build and maintain the representational continuity of the biological motion across the occlusion, and that the object identity may act as an important information source in visual tracking. The inversion effect disappeared when the scrambled biological motion was occluded, which indicates that when biological motion is temporarily occluded and there is a complete absence of visual feedback signals, an oculomotor prediction is executed to maintain the tracking continuity, which is established not only by updating the target's spatial location, but also by the retrieval of identity information stored in long-term memory.

  1. Robotics-based synthesis of human motion

    KAUST Repository

    Khatib, O.; Demircan, E.; De Sapio, V.; Sentis, L.; Besier, T.; Delp, S.

    2009-01-01

    The synthesis of human motion is a complex procedure that involves accurate reconstruction of movement sequences, modeling of musculoskeletal kinematics, dynamics and actuation, and characterization of reliable performance criteria. Many of these processes have much in common with the problems found in robotics research. Task-based methods used in robotics may be leveraged to provide novel musculoskeletal modeling methods and physiologically accurate performance predictions. In this paper, we present (i) a new method for the real-time reconstruction of human motion trajectories using direct marker tracking, (ii) a task-driven muscular effort minimization criterion and (iii) new human performance metrics for dynamic characterization of athletic skills. Dynamic motion reconstruction is achieved through the control of a simulated human model to follow the captured marker trajectories in real-time. The operational space control and real-time simulation provide human dynamics at any configuration of the performance. A new criteria of muscular effort minimization has been introduced to analyze human static postures. Extensive motion capture experiments were conducted to validate the new minimization criterion. Finally, new human performance metrics were introduced to study in details an athletic skill. These metrics include the effort expenditure and the feasible set of operational space accelerations during the performance of the skill. The dynamic characterization takes into account skeletal kinematics as well as muscle routing kinematics and force generating capacities. The developments draw upon an advanced musculoskeletal modeling platform and a task-oriented framework for the effective integration of biomechanics and robotics methods.

  2. Robotics-based synthesis of human motion

    KAUST Repository

    Khatib, O.

    2009-05-01

    The synthesis of human motion is a complex procedure that involves accurate reconstruction of movement sequences, modeling of musculoskeletal kinematics, dynamics and actuation, and characterization of reliable performance criteria. Many of these processes have much in common with the problems found in robotics research. Task-based methods used in robotics may be leveraged to provide novel musculoskeletal modeling methods and physiologically accurate performance predictions. In this paper, we present (i) a new method for the real-time reconstruction of human motion trajectories using direct marker tracking, (ii) a task-driven muscular effort minimization criterion and (iii) new human performance metrics for dynamic characterization of athletic skills. Dynamic motion reconstruction is achieved through the control of a simulated human model to follow the captured marker trajectories in real-time. The operational space control and real-time simulation provide human dynamics at any configuration of the performance. A new criteria of muscular effort minimization has been introduced to analyze human static postures. Extensive motion capture experiments were conducted to validate the new minimization criterion. Finally, new human performance metrics were introduced to study in details an athletic skill. These metrics include the effort expenditure and the feasible set of operational space accelerations during the performance of the skill. The dynamic characterization takes into account skeletal kinematics as well as muscle routing kinematics and force generating capacities. The developments draw upon an advanced musculoskeletal modeling platform and a task-oriented framework for the effective integration of biomechanics and robotics methods.

  3. Human motion sensing and recognition a fuzzy qualitative approach

    CERN Document Server

    Liu, Honghai; Ji, Xiaofei; Chan, Chee Seng; Khoury, Mehdi

    2017-01-01

    This book introduces readers to the latest exciting advances in human motion sensing and recognition, from the theoretical development of fuzzy approaches to their applications. The topics covered include human motion recognition in 2D and 3D, hand motion analysis with contact sensors, and vision-based view-invariant motion recognition, especially from the perspective of Fuzzy Qualitative techniques. With the rapid development of technologies in microelectronics, computers, networks, and robotics over the last decade, increasing attention has been focused on human motion sensing and recognition in many emerging and active disciplines where human motions need to be automatically tracked, analyzed or understood, such as smart surveillance, intelligent human-computer interaction, robot motion learning, and interactive gaming. Current challenges mainly stem from the dynamic environment, data multi-modality, uncertain sensory information, and real-time issues. These techniques are shown to effectively address the ...

  4. Nearly automatic motion capture system for tracking octopus arm movements in 3D space.

    Science.gov (United States)

    Zelman, Ido; Galun, Meirav; Akselrod-Ballin, Ayelet; Yekutieli, Yoram; Hochner, Binyamin; Flash, Tamar

    2009-08-30

    Tracking animal movements in 3D space is an essential part of many biomechanical studies. The most popular technique for human motion capture uses markers placed on the skin which are tracked by a dedicated system. However, this technique may be inadequate for tracking animal movements, especially when it is impossible to attach markers to the animal's body either because of its size or shape or because of the environment in which the animal performs its movements. Attaching markers to an animal's body may also alter its behavior. Here we present a nearly automatic markerless motion capture system that overcomes these problems and successfully tracks octopus arm movements in 3D space. The system is based on three successive tracking and processing stages. The first stage uses a recently presented segmentation algorithm to detect the movement in a pair of video sequences recorded by two calibrated cameras. In the second stage, the results of the first stage are processed to produce 2D skeletal representations of the moving arm. Finally, the 2D skeletons are used to reconstruct the octopus arm movement as a sequence of 3D curves varying in time. Motion tracking, segmentation and reconstruction are especially difficult problems in the case of octopus arm movements because of the deformable, non-rigid structure of the octopus arm and the underwater environment in which it moves. Our successful results suggest that the motion-tracking system presented here may be used for tracking other elongated objects.

  5. Computer-aided target tracking in motion analysis studies

    Science.gov (United States)

    Burdick, Dominic C.; Marcuse, M. L.; Mislan, J. D.

    1990-08-01

    Motion analysis studies require the precise tracking of reference objects in sequential scenes. In a typical situation, events of interest are captured at high frame rates using special cameras, and selected objects or targets are tracked on a frame by frame basis to provide necessary data for motion reconstruction. Tracking is usually done using manual methods which are slow and prone to error. A computer based image analysis system has been developed that performs tracking automatically. The objective of this work was to eliminate the bottleneck due to manual methods in high volume tracking applications such as the analysis of crash test films for the automotive industry. The system has proven to be successful in tracking standard fiducial targets and other objects in crash test scenes. Over 95 percent of target positions which could be located using manual methods can be tracked by the system, with a significant improvement in throughput over manual methods. Future work will focus on the tracking of clusters of targets and on tracking deformable objects such as airbags.

  6. Models and Algorithms for Tracking Target with Coordinated Turn Motion

    Directory of Open Access Journals (Sweden)

    Xianghui Yuan

    2014-01-01

    Full Text Available Tracking target with coordinated turn (CT motion is highly dependent on the models and algorithms. First, the widely used models are compared in this paper—coordinated turn (CT model with known turn rate, augmented coordinated turn (ACT model with Cartesian velocity, ACT model with polar velocity, CT model using a kinematic constraint, and maneuver centered circular motion model. Then, in the single model tracking framework, the tracking algorithms for the last four models are compared and the suggestions on the choice of models for different practical target tracking problems are given. Finally, in the multiple models (MM framework, the algorithm based on expectation maximization (EM algorithm is derived, including both the batch form and the recursive form. Compared with the widely used interacting multiple model (IMM algorithm, the EM algorithm shows its effectiveness.

  7. Siamese convolutional networks for tracking the spine motion

    Science.gov (United States)

    Liu, Yuan; Sui, Xiubao; Sun, Yicheng; Liu, Chengwei; Hu, Yong

    2017-09-01

    Deep learning models have demonstrated great success in various computer vision tasks such as image classification and object tracking. However, tracking the lumbar spine by digitalized video fluoroscopic imaging (DVFI), which can quantitatively analyze the motion mode of spine to diagnose lumbar instability, has not yet been well developed due to the lack of steady and robust tracking method. In this paper, we propose a novel visual tracking algorithm of the lumbar vertebra motion based on a Siamese convolutional neural network (CNN) model. We train a full-convolutional neural network offline to learn generic image features. The network is trained to learn a similarity function that compares the labeled target in the first frame with the candidate patches in the current frame. The similarity function returns a high score if the two images depict the same object. Once learned, the similarity function is used to track a previously unseen object without any adapting online. In the current frame, our tracker is performed by evaluating the candidate rotated patches sampled around the previous frame target position and presents a rotated bounding box to locate the predicted target precisely. Results indicate that the proposed tracking method can detect the lumbar vertebra steadily and robustly. Especially for images with low contrast and cluttered background, the presented tracker can still achieve good tracking performance. Further, the proposed algorithm operates at high speed for real time tracking.

  8. Apparatus and method for motion tracking in brain imaging

    DEFF Research Database (Denmark)

    2013-01-01

    Disclosed is apparatus and method for motion tracking of a subject in medical brain imaging. The method comprises providing a light projector and a first camera; projecting a first pattern sequence (S1) onto a surface region of the subject with the light projector, wherein the subject is positioned......2,1) based on the detected first pattern sequence (S1'); projecting the second pattern sequence (S2) onto a surface region of the subject with the light projector; detecting the projected second pattern sequence (S2') with the first camera; and determining motion tracking parameters based...

  9. Motion tracking in narrow spaces: A structured light approach

    DEFF Research Database (Denmark)

    Olesen, Oline Vinter; Paulsen, Rasmus Reinhold; Højgaard, Liselotte

    2010-01-01

    We present a novel tracking system for patient head motion inside 3D medical scanners. Currently, the system is targeted at the Siemens High Resolution Research Tomograph (HRRT) PET scanner. Partial face surfaces are reconstructed using a miniaturized structured light system. The reconstructed 3D...

  10. Using Motion Tracking to Detect Spontaneous Movements in Infants

    DEFF Research Database (Denmark)

    Olsen, Mikkel Damgaard; Herskind, Anna; Nielsen, Jens Bo

    2015-01-01

    We study the characteristics of infants’ spontaneous movements, based on data obtained from a markerless motion tracking system. From the pose data, the set of features are generated from the raw joint-angles of the infants and different classifiers are trained and evaluated using annotated data...

  11. Motion tracking in narrow spaces: a structured light approach

    DEFF Research Database (Denmark)

    Olesen, Oline Vinter; Paulsen, Rasmus; Højgaard, Liselotte

    2010-01-01

    We present a novel tracking system for patient head motion inside 3D medical scanners. Currently, the system is targeted at the Siemens High Resolution Research Tomograph (HRRT) PET scanner. Partial face surfaces are reconstructed using a miniaturized structured light system. The reconstructed 3D...... the system to a standard optical motion tracker based on a rigid tracking tool. Our system achieves an angular RMSE of 0.11 degrees demonstrating its relevance for motion compensated 3D scan image reconstructions as well as its competitiveness against the standard optical system with an RMSE of 0.08 degrees...... point clouds are matched to a reference surface using a robust iterative closest point algorithm. A main challenge is the narrow geometry requiring a compact structured light system and an oblique angle of observation. The system is validated using a mannequin head mounted on a rotary stage. We compare...

  12. Sensing human hand motions for controlling dexterous robots

    Science.gov (United States)

    Marcus, Beth A.; Churchill, Philip J.; Little, Arthur D.

    1988-01-01

    The Dexterous Hand Master (DHM) system is designed to control dexterous robot hands such as the UTAH/MIT and Stanford/JPL hands. It is the first commercially available device which makes it possible to accurately and confortably track the complex motion of the human finger joints. The DHM is adaptable to a wide variety of human hand sizes and shapes, throughout their full range of motion.

  13. Marker-Free Human Motion Capture

    DEFF Research Database (Denmark)

    Grest, Daniel

    Human Motion Capture is a widely used technique to obtain motion data for animation of virtual characters. Commercial optical motion capture systems are marker-based. This book is about marker-free motion capture and its possibilities to acquire motion from a single viewing direction. The focus...

  14. Optimum motion track planning for avoiding obstacles

    International Nuclear Information System (INIS)

    Attia, A.A.A

    2008-01-01

    A genetic algorithm (GA) is a stochastic search and optimization technique based on the mechanism of natural selection. A population of candidate solutions (Chromosomes) is held and interacts over a number of iterations (Generations) to produce better solutions. In canonical GA, the chromosomes are encoded as binary strings. Driving the process is the fitness of the chromosomes, which relates the quality of a candidate in quantitative terms. The fitness function encapsulates the problem- specific knowledge. The fitness is used in a stochastic selection of pairs of chromosomes which are 'reproduced' to generate new solution strings. Reproduction involves crossover, which generates new children by combining chromosomes in a process which swaps portions of each others genes. The other reproduction operator is called mutation. Mutation randomly changes genes and is used to introduce new information into the search. Both crossover and mutation make heavy use of random numbers.The aim of this thesis is to investigate the H/W implementation of genetic algorithm based motion path planning of robot. The potential benefit of using genetic algorithm hardware is that it allows both the huge parallelism which is suited to random number generation, crossover, mutation and fitness evaluation. For many real-world applications, GA can run for days, even when it is executed on a high performance workstation. According to the extensive computation of GA, it follows that hardware-based GA has been put forward. There are aspects of GA approach attract H/W implementation. The operation of selection and reproduction are basically problem independent and involve basic string manipulation tasks. These can be achieved by logical circuits.The fitness evaluation task, which is problem dependent, however proves a major difficulty in H/W implementation. Another difficulty comes from that designs can only be used for the individual problem their fitness function represents. Therefore, in this

  15. Stretch sensors for human body motion

    Science.gov (United States)

    O'Brien, Ben; Gisby, Todd; Anderson, Iain A.

    2014-03-01

    Sensing motion of the human body is a difficult task. From an engineers' perspective people are soft highly mobile objects that move in and out of complex environments. As well as the technical challenge of sensing, concepts such as comfort, social intrusion, usability, and aesthetics are paramount in determining whether someone will adopt a sensing solution or not. At the same time the demands for human body motion sensing are growing fast. Athletes want feedback on posture and technique, consumers need new ways to interact with augmented reality devices, and healthcare providers wish to track recovery of a patient. Dielectric elastomer stretch sensors are ideal for bridging this gap. They are soft, flexible, and precise. They are low power, lightweight, and can be easily mounted on the body or embedded into clothing. From a commercialisation point of view stretch sensing is easier than actuation or generation - such sensors can be low voltage and integrated with conventional microelectronics. This paper takes a birds-eye view of the use of these sensors to measure human body motion. A holistic description of sensor operation and guidelines for sensor design will be presented to help technologists and developers in the space.

  16. H∞ control for path tracking of autonomous underwater vehicle motion

    Directory of Open Access Journals (Sweden)

    Lin-Lin Wang

    2015-05-01

    Full Text Available In order to simplify the design of path tracking controller and solve the problem relating to nonlinear dynamic model of autonomous underwater vehicle motion planning, feedback linearization method is first adopted to transform the nonlinear dynamic model into an equivalent pseudo-linear dynamic model in horizontal coordinates. Then considering wave disturbance effect, mixed-sensitivity method of H∞ robust control is applied to design state-feedback controller for this equivalent dynamic model. Finally, control law of pseudo-linear dynamic model is transformed into state (surge velocity and yaw angular rate tracking control law of nonlinear dynamic model through inverse coordinate transformation. Simulation indicates that autonomous underwater vehicle path tracking is successfully implemented with this proposed method, and the influence of parameter variation in autonomous underwater vehicle dynamic model on its tracking performance is reduced by H∞ controller. All the results show that the method proposed in this article is effective and feasible.

  17. Motion Tracking for Medical Imaging: A Non-Visible Structured Light Tracking Approach

    DEFF Research Database (Denmark)

    Olesen, Oline Vinter; Paulsen, Rasmus Reinhold; Højgaard, Liselotte

    2012-01-01

    We present a system for head motion tracking in 3D brain imaging. The system is based on facial surface reconstruction and tracking using a structured light (SL) scanning principle. The system is designed to fit into narrow 3D medical scanner geometries limiting the field of view. It is tested......, is that it is not necessary to place markers on the patient. This provides a simpler workflow and eliminates uncertainties related to marker attachment and stability. We show proof of concept of a marker less tracking system especially designed for clinical use with promising results....... in a clinical setting on the high resolution research tomograph (HRRT), Siemens PET scanner with a head phantom and volunteers. The SL system is compared to a commercial optical tracking system, the Polaris Vicra system, from NDI based on translatory and rotary ground truth motions of the head phantom...

  18. Assisting doctors on assessing movements in infants using motion tracking

    DEFF Research Database (Denmark)

    Olsen, Mikkel; Herskind, Anna; Nielsen, Jens Bo

    2015-01-01

    In this work, we consider the possibilities of having an automatic computer-based system for tracking the movements of infants. An existing motion tracking system is used to process recorded video sequences containing both color and spatial information of the infant's body pose and movements....... The system uses these sequences of data to estimate the underlying skeleton of the infant and parametrize the movements. Post-processing of these parameters can yield objective measurements of an infant's movement patterns. This could e.g. be quantification of (a)symmetry and recognition of certain gestures/actions...

  19. Effectiveness of an Automatic Tracking Software in Underwater Motion Analysis

    Directory of Open Access Journals (Sweden)

    Fabrício A. Magalhaes

    2013-12-01

    Full Text Available Tracking of markers placed on anatomical landmarks is a common practice in sports science to perform the kinematic analysis that interests both athletes and coaches. Although different software programs have been developed to automatically track markers and/or features, none of them was specifically designed to analyze underwater motion. Hence, this study aimed to evaluate the effectiveness of a software developed for automatic tracking of underwater movements (DVP, based on the Kanade-Lucas-Tomasi feature tracker. Twenty-one video recordings of different aquatic exercises (n = 2940 markers’ positions were manually tracked to determine the markers’ center coordinates. Then, the videos were automatically tracked using DVP and a commercially available software (COM. Since tracking techniques may produce false targets, an operator was instructed to stop the automatic procedure and to correct the position of the cursor when the distance between the calculated marker’s coordinate and the reference one was higher than 4 pixels. The proportion of manual interventions required by the software was used as a measure of the degree of automation. Overall, manual interventions were 10.4% lower for DVP (7.4% than for COM (17.8%. Moreover, when examining the different exercise modes separately, the percentage of manual interventions was 5.6% to 29.3% lower for DVP than for COM. Similar results were observed when analyzing the type of marker rather than the type of exercise, with 9.9% less manual interventions for DVP than for COM. In conclusion, based on these results, the developed automatic tracking software presented can be used as a valid and useful tool for underwater motion analysis.

  20. Fish tracking by combining motion based segmentation and particle filtering

    Science.gov (United States)

    Bichot, E.; Mascarilla, L.; Courtellemont, P.

    2006-01-01

    In this paper, we suggest a new importance sampling scheme to improve a particle filtering based tracking process. This scheme relies on exploitation of motion segmentation. More precisely, we propagate hypotheses from particle filtering to blobs of similar motion to target. Hence, search is driven toward regions of interest in the state space and prediction is more accurate. We also propose to exploit segmentation to update target model. Once the moving target has been identified, a representative model is learnt from its spatial support. We refer to this model in the correction step of the tracking process. The importance sampling scheme and the strategy to update target model improve the performance of particle filtering in complex situations of occlusions compared to a simple Bootstrap approach as shown by our experiments on real fish tank sequences.

  1. Motion correction in neurological fan beam SPECT using motion tracking and fully 3D reconstruction

    International Nuclear Information System (INIS)

    Fulton, R.R.; Hutton, B.; Eberl, S.; Meikle, S.; Braun, M.; Westmead Hospital, Westmead, NSW; University of Technology, Sydney, NSW

    1998-01-01

    Full text: We have previously proposed the use of fully three-dimensional (3D) reconstruction and continuous monitoring of head position to correct for motion artifacts in neurological SPECT and PET. Knowledge of the motion during acquisition provided by a head tracking system can be used to reposition the projection data in space in such a way as to negate motion effects during reconstruction. The reconstruction algorithm must deal with variations in the projection geometry resulting from differences in the timing and nature of motion between patients. Rotational movements about any axis other than the camera's axis of rotation give rise to projection geometries which necessitate the use of a fully 3D reconstruction algorithm. Our previous work with computer simulations assuming parallel hole collimation demonstrated the feasibility of correcting for motion. We have now refined our iterative 3D reconstruction algorithm to support fan beam data and attenuation correction, and developed a practical head tracking system for use on a Trionix Triad SPECT system. The correction technique has been tested in fan beam SPECT studies of the 3D Hoffman brain phantom. Arbitrary movements were applied to the phantom during acquisition and recorded by the head tracker which monitored the position and orientation of the phantom throughout the study. 3D reconstruction was then performed using the motion data provided by the tracker. The accuracy of correction was assessed by comparing the corrected images with a motion free study acquired immediately beforehand, visually and by calculating mean squared error (MSE). Motion correction reduced distortion perceptibly and, depending on the motions applied, improved MSE by up to an order of magnitude. 3D reconstruction of the 128x128x128 data set took 20 minutes on a SUN Ultra 1 workstation. The results of these phantom experiments suggest that the technique can effectively compensate for head motion under clinical SPECT imaging

  2. Predictive local receptive fields based respiratory motion tracking for motion-adaptive radiotherapy.

    Science.gov (United States)

    Yubo Wang; Tatinati, Sivanagaraja; Liyu Huang; Kim Jeong Hong; Shafiq, Ghufran; Veluvolu, Kalyana C; Khong, Andy W H

    2017-07-01

    Extracranial robotic radiotherapy employs external markers and a correlation model to trace the tumor motion caused by the respiration. The real-time tracking of tumor motion however requires a prediction model to compensate the latencies induced by the software (image data acquisition and processing) and hardware (mechanical and kinematic) limitations of the treatment system. A new prediction algorithm based on local receptive fields extreme learning machines (pLRF-ELM) is proposed for respiratory motion prediction. All the existing respiratory motion prediction methods model the non-stationary respiratory motion traces directly to predict the future values. Unlike these existing methods, the pLRF-ELM performs prediction by modeling the higher-level features obtained by mapping the raw respiratory motion into the random feature space of ELM instead of directly modeling the raw respiratory motion. The developed method is evaluated using the dataset acquired from 31 patients for two horizons in-line with the latencies of treatment systems like CyberKnife. Results showed that pLRF-ELM is superior to that of existing prediction methods. Results further highlight that the abstracted higher-level features are suitable to approximate the nonlinear and non-stationary characteristics of respiratory motion for accurate prediction.

  3. Postural sway and gaze can track the complex motion of a visual target.

    Directory of Open Access Journals (Sweden)

    Vassilia Hatzitaki

    Full Text Available Variability is an inherent and important feature of human movement. This variability has form exhibiting a chaotic structure. Visual feedback training using regular predictive visual target motions does not take into account this essential characteristic of the human movement, and may result in task specific learning and loss of visuo-motor adaptability. In this study, we asked how well healthy young adults can track visual target cues of varying degree of complexity during whole-body swaying in the Anterior-Posterior (AP and Medio-Lateral (ML direction. Participants were asked to track three visual target motions: a complex (Lorenz attractor, a noise (brown and a periodic (sine moving target while receiving online visual feedback about their performance. Postural sway, gaze and target motion were synchronously recorded and the degree of force-target and gaze-target coupling was quantified using spectral coherence and Cross-Approximate entropy. Analysis revealed that both force-target and gaze-target coupling was sensitive to the complexity of the visual stimuli motions. Postural sway showed a higher degree of coherence with the Lorenz attractor than the brown noise or sinusoidal stimulus motion. Similarly, gaze was more synchronous with the Lorenz attractor than the brown noise and sinusoidal stimulus motion. These results were similar regardless of whether tracking was performed in the AP or ML direction. Based on the theoretical model of optimal movement variability tracking of a complex signal may provide a better stimulus to improve visuo-motor adaptation and learning in postural control.

  4. The Effectiveness of Simulator Motion in the Transfer of Performance on a Tracking Task Is Influenced by Vision and Motion Disturbance Cues.

    Science.gov (United States)

    Grundy, John G; Nazar, Stefan; O'Malley, Shannon; Mohrenshildt, Martin V; Shedden, Judith M

    2016-06-01

    To examine the importance of platform motion to the transfer of performance in motion simulators. The importance of platform motion in simulators for pilot training is strongly debated. We hypothesized that the type of motion (e.g., disturbance) contributes significantly to performance differences. Participants used a joystick to perform a target tracking task in a pod on top of a MOOG Stewart motion platform. Five conditions compared training without motion, with correlated motion, with disturbance motion, with disturbance motion isolated to the visual display, and with both correlated and disturbance motion. The test condition involved the full motion model with both correlated and disturbance motion. We analyzed speed and accuracy across training and test as well as strategic differences in joystick control. Training with disturbance cues produced critical behavioral differences compared to training without disturbance; motion itself was less important. Incorporation of disturbance cues is a potentially important source of variance between studies that do or do not show a benefit of motion platforms in the transfer of performance in simulators. Potential applications of this research include the assessment of the importance of motion platforms in flight simulators, with a focus on the efficacy of incorporating disturbance cues during training. © 2016, Human Factors and Ergonomics Society.

  5. Human tracking over camera networks: a review

    Science.gov (United States)

    Hou, Li; Wan, Wanggen; Hwang, Jenq-Neng; Muhammad, Rizwan; Yang, Mingyang; Han, Kang

    2017-12-01

    In recent years, automated human tracking over camera networks is getting essential for video surveillance. The tasks of tracking human over camera networks are not only inherently challenging due to changing human appearance, but also have enormous potentials for a wide range of practical applications, ranging from security surveillance to retail and health care. This review paper surveys the most widely used techniques and recent advances for human tracking over camera networks. Two important functional modules for the human tracking over camera networks are addressed, including human tracking within a camera and human tracking across non-overlapping cameras. The core techniques of human tracking within a camera are discussed based on two aspects, i.e., generative trackers and discriminative trackers. The core techniques of human tracking across non-overlapping cameras are then discussed based on the aspects of human re-identification, camera-link model-based tracking and graph model-based tracking. Our survey aims to address existing problems, challenges, and future research directions based on the analyses of the current progress made toward human tracking techniques over camera networks.

  6. Example-based human motion denoising.

    Science.gov (United States)

    Lou, Hui; Chai, Jinxiang

    2010-01-01

    With the proliferation of motion capture data, interest in removing noise and outliers from motion capture data has increased. In this paper, we introduce an efficient human motion denoising technique for the simultaneous removal of noise and outliers from input human motion data. The key idea of our approach is to learn a series of filter bases from precaptured motion data and use them along with robust statistics techniques to filter noisy motion data. Mathematically, we formulate the motion denoising process in a nonlinear optimization framework. The objective function measures the distance between the noisy input and the filtered motion in addition to how well the filtered motion preserves spatial-temporal patterns embedded in captured human motion data. Optimizing the objective function produces an optimal filtered motion that keeps spatial-temporal patterns in captured motion data. We also extend the algorithm to fill in the missing values in input motion data. We demonstrate the effectiveness of our system by experimenting with both real and simulated motion data. We also show the superior performance of our algorithm by comparing it with three baseline algorithms and to those in state-of-art motion capture data processing software such as Vicon Blade.

  7. Unscented Kalman filtering for articulated human tracking

    DEFF Research Database (Denmark)

    Boesen Lindbo Larsen, Anders; Hauberg, Søren; Pedersen, Kim Steenstrup

    2011-01-01

    We present an articulated tracking system working with data from a single narrow baseline stereo camera. The use of stereo data allows for some depth disambiguation, a common issue in articulated tracking, which in turn yields likelihoods that are practically unimodal. While current state...... with superior results. Tracking quality is measured by comparing with ground truth data from a marker-based motion capture system....

  8. Single-Particle Tracking of Human Lipoproteins.

    Science.gov (United States)

    de Messieres, Michel; Ng, Abby; Duarte, Cornelio J; Remaley, Alan T; Lee, Jennifer C

    2016-01-05

    Lipoproteins, such as high-density lipoprotein (HDL), low-density lipoprotein (LDL), and very-low density lipoprotein (VLDL), play a critical role in heart disease. Lipoproteins vary in size and shape as well as in their apolipoprotein content. Here, we developed a new experimental framework to study freely diffusing lipoproteins from human blood, allowing analysis of even the smallest HDL with a radius of 5 nm. In an easily constructed confinement chamber, individual HDL, LDL, and VLDL particles labeled with three distinct fluorophores were simultaneously tracked by wide-field fluorescence microscopy and their sizes were determined by their motion. This technique enables studies of individual lipoproteins in solution and allows characterization of the heterogeneous properties of lipoproteins which affect their biological function but are difficult to discern in bulk studies.

  9. Interacting with target tracking algorithms in a gaze-enhanced motion video analysis system

    Science.gov (United States)

    Hild, Jutta; Krüger, Wolfgang; Heinze, Norbert; Peinsipp-Byma, Elisabeth; Beyerer, Jürgen

    2016-05-01

    Motion video analysis is a challenging task, particularly if real-time analysis is required. It is therefore an important issue how to provide suitable assistance for the human operator. Given that the use of customized video analysis systems is more and more established, one supporting measure is to provide system functions which perform subtasks of the analysis. Recent progress in the development of automated image exploitation algorithms allow, e.g., real-time moving target tracking. Another supporting measure is to provide a user interface which strives to reduce the perceptual, cognitive and motor load of the human operator for example by incorporating the operator's visual focus of attention. A gaze-enhanced user interface is able to help here. This work extends prior work on automated target recognition, segmentation, and tracking algorithms as well as about the benefits of a gaze-enhanced user interface for interaction with moving targets. We also propose a prototypical system design aiming to combine both the qualities of the human observer's perception and the automated algorithms in order to improve the overall performance of a real-time video analysis system. In this contribution, we address two novel issues analyzing gaze-based interaction with target tracking algorithms. The first issue extends the gaze-based triggering of a target tracking process, e.g., investigating how to best relaunch in the case of track loss. The second issue addresses the initialization of tracking algorithms without motion segmentation where the operator has to provide the system with the object's image region in order to start the tracking algorithm.

  10. Surrogate-driven deformable motion model for organ motion tracking in particle radiation therapy

    Science.gov (United States)

    Fassi, Aurora; Seregni, Matteo; Riboldi, Marco; Cerveri, Pietro; Sarrut, David; Battista Ivaldi, Giovanni; Tabarelli de Fatis, Paola; Liotta, Marco; Baroni, Guido

    2015-02-01

    The aim of this study is the development and experimental testing of a tumor tracking method for particle radiation therapy, providing the daily respiratory dynamics of the patient’s thoraco-abdominal anatomy as a function of an external surface surrogate combined with an a priori motion model. The proposed tracking approach is based on a patient-specific breathing motion model, estimated from the four-dimensional (4D) planning computed tomography (CT) through deformable image registration. The model is adapted to the interfraction baseline variations in the patient’s anatomical configuration. The driving amplitude and phase parameters are obtained intrafractionally from a respiratory surrogate signal derived from the external surface displacement. The developed technique was assessed on a dataset of seven lung cancer patients, who underwent two repeated 4D CT scans. The first 4D CT was used to build the respiratory motion model, which was tested on the second scan. The geometric accuracy in localizing lung lesions, mediated over all breathing phases, ranged between 0.6 and 1.7 mm across all patients. Errors in tracking the surrounding organs at risk, such as lungs, trachea and esophagus, were lower than 1.3 mm on average. The median absolute variation in water equivalent path length (WEL) within the target volume did not exceed 1.9 mm-WEL for simulated particle beams. A significant improvement was achieved compared with error compensation based on standard rigid alignment. The present work can be regarded as a feasibility study for the potential extension of tumor tracking techniques in particle treatments. Differently from current tracking methods applied in conventional radiotherapy, the proposed approach allows for the dynamic localization of all anatomical structures scanned in the planning CT, thus providing complete information on density and WEL variations required for particle beam range adaptation.

  11. Binocular eye movement control and motion perception: what is being tracked?

    Science.gov (United States)

    van der Steen, Johannes; Dits, Joyce

    2012-10-19

    We investigated under what conditions humans can make independent slow phase eye movements. The ability to make independent movements of the two eyes generally is attributed to few specialized lateral eyed animal species, for example chameleons. In our study, we showed that humans also can move the eyes in different directions. To maintain binocular retinal correspondence independent slow phase movements of each eye are produced. We used the scleral search coil method to measure binocular eye movements in response to dichoptically viewed visual stimuli oscillating in orthogonal direction. Correlated stimuli led to orthogonal slow eye movements, while the binocularly perceived motion was the vector sum of the motion presented to each eye. The importance of binocular fusion on independency of the movements of the two eyes was investigated with anti-correlated stimuli. The perceived global motion pattern of anti-correlated dichoptic stimuli was perceived as an oblique oscillatory motion, as well as resulted in a conjugate oblique motion of the eyes. We propose that the ability to make independent slow phase eye movements in humans is used to maintain binocular retinal correspondence. Eye-of-origin and binocular information are used during the processing of binocular visual information, and it is decided at an early stage whether binocular or monocular motion information and independent slow phase eye movements of each eye are produced during binocular tracking.

  12. Respiratory liver motion tracking during transcatheter procedures using guidewire detection

    International Nuclear Information System (INIS)

    Vanegas Orozco, Maria-Carolina; Gorges, Sebastien; Pescatore, Jeremie

    2008-01-01

    Transcatheter chemoembolization of liver tumors is performed under X-ray fluoroscopic image guidance. This is a difficult procedure because the vessels of the liver are constantly moving due to respiration and they are not visible in the X-ray image unless a contrast medium is injected. In order to help the interventional radiologist during the treatment, we propose to superimpose on to the fluoroscopic image a pre-acquired contrast-enhanced 2D or 3D image while accounting for liver motion. Our approach proposes to track the guidewire from frame to frame. Our proposed method can be split into two steps. First the guidewire is automatically detected; then the motion between two frames is estimated using a robust ICP (iterative closest point) algorithm. We have tested our method on simulated X-ray fluoroscopic images of a moving guidewire and applied it on 4 clinical sequences. Simulation demonstrated that the mean precision of our method is inferior to 1 mm. On clinical data, preliminary results demonstrated that this method allows for respiratory motion compensation of liver vessels with a mean accuracy inferior to 3 mm. (orig.)

  13. Markerless 3D Head Tracking for Motion Correction in High Resolution PET Brain Imaging

    DEFF Research Database (Denmark)

    Olesen, Oline Vinter

    relying on markers. Data-driven motion correction is problematic due to the physiological dynamics. Marker-based tracking is potentially unreliable, and it is extremely hard to validate when the tracking information is correct. The motion estimation is essential for proper motion correction of the PET......This thesis concerns application specific 3D head tracking. The purpose is to improve motion correction in position emission tomography (PET) brain imaging through development of markerless tracking. Currently, motion correction strategies are based on either the PET data itself or tracking devices...... images. Incorrect motion correction can in the worst cases result in wrong diagnosis or treatment. The evolution of a markerless custom-made structured light 3D surface tracking system is presented. The system is targeted at state-of-the-art high resolution dedicated brain PET scanners with a resolution...

  14. A Single Unexpected Change in Target- but Not Distractor Motion Impairs Multiple Object Tracking

    Directory of Open Access Journals (Sweden)

    Hauke S. Meyerhoff

    2013-02-01

    Full Text Available Recent research addresses the question whether motion information of multiple objects contributes to maintaining a selection of objects across a period of motion. Here, we investigate whether target and/or distractor motion information is used during attentive tracking. We asked participants to track four objects and changed either the motion direction of targets, the motion direction of distractors, neither, or both during a brief flash in the middle of a tracking interval. We observed that a single direction change of targets is sufficient to impair tracking performance. In contrast, changing the motion direction of distractors had no effect on performance. This indicates that target- but not distractor motion information is evaluated during tracking.

  15. The eigenmode analysis of human motion

    International Nuclear Information System (INIS)

    Park, Juyong; Lee, Deok-Sun; González, Marta C

    2010-01-01

    Rapid advances in modern communication technology are enabling the accumulation of large-scale, high-resolution observational data of the spatiotemporal movements of humans. Classification and prediction of human mobility based on the analysis of such data has great potential in applications such as urban planning in addition to being a subject of theoretical interest. A robust theoretical framework is therefore required to study and properly understand human motion. Here we perform the eigenmode analysis of human motion data gathered from mobile communication records, which allows us to explore the scaling properties and characteristics of human motion

  16. Ultrasound motion tracking for radiation therapy; Ultraschallbewegungstracking fuer die Strahlentherapie

    Energy Technology Data Exchange (ETDEWEB)

    Jenne, J. [Fraunhofer-Institut fuer Bildgestuetzte Medizin MEVIS, Bremen (Germany); Mediri GmbH, Heidelberg (Germany); Schwaab, J. [Mediri GmbH, Heidelberg (Germany)

    2015-11-15

    In modern radiotherapy the radiation dose can be applied with an accuracy in the range of 1-2 mm provided that the exact position of the target is known. If, however, the target (the tumor) is located in the lungs or the abdomen, respiration or peristalsis can cause substantial movement of the target. Various methods for intrafractional motion detection and compensation are currently under consideration or are already applied in clinical practice. Sonography is one promising option, which is now on the brink of clinical implementation. Ultrasound is particularly suited for this purpose due to the high soft tissue contrast, real-time capability, the absence of ionizing radiation and low acquisition costs. Ultrasound motion tracking is an image-based approach, i.e. the target volume or an adjacent structure is directly monitored and the motion is tracked automatically on the ultrasound image. Diverse algorithms are presently available that provide the real-time target coordinates from 2D as well as 3D images. Definition of a suitable sonographic window is not, however, trivial and a gold standard for positioning and mounting of the transducer has not yet been developed. Furthermore, processing of the coordinate information in the therapy unit and the dynamic adaptation of the radiation field are challenging tasks. It is not clear whether ultrasound motion tracking will become established in the clinical routine although all technical prerequisites can be considered as fulfilled, such that exciting progress in this field of research is still to be expected. (orig.) [German] In der modernen Strahlentherapie kann die Dosis mit einer Genauigkeit von 1-2 mm appliziert werden, sofern die Position der Zielstruktur genau bekannt ist. Liegt diese Zielstruktur (der Tumor) jedoch in der Lunge oder im Abdomen, koennen u. a. die Atmung oder die Peristaltik zu einer substanziellen Bewegung des Zielvolumens fuehren. Verschiedene Methoden zur intrafraktionellen Bewegungsdetektion

  17. Structured light 3D tracking system for measuring motions in PET brain imaging

    DEFF Research Database (Denmark)

    Olesen, Oline Vinter; Jørgensen, Morten Rudkjær; Paulsen, Rasmus Reinhold

    2010-01-01

    Patient motion during scanning deteriorates image quality, especially for high resolution PET scanners. A new proposal for a 3D head tracking system for motion correction in high resolution PET brain imaging is set up and demonstrated. A prototype tracking system based on structured light with a ...

  18. Human-like object tracking and gaze estimation with PKD android.

    Science.gov (United States)

    Wijayasinghe, Indika B; Miller, Haylie L; Das, Sumit K; Bugnariu, Nicoleta L; Popa, Dan O

    2016-05-01

    As the use of robots increases for tasks that require human-robot interactions, it is vital that robots exhibit and understand human-like cues for effective communication. In this paper, we describe the implementation of object tracking capability on Philip K. Dick (PKD) android and a gaze tracking algorithm, both of which further robot capabilities with regard to human communication. PKD's ability to track objects with human-like head postures is achieved with visual feedback from a Kinect system and an eye camera. The goal of object tracking with human-like gestures is twofold : to facilitate better human-robot interactions and to enable PKD as a human gaze emulator for future studies. The gaze tracking system employs a mobile eye tracking system (ETG; SensoMotoric Instruments) and a motion capture system (Cortex; Motion Analysis Corp.) for tracking the head orientations. Objects to be tracked are displayed by a virtual reality system, the Computer Assisted Rehabilitation Environment (CAREN; MotekForce Link). The gaze tracking algorithm converts eye tracking data and head orientations to gaze information facilitating two objectives: to evaluate the performance of the object tracking system for PKD and to use the gaze information to predict the intentions of the user, enabling the robot to understand physical cues by humans.

  19. Human-like object tracking and gaze estimation with PKD android

    Science.gov (United States)

    Wijayasinghe, Indika B.; Miller, Haylie L.; Das, Sumit K.; Bugnariu, Nicoleta L.; Popa, Dan O.

    2016-05-01

    As the use of robots increases for tasks that require human-robot interactions, it is vital that robots exhibit and understand human-like cues for effective communication. In this paper, we describe the implementation of object tracking capability on Philip K. Dick (PKD) android and a gaze tracking algorithm, both of which further robot capabilities with regard to human communication. PKD's ability to track objects with human-like head postures is achieved with visual feedback from a Kinect system and an eye camera. The goal of object tracking with human-like gestures is twofold: to facilitate better human-robot interactions and to enable PKD as a human gaze emulator for future studies. The gaze tracking system employs a mobile eye tracking system (ETG; SensoMotoric Instruments) and a motion capture system (Cortex; Motion Analysis Corp.) for tracking the head orientations. Objects to be tracked are displayed by a virtual reality system, the Computer Assisted Rehabilitation Environment (CAREN; MotekForce Link). The gaze tracking algorithm converts eye tracking data and head orientations to gaze information facilitating two objectives: to evaluate the performance of the object tracking system for PKD and to use the gaze information to predict the intentions of the user, enabling the robot to understand physical cues by humans.

  20. Tumor tracking and motion compensation with an adaptive tumor tracking system (ATTS): System description and prototype testing

    International Nuclear Information System (INIS)

    Wilbert, Juergen; Meyer, Juergen; Baier, Kurt; Guckenberger, Matthias; Herrmann, Christian; Hess, Robin; Janka, Christian; Ma Lei; Mersebach, Torben; Richter, Anne; Roth, Michael; Schilling, Klaus; Flentje, Michael

    2008-01-01

    A novel system for real-time tumor tracking and motion compensation with a robotic HexaPOD treatment couch is described. The approach is based on continuous tracking of the tumor motion in portal images without implanted fiducial markers, using the therapeutic megavoltage beam, and tracking of abdominal breathing motion with optical markers. Based on the two independently acquired data sets the table movements for motion compensation are calculated. The principle of operation of the entire prototype system is detailed first. In the second part the performance of the HexaPOD couch was investigated with a robotic four-dimensional-phantom capable of simulating real patient tumor trajectories in three-dimensional space. The performance and limitations of the HexaPOD table and the control system were characterized in terms of its dynamic behavior. The maximum speed and acceleration of the HexaPOD were 8 mm/s and 34.5 mm/s 2 in the lateral direction, and 9.5 mm/s and 29.5 mm/s 2 in longitudinal and anterior-posterior direction, respectively. Base line drifts of the mean tumor position of realistic lung tumor trajectories could be fully compensated. For continuous tumor tracking and motion compensation a reduction of tumor motion up to 68% of the original amplitude was achieved. In conclusion, this study demonstrated that it is technically feasible to compensate breathing induced tumor motion in the lung with the adaptive tumor tracking system

  1. Performance of a Motion Tracking System During Cyberknife Robotic Radiosurgery

    International Nuclear Information System (INIS)

    Cavedon, Carlo; Francescon, Paolo; Cora, Stefania; Moschini, Giuliano; Rossi, Paolo

    2009-01-01

    Cyberknife (Accuracy Inc., Ca) is a robotic radio-surgery system that includes a compact 6 MV linac delivering up to 800 cGy per minute, and an automate arm to aim at any part of the body from any angle. An essential tool is the guidance system based on x-ray imaging cameras located on supports around the patient. A Cyberknife system has been operational at the Vicenza (Italy) Hospital for years and is mainly employed for treating benign and malignant tumors, and Arterior-Venous Malformations. In radiation therapy, delivery of high doses to targets that move with respiration is challenging because of possible spatial inaccuracies. The purpose of this work was to estimate the accuracy of the prediction algorithm used to compensate for system latency in a real-time respiratory tracking system. We have analyzed respiratory signals of 30 patients who had lung or liver Cyberknife treatments. The 'Synchrony'(Accuracy Inc.) motion tracking system we use is based on the correlation between the position of LED markers, detected in real time, and the position of internal markers, sampled through x-ray imaging. The position of the external LED signals, though read in real time, must be predicted to compensate for a few hundred ms time lag in the feedback loop that redirects the beam to the current target position. The respiratory signals were described by employing their frequency power spectrum, as recently proposed by other authors. Prediction errors above 1.5 mm, lasting for periods longer than 5 seconds were observed for irregular breathers. These episodes correlate to the presence of a bimodal distribution in the power spectral density, and of very low frequencies contribution. A more refined approach would include a personalized choice of the prediction algorithm based on the very first minutes of treatment. Patient training aimed at reducing breathing irregularities might also result in improved spatial accuracy.

  2. Centralized Networks to Generate Human Body Motions.

    Science.gov (United States)

    Vakulenko, Sergei; Radulescu, Ovidiu; Morozov, Ivan; Weber, Andres

    2017-12-14

    We consider continuous-time recurrent neural networks as dynamical models for the simulation of human body motions. These networks consist of a few centers and many satellites connected to them. The centers evolve in time as periodical oscillators with different frequencies. The center states define the satellite neurons' states by a radial basis function (RBF) network. To simulate different motions, we adjust the parameters of the RBF networks. Our network includes a switching module that allows for turning from one motion to another. Simulations show that this model allows us to simulate complicated motions consisting of many different dynamical primitives. We also use the model for learning human body motion from markers' trajectories. We find that center frequencies can be learned from a small number of markers and can be transferred to other markers, such that our technique seems to be capable of correcting for missing information resulting from sparse control marker settings.

  3. Orbit-attitude coupled motion around small bodies: Sun-synchronous orbits with Sun-tracking attitude motion

    Science.gov (United States)

    Kikuchi, Shota; Howell, Kathleen C.; Tsuda, Yuichi; Kawaguchi, Jun'ichiro

    2017-11-01

    The motion of a spacecraft in proximity to a small body is significantly perturbed due to its irregular gravity field and solar radiation pressure. In such a strongly perturbed environment, the coupling effect of the orbital and attitude motions exerts a large influence that cannot be neglected. However, natural orbit-attitude coupled dynamics around small bodies that are stationary in both orbital and attitude motions have yet to be observed. The present study therefore investigates natural coupled motion that involves both a Sun-synchronous orbit and Sun-tracking attitude motion. This orbit-attitude coupled motion enables a spacecraft to maintain its orbital geometry and attitude state with respect to the Sun without requiring active control. Therefore, the proposed method can reduce the use of an orbit and attitude control system. This paper first presents analytical conditions to achieve Sun-synchronous orbits and Sun-tracking attitude motion. These analytical solutions are then numerically propagated based on non-linear coupled orbit-attitude equations of motion. Consequently, the possibility of implementing Sun-synchronous orbits with Sun-tracking attitude motion is demonstrated.

  4. Interactive inverse kinematics for human motion estimation

    DEFF Research Database (Denmark)

    Engell-Nørregård, Morten Pol; Hauberg, Søren; Lapuyade, Jerome

    2009-01-01

    We present an application of a fast interactive inverse kinematics method as a dimensionality reduction for monocular human motion estimation. The inverse kinematics solver deals efficiently and robustly with box constraints and does not suffer from shaking artifacts. The presented motion...... to significantly speed up the particle filtering. It should be stressed that the observation part of the system has not been our focus, and as such is described only from a sense of completeness. With our approach it is possible to construct a robust and computationally efficient system for human motion estimation....

  5. MO-FG-BRD-01: Real-Time Imaging and Tracking Techniques for Intrafractional Motion Management: Introduction and KV Tracking

    International Nuclear Information System (INIS)

    Fahimian, B.

    2015-01-01

    Intrafraction target motion is a prominent complicating factor in the accurate targeting of radiation within the body. Methods compensating for target motion during treatment, such as gating and dynamic tumor tracking, depend on the delineation of target location as a function of time during delivery. A variety of techniques for target localization have been explored and are under active development; these include beam-level imaging of radio-opaque fiducials, fiducial-less tracking of anatomical landmarks, tracking of electromagnetic transponders, optical imaging of correlated surrogates, and volumetric imaging within treatment delivery. The Joint Imaging and Therapy Symposium will provide an overview of the techniques for real-time imaging and tracking, with special focus on emerging modes of implementation across different modalities. In particular, the symposium will explore developments in 1) Beam-level kilovoltage X-ray imaging techniques, 2) EPID-based megavoltage X-ray tracking, 3) Dynamic tracking using electromagnetic transponders, and 4) MRI-based soft-tissue tracking during radiation delivery. Learning Objectives: Understand the fundamentals of real-time imaging and tracking techniques Learn about emerging techniques in the field of real-time tracking Distinguish between the advantages and disadvantages of different tracking modalities Understand the role of real-time tracking techniques within the clinical delivery work-flow

  6. MO-FG-BRD-02: Real-Time Imaging and Tracking Techniques for Intrafractional Motion Management: MV Tracking

    Energy Technology Data Exchange (ETDEWEB)

    Berbeco, R. [Brigham and Women’s Hospital and Dana-Farber Cancer Institute (United States)

    2015-06-15

    Intrafraction target motion is a prominent complicating factor in the accurate targeting of radiation within the body. Methods compensating for target motion during treatment, such as gating and dynamic tumor tracking, depend on the delineation of target location as a function of time during delivery. A variety of techniques for target localization have been explored and are under active development; these include beam-level imaging of radio-opaque fiducials, fiducial-less tracking of anatomical landmarks, tracking of electromagnetic transponders, optical imaging of correlated surrogates, and volumetric imaging within treatment delivery. The Joint Imaging and Therapy Symposium will provide an overview of the techniques for real-time imaging and tracking, with special focus on emerging modes of implementation across different modalities. In particular, the symposium will explore developments in 1) Beam-level kilovoltage X-ray imaging techniques, 2) EPID-based megavoltage X-ray tracking, 3) Dynamic tracking using electromagnetic transponders, and 4) MRI-based soft-tissue tracking during radiation delivery. Learning Objectives: Understand the fundamentals of real-time imaging and tracking techniques Learn about emerging techniques in the field of real-time tracking Distinguish between the advantages and disadvantages of different tracking modalities Understand the role of real-time tracking techniques within the clinical delivery work-flow.

  7. MO-FG-BRD-04: Real-Time Imaging and Tracking Techniques for Intrafractional Motion Management: MR Tracking

    Energy Technology Data Exchange (ETDEWEB)

    Low, D. [University of California Los Angeles: Real-Time Imaging and Tracking Techniques for Intrafractional Motion Management: MR Tracking (United States)

    2015-06-15

    Intrafraction target motion is a prominent complicating factor in the accurate targeting of radiation within the body. Methods compensating for target motion during treatment, such as gating and dynamic tumor tracking, depend on the delineation of target location as a function of time during delivery. A variety of techniques for target localization have been explored and are under active development; these include beam-level imaging of radio-opaque fiducials, fiducial-less tracking of anatomical landmarks, tracking of electromagnetic transponders, optical imaging of correlated surrogates, and volumetric imaging within treatment delivery. The Joint Imaging and Therapy Symposium will provide an overview of the techniques for real-time imaging and tracking, with special focus on emerging modes of implementation across different modalities. In particular, the symposium will explore developments in 1) Beam-level kilovoltage X-ray imaging techniques, 2) EPID-based megavoltage X-ray tracking, 3) Dynamic tracking using electromagnetic transponders, and 4) MRI-based soft-tissue tracking during radiation delivery. Learning Objectives: Understand the fundamentals of real-time imaging and tracking techniques Learn about emerging techniques in the field of real-time tracking Distinguish between the advantages and disadvantages of different tracking modalities Understand the role of real-time tracking techniques within the clinical delivery work-flow.

  8. MO-FG-BRD-03: Real-Time Imaging and Tracking Techniques for Intrafractional Motion Management: EM Tracking

    Energy Technology Data Exchange (ETDEWEB)

    Keall, P. [University of Sydney (Australia)

    2015-06-15

    Intrafraction target motion is a prominent complicating factor in the accurate targeting of radiation within the body. Methods compensating for target motion during treatment, such as gating and dynamic tumor tracking, depend on the delineation of target location as a function of time during delivery. A variety of techniques for target localization have been explored and are under active development; these include beam-level imaging of radio-opaque fiducials, fiducial-less tracking of anatomical landmarks, tracking of electromagnetic transponders, optical imaging of correlated surrogates, and volumetric imaging within treatment delivery. The Joint Imaging and Therapy Symposium will provide an overview of the techniques for real-time imaging and tracking, with special focus on emerging modes of implementation across different modalities. In particular, the symposium will explore developments in 1) Beam-level kilovoltage X-ray imaging techniques, 2) EPID-based megavoltage X-ray tracking, 3) Dynamic tracking using electromagnetic transponders, and 4) MRI-based soft-tissue tracking during radiation delivery. Learning Objectives: Understand the fundamentals of real-time imaging and tracking techniques Learn about emerging techniques in the field of real-time tracking Distinguish between the advantages and disadvantages of different tracking modalities Understand the role of real-time tracking techniques within the clinical delivery work-flow.

  9. MO-FG-BRD-01: Real-Time Imaging and Tracking Techniques for Intrafractional Motion Management: Introduction and KV Tracking

    Energy Technology Data Exchange (ETDEWEB)

    Fahimian, B. [Stanford University (United States)

    2015-06-15

    Intrafraction target motion is a prominent complicating factor in the accurate targeting of radiation within the body. Methods compensating for target motion during treatment, such as gating and dynamic tumor tracking, depend on the delineation of target location as a function of time during delivery. A variety of techniques for target localization have been explored and are under active development; these include beam-level imaging of radio-opaque fiducials, fiducial-less tracking of anatomical landmarks, tracking of electromagnetic transponders, optical imaging of correlated surrogates, and volumetric imaging within treatment delivery. The Joint Imaging and Therapy Symposium will provide an overview of the techniques for real-time imaging and tracking, with special focus on emerging modes of implementation across different modalities. In particular, the symposium will explore developments in 1) Beam-level kilovoltage X-ray imaging techniques, 2) EPID-based megavoltage X-ray tracking, 3) Dynamic tracking using electromagnetic transponders, and 4) MRI-based soft-tissue tracking during radiation delivery. Learning Objectives: Understand the fundamentals of real-time imaging and tracking techniques Learn about emerging techniques in the field of real-time tracking Distinguish between the advantages and disadvantages of different tracking modalities Understand the role of real-time tracking techniques within the clinical delivery work-flow.

  10. MO-FG-BRD-04: Real-Time Imaging and Tracking Techniques for Intrafractional Motion Management: MR Tracking

    International Nuclear Information System (INIS)

    Low, D.

    2015-01-01

    Intrafraction target motion is a prominent complicating factor in the accurate targeting of radiation within the body. Methods compensating for target motion during treatment, such as gating and dynamic tumor tracking, depend on the delineation of target location as a function of time during delivery. A variety of techniques for target localization have been explored and are under active development; these include beam-level imaging of radio-opaque fiducials, fiducial-less tracking of anatomical landmarks, tracking of electromagnetic transponders, optical imaging of correlated surrogates, and volumetric imaging within treatment delivery. The Joint Imaging and Therapy Symposium will provide an overview of the techniques for real-time imaging and tracking, with special focus on emerging modes of implementation across different modalities. In particular, the symposium will explore developments in 1) Beam-level kilovoltage X-ray imaging techniques, 2) EPID-based megavoltage X-ray tracking, 3) Dynamic tracking using electromagnetic transponders, and 4) MRI-based soft-tissue tracking during radiation delivery. Learning Objectives: Understand the fundamentals of real-time imaging and tracking techniques Learn about emerging techniques in the field of real-time tracking Distinguish between the advantages and disadvantages of different tracking modalities Understand the role of real-time tracking techniques within the clinical delivery work-flow

  11. MO-FG-BRD-03: Real-Time Imaging and Tracking Techniques for Intrafractional Motion Management: EM Tracking

    International Nuclear Information System (INIS)

    Keall, P.

    2015-01-01

    Intrafraction target motion is a prominent complicating factor in the accurate targeting of radiation within the body. Methods compensating for target motion during treatment, such as gating and dynamic tumor tracking, depend on the delineation of target location as a function of time during delivery. A variety of techniques for target localization have been explored and are under active development; these include beam-level imaging of radio-opaque fiducials, fiducial-less tracking of anatomical landmarks, tracking of electromagnetic transponders, optical imaging of correlated surrogates, and volumetric imaging within treatment delivery. The Joint Imaging and Therapy Symposium will provide an overview of the techniques for real-time imaging and tracking, with special focus on emerging modes of implementation across different modalities. In particular, the symposium will explore developments in 1) Beam-level kilovoltage X-ray imaging techniques, 2) EPID-based megavoltage X-ray tracking, 3) Dynamic tracking using electromagnetic transponders, and 4) MRI-based soft-tissue tracking during radiation delivery. Learning Objectives: Understand the fundamentals of real-time imaging and tracking techniques Learn about emerging techniques in the field of real-time tracking Distinguish between the advantages and disadvantages of different tracking modalities Understand the role of real-time tracking techniques within the clinical delivery work-flow

  12. MO-FG-BRD-02: Real-Time Imaging and Tracking Techniques for Intrafractional Motion Management: MV Tracking

    International Nuclear Information System (INIS)

    Berbeco, R.

    2015-01-01

    Intrafraction target motion is a prominent complicating factor in the accurate targeting of radiation within the body. Methods compensating for target motion during treatment, such as gating and dynamic tumor tracking, depend on the delineation of target location as a function of time during delivery. A variety of techniques for target localization have been explored and are under active development; these include beam-level imaging of radio-opaque fiducials, fiducial-less tracking of anatomical landmarks, tracking of electromagnetic transponders, optical imaging of correlated surrogates, and volumetric imaging within treatment delivery. The Joint Imaging and Therapy Symposium will provide an overview of the techniques for real-time imaging and tracking, with special focus on emerging modes of implementation across different modalities. In particular, the symposium will explore developments in 1) Beam-level kilovoltage X-ray imaging techniques, 2) EPID-based megavoltage X-ray tracking, 3) Dynamic tracking using electromagnetic transponders, and 4) MRI-based soft-tissue tracking during radiation delivery. Learning Objectives: Understand the fundamentals of real-time imaging and tracking techniques Learn about emerging techniques in the field of real-time tracking Distinguish between the advantages and disadvantages of different tracking modalities Understand the role of real-time tracking techniques within the clinical delivery work-flow

  13. Fast motion-including dose error reconstruction for VMAT with and without MLC tracking

    DEFF Research Database (Denmark)

    Ravkilde, Thomas; Keall, Paul J.; Grau, Cai

    2014-01-01

    of the algorithm for reconstruction of dose and motion-induced dose errors throughout the tracking and non-tracking beam deliveries was quantified. Doses were reconstructed with a mean dose difference relative to the measurements of -0.5% (5.5% standard deviation) for cumulative dose. More importantly, the root...... validate a simple model for fast motion-including dose error reconstruction applicable to intrafractional QA of MLC tracking treatments of moving targets. MLC tracking experiments were performed on a standard linear accelerator with prototype MLC tracking software guided by an electromagnetic transponder......-mean-square deviation between reconstructed and measured motion-induced 3%/3 mm γ failure rates (dose error) was 2.6%. The mean computation time for each calculation of dose and dose error was 295 ms. The motion-including dose reconstruction allows accurate temporal and spatial pinpointing of errors in absorbed dose...

  14. Motion tracking-enhanced MART for tomographic PIV

    International Nuclear Information System (INIS)

    Novara, Matteo; Scarano, Fulvio; Batenburg, Kees Joost

    2010-01-01

    A novel technique to increase the accuracy of multiplicative algebraic reconstruction technique (MART) reconstruction from tomographic particle image velocimetry (PIV) recordings at higher seeding density than currently possible is presented. The motion tracking enhancement (MTE) method is based on the combined utilization of images from two or more exposures to enhance the reconstruction of individual intensity fields. The working principle is first introduced qualitatively, and the mathematical background is given that explains how the MART reconstruction can be improved on the basis of an improved first guess object obtained from the combination of non-simultaneous views reduced to the same time instant deforming the 3D objects by an estimate of the particle motion field. The performances of MTE are quantitatively evaluated by numerical simulation of the imaging, reconstruction and image correlation processes. The cases of two or more exposures obtained from time-resolved experiments are considered. The iterative application of MTE appears to significantly improve the reconstruction quality, first by decreasing the intensity of the ghost images and second, by increasing the intensity and the reconstruction precision for the actual particles. Based on computer simulations, the maximum imaged seeding density that can be dealt with is tripled with respect to the MART analysis applied to a single exposure. The analysis also illustrates that the maximum effect of the MTE method is comparable to that of doubling the number of cameras in the tomographic system. Experiments performed on a transitional jet at Re = 5000 apply the MTE method to double-frame recordings. The velocity measurement precision is increased for a system with fewer views (two or three cameras compared with four cameras). The ghost particles' intensity is also visibly reduced although to a lesser extent with respect to the computer simulations. The velocity and vorticity field obtained from a three

  15. Evaluation of Real-Time Hand Motion Tracking Using a Range Camera and the Mean-Shift Algorithm

    Science.gov (United States)

    Lahamy, H.; Lichti, D.

    2011-09-01

    Several sensors have been tested for improving the interaction between humans and machines including traditional web cameras, special gloves, haptic devices, cameras providing stereo pairs of images and range cameras. Meanwhile, several methods are described in the literature for tracking hand motion: the Kalman filter, the mean-shift algorithm and the condensation algorithm. In this research, the combination of a range camera and the simple version of the mean-shift algorithm has been evaluated for its capability for hand motion tracking. The evaluation was assessed in terms of position accuracy of the tracking trajectory in x, y and z directions in the camera space and the time difference between image acquisition and image display. Three parameters have been analyzed regarding their influence on the tracking process: the speed of the hand movement, the distance between the camera and the hand and finally the integration time of the camera. Prior to the evaluation, the required warm-up time of the camera has been measured. This study has demonstrated the suitability of the range camera used in combination with the mean-shift algorithm for real-time hand motion tracking but for very high speed hand movement in the traverse plane with respect to the camera, the tracking accuracy is low and requires improvement.

  16. Human Perception of Ambiguous Inertial Motion Cues

    Science.gov (United States)

    Zhang, Guan-Lu

    2010-01-01

    Human daily activities on Earth involve motions that elicit both tilt and translation components of the head (i.e. gazing and locomotion). With otolith cues alone, tilt and translation can be ambiguous since both motions can potentially displace the otolithic membrane by the same magnitude and direction. Transitions between gravity environments (i.e. Earth, microgravity and lunar) have demonstrated to alter the functions of the vestibular system and exacerbate the ambiguity between tilt and translational motion cues. Symptoms of motion sickness and spatial disorientation can impair human performances during critical mission phases. Specifically, Space Shuttle landing records show that particular cases of tilt-translation illusions have impaired the performance of seasoned commanders. This sensorimotor condition is one of many operational risks that may have dire implications on future human space exploration missions. The neural strategy with which the human central nervous system distinguishes ambiguous inertial motion cues remains the subject of intense research. A prevailing theory in the neuroscience field proposes that the human brain is able to formulate a neural internal model of ambiguous motion cues such that tilt and translation components can be perceptually decomposed in order to elicit the appropriate bodily response. The present work uses this theory, known as the GIF resolution hypothesis, as the framework for experimental hypothesis. Specifically, two novel motion paradigms are employed to validate the neural capacity of ambiguous inertial motion decomposition in ground-based human subjects. The experimental setup involves the Tilt-Translation Sled at Neuroscience Laboratory of NASA JSC. This two degree-of-freedom motion system is able to tilt subjects in the pitch plane and translate the subject along the fore-aft axis. Perception data will be gathered through subject verbal reports. Preliminary analysis of perceptual data does not indicate that

  17. Separating complex compound patient motion tracking data using independent component analysis

    Science.gov (United States)

    Lindsay, C.; Johnson, K.; King, M. A.

    2014-03-01

    In SPECT imaging, motion from respiration and body motion can reduce image quality by introducing motion-related artifacts. A minimally-invasive way to track patient motion is to attach external markers to the patient's body and record their location throughout the imaging study. If a patient exhibits multiple movements simultaneously, such as respiration and body-movement, each marker location data will contain a mixture of these motions. Decomposing this complex compound motion into separate simplified motions can have the benefit of applying a more robust motion correction to the specific type of motion. Most motion tracking and correction techniques target a single type of motion and either ignore compound motion or treat it as noise. Few methods account for compound motion exist, but they fail to disambiguate super-position in the compound motion (i.e. inspiration in addition to body movement in the positive anterior/posterior direction). We propose a new method for decomposing the complex compound patient motion using an unsupervised learning technique called Independent Component Analysis (ICA). Our method can automatically detect and separate different motions while preserving nuanced features of the motion without the drawbacks of previous methods. Our main contributions are the development of a method for addressing multiple compound motions, the novel use of ICA in detecting and separating mixed independent motions, and generating motion transform with 12 DOFs to account for twisting and shearing. We show that our method works with clinical datasets and can be employed to improve motion correction in single photon emission computed tomography (SPECT) images.

  18. Evaluation of Human Body Tracking System for Gesture-based Programming of Industrial Robots

    DEFF Research Database (Denmark)

    Høilund, Carsten; Krüger, Volker; Moeslund, Thomas B.

    2012-01-01

    Is low-cost tracking precise enough for recognition of pointing actions? We investigate the quality of the human body tracking available with a Kinect camera by comparing it to a state-of-the-art motion capture system. The application is action recognition with parametric hidden Markov Models...

  19. Effective Multi-Model Motion Tracking Under Multiple Team Member Actuators

    OpenAIRE

    Gu, Yang; Veloso, Manuela

    2009-01-01

    Motivated by the interactions between a team and the tracked target, we contribute a method to achieve efficient tracking through using a play-based motion model and combined vision and infrared sensory information. This method gives the robot a more exact task-specific motion model when executing different tactics over the tracked target (e.g. the ball) or collaborating with the tracked target (e.g. the team member). Then we represent the system in a compact dynamic Bayesian network and use ...

  20. Human motion behavior while interacting with an industrial robot.

    Science.gov (United States)

    Bortot, Dino; Ding, Hao; Antonopolous, Alexandros; Bengler, Klaus

    2012-01-01

    Human workers and industrial robots both have specific strengths within industrial production. Advantageously they complement each other perfectly, which leads to the development of human-robot interaction (HRI) applications. Bringing humans and robots together in the same workspace may lead to potential collisions. The avoidance of such is a central safety requirement. It can be realized with sundry sensor systems, all of them decelerating the robot when the distance to the human decreases alarmingly and applying the emergency stop, when the distance becomes too small. As a consequence, the efficiency of the overall systems suffers, because the robot has high idle times. Optimized path planning algorithms have to be developed to avoid that. The following study investigates human motion behavior in the proximity of an industrial robot. Three different kinds of encounters between the two entities under three robot speed levels are prompted. A motion tracking system is used to capture the motions. Results show, that humans keep an average distance of about 0,5m to the robot, when the encounter occurs. Approximation of the workbenches is influenced by the robot in ten of 15 cases. Furthermore, an increase of participants' walking velocity with higher robot velocities is observed.

  1. An embedded optical tracking system for motion-corrected magnetic resonance imaging at 7T.

    Science.gov (United States)

    Schulz, Jessica; Siegert, Thomas; Reimer, Enrico; Labadie, Christian; Maclaren, Julian; Herbst, Michael; Zaitsev, Maxim; Turner, Robert

    2012-12-01

    Prospective motion correction using data from optical tracking systems has been previously shown to reduce motion artifacts in MR imaging of the head. We evaluate a novel optical embedded tracking system. The home-built optical embedded tracking system performs image processing within a 7 T scanner bore, enabling high speed tracking. Corrected and uncorrected in vivo MR volumes are acquired interleaved using a modified 3D FLASH sequence, and their image quality is assessed and compared. The latency between motion and correction of the slice position was measured to be (19 ± 5) ms, and the tracking noise has a standard deviation no greater than 10 μm/0.005° during conventional MR scanning. Prospective motion correction improved the edge strength by 16 % on average, even though the volunteers were asked to remain motionless during the acquisitions. Using a novel method for validating the effectiveness of in vivo prospective motion correction, we have demonstrated that prospective motion correction using motion data from the embedded tracking system considerably improved image quality.

  2. SU-G-BRA-09: Estimation of Motion Tracking Uncertainty for Real-Time Adaptive Imaging

    Energy Technology Data Exchange (ETDEWEB)

    Yan, H [Capital Medical University, Beijing, Beijing (China); Chen, Z [Yale New Haven Hospital, New Haven, CT (United States); Nath, R; Liu, W [Yale University School of Medicine, New Haven, CT (United States)

    2016-06-15

    Purpose: kV fluoroscopic imaging combined with MV treatment beam imaging has been investigated for intrafractional motion monitoring and correction. It is, however, subject to additional kV imaging dose to normal tissue. To balance tracking accuracy and imaging dose, we previously proposed an adaptive imaging strategy to dynamically decide future imaging type and moments based on motion tracking uncertainty. kV imaging may be used continuously for maximal accuracy or only when the position uncertainty (probability of out of threshold) is high if a preset imaging dose limit is considered. In this work, we propose more accurate methods to estimate tracking uncertainty through analyzing acquired data in real-time. Methods: We simulated motion tracking process based on a previously developed imaging framework (MV + initial seconds of kV imaging) using real-time breathing data from 42 patients. Motion tracking errors for each time point were collected together with the time point’s corresponding features, such as tumor motion speed and 2D tracking error of previous time points, etc. We tested three methods for error uncertainty estimation based on the features: conditional probability distribution, logistic regression modeling, and support vector machine (SVM) classification to detect errors exceeding a threshold. Results: For conditional probability distribution, polynomial regressions on three features (previous tracking error, prediction quality, and cosine of the angle between the trajectory and the treatment beam) showed strong correlation with the variation (uncertainty) of the mean 3D tracking error and its standard deviation: R-square = 0.94 and 0.90, respectively. The logistic regression and SVM classification successfully identified about 95% of tracking errors exceeding 2.5mm threshold. Conclusion: The proposed methods can reliably estimate the motion tracking uncertainty in real-time, which can be used to guide adaptive additional imaging to confirm the

  3. SU-G-BRA-09: Estimation of Motion Tracking Uncertainty for Real-Time Adaptive Imaging

    International Nuclear Information System (INIS)

    Yan, H; Chen, Z; Nath, R; Liu, W

    2016-01-01

    Purpose: kV fluoroscopic imaging combined with MV treatment beam imaging has been investigated for intrafractional motion monitoring and correction. It is, however, subject to additional kV imaging dose to normal tissue. To balance tracking accuracy and imaging dose, we previously proposed an adaptive imaging strategy to dynamically decide future imaging type and moments based on motion tracking uncertainty. kV imaging may be used continuously for maximal accuracy or only when the position uncertainty (probability of out of threshold) is high if a preset imaging dose limit is considered. In this work, we propose more accurate methods to estimate tracking uncertainty through analyzing acquired data in real-time. Methods: We simulated motion tracking process based on a previously developed imaging framework (MV + initial seconds of kV imaging) using real-time breathing data from 42 patients. Motion tracking errors for each time point were collected together with the time point’s corresponding features, such as tumor motion speed and 2D tracking error of previous time points, etc. We tested three methods for error uncertainty estimation based on the features: conditional probability distribution, logistic regression modeling, and support vector machine (SVM) classification to detect errors exceeding a threshold. Results: For conditional probability distribution, polynomial regressions on three features (previous tracking error, prediction quality, and cosine of the angle between the trajectory and the treatment beam) showed strong correlation with the variation (uncertainty) of the mean 3D tracking error and its standard deviation: R-square = 0.94 and 0.90, respectively. The logistic regression and SVM classification successfully identified about 95% of tracking errors exceeding 2.5mm threshold. Conclusion: The proposed methods can reliably estimate the motion tracking uncertainty in real-time, which can be used to guide adaptive additional imaging to confirm the

  4. Autonomous tracked robots in planar off-road conditions modelling, localization, and motion control

    CERN Document Server

    González, Ramón; Guzmán, José Luis

    2014-01-01

    This monograph is framed within the context of off-road mobile robotics. In particular, it discusses issues related to modelling, localization, and motion control of tracked mobile robots working in planar slippery conditions. Tracked locomotion constitutes a well-known solution for mobile platforms operating over diverse challenging terrains, for that reason, tracked robotics constitutes an important research field with many applications (e.g. agriculture, mining, search and rescue operations, military activities). The specific topics of this monograph are: historical perspective of tracked vehicles and tracked robots; trajectory-tracking model taking into account slip effect; visual-odometry-based localization strategies; and advanced slip-compensation motion controllers ensuring efficient real-time execution. Physical experiments with a real tracked robot are presented showing the better performance of the suggested novel approaches to known techniques.   Keywords: longitudinal slip, visual odometry, slip...

  5. Evaluation of a video-based head motion tracking system for dedicated brain PET

    Science.gov (United States)

    Anishchenko, S.; Beylin, D.; Stepanov, P.; Stepanov, A.; Weinberg, I. N.; Schaeffer, S.; Zavarzin, V.; Shaposhnikov, D.; Smith, M. F.

    2015-03-01

    Unintentional head motion during Positron Emission Tomography (PET) data acquisition can degrade PET image quality and lead to artifacts. Poor patient compliance, head tremor, and coughing are examples of movement sources. Head motion due to patient non-compliance can be an issue with the rise of amyloid brain PET in dementia patients. To preserve PET image resolution and quantitative accuracy, head motion can be tracked and corrected in the image reconstruction algorithm. While fiducial markers can be used, a contactless approach is preferable. A video-based head motion tracking system for a dedicated portable brain PET scanner was developed. Four wide-angle cameras organized in two stereo pairs are used for capturing video of the patient's head during the PET data acquisition. Facial points are automatically tracked and used to determine the six degree of freedom head pose as a function of time. The presented work evaluated the newly designed tracking system using a head phantom and a moving American College of Radiology (ACR) phantom. The mean video-tracking error was 0.99±0.90 mm relative to the magnetic tracking device used as ground truth. Qualitative evaluation with the ACR phantom shows the advantage of the motion tracking application. The developed system is able to perform tracking with accuracy close to millimeter and can help to preserve resolution of brain PET images in presence of movements.

  6. An Analysis of the Precision and Reliability of the Leap Motion Sensor and Its Suitability for Static and Dynamic Tracking

    Directory of Open Access Journals (Sweden)

    Jože Guna

    2014-02-01

    Full Text Available We present the results of an evaluation of the performance of the Leap Motion Controller with the aid of a professional, high-precision, fast motion tracking system. A set of static and dynamic measurements was performed with different numbers of tracking objects and configurations. For the static measurements, a plastic arm model simulating a human arm was used. A set of 37 reference locations was selected to cover the controller’s sensory space. For the dynamic measurements, a special V-shaped tool, consisting of two tracking objects maintaining a constant distance between them, was created to simulate two human fingers. In the static scenario, the standard deviation was less than 0.5 mm. The linear correlation revealed a significant increase in the standard deviation when moving away from the controller. The results of the dynamic scenario revealed the inconsistent performance of the controller, with a significant drop in accuracy for samples taken more than 250 mm above the controller’s surface. The Leap Motion Controller undoubtedly represents a revolutionary input device for gesture-based human-computer interaction; however, due to its rather limited sensory space and inconsistent sampling frequency, in its current configuration it cannot currently be used as a professional tracking system.

  7. An analysis of the precision and reliability of the leap motion sensor and its suitability for static and dynamic tracking.

    Science.gov (United States)

    Guna, Jože; Jakus, Grega; Pogačnik, Matevž; Tomažič, Sašo; Sodnik, Jaka

    2014-02-21

    We present the results of an evaluation of the performance of the Leap Motion Controller with the aid of a professional, high-precision, fast motion tracking system. A set of static and dynamic measurements was performed with different numbers of tracking objects and configurations. For the static measurements, a plastic arm model simulating a human arm was used. A set of 37 reference locations was selected to cover the controller's sensory space. For the dynamic measurements, a special V-shaped tool, consisting of two tracking objects maintaining a constant distance between them, was created to simulate two human fingers. In the static scenario, the standard deviation was less than 0.5 mm. The linear correlation revealed a significant increase in the standard deviation when moving away from the controller. The results of the dynamic scenario revealed the inconsistent performance of the controller, with a significant drop in accuracy for samples taken more than 250 mm above the controller's surface. The Leap Motion Controller undoubtedly represents a revolutionary input device for gesture-based human-computer interaction; however, due to its rather limited sensory space and inconsistent sampling frequency, in its current configuration it cannot currently be used as a professional tracking system.

  8. Management of three-dimensional intrafraction motion through real-time DMLC tracking

    International Nuclear Information System (INIS)

    Sawant, Amit; Venkat, Raghu; Srivastava, Vikram; Carlson, David; Povzner, Sergey; Cattell, Herb; Keall, Paul

    2008-01-01

    Tumor tracking using a dynamic multileaf collimator (DMLC) represents a promising approach for intrafraction motion management in thoracic and abdominal cancer radiotherapy. In this work, we develop, empirically demonstrate, and characterize a novel 3D tracking algorithm for real-time, conformal, intensity modulated radiotherapy (IMRT) and volumetric modulated arc therapy (VMAT)-based radiation delivery to targets moving in three dimensions. The algorithm obtains real-time information of target location from an independent position monitoring system and dynamically calculates MLC leaf positions to account for changes in target position. Initial studies were performed to evaluate the geometric accuracy of DMLC tracking of 3D target motion. In addition, dosimetric studies were performed on a clinical linac to evaluate the impact of real-time DMLC tracking for conformal, step-and-shoot (S-IMRT), dynamic (D-IMRT), and VMAT deliveries to a moving target. The efficiency of conformal and IMRT delivery in the presence of tracking was determined. Results show that submillimeter geometric accuracy in all three dimensions is achievable with DMLC tracking. Significant dosimetric improvements were observed in the presence of tracking for conformal and IMRT deliveries to moving targets. A gamma index evaluation with a 3%-3 mm criterion showed that deliveries without DMLC tracking exhibit between 1.7 (S-IMRT) and 4.8 (D-IMRT) times more dose points that fail the evaluation compared to corresponding deliveries with tracking. The efficiency of IMRT delivery, as measured in the lab, was observed to be significantly lower in case of tracking target motion perpendicular to MLC leaf travel compared to motion parallel to leaf travel. Nevertheless, these early results indicate that accurate, real-time DMLC tracking of 3D tumor motion is feasible and can potentially result in significant geometric and dosimetric advantages leading to more effective management of intrafraction motion

  9. Generating Concise Rules for Human Motion Retrieval

    Science.gov (United States)

    Mukai, Tomohiko; Wakisaka, Ken-Ichi; Kuriyama, Shigeru

    This paper proposes a method for retrieving human motion data with concise retrieval rules based on the spatio-temporal features of motion appearance. Our method first converts motion clip into a form of clausal language that represents geometrical relations between body parts and their temporal relationship. A retrieval rule is then learned from the set of manually classified examples using inductive logic programming (ILP). ILP automatically discovers the essential rule in the same clausal form with a user-defined hypothesis-testing procedure. All motions are indexed using this clausal language, and the desired clips are retrieved by subsequence matching using the rule. Such rule-based retrieval offers reasonable performance and the rule can be intuitively edited in the same language form. Consequently, our method enables efficient and flexible search from a large dataset with simple query language.

  10. Tracking using motion estimation with physically motivated inter-region constraints

    KAUST Repository

    Arif, Omar; Sundaramoorthi, Ganesh; Hong, Byungwoo; Yezzi, Anthony J.

    2014-01-01

    We propose a method for tracking structures (e.g., ventricles and myocardium) in cardiac images (e.g., magnetic resonance) by propagating forward in time a previous estimate of the structures using a new physically motivated motion estimation scheme

  11. Tissue-Point Motion Tracking in the Tongue from Cine MRI and Tagged MRI

    Science.gov (United States)

    Woo, Jonghye; Stone, Maureen; Suo, Yuanming; Murano, Emi Z.; Prince, Jerry L.

    2014-01-01

    Purpose: Accurate tissue motion tracking within the tongue can help professionals diagnose and treat vocal tract--related disorders, evaluate speech quality before and after surgery, and conduct various scientific studies. The authors compared tissue tracking results from 4 widely used deformable registration (DR) methods applied to cine magnetic…

  12. Ego-Motion and Tracking for Continuous Object Learning: A Brief Survey

    Science.gov (United States)

    2017-09-01

    past research related to the tasks of ego-motion estimation and object tracking from the viewpoint of their role in continuous object learning...in visual object tracking, competitions are held each year to identify the most accurate and robust tracking implementations. Over recent competitions...information should they share) or vice versa? These are just some of the questions that must be addressed in future research toward continuous object

  13. Feasibility of Stereo-Infrared Tracking to Monitor Patient Motion During Cardiac SPECT Imaging

    OpenAIRE

    Beach, Richard D.; Pretorius, P. Hendrik; Boening, Guido; Bruyant, Philippe P.; Feng, Bing; Fulton, Roger R.; Gennert, Michael A.; Nadella, Suman; King, Michael A.

    2004-01-01

    Patient motion during cardiac SPECT imaging can cause diagnostic imaging artifacts. We investigated the feasibility of monitoring patient motion using the Polaris motion-tracking system. This system uses passive infrared reflection from small spheres to provide real-time position data with vendor stated 0.35 mm accuracy and 0.2 mm repeatability. In our configuration, the Polaris system views through the SPECT gantry toward the patient's head. List-mode event data was temporally synchronized w...

  14. MO-FG-BRD-00: Real-Time Imaging and Tracking Techniques for Intrafractional Motion Management

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2015-06-15

    Intrafraction target motion is a prominent complicating factor in the accurate targeting of radiation within the body. Methods compensating for target motion during treatment, such as gating and dynamic tumor tracking, depend on the delineation of target location as a function of time during delivery. A variety of techniques for target localization have been explored and are under active development; these include beam-level imaging of radio-opaque fiducials, fiducial-less tracking of anatomical landmarks, tracking of electromagnetic transponders, optical imaging of correlated surrogates, and volumetric imaging within treatment delivery. The Joint Imaging and Therapy Symposium will provide an overview of the techniques for real-time imaging and tracking, with special focus on emerging modes of implementation across different modalities. In particular, the symposium will explore developments in 1) Beam-level kilovoltage X-ray imaging techniques, 2) EPID-based megavoltage X-ray tracking, 3) Dynamic tracking using electromagnetic transponders, and 4) MRI-based soft-tissue tracking during radiation delivery. Learning Objectives: Understand the fundamentals of real-time imaging and tracking techniques Learn about emerging techniques in the field of real-time tracking Distinguish between the advantages and disadvantages of different tracking modalities Understand the role of real-time tracking techniques within the clinical delivery work-flow.

  15. MO-FG-BRD-00: Real-Time Imaging and Tracking Techniques for Intrafractional Motion Management

    International Nuclear Information System (INIS)

    2015-01-01

    Intrafraction target motion is a prominent complicating factor in the accurate targeting of radiation within the body. Methods compensating for target motion during treatment, such as gating and dynamic tumor tracking, depend on the delineation of target location as a function of time during delivery. A variety of techniques for target localization have been explored and are under active development; these include beam-level imaging of radio-opaque fiducials, fiducial-less tracking of anatomical landmarks, tracking of electromagnetic transponders, optical imaging of correlated surrogates, and volumetric imaging within treatment delivery. The Joint Imaging and Therapy Symposium will provide an overview of the techniques for real-time imaging and tracking, with special focus on emerging modes of implementation across different modalities. In particular, the symposium will explore developments in 1) Beam-level kilovoltage X-ray imaging techniques, 2) EPID-based megavoltage X-ray tracking, 3) Dynamic tracking using electromagnetic transponders, and 4) MRI-based soft-tissue tracking during radiation delivery. Learning Objectives: Understand the fundamentals of real-time imaging and tracking techniques Learn about emerging techniques in the field of real-time tracking Distinguish between the advantages and disadvantages of different tracking modalities Understand the role of real-time tracking techniques within the clinical delivery work-flow

  16. Speckle tracking in a phantom and feature-based tracking in liver in the presence of respiratory motion using 4D ultrasound

    International Nuclear Information System (INIS)

    Harris, Emma J; Miller, Naomi R; Bamber, Jeffrey C; Symonds-Tayler, J Richard N; Evans, Philip M

    2010-01-01

    We have evaluated a 4D ultrasound-based motion tracking system developed for tracking of abdominal organs during therapy. Tracking accuracy and precision were determined using a tissue-mimicking phantom, by comparing tracked motion with known 3D sinusoidal motion. The feasibility of tracking 3D liver motion in vivo was evaluated by acquiring 4D ultrasound data from four healthy volunteers. For two of these volunteers, data were also acquired whilst simultaneously measuring breath flow using a spirometer. Hepatic blood vessels, tracked off-line using manual tracking, were used as a reference to assess, in vivo, two types of automated tracking algorithm: incremental (from one volume to the next) and non-incremental (from the first volume to each subsequent volume). For phantom-based experiments, accuracy and precision (RMS error and SD) were found to be 0.78 mm and 0.54 mm, respectively. For in vivo measurements, mean absolute distance and standard deviation of the difference between automatically and manually tracked displacements were less than 1.7 mm and 1 mm respectively in all directions (left-right, anterior-posterior and superior-inferior). In vivo non-incremental tracking gave the best agreement. In both phantom and in vivo experiments, tracking performance was poorest for the elevational component of 3D motion. Good agreement between automatically and manually tracked displacements indicates that 4D ultrasound-based motion tracking has potential for image guidance applications in therapy.

  17. PROMO – Real-time Prospective Motion Correction in MRI using Image-based Tracking

    Science.gov (United States)

    White, Nathan; Roddey, Cooper; Shankaranarayanan, Ajit; Han, Eric; Rettmann, Dan; Santos, Juan; Kuperman, Josh; Dale, Anders

    2010-01-01

    Artifacts caused by patient motion during scanning remain a serious problem in most MRI applications. The prospective motion correction technique attempts to address this problem at its source by keeping the measurement coordinate system fixed with respect to the patient throughout the entire scan process. In this study, a new image-based approach for prospective motion correction is described, which utilizes three orthogonal 2D spiral navigator acquisitions (SP-Navs) along with a flexible image-based tracking method based on the Extended Kalman Filter (EKF) algorithm for online motion measurement. The SP-Nav/EKF framework offers the advantages of image-domain tracking within patient-specific regions-of-interest and reduced sensitivity to off-resonance-induced corruption of rigid-body motion estimates. The performance of the method was tested using offline computer simulations and online in vivo head motion experiments. In vivo validation results covering a broad range of staged head motions indicate a steady-state error of the SP-Nav/EKF motion estimates of less than 10 % of the motion magnitude, even for large compound motions that included rotations over 15 degrees. A preliminary in vivo application in 3D inversion recovery spoiled gradient echo (IR-SPGR) and 3D fast spin echo (FSE) sequences demonstrates the effectiveness of the SP-Nav/EKF framework for correcting 3D rigid-body head motion artifacts prospectively in high-resolution 3D MRI scans. PMID:20027635

  18. Robust Myocardial Motion Tracking for Echocardiography: Variational Framework Integrating Local-to-Global Deformation

    Directory of Open Access Journals (Sweden)

    Chi Young Ahn

    2013-01-01

    Full Text Available This paper proposes a robust real-time myocardial border tracking algorithm for echocardiography. Commonly, after an initial contour of LV border is traced at one or two frames from the entire cardiac cycle, LV contour tracking is performed over the remaining frames. Among a variety of tracking techniques, optical flow method is the most widely used for motion estimation of moving objects. However, when echocardiography data is heavily corrupted in some local regions, the errors bring the tracking point out of the endocardial border, resulting in distorted LV contours. This shape distortion often occurs in practice since the data acquisition is affected by ultrasound artifacts, dropouts, or shadowing phenomena of cardiac walls. The proposed method is designed to deal with this shape distortion problem by integrating local optical flow motion and global deformation into a variational framework. The proposed descent method controls the individual tracking points to follow the local motions of a specific speckle pattern, while their overall motions are confined to the global motion constraint being approximately an affine transform of the initial tracking points. Many real experiments show that the proposed method achieves better overall performance than conventional methods.

  19. Experimental verification of a two-dimensional respiratory motion compensation system with ultrasound tracking technique in radiation therapy.

    Science.gov (United States)

    Ting, Lai-Lei; Chuang, Ho-Chiao; Liao, Ai-Ho; Kuo, Chia-Chun; Yu, Hsiao-Wei; Zhou, Yi-Liang; Tien, Der-Chi; Jeng, Shiu-Chen; Chiou, Jeng-Fong

    2018-05-01

    This study proposed respiratory motion compensation system (RMCS) combined with an ultrasound image tracking algorithm (UITA) to compensate for respiration-induced tumor motion during radiotherapy, and to address the problem of inaccurate radiation dose delivery caused by respiratory movement. This study used an ultrasound imaging system to monitor respiratory movements combined with the proposed UITA and RMCS for tracking and compensation of the respiratory motion. Respiratory motion compensation was performed using prerecorded human respiratory motion signals and also sinusoidal signals. A linear accelerator was used to deliver radiation doses to GAFchromic EBT3 dosimetry film, and the conformity index (CI), root-mean-square error, compensation rate (CR), and planning target volume (PTV) were used to evaluate the tracking and compensation performance of the proposed system. Human respiratory pattern signals were captured using the UITA and compensated by the RMCS, which yielded CR values of 34-78%. In addition, the maximum coronal area of the PTV ranged from 85.53 mm 2 to 351.11 mm 2 (uncompensated), which reduced to from 17.72 mm 2 to 66.17 mm 2 after compensation, with an area reduction ratio of up to 90%. In real-time monitoring of the respiration compensation state, the CI values for 85% and 90% isodose areas increased to 0.7 and 0.68, respectively. The proposed UITA and RMCS can reduce the movement of the tracked target relative to the LINAC in radiation therapy, thereby reducing the required size of the PTV margin and increasing the effect of the radiation dose received by the treatment target. Copyright © 2018 Associazione Italiana di Fisica Medica. Published by Elsevier Ltd. All rights reserved.

  20. Human sensitivity to vertical self-motion.

    Science.gov (United States)

    Nesti, Alessandro; Barnett-Cowan, Michael; Macneilage, Paul R; Bülthoff, Heinrich H

    2014-01-01

    Perceiving vertical self-motion is crucial for maintaining balance as well as for controlling an aircraft. Whereas heave absolute thresholds have been exhaustively studied, little work has been done in investigating how vertical sensitivity depends on motion intensity (i.e., differential thresholds). Here we measure human sensitivity for 1-Hz sinusoidal accelerations for 10 participants in darkness. Absolute and differential thresholds are measured for upward and downward translations independently at 5 different peak amplitudes ranging from 0 to 2 m/s(2). Overall vertical differential thresholds are higher than horizontal differential thresholds found in the literature. Psychometric functions are fit in linear and logarithmic space, with goodness of fit being similar in both cases. Differential thresholds are higher for upward as compared to downward motion and increase with stimulus intensity following a trend best described by two power laws. The power laws' exponents of 0.60 and 0.42 for upward and downward motion, respectively, deviate from Weber's Law in that thresholds increase less than expected at high stimulus intensity. We speculate that increased sensitivity at high accelerations and greater sensitivity to downward than upward self-motion may reflect adaptations to avoid falling.

  1. MetaTracker: integration and abstraction of 3D motion tracking data from multiple hardware systems

    Science.gov (United States)

    Kopecky, Ken; Winer, Eliot

    2014-06-01

    Motion tracking has long been one of the primary challenges in mixed reality (MR), augmented reality (AR), and virtual reality (VR). Military and defense training can provide particularly difficult challenges for motion tracking, such as in the case of Military Operations in Urban Terrain (MOUT) and other dismounted, close quarters simulations. These simulations can take place across multiple rooms, with many fast-moving objects that need to be tracked with a high degree of accuracy and low latency. Many tracking technologies exist, such as optical, inertial, ultrasonic, and magnetic. Some tracking systems even combine these technologies to complement each other. However, there are no systems that provide a high-resolution, flexible, wide-area solution that is resistant to occlusion. While frameworks exist that simplify the use of tracking systems and other input devices, none allow data from multiple tracking systems to be combined, as if from a single system. In this paper, we introduce a method for compensating for the weaknesses of individual tracking systems by combining data from multiple sources and presenting it as a single tracking system. Individual tracked objects are identified by name, and their data is provided to simulation applications through a server program. This allows tracked objects to transition seamlessly from the area of one tracking system to another. Furthermore, it abstracts away the individual drivers, APIs, and data formats for each system, providing a simplified API that can be used to receive data from any of the available tracking systems. Finally, when single-piece tracking systems are used, those systems can themselves be tracked, allowing for real-time adjustment of the trackable area. This allows simulation operators to leverage limited resources in more effective ways, improving the quality of training.

  2. Real-time optical tracking for motion compensated irradiation with scanned particle beams at CNAO

    Energy Technology Data Exchange (ETDEWEB)

    Fattori, G., E-mail: giovanni.fattori@psi.ch [Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133 Milano (Italy); Seregni, M. [Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133 Milano (Italy); Pella, A. [Centro Nazionale di Adroterapia Oncologica (CNAO), Strada Campeggi 53, 27100 Pavia (Italy); Riboldi, M. [Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133 Milano (Italy); Capasso, L. [Istituto Nazionale di Fisica Nucleare, Section of Torino, Torino 10125 (Italy); Donetti, M. [Centro Nazionale di Adroterapia Oncologica (CNAO), Strada Campeggi 53, 27100 Pavia (Italy); Istituto Nazionale di Fisica Nucleare, Section of Torino, Torino 10125 (Italy); Ciocca, M. [Centro Nazionale di Adroterapia Oncologica (CNAO), Strada Campeggi 53, 27100 Pavia (Italy); Giordanengo, S. [Istituto Nazionale di Fisica Nucleare, Section of Torino, Torino 10125 (Italy); Pullia, M. [Centro Nazionale di Adroterapia Oncologica (CNAO), Strada Campeggi 53, 27100 Pavia (Italy); Marchetto, F. [Istituto Nazionale di Fisica Nucleare, Section of Torino, Torino 10125 (Italy); Baroni, G. [Politecnico di Milano, Piazza Leonardo da Vinci 32, 20133 Milano (Italy); Centro Nazionale di Adroterapia Oncologica (CNAO), Strada Campeggi 53, 27100 Pavia (Italy)

    2016-08-11

    Purpose: We describe the interface developed at the National Center for Oncological Hadrontherapy in Pavia to provide the dose delivery systems with real time respiratory motion information captured with an optical tracking system. An experimental study is presented to assess the technical feasibility of the implemented organ motion compensation framework, by analyzing the film response when irradiated with proton beams. Methods: The motion monitoring solution is based on a commercial hardware for motion capture running in-house developed software for respiratory signal processing. As part of the integration, the latency of data transmission to the dose delivery system was experimentally quantified and accounted for by signal time prediction. A respiratory breathing phantom is presented and used to test tumor tracking based either on the optical measurement of the target position or internal-external correlation models and beam gating, as driven by external surrogates. Beam tracking was tested considering the full target motion excursion (25×18 mm), whereas it is limited to 6×2 mm in the gating window. The different motion mitigation strategies were evaluated by comparing the experimental film responses with respect to static irradiation conditions. Dose inhomogeneity (IC) and conformity (CI) are provided as main indexes for dose quality assessment considering the irradiation in static condition as reference. Results: We measured 20.6 ms overall latency for motion signal processing. Dose measurements showed that beam tracking largely preserved dose homogeneity and conformity, showing maximal IC and CI variations limited to +0.10 and −0.01 with respect to the static reference. Gating resulted in slightly larger discrepancies (ΔIC=+0.20, ΔCI=−0.13) due to uncompensated residual motion in the gating window. Conclusions: The preliminary beam tracking and gating results verified the functionality of the prototypal solution for organ motion compensation based on

  3. Real-time optical tracking for motion compensated irradiation with scanned particle beams at CNAO

    International Nuclear Information System (INIS)

    Fattori, G.; Seregni, M.; Pella, A.; Riboldi, M.; Capasso, L.; Donetti, M.; Ciocca, M.; Giordanengo, S.; Pullia, M.; Marchetto, F.; Baroni, G.

    2016-01-01

    Purpose: We describe the interface developed at the National Center for Oncological Hadrontherapy in Pavia to provide the dose delivery systems with real time respiratory motion information captured with an optical tracking system. An experimental study is presented to assess the technical feasibility of the implemented organ motion compensation framework, by analyzing the film response when irradiated with proton beams. Methods: The motion monitoring solution is based on a commercial hardware for motion capture running in-house developed software for respiratory signal processing. As part of the integration, the latency of data transmission to the dose delivery system was experimentally quantified and accounted for by signal time prediction. A respiratory breathing phantom is presented and used to test tumor tracking based either on the optical measurement of the target position or internal-external correlation models and beam gating, as driven by external surrogates. Beam tracking was tested considering the full target motion excursion (25×18 mm), whereas it is limited to 6×2 mm in the gating window. The different motion mitigation strategies were evaluated by comparing the experimental film responses with respect to static irradiation conditions. Dose inhomogeneity (IC) and conformity (CI) are provided as main indexes for dose quality assessment considering the irradiation in static condition as reference. Results: We measured 20.6 ms overall latency for motion signal processing. Dose measurements showed that beam tracking largely preserved dose homogeneity and conformity, showing maximal IC and CI variations limited to +0.10 and −0.01 with respect to the static reference. Gating resulted in slightly larger discrepancies (ΔIC=+0.20, ΔCI=−0.13) due to uncompensated residual motion in the gating window. Conclusions: The preliminary beam tracking and gating results verified the functionality of the prototypal solution for organ motion compensation based on

  4. External motion tracking for brain imaging: structured light tracking with invisible light

    DEFF Research Database (Denmark)

    Olesen, Oline Vinter; Paulsen, Rasmus Reinhold; Højgaard, Liselotte

    2010-01-01

    The importance of motion correction in 3D medical imaging increases with increasing scanner resolution. It is necessary for scanners with long image acquisition and low contrast images to correct for patient motion in order to optimize image quality. We present a near infrared structured light...... stereo depth map system for head motion estimation inside 3D medical scanners with limited space....

  5. An ice-motion tracking system at the Alaska SAR facility

    Science.gov (United States)

    Kwok, Ronald; Curlander, John C.; Pang, Shirley S.; Mcconnell, Ross

    1990-01-01

    An operational system for extracting ice-motion information from synthetic aperture radar (SAR) imagery is being developed as part of the Alaska SAR Facility. This geophysical processing system (GPS) will derive ice-motion information by automated analysis of image sequences acquired by radars on the European ERS-1, Japanese ERS-1, and Canadian RADARSAT remote sensing satellites. The algorithm consists of a novel combination of feature-based and area-based techniques for the tracking of ice floes that undergo translation and rotation between imaging passes. The system performs automatic selection of the image pairs for input to the matching routines using an ice-motion estimator. It is designed to have a daily throughput of ten image pairs. A description is given of the GPS system, including an overview of the ice-motion-tracking algorithm, the system architecture, and the ice-motion products that will be available for distribution to geophysical data users.

  6. Lagrangian 3D tracking of fluorescent microscopic objects in motion

    Science.gov (United States)

    Darnige, T.; Figueroa-Morales, N.; Bohec, P.; Lindner, A.; Clément, E.

    2017-05-01

    We describe the development of a tracking device, mounted on an epi-fluorescent inverted microscope, suited to obtain time resolved 3D Lagrangian tracks of fluorescent passive or active micro-objects in microfluidic devices. The system is based on real-time image processing, determining the displacement of a x, y mechanical stage to keep the chosen object at a fixed position in the observation frame. The z displacement is based on the refocusing of the fluorescent object determining the displacement of a piezo mover keeping the moving object in focus. Track coordinates of the object with respect to the microfluidic device as well as images of the object are obtained at a frequency of several tenths of Hertz. This device is particularly well adapted to obtain trajectories of motile micro-organisms in microfluidic devices with or without flow.

  7. Tracking without perceiving: a dissociation between eye movements and motion perception.

    Science.gov (United States)

    Spering, Miriam; Pomplun, Marc; Carrasco, Marisa

    2011-02-01

    Can people react to objects in their visual field that they do not consciously perceive? We investigated how visual perception and motor action respond to moving objects whose visibility is reduced, and we found a dissociation between motion processing for perception and for action. We compared motion perception and eye movements evoked by two orthogonally drifting gratings, each presented separately to a different eye. The strength of each monocular grating was manipulated by inducing adaptation to one grating prior to the presentation of both gratings. Reflexive eye movements tracked the vector average of both gratings (pattern motion) even though perceptual responses followed one motion direction exclusively (component motion). Observers almost never perceived pattern motion. This dissociation implies the existence of visual-motion signals that guide eye movements in the absence of a corresponding conscious percept.

  8. Lagrangian 3D tracking of fluorescent microscopic objects in motion

    OpenAIRE

    Darnige, T.; Figueroa-Morales, N.; Bohec, P.; Lindner, A.; Clément, E.

    2016-01-01

    We describe the development of a tracking device, mounted on an epi-fluorescent inverted microscope, suited to obtain time resolved 3D Lagrangian tracks of fluorescent passive or active micro-objects in micro-fluidic devices. The system is based on real-time image processing, determining the displacement of a x,y mechanical stage to keep the chosen object at a fixed position in the observation frame. The z displacement is based on the refocusing of the fluorescent object determining the displ...

  9. The effect of visual-motion time delays on pilot performance in a pursuit tracking task

    Science.gov (United States)

    Miller, G. K., Jr.; Riley, D. R.

    1976-01-01

    A study has been made to determine the effect of visual-motion time delays on pilot performance of a simulated pursuit tracking task. Three interrelated major effects have been identified: task difficulty, motion cues, and time delays. As task difficulty, as determined by airplane handling qualities or target frequency, increases, the amount of acceptable time delay decreases. However, when relatively complete motion cues are included in the simulation, the pilot can maintain his performance for considerably longer time delays. In addition, the number of degrees of freedom of motion employed is a significant factor.

  10. Unsupervised markerless 3-DOF motion tracking in real time using a single low-budget camera.

    Science.gov (United States)

    Quesada, Luis; León, Alejandro J

    2012-10-01

    Motion tracking is a critical task in many computer vision applications. Existing motion tracking techniques require either a great amount of knowledge on the target object or specific hardware. These requirements discourage the wide spread of commercial applications based on motion tracking. In this paper, we present a novel three degrees of freedom motion tracking system that needs no knowledge on the target object and that only requires a single low-budget camera that can be found installed in most computers and smartphones. Our system estimates, in real time, the three-dimensional position of a nonmodeled unmarked object that may be nonrigid, nonconvex, partially occluded, self-occluded, or motion blurred, given that it is opaque, evenly colored, enough contrasting with the background in each frame, and that it does not rotate. Our system is also able to determine the most relevant object to track in the screen. Our proposal does not impose additional constraints, therefore it allows a market-wide implementation of applications that require the estimation of the three position degrees of freedom of an object.

  11. A simple microviscometric approach based on Brownian motion tracking

    Czech Academy of Sciences Publication Activity Database

    Hnyluchová, Z.; Bjalončikova, P.; Karas, P.; Mravec, F.; Halasová, T.; Pekar, M.; Kubala, Lukáš; Víteček, Jan

    2015-01-01

    Roč. 86, č. 2 (2015) ISSN 0034-6748 R&D Projects: GA ČR(CZ) GCP305/12/J038 Grant - others:GA MŠk(CZ) ED1.100/02/0123 Institutional support: RVO:68081707 Keywords : MULTIPLE-PARTICLE TRACKING * MICRORHEOLOGY * IMAGE Subject RIV: BO - Biophysics Impact factor: 1.336, year: 2015

  12. Diffracted X-ray tracking for monitoring intramolecular motion in individual protein molecules using broad band X-ray

    Energy Technology Data Exchange (ETDEWEB)

    Ichiyanagi, Kouhei; Sasaki, Yuji C. [Department of Advanced Materials Science, Graduate School of Frontier Sciences, The University of Tokyo, 609 Kiban Building 5-1-5 Kashiwanoha, Kahiwashi, Chiba 277-8561 (Japan); Japan Science and Technology Agency, CREST, CREST, Sasaki-Team, 609 Kiban Building, 5-1-5 Kashiwanoha, Kashiwa, Chiba 277-8561 (Japan); Sekiguchi, Hiroshi; Hoshino, Masato; Kajiwara, Kentaro; Senba, Yasunori; Ohashi, Haruhiko; Ohta, Noboru [Japan Synchrotron Radiation Research Institute, SPring-8, 1-1-1 Kouto, Sayo, Hyogo 679-5198 (Japan); Hoshisashi, Kentaro; Jae-won, Chang; Tokue, Maki; Matsushita, Yufuku [Department of Advanced Materials Science, Graduate School of Frontier Sciences, The University of Tokyo, 609 Kiban Building 5-1-5 Kashiwanoha, Kahiwashi, Chiba 277-8561 (Japan); Nishijima, Masaki; Inoue, Yoshihisa [Department of Applied Chemistry and Office for University-Industry Collaboration, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871 (Japan); Yagi, Naoto [Japan Science and Technology Agency, CREST, CREST, Sasaki-Team, 609 Kiban Building, 5-1-5 Kashiwanoha, Kashiwa, Chiba 277-8561 (Japan); Japan Synchrotron Radiation Research Institute, SPring-8, 1-1-1 Kouto, Sayo, Hyogo 679-5198 (Japan)

    2013-10-15

    Diffracted X-ray tracking (DXT) enables the tilting and twisting motions of single protein molecules to be monitored with micro- to milliradian resolution using a highly brilliant X-ray source with a wide energy bandwidth. We have developed a technique to monitor single molecules using gold nanocrystals attached to individual protein molecules using the BL28B2 beamline at SPring-8. In this paper we present the installation of a single toroidal X-ray mirror at BL28B2 to focus X-rays in an energy range of 10–20 keV (△E/E = 82% for an X-ray with a wide energy bandwidth). With this beamline we tracked diffraction spots from gold nanocrystals over a wide angle range than that using quasi-monochromatic X-rays. Application of the wide angle DXT technique to biological systems enabled us to observe the on-site motions of single protein molecules that have been functionalized in vivo. We further extend the capability of DXT by observing the fractional tilting and twisting motions of inner proteins under various conditions. As a proof of this methodology and to determine instrumental performance the intramolecular motions of a human serum albumin complex with 2-anthracenecarboxylic acid was investigated using the BL28B2 beamline. The random tilting and twisting intramolecular motions are shown to be directly linked to the movement of individual protein molecules in the buffer solution.

  13. Laser Spot Tracking Based on Modified Circular Hough Transform and Motion Pattern Analysis

    Science.gov (United States)

    Krstinić, Damir; Skelin, Ana Kuzmanić; Milatić, Ivan

    2014-01-01

    Laser pointers are one of the most widely used interactive and pointing devices in different human-computer interaction systems. Existing approaches to vision-based laser spot tracking are designed for controlled indoor environments with the main assumption that the laser spot is very bright, if not the brightest, spot in images. In this work, we are interested in developing a method for an outdoor, open-space environment, which could be implemented on embedded devices with limited computational resources. Under these circumstances, none of the assumptions of existing methods for laser spot tracking can be applied, yet a novel and fast method with robust performance is required. Throughout the paper, we will propose and evaluate an efficient method based on modified circular Hough transform and Lucas–Kanade motion analysis. Encouraging results on a representative dataset demonstrate the potential of our method in an uncontrolled outdoor environment, while achieving maximal accuracy indoors. Our dataset and ground truth data are made publicly available for further development. PMID:25350502

  14. Laser spot tracking based on modified circular Hough transform and motion pattern analysis.

    Science.gov (United States)

    Krstinić, Damir; Skelin, Ana Kuzmanić; Milatić, Ivan

    2014-10-27

    Laser pointers are one of the most widely used interactive and pointing devices in different human-computer interaction systems. Existing approaches to vision-based laser spot tracking are designed for controlled indoor environments with the main assumption that the laser spot is very bright, if not the brightest, spot in images. In this work, we are interested in developing a method for an outdoor, open-space environment, which could be implemented on embedded devices with limited computational resources. Under these circumstances, none of the assumptions of existing methods for laser spot tracking can be applied, yet a novel and fast method with robust performance is required. Throughout the paper, we will propose and evaluate an efficient method based on modified circular Hough transform and Lucas-Kanade motion analysis. Encouraging results on a representative dataset demonstrate the potential of our method in an uncontrolled outdoor environment, while achieving maximal accuracy indoors. Our dataset and ground truth data are made publicly available for further development.

  15. DMLC motion tracking of moving targets for intensity modulated arc therapy treatment

    DEFF Research Database (Denmark)

    Zimmerman, Jens; Korreman, Stine; Persson, Gitte

    2009-01-01

    (DMLC). The aim of this work was to evaluate the dose delivered to moving targets using the RapidArc (Varian Medical Systems, Inc.) technology with and without a DMLC tracking algorithm. MATERIAL AND METHODS: A Varian Clinac iX was equipped with a preclinical RapidArc and a 3D DMLC tracking application......) and state (1). CONCLUSIONS: DMLC tracking together with RapidArc make a feasible combination and is capable of improving the dose distribution delivered to a moving target. It seems to be of importance to minimize noise influencing the tracking, to gain the full benefit from the application........ A motion platform was placed on the couch, with the detectors on top: a PTW seven29 and a Scandidos Delta4. One lung plan and one prostate plan were delivered. Motion was monitored using a Real-time Position Management (RPM) system. Reference measurements were performed for both plans with both detectors...

  16. Nonlinear Synchronization for Automatic Learning of 3D Pose Variability in Human Motion Sequences

    Directory of Open Access Journals (Sweden)

    Mozerov M

    2010-01-01

    Full Text Available A dense matching algorithm that solves the problem of synchronizing prerecorded human motion sequences, which show different speeds and accelerations, is proposed. The approach is based on minimization of MRF energy and solves the problem by using Dynamic Programming. Additionally, an optimal sequence is automatically selected from the input dataset to be a time-scale pattern for all other sequences. The paper utilizes an action specific model which automatically learns the variability of 3D human postures observed in a set of training sequences. The model is trained using the public CMU motion capture dataset for the walking action, and a mean walking performance is automatically learnt. Additionally, statistics about the observed variability of the postures and motion direction are also computed at each time step. The synchronized motion sequences are used to learn a model of human motion for action recognition and full-body tracking purposes.

  17. Hard Ware Implementation of Diamond Search Algorithm for Motion Estimation and Object Tracking

    International Nuclear Information System (INIS)

    Hashimaa, S.M.; Mahmoud, I.I.; Elazm, A.A.

    2009-01-01

    Object tracking is very important task in computer vision. Fast search algorithms emerged as important search technique to achieve real time tracking results. To enhance the performance of these algorithms, we advocate the hardware implementation of such algorithms. Diamond search block matching motion estimation has been proposed recently to reduce the complexity of motion estimation. In this paper we selected the diamond search algorithm (DS) for implementation using FPGA. This is due to its fundamental role in all fast search patterns. The proposed architecture is simulated and synthesized using Xilinix and modelsim soft wares. The results agree with the algorithm implementation in Matlab environment.

  18. Structured Light-Based Motion Tracking in the Limited View of an MR Head Coil

    DEFF Research Database (Denmark)

    Erikshøj, M.; Olesen, Oline Vinter; Conradsen, Knut

    2013-01-01

    A markerless motion tracking (MT) system developed for use in PET brain imaging has been tested in the limited field of view (FOV) of the MR head coil from the Siemens Biograph mMR. The system is a 3D surface scanner that uses structured light (SL) to create point cloud reconstructions of the fac......A markerless motion tracking (MT) system developed for use in PET brain imaging has been tested in the limited field of view (FOV) of the MR head coil from the Siemens Biograph mMR. The system is a 3D surface scanner that uses structured light (SL) to create point cloud reconstructions...

  19. Electromagnetic tracking of motion in the proximity of computer generated graphical stimuli: a tutorial.

    Science.gov (United States)

    Schnabel, Ulf H; Hegenloh, Michael; Müller, Hermann J; Zehetleitner, Michael

    2013-09-01

    Electromagnetic motion-tracking systems have the advantage of capturing the tempo-spatial kinematics of movements independently of the visibility of the sensors. However, they are limited in that they cannot be used in the proximity of electromagnetic field sources, such as computer monitors. This prevents exploiting the tracking potential of the sensor system together with that of computer-generated visual stimulation. Here we present a solution for presenting computer-generated visual stimulation that does not distort the electromagnetic field required for precise motion tracking, by means of a back projection medium. In one experiment, we verify that cathode ray tube monitors, as well as thin-film-transistor monitors, distort electro-magnetic sensor signals even at a distance of 18 cm. Our back projection medium, by contrast, leads to no distortion of the motion-tracking signals even when the sensor is touching the medium. This novel solution permits combining the advantages of electromagnetic motion tracking with computer-generated visual stimulation.

  20. Operational tracking of lava lake surface motion at Kīlauea Volcano, Hawai‘i

    Science.gov (United States)

    Patrick, Matthew R.; Orr, Tim R.

    2018-03-08

    Surface motion is an important component of lava lake behavior, but previous studies of lake motion have been focused on short time intervals. In this study, we implement the first continuous, real-time operational routine for tracking lava lake surface motion, applying the technique to the persistent lava lake in Halema‘uma‘u Crater at the summit of Kīlauea Volcano, Hawai‘i. We measure lake motion by using images from a fixed thermal camera positioned on the crater rim, transmitting images to the Hawaiian Volcano Observatory (HVO) in real time. We use an existing optical flow toolbox in Matlab to calculate motion vectors, and we track the position of lava upwelling in the lake, as well as the intensity of spattering on the lake surface. Over the past 2 years, real-time tracking of lava lake surface motion at Halema‘uma‘u has been an important part of monitoring the lake’s activity, serving as another valuable tool in the volcano monitoring suite at HVO.

  1. Dielectric polymer: scavenging energy from human motion

    Science.gov (United States)

    Jean-Mistral, Claire; Basrour, Skandar; Chaillout, Jean-Jacques

    2008-03-01

    More and more sensors are embedded in human body for medical applications, for sport. The short lifetime of the batteries, available on the market, reveals a real problem of autonomy of these systems. A promising alternative is to scavenge the ambient energy such as the mechanical one. Up to now, few scavenging structures have operating frequencies compatible with ambient one. And, most of the developed structures are rigid and use vibration as mechanical source. For these reasons, we developed a scavenger that operates in a large frequency spectrum from quasi-static to dynamic range. This generator is fully flexible, light and does not hamper the human motion. Thus, we report in this paper an analytical model for dielectric generator with news electrical and mechanical characterization, and the development of an innovating application: scavenging energy from human motion. The generator is located on the knee and design to scavenge 0.1mJ per scavenging cycle at a frequency of 1Hz, enough to supply a low consumption system and with a poling voltage as low as possible to facilitate the power management. Our first prototype is a membrane with an area of 5*3cm and 31µm in thickness which scavenge 0.1mJ under 170V at constant charge Q.

  2. Multimodal Pilot Behavior in Multi-Axis Tracking Tasks with Time-Varying Motion Cueing Gains

    Science.gov (United States)

    Zaal, P. M. T; Pool, D. M.

    2014-01-01

    In a large number of motion-base simulators, adaptive motion filters are utilized to maximize the use of the available motion envelope of the motion system. However, not much is known about how the time-varying characteristics of such adaptive filters affect pilots when performing manual aircraft control. This paper presents the results of a study investigating the effects of time-varying motion filter gains on pilot control behavior and performance. An experiment was performed in a motion-base simulator where participants performed a simultaneous roll and pitch tracking task, while the roll and/or pitch motion filter gains changed over time. Results indicate that performance increases over time with increasing motion gains. This increase is a result of a time-varying adaptation of pilots' equalization dynamics, characterized by increased visual and motion response gains and decreased visual lead time constants. Opposite trends are found for decreasing motion filter gains. Even though the trends in both controlled axes are found to be largely the same, effects are less significant in roll. In addition, results indicate minor cross-coupling effects between pitch and roll, where a cueing variation in one axis affects the behavior adopted in the other axis.

  3. Capturing Revolute Motion and Revolute Joint Parameters with Optical Tracking

    Science.gov (United States)

    Antonya, C.

    2017-12-01

    Optical tracking of users and various technical systems are becoming more and more popular. It consists of analysing sequence of recorded images using video capturing devices and image processing algorithms. The returned data contains mainly point-clouds, coordinates of markers or coordinates of point of interest. These data can be used for retrieving information related to the geometry of the objects, but also to extract parameters for the analytical model of the system useful in a variety of computer aided engineering simulations. The parameter identification of joints deals with extraction of physical parameters (mainly geometric parameters) for the purpose of constructing accurate kinematic and dynamic models. The input data are the time-series of the marker’s position. The least square method was used for fitting the data into different geometrical shapes (ellipse, circle, plane) and for obtaining the position and orientation of revolute joins.

  4. Motion Tracking of Infants in Risk of Cerebral Palsy

    DEFF Research Database (Denmark)

    Olsen, Mikkel Damgaard

    Every year 2-3 out of 1000 infants are born with cerebral cerebral palsy. Among others, the disorder often affects motor, cognitive and perceptual skills. The disorder is usually detected when the infants are old enough the crawl and walk, i.e. when the infant is 1-2 years old. However, studies...... show that the infant’s movements are affected already in the first year of life and methods exist for assessing the movements. The methods often require observation of the movements and qualitative evaluation of these. A more objective measure is desired in order to be able to diagnose cerebral palsy...... for automatic assessment of infant movement. This includes a preliminary study on automatic classification of movements related to cerebral palsy. The contributions included in this thesis can be divided into two groups. The first two contributions consider the analysis in order to estimate and track the body...

  5. Time-Lapse and Slow-Motion Tracking of Temperature Changes: Response Time of a Thermometer

    Science.gov (United States)

    Moggio, L.; Onorato, P.; Gratton, L. M.; Oss, S.

    2017-01-01

    We propose the use of a smartphone based time-lapse and slow-motion video techniques together with tracking analysis as valuable tools for investigating thermal processes such as the response time of a thermometer. The two simple experimental activities presented here, suitable also for high school and undergraduate students, allow one to measure…

  6. A software-based tool for video motion tracking in the surgical skills assessment landscape

    NARCIS (Netherlands)

    Ganni, S.; Botden, Sanne M.B.I.; Chmarra, M.K.; Goossens, R.H.M.; Jakimowicz, J.J.

    2018-01-01

    Background: The use of motion tracking has been proved to provide an objective assessment in surgical skills training. Current systems, however, require the use of additional equipment or specialised laparoscopic instruments and cameras to extract the data. The aim of this study was to determine

  7. Repurposing the Microsoft Kinect for Windows v2 for external head motion tracking for brain PET

    International Nuclear Information System (INIS)

    Noonan, P J; Gunn, R N; Howard, J; Hallett, W A

    2015-01-01

    Medical imaging systems such as those used in positron emission tomography (PET) are capable of spatial resolutions that enable the imaging of small, functionally important brain structures. However, the quality of data from PET brain studies is often limited by subject motion during acquisition. This is particularly challenging for patients with neurological disorders or with dynamic research studies that can last 90 min or more. Restraining head movement during the scan does not eliminate motion entirely and can be unpleasant for the subject. Head motion can be detected and measured using a variety of techniques that either use the PET data itself or an external tracking system. Advances in computer vision arising from the video gaming industry could offer significant benefits when re-purposed for medical applications. A method for measuring rigid body type head motion using the Microsoft Kinect v2 is described with results presenting  ⩽0.5 mm spatial accuracy. Motion data is measured in real-time at 30 Hz using the KinectFusion algorithm. Non-rigid motion is detected using the residual alignment energy data of the KinectFusion algorithm allowing for unreliable motion to be discarded. Motion data is aligned to PET listmode data using injected pulse sequences into the PET/CT gantry allowing for correction of rigid body motion. Pilot data from a clinical dynamic PET/CT examination is shown. (paper)

  8. Repurposing the Microsoft Kinect for Windows v2 for external head motion tracking for brain PET

    Science.gov (United States)

    Noonan, P. J.; Howard, J.; Hallett, W. A.; Gunn, R. N.

    2015-11-01

    Medical imaging systems such as those used in positron emission tomography (PET) are capable of spatial resolutions that enable the imaging of small, functionally important brain structures. However, the quality of data from PET brain studies is often limited by subject motion during acquisition. This is particularly challenging for patients with neurological disorders or with dynamic research studies that can last 90 min or more. Restraining head movement during the scan does not eliminate motion entirely and can be unpleasant for the subject. Head motion can be detected and measured using a variety of techniques that either use the PET data itself or an external tracking system. Advances in computer vision arising from the video gaming industry could offer significant benefits when re-purposed for medical applications. A method for measuring rigid body type head motion using the Microsoft Kinect v2 is described with results presenting  ⩽0.5 mm spatial accuracy. Motion data is measured in real-time at 30 Hz using the KinectFusion algorithm. Non-rigid motion is detected using the residual alignment energy data of the KinectFusion algorithm allowing for unreliable motion to be discarded. Motion data is aligned to PET listmode data using injected pulse sequences into the PET/CT gantry allowing for correction of rigid body motion. Pilot data from a clinical dynamic PET/CT examination is shown.

  9. MotionExplorer: exploratory search in human motion capture data based on hierarchical aggregation.

    Science.gov (United States)

    Bernard, Jürgen; Wilhelm, Nils; Krüger, Björn; May, Thorsten; Schreck, Tobias; Kohlhammer, Jörn

    2013-12-01

    We present MotionExplorer, an exploratory search and analysis system for sequences of human motion in large motion capture data collections. This special type of multivariate time series data is relevant in many research fields including medicine, sports and animation. Key tasks in working with motion data include analysis of motion states and transitions, and synthesis of motion vectors by interpolation and combination. In the practice of research and application of human motion data, challenges exist in providing visual summaries and drill-down functionality for handling large motion data collections. We find that this domain can benefit from appropriate visual retrieval and analysis support to handle these tasks in presence of large motion data. To address this need, we developed MotionExplorer together with domain experts as an exploratory search system based on interactive aggregation and visualization of motion states as a basis for data navigation, exploration, and search. Based on an overview-first type visualization, users are able to search for interesting sub-sequences of motion based on a query-by-example metaphor, and explore search results by details on demand. We developed MotionExplorer in close collaboration with the targeted users who are researchers working on human motion synthesis and analysis, including a summative field study. Additionally, we conducted a laboratory design study to substantially improve MotionExplorer towards an intuitive, usable and robust design. MotionExplorer enables the search in human motion capture data with only a few mouse clicks. The researchers unanimously confirm that the system can efficiently support their work.

  10. Real-time stylistic prediction for whole-body human motions.

    Science.gov (United States)

    Matsubara, Takamitsu; Hyon, Sang-Ho; Morimoto, Jun

    2012-01-01

    The ability to predict human motion is crucial in several contexts such as human tracking by computer vision and the synthesis of human-like computer graphics. Previous work has focused on off-line processes with well-segmented data; however, many applications such as robotics require real-time control with efficient computation. In this paper, we propose a novel approach called real-time stylistic prediction for whole-body human motions to satisfy these requirements. This approach uses a novel generative model to represent a whole-body human motion including rhythmic motion (e.g., walking) and discrete motion (e.g., jumping). The generative model is composed of a low-dimensional state (phase) dynamics and a two-factor observation model, allowing it to capture the diversity of motion styles in humans. A real-time adaptation algorithm was derived to estimate both state variables and style parameter of the model from non-stationary unlabeled sequential observations. Moreover, with a simple modification, the algorithm allows real-time adaptation even from incomplete (partial) observations. Based on the estimated state and style, a future motion sequence can be accurately predicted. In our implementation, it takes less than 15 ms for both adaptation and prediction at each observation. Our real-time stylistic prediction was evaluated for human walking, running, and jumping behaviors. Copyright © 2011 Elsevier Ltd. All rights reserved.

  11. Performance analysis of visual tracking algorithms for motion-based user interfaces on mobile devices

    Science.gov (United States)

    Winkler, Stefan; Rangaswamy, Karthik; Tedjokusumo, Jefry; Zhou, ZhiYing

    2008-02-01

    Determining the self-motion of a camera is useful for many applications. A number of visual motion-tracking algorithms have been developed till date, each with their own advantages and restrictions. Some of them have also made their foray into the mobile world, powering augmented reality-based applications on phones with inbuilt cameras. In this paper, we compare the performances of three feature or landmark-guided motion tracking algorithms, namely marker-based tracking with MXRToolkit, face tracking based on CamShift, and MonoSLAM. We analyze and compare the complexity, accuracy, sensitivity, robustness and restrictions of each of the above methods. Our performance tests are conducted over two stages: The first stage of testing uses video sequences created with simulated camera movements along the six degrees of freedom in order to compare accuracy in tracking, while the second stage analyzes the robustness of the algorithms by testing for manipulative factors like image scaling and frame-skipping.

  12. Active contour-based visual tracking by integrating colors, shapes, and motions.

    Science.gov (United States)

    Hu, Weiming; Zhou, Xue; Li, Wei; Luo, Wenhan; Zhang, Xiaoqin; Maybank, Stephen

    2013-05-01

    In this paper, we present a framework for active contour-based visual tracking using level sets. The main components of our framework include contour-based tracking initialization, color-based contour evolution, adaptive shape-based contour evolution for non-periodic motions, dynamic shape-based contour evolution for periodic motions, and the handling of abrupt motions. For the initialization of contour-based tracking, we develop an optical flow-based algorithm for automatically initializing contours at the first frame. For the color-based contour evolution, Markov random field theory is used to measure correlations between values of neighboring pixels for posterior probability estimation. For adaptive shape-based contour evolution, the global shape information and the local color information are combined to hierarchically evolve the contour, and a flexible shape updating model is constructed. For the dynamic shape-based contour evolution, a shape mode transition matrix is learnt to characterize the temporal correlations of object shapes. For the handling of abrupt motions, particle swarm optimization is adopted to capture the global motion which is applied to the contour in the current frame to produce an initial contour in the next frame.

  13. Refraction-compensated motion tracking of unrestrained small animals in positron emission tomography.

    Science.gov (United States)

    Kyme, Andre; Meikle, Steven; Baldock, Clive; Fulton, Roger

    2012-08-01

    Motion-compensated radiotracer imaging of fully conscious rodents represents an important paradigm shift for preclinical investigations. In such studies, if motion tracking is performed through a transparent enclosure containing the awake animal, light refraction at the interface will introduce errors in stereo pose estimation. We have performed a thorough investigation of how this impacts the accuracy of pose estimates and the resulting motion correction, and developed an efficient method to predict and correct for refraction-based error. The refraction model underlying this study was validated using a state-of-the-art motion tracking system. Refraction-based error was shown to be dependent on tracking marker size, working distance, and interface thickness and tilt. Correcting for refraction error improved the spatial resolution and quantitative accuracy of motion-corrected positron emission tomography images. Since the methods are general, they may also be useful in other contexts where data are corrupted by refraction effects. Crown Copyright © 2012. Published by Elsevier B.V. All rights reserved.

  14. SU-G-BRA-08: Diaphragm Motion Tracking Based On KV CBCT Projections with a Constrained Linear Regression Optimization

    Energy Technology Data Exchange (ETDEWEB)

    Wei, J [City College of New York, New York, NY (United States); Chao, M [The Mount Sinai Medical Center, New York, NY (United States)

    2016-06-15

    Purpose: To develop a novel strategy to extract the respiratory motion of the thoracic diaphragm from kilovoltage cone beam computed tomography (CBCT) projections by a constrained linear regression optimization technique. Methods: A parabolic function was identified as the geometric model and was employed to fit the shape of the diaphragm on the CBCT projections. The search was initialized by five manually placed seeds on a pre-selected projection image. Temporal redundancies, the enabling phenomenology in video compression and encoding techniques, inherent in the dynamic properties of the diaphragm motion together with the geometrical shape of the diaphragm boundary and the associated algebraic constraint that significantly reduced the searching space of viable parabolic parameters was integrated, which can be effectively optimized by a constrained linear regression approach on the subsequent projections. The innovative algebraic constraints stipulating the kinetic range of the motion and the spatial constraint preventing any unphysical deviations was able to obtain the optimal contour of the diaphragm with minimal initialization. The algorithm was assessed by a fluoroscopic movie acquired at anteriorposterior fixed direction and kilovoltage CBCT projection image sets from four lung and two liver patients. The automatic tracing by the proposed algorithm and manual tracking by a human operator were compared in both space and frequency domains. Results: The error between the estimated and manual detections for the fluoroscopic movie was 0.54mm with standard deviation (SD) of 0.45mm, while the average error for the CBCT projections was 0.79mm with SD of 0.64mm for all enrolled patients. The submillimeter accuracy outcome exhibits the promise of the proposed constrained linear regression approach to track the diaphragm motion on rotational projection images. Conclusion: The new algorithm will provide a potential solution to rendering diaphragm motion and ultimately

  15. SU-G-BRA-08: Diaphragm Motion Tracking Based On KV CBCT Projections with a Constrained Linear Regression Optimization

    International Nuclear Information System (INIS)

    Wei, J; Chao, M

    2016-01-01

    Purpose: To develop a novel strategy to extract the respiratory motion of the thoracic diaphragm from kilovoltage cone beam computed tomography (CBCT) projections by a constrained linear regression optimization technique. Methods: A parabolic function was identified as the geometric model and was employed to fit the shape of the diaphragm on the CBCT projections. The search was initialized by five manually placed seeds on a pre-selected projection image. Temporal redundancies, the enabling phenomenology in video compression and encoding techniques, inherent in the dynamic properties of the diaphragm motion together with the geometrical shape of the diaphragm boundary and the associated algebraic constraint that significantly reduced the searching space of viable parabolic parameters was integrated, which can be effectively optimized by a constrained linear regression approach on the subsequent projections. The innovative algebraic constraints stipulating the kinetic range of the motion and the spatial constraint preventing any unphysical deviations was able to obtain the optimal contour of the diaphragm with minimal initialization. The algorithm was assessed by a fluoroscopic movie acquired at anteriorposterior fixed direction and kilovoltage CBCT projection image sets from four lung and two liver patients. The automatic tracing by the proposed algorithm and manual tracking by a human operator were compared in both space and frequency domains. Results: The error between the estimated and manual detections for the fluoroscopic movie was 0.54mm with standard deviation (SD) of 0.45mm, while the average error for the CBCT projections was 0.79mm with SD of 0.64mm for all enrolled patients. The submillimeter accuracy outcome exhibits the promise of the proposed constrained linear regression approach to track the diaphragm motion on rotational projection images. Conclusion: The new algorithm will provide a potential solution to rendering diaphragm motion and ultimately

  16. Markerless PET motion correction: tracking in narrow gantries through optical fibers

    DEFF Research Database (Denmark)

    Jensen, Rasmus Ramsbøl; Olesen, Oline Vinter; Benjaminsen, Claus

    2015-01-01

    be accurate while only adding minimal complexity to the workflow. We present: Tracoline 2.0, a surface scanner prototype, which allows for markerless tracking in the clinic. The system uses structured light through optical fibre bundles, which easily fit in narrow gantries. The optical fibres also makes...... the system compatible with magnetic resonance (MR) imaging since all the electronics are moved away from the scanner. We demonstrate the system in a positron emission tomography (PET) study using the Siemens high resolution research tomography (HRRT). With two Ge/Ga-68 line sources fitted in a mannequin head...... for rotations up to ±25º. Based on the tracking results the PET frames were also successfully corrected for motion by aligning 10 s frames without motion for the stepwise experiment and aligning 1 s frames for the experiment with continuous motion. We have demonstrated and evaluated a system for markerless...

  17. Atrioventricular junction (AVJ) motion tracking: a software tool with ITK/VTK/Qt.

    Science.gov (United States)

    Pengdong Xiao; Shuang Leng; Xiaodan Zhao; Hua Zou; Ru San Tan; Wong, Philip; Liang Zhong

    2016-08-01

    The quantitative measurement of the Atrioventricular Junction (AVJ) motion is an important index for ventricular functions of one cardiac cycle including systole and diastole. In this paper, a software tool that can conduct AVJ motion tracking from cardiovascular magnetic resonance (CMR) images is presented by using Insight Segmentation and Registration Toolkit (ITK), The Visualization Toolkit (VTK) and Qt. The software tool is written in C++ by using Visual Studio Community 2013 integrated development environment (IDE) containing both an editor and a Microsoft complier. The software package has been successfully implemented. From the software engineering practice, it is concluded that ITK, VTK, and Qt are very handy software systems to implement automatic image analysis functions for CMR images such as quantitative measure of motion by visual tracking.

  18. First evaluation of the feasibility of MLC tracking using ultrasound motion estimation

    Energy Technology Data Exchange (ETDEWEB)

    Fast, Martin F., E-mail: martin.fast@icr.ac.uk; O’Shea, Tuathan P., E-mail: tuathan.oshea@nhs.net; Nill, Simeon; Oelfke, Uwe; Harris, Emma J. [Joint Department of Physics, The Institute of Cancer Research and The Royal Marsden NHS Foundation Trust, London SM2 5NG (United Kingdom)

    2016-08-15

    Purpose: To quantify the performance of the Clarity ultrasound (US) imaging system (Elekta AB, Stockholm, Sweden) for real-time dynamic multileaf collimator (MLC) tracking. Methods: The Clarity calibration and quality assurance phantom was mounted on a motion platform moving with a periodic sine wave trajectory. The detected position of a 30 mm hypoechogenic sphere within the phantom was continuously reported via Clarity’s real-time streaming interface to an in-house tracking and delivery software and subsequently used to adapt the MLC aperture. A portal imager measured MV treatment field/MLC apertures and motion platform positions throughout each experiment to independently quantify system latency and geometric error. Based on the measured range of latency values, a prostate stereotactic body radiation therapy (SBRT) delivery was performed with three realistic motion trajectories. The dosimetric impact of system latency on MLC tracking was directly measured using a 3D dosimeter mounted on the motion platform. Results: For 2D US imaging, the overall system latency, including all delay times from the imaging and delivery chain, ranged from 392 to 424 ms depending on the lateral sector size. For 3D US imaging, the latency ranged from 566 to 1031 ms depending on the elevational sweep. The latency-corrected geometric root-mean squared error was below 0.75 mm (2D US) and below 1.75 mm (3D US). For the prostate SBRT delivery, the impact of a range of system latencies (400–1000 ms) on the MLC tracking performance was minimal in terms of gamma failure rate. Conclusions: Real-time MLC tracking based on a noninvasive US input is technologically feasible. Current system latencies are higher than those for x-ray imaging systems, but US can provide full volumetric image data and the impact of system latency was measured to be small for a prostate SBRT case when using a US-like motion input.

  19. First evaluation of the feasibility of MLC tracking using ultrasound motion estimation

    International Nuclear Information System (INIS)

    Fast, Martin F.; O’Shea, Tuathan P.; Nill, Simeon; Oelfke, Uwe; Harris, Emma J.

    2016-01-01

    Purpose: To quantify the performance of the Clarity ultrasound (US) imaging system (Elekta AB, Stockholm, Sweden) for real-time dynamic multileaf collimator (MLC) tracking. Methods: The Clarity calibration and quality assurance phantom was mounted on a motion platform moving with a periodic sine wave trajectory. The detected position of a 30 mm hypoechogenic sphere within the phantom was continuously reported via Clarity’s real-time streaming interface to an in-house tracking and delivery software and subsequently used to adapt the MLC aperture. A portal imager measured MV treatment field/MLC apertures and motion platform positions throughout each experiment to independently quantify system latency and geometric error. Based on the measured range of latency values, a prostate stereotactic body radiation therapy (SBRT) delivery was performed with three realistic motion trajectories. The dosimetric impact of system latency on MLC tracking was directly measured using a 3D dosimeter mounted on the motion platform. Results: For 2D US imaging, the overall system latency, including all delay times from the imaging and delivery chain, ranged from 392 to 424 ms depending on the lateral sector size. For 3D US imaging, the latency ranged from 566 to 1031 ms depending on the elevational sweep. The latency-corrected geometric root-mean squared error was below 0.75 mm (2D US) and below 1.75 mm (3D US). For the prostate SBRT delivery, the impact of a range of system latencies (400–1000 ms) on the MLC tracking performance was minimal in terms of gamma failure rate. Conclusions: Real-time MLC tracking based on a noninvasive US input is technologically feasible. Current system latencies are higher than those for x-ray imaging systems, but US can provide full volumetric image data and the impact of system latency was measured to be small for a prostate SBRT case when using a US-like motion input.

  20. Measurement and Quantification of Gross Human Shoulder Motion

    Directory of Open Access Journals (Sweden)

    Jeremy T. Newkirk

    2013-01-01

    Full Text Available The shoulder girdle plays an important role in the large pointing workspace that humans enjoy. The goal of this work was to characterize the human shoulder girdle motion in relation to the arm. The overall motion of the human shoulder girdle was characterized based on motion studies completed on test subjects during voluntary (natural/unforced motion. The collected data from the experiments were used to develop surface fit equations that represent the position and orientation of the glenohumeral joint for a given humeral pointing direction. These equations completely quantify gross human shoulder girdle motion relative to the humerus. The equations are presented along with goodness-of-fit results that indicate the equations well approximate the motion of the human glenohumeral joint. This is the first time the motion has been quantified for the entire workspace, and the equations provide a reference against which to compare future work.

  1. SU-G-JeP1-14: Respiratory Motion Tracking Using Kinect V2

    Energy Technology Data Exchange (ETDEWEB)

    Silverstein, E; Snyder, M [Wayne State University, Detroit, MI (United States)

    2016-06-15

    Purpose: Investigate capability and accuracy of Kinect v2 camera for tracking respiratory motion to use as a tool during 4DCT or in combination with motion management during radiotherapy treatments. Methods: Utilizing the depth sensor on the Kinect as well as code written in C#, the respiratory motion of a patient was tracked by recording the depth (distance) values obtained at several points on the patient. Respiratory traces were also obtained using Varian’s RPM system, which traces the movement of a propriety marker placed on the patient’s abdomen, as well as an Anzai belt, which utilizes a pressure sensor to track respiratory motion. With the Kinect mounted 60 cm above the patient and pointing straight down, 11 breathing cycles were recorded with each system simultaneously. Relative displacement values during this time period were saved to file. While RPM and the Kinect give displacement values in distance units, the Anzai system has arbitrary units. As such, displacement for all three are displayed relative to the maximum value for the time interval from that system. Additional analysis was performed between RPM and Kinect for absolute displacement values. Results: Analysis of the data from all three systems indicates the relative motion obtained from the Kinect is both accurate and in sync with the data from RPM and Anzai. The absolute displacement data from RPM and Kinect show similar displacement values throughout the acquisition except for the depth obtained from the Kinect during maximum exhalation (largest distance from Kinect). Conclusion: By simply utilizing the depth data of specific points on a patient obtained from the Kinect, respiratory motion can be tracked and visualized with accuracy comparable to that of the Varian RPM and Anzai belt.

  2. Fast and Accurate Rat Head Motion Tracking With Point Sources for Awake Brain PET.

    Science.gov (United States)

    Miranda, Alan; Staelens, Steven; Stroobants, Sigrid; Verhaeghe, Jeroen

    2017-07-01

    To avoid the confounding effects of anesthesia and immobilization stress in rat brain positron emission tomography (PET), motion tracking-based unrestrained awake rat brain imaging is being developed. In this paper, we propose a fast and accurate rat headmotion tracking method based on small PET point sources. PET point sources (3-4) attached to the rat's head are tracked in image space using 15-32-ms time frames. Our point source tracking (PST) method was validated using a manually moved microDerenzo phantom that was simultaneously tracked with an optical tracker (OT) for comparison. The PST method was further validated in three awake [ 18 F]FDG rat brain scans. Compared with the OT, the PST-based correction at the same frame rate (31.2 Hz) reduced the reconstructed FWHM by 0.39-0.66 mm for the different tested rod sizes of the microDerenzo phantom. The FWHM could be further reduced by another 0.07-0.13 mm when increasing the PST frame rate (66.7 Hz). Regional brain [ 18 F]FDG uptake in the motion corrected scan was strongly correlated ( ) with that of the anesthetized reference scan for all three cases ( ). The proposed PST method allowed excellent and reproducible motion correction in awake in vivo experiments. In addition, there is no need of specialized tracking equipment or additional calibrations to be performed, the point sources are practically imperceptible to the rat, and PST is ideally suitable for small bore scanners, where optical tracking might be challenging.

  3. Inertial and Magnetic Tracking of Limb Segment Orientation for Inserting Humans into Synthetic Environments

    National Research Council Canada - National Science Library

    Bachmann, Eric

    2000-01-01

    .... Primarily, this research involves the development of a prototype tracking system to demonstrate the feasibility of MARG sensor body motion tracking Mathematical analysis and computer simulation...

  4. Tracking using motion estimation with physically motivated inter-region constraints

    KAUST Repository

    Arif, Omar

    2014-09-01

    We propose a method for tracking structures (e.g., ventricles and myocardium) in cardiac images (e.g., magnetic resonance) by propagating forward in time a previous estimate of the structures using a new physically motivated motion estimation scheme. Our method estimates motion by regularizing only within structures so that differing motions among different structures are not mixed. It simultaneously satisfies the physical constraints at the interface between a fluid and a medium that the normal component of the fluid\\'s motion must match the normal component of the medium\\'s motion and the No-Slip condition, which states that the tangential velocity approaches zero near the interface. We show that these conditions lead to partial differential equations with Robin boundary conditions at the interface, which couple the motion between structures. We show that propagating a segmentation across frames using our motion estimation scheme leads to more accurate segmentation than traditional motion estimation that does not use physical constraints. Our method is suited to interactive segmentation, prominently used in commercial applications for cardiac analysis, where segmentation propagation is used to predict a segmentation in the next frame. We show that our method leads to more accurate predictions than a popular and recent interactive method used in cardiac segmentation. © 2014 IEEE.

  5. Real Time Surface Registration for PET Motion Tracking

    DEFF Research Database (Denmark)

    Wilm, Jakob; Olesen, Oline Vinter; Paulsen, Rasmus Reinhold

    2011-01-01

    to create point clouds representing parts of the patient's face. The movement is estimated by a rigid registration of the point clouds. The registration should be done using a robust algorithm that can handle partial overlap and ideally operate in real time. We present an optimized Iterative Closest Point......Head movement during high resolution Positron Emission Tomography brain studies causes blur and artifacts in the images. Therefore, attempts are being made to continuously monitor the pose of the head and correct for this movement. Specifically, our method uses a structured light scanner system...... algorithm that operates at 10 frames per second on partial human face surfaces. © 2011 Springer-Verlag....

  6. Using Gaussian Process Annealing Particle Filter for 3D Human Tracking

    Directory of Open Access Journals (Sweden)

    Michael Rudzsky

    2008-01-01

    Full Text Available We present an approach for human body parts tracking in 3D with prelearned motion models using multiple cameras. Gaussian process annealing particle filter is proposed for tracking in order to reduce the dimensionality of the problem and to increase the tracker's stability and robustness. Comparing with a regular annealed particle filter-based tracker, we show that our algorithm can track better for low frame rate videos. We also show that our algorithm is capable of recovering after a temporal target loss.

  7. Implementation and performance of an optical motion tracking system for high resolution brain PET imaging

    Science.gov (United States)

    Lopresti, B. J.; Russo, A.; Jones, W. F.; Fisher, T.; Crouch, D. G.; Altenburger, D. E.; Townsend, D. W.

    1999-12-01

    Head motion during PET scanning is widely regarded as a source of image degradation and resolution loss. Recent improvements in the spatial resolution of state-of-the-art tomographs may be compromised by patient motion during scanning, as these high resolution data will be increasingly susceptible to smaller movements of the head. The authors have developed an opto-electronic motion tracking system based on commercially-available technology that is capable of very accurate real-time measurements of the position and orientation of the patient's head. These positions are transformed to the reference frame of the PET scanner, and could potentially be used to provide motion correction of list-mode emission data on an event-by-event basis.

  8. Discriminative Vision-Based Recovery and Recognition of Human Motion

    NARCIS (Netherlands)

    Poppe, Ronald Walter

    2009-01-01

    The automatic analysis of human motion from images opens up the way for applications in the domains of security and surveillance, human-computer interaction, animation, retrieval and sports motion analysis. In this dissertation, the focus is on robust and fast human pose recovery and action

  9. Computer simulation of human motion in sports biomechanics.

    Science.gov (United States)

    Vaughan, C L

    1984-01-01

    This chapter has covered some important aspects of the computer simulation of human motion in sports biomechanics. First the definition and the advantages and limitations of computer simulation were discussed; second, research on various sporting activities were reviewed. These activities included basic movements, aquatic sports, track and field athletics, winter sports, gymnastics, and striking sports. This list was not exhaustive and certain material has, of necessity, been omitted. However, it was felt that a sufficiently broad and interesting range of activities was chosen to illustrate both the advantages and the pitfalls of simulation. It is almost a decade since Miller [53] wrote a review chapter similar to this one. One might be tempted to say that things have changed radically since then--that computer simulation is now a widely accepted and readily applied research tool in sports biomechanics. This is simply not true, however. Biomechanics researchers still tend to emphasize the descriptive type of study, often unfortunately, when a little theoretical explanation would have been more helpful [29]. What will the next decade bring? Of one thing we can be certain: The power of computers, particularly the readily accessible and portable microcomputer, will expand beyond all recognition. The memory and storage capacities will increase dramatically on the hardware side, and on the software side the trend will be toward "user-friendliness." It is likely that a number of software simulation packages designed specifically for studying human motion [31, 96] will be extensively tested and could gain wide acceptance in the biomechanics research community. Nevertheless, a familiarity with Newtonian and Lagrangian mechanics, optimization theory, and computers in general, as well as practical biomechanical insight, will still be a prerequisite for successful simulation models of human motion. Above all, the biomechanics researcher will still have to bear in mind that

  10. Robust object tracking techniques for vision-based 3D motion analysis applications

    Science.gov (United States)

    Knyaz, Vladimir A.; Zheltov, Sergey Y.; Vishnyakov, Boris V.

    2016-04-01

    Automated and accurate spatial motion capturing of an object is necessary for a wide variety of applications including industry and science, virtual reality and movie, medicine and sports. For the most part of applications a reliability and an accuracy of the data obtained as well as convenience for a user are the main characteristics defining the quality of the motion capture system. Among the existing systems for 3D data acquisition, based on different physical principles (accelerometry, magnetometry, time-of-flight, vision-based), optical motion capture systems have a set of advantages such as high speed of acquisition, potential for high accuracy and automation based on advanced image processing algorithms. For vision-based motion capture accurate and robust object features detecting and tracking through the video sequence are the key elements along with a level of automation of capturing process. So for providing high accuracy of obtained spatial data the developed vision-based motion capture system "Mosca" is based on photogrammetric principles of 3D measurements and supports high speed image acquisition in synchronized mode. It includes from 2 to 4 technical vision cameras for capturing video sequences of object motion. The original camera calibration and external orientation procedures provide the basis for high accuracy of 3D measurements. A set of algorithms as for detecting, identifying and tracking of similar targets, so for marker-less object motion capture is developed and tested. The results of algorithms' evaluation show high robustness and high reliability for various motion analysis tasks in technical and biomechanics applications.

  11. Coupled motions in human and porcine thoracic and lumbar spines

    NARCIS (Netherlands)

    Kingma, Idsart; Busscher, Iris; van der Veen, Albert J.; Verkerke, Gijsbertus J.; Veldhuizen, Albert G.; Homminga, Jasper; van Dieën, Jaap H.

    2018-01-01

    Coupled motions, i.e., motions along axes other than the loaded axis, have been reported to occur in the human spine, and are likely to be influenced by inclined local axes due to the sagittal plane spine curvature. Furthermore, the role of facet joints in such motions is as yet unclear. Therefore,

  12. Coupled motions in human and porcine thoracic and lumbar spines

    NARCIS (Netherlands)

    Kingma, Idsart; Busscher, Iris; van der Veen, Albert J.; Verkerke, Gijsbertus J.; Veldhuizen, Albert G.; Homminga, Jasper; van Dieën, Jaap H.

    2017-01-01

    Coupled motions, i.e., motions along axes other than the loaded axis, have been reported to occur in the human spine, and are likely to be influenced by inclined local axes due to the sagittal plane spine curvature. Furthermore, the role of facet joints in such motions is as yet unclear. Therefore,

  13. Predicting articulated human motion from spatial processes

    DEFF Research Database (Denmark)

    Hauberg, Søren; Pedersen, Kim Steenstrup

    2011-01-01

    recent work where prior models are derived in terms of joint angles. This approach has several advantages. First of all, it allows us to construct motion models in low dimensional spaces, which makes motion estimation more robust. Secondly, as many types of motion are easily expressed in spatial...

  14. Experimental investigation of a moving averaging algorithm for motion perpendicular to the leaf travel direction in dynamic MLC target tracking

    Energy Technology Data Exchange (ETDEWEB)

    Yoon, Jai-Woong; Sawant, Amit; Suh, Yelin; Cho, Byung-Chul; Suh, Tae-Suk; Keall, Paul [Department of Biomedical Engineering, College of Medicine, Catholic University of Korea, Seoul, Korea 131-700 and Research Institute of Biomedical Engineering, Catholic University of Korea, Seoul, 131-700 (Korea, Republic of); Department of Radiation Oncology, Stanford University, Stanford, California 94305 (United States); Department of Radiation Oncology, Stanford University, Stanford, California 94305 (United States) and Department of Radiation Oncology, Asan Medical Center, Seoul, 138-736 (Korea, Republic of); Department of Biomedical Engineering, College of Medicine, Catholic University of Korea, Seoul, 131-700 and Research Institute of Biomedical Engineering, Catholic University of Korea, Seoul, 131-700 (Korea, Republic of); Department of Radiation Oncology, Stanford University, Stanford, California 94305 (United States) and Radiation Physics Laboratory, Sydney Medical School, University of Sydney, 2006 (Australia)

    2011-07-15

    Purpose: In dynamic multileaf collimator (MLC) motion tracking with complex intensity-modulated radiation therapy (IMRT) fields, target motion perpendicular to the MLC leaf travel direction can cause beam holds, which increase beam delivery time by up to a factor of 4. As a means to balance delivery efficiency and accuracy, a moving average algorithm was incorporated into a dynamic MLC motion tracking system (i.e., moving average tracking) to account for target motion perpendicular to the MLC leaf travel direction. The experimental investigation of the moving average algorithm compared with real-time tracking and no compensation beam delivery is described. Methods: The properties of the moving average algorithm were measured and compared with those of real-time tracking (dynamic MLC motion tracking accounting for both target motion parallel and perpendicular to the leaf travel direction) and no compensation beam delivery. The algorithm was investigated using a synthetic motion trace with a baseline drift and four patient-measured 3D tumor motion traces representing regular and irregular motions with varying baseline drifts. Each motion trace was reproduced by a moving platform. The delivery efficiency, geometric accuracy, and dosimetric accuracy were evaluated for conformal, step-and-shoot IMRT, and dynamic sliding window IMRT treatment plans using the synthetic and patient motion traces. The dosimetric accuracy was quantified via a {gamma}-test with a 3%/3 mm criterion. Results: The delivery efficiency ranged from 89 to 100% for moving average tracking, 26%-100% for real-time tracking, and 100% (by definition) for no compensation. The root-mean-square geometric error ranged from 3.2 to 4.0 mm for moving average tracking, 0.7-1.1 mm for real-time tracking, and 3.7-7.2 mm for no compensation. The percentage of dosimetric points failing the {gamma}-test ranged from 4 to 30% for moving average tracking, 0%-23% for real-time tracking, and 10%-47% for no compensation

  15. Experimental investigation of a moving averaging algorithm for motion perpendicular to the leaf travel direction in dynamic MLC target tracking.

    Science.gov (United States)

    Yoon, Jai-Woong; Sawant, Amit; Suh, Yelin; Cho, Byung-Chul; Suh, Tae-Suk; Keall, Paul

    2011-07-01

    In dynamic multileaf collimator (MLC) motion tracking with complex intensity-modulated radiation therapy (IMRT) fields, target motion perpendicular to the MLC leaf travel direction can cause beam holds, which increase beam delivery time by up to a factor of 4. As a means to balance delivery efficiency and accuracy, a moving average algorithm was incorporated into a dynamic MLC motion tracking system (i.e., moving average tracking) to account for target motion perpendicular to the MLC leaf travel direction. The experimental investigation of the moving average algorithm compared with real-time tracking and no compensation beam delivery is described. The properties of the moving average algorithm were measured and compared with those of real-time tracking (dynamic MLC motion tracking accounting for both target motion parallel and perpendicular to the leaf travel direction) and no compensation beam delivery. The algorithm was investigated using a synthetic motion trace with a baseline drift and four patient-measured 3D tumor motion traces representing regular and irregular motions with varying baseline drifts. Each motion trace was reproduced by a moving platform. The delivery efficiency, geometric accuracy, and dosimetric accuracy were evaluated for conformal, step-and-shoot IMRT, and dynamic sliding window IMRT treatment plans using the synthetic and patient motion traces. The dosimetric accuracy was quantified via a tgamma-test with a 3%/3 mm criterion. The delivery efficiency ranged from 89 to 100% for moving average tracking, 26%-100% for real-time tracking, and 100% (by definition) for no compensation. The root-mean-square geometric error ranged from 3.2 to 4.0 mm for moving average tracking, 0.7-1.1 mm for real-time tracking, and 3.7-7.2 mm for no compensation. The percentage of dosimetric points failing the gamma-test ranged from 4 to 30% for moving average tracking, 0%-23% for real-time tracking, and 10%-47% for no compensation. The delivery efficiency of

  16. A practical head tracking system for motion correction in neurological SPECT and PET

    International Nuclear Information System (INIS)

    Fulton, R.R.; Eberl, S.; Meikle, S.; Hutton, B.F.; Braun, M.

    1998-01-01

    Full text: Patient motion during data acquisition can degrade the quality of SPECT and PET images. Techniques for motion correction in neurological studies in both modalities based on continuous monitoring of head position have been proposed. However difficulties in developing suitable head tracking systems have so far impeded clinical implementations. We have developed a head tracking system based on the mechanical ADL-1 tracker (Shooting Star Technology, Rosedale, Canada) on a Trionix triple-head SPECT camera A software driver running on a SUN Sparc host computer communicates with the tracker over a serial line providing up to 300 updates per second with angular and positional resolutions of 0.05 degrees and 0.2 mm respectively. The SUN Sparc workstation which acquires the SPECT study also communicates with the tracker, eliminating synchronisation problems. For motion correction, the motion parameters provided by the tracker within its own coordinate system must be converted to the camera's coordinate system. The conversion requires knowledge of the rotational relationships between the two coordinate systems and the displacement of their origins, both of which are determined from a calibration procedure. The tracker has been tested under clinical SPECT imaging conditions with a 3D Hoffman brain phantom. Multiple SPECT acquisitions were performed. After each acquisition the phantom was moved to a new position and orientation. Motion parameters reported by the tracker for each applied movement were compared with those obtained by applying an automated image registration program to the sequential reconstructed studies. Maximum differences were < 0.5 degrees and < 2mm, within the expected errors of the registration procedure. We conclude that this tracking system will be suitable for clinical evaluation of motion correction in SPECT and PET

  17. Local characterization of hindered Brownian motion by using digital video microscopy and 3D particle tracking

    Energy Technology Data Exchange (ETDEWEB)

    Dettmer, Simon L.; Keyser, Ulrich F.; Pagliara, Stefano [Cavendish Laboratory, University of Cambridge, 19 J J Thomson Avenue, Cambridge CB3 0HE (United Kingdom)

    2014-02-15

    In this article we present methods for measuring hindered Brownian motion in the confinement of complex 3D geometries using digital video microscopy. Here we discuss essential features of automated 3D particle tracking as well as diffusion data analysis. By introducing local mean squared displacement-vs-time curves, we are able to simultaneously measure the spatial dependence of diffusion coefficients, tracking accuracies and drift velocities. Such local measurements allow a more detailed and appropriate description of strongly heterogeneous systems as opposed to global measurements. Finite size effects of the tracking region on measuring mean squared displacements are also discussed. The use of these methods was crucial for the measurement of the diffusive behavior of spherical polystyrene particles (505 nm diameter) in a microfluidic chip. The particles explored an array of parallel channels with different cross sections as well as the bulk reservoirs. For this experiment we present the measurement of local tracking accuracies in all three axial directions as well as the diffusivity parallel to the channel axis while we observed no significant flow but purely Brownian motion. Finally, the presented algorithm is suitable also for tracking of fluorescently labeled particles and particles driven by an external force, e.g., electrokinetic or dielectrophoretic forces.

  18. Body-Part Tracking of Infants

    DEFF Research Database (Denmark)

    Olsen, Mikkel Damgaard; Herskind, Anna; Nielsen, Jens Bo

    2014-01-01

    Motion tracking is a widely used technique to analyze and measure adult human movement. However, these methods cannot be transferred directly to motion tracking of infants due to the big differences in the underlying human model. However, motion tracking of infants can be used for automatic...

  19. Turbulence characterization by studying laser beam wandering in a differential tracking motion setup

    Science.gov (United States)

    Pérez, Darío G.; Zunino, Luciano; Gulich, Damián; Funes, Gustavo; Garavaglia, Mario

    2009-09-01

    The Differential Image Motion Monitor (DIMM) is a standard and widely used instrument for astronomical seeing measurements. The seeing values are estimated from the variance of the differential image motion over two equal small pupils some distance apart. The twin pupils are usually cut in a mask on the entrance pupil of the telescope. As a differential method, it has the advantage of being immune to tracking errors, eliminating erratic motion of the telescope. The Differential Laser Tracking Motion (DLTM) is introduced here inspired by the same idea. Two identical laser beams are propagated through a path of air in turbulent motion, at the end of it their wander is registered by two position sensitive detectors-at a count of 800 samples per second. Time series generated from the difference of the pair of centroid laser beam coordinates is then analyzed using the multifractal detrended fluctuation analysis. Measurements were performed at the laboratory with synthetic turbulence: changing the relative separation of the beams for different turbulent regimes. The dependence, with respect to these parameters, and the robustness of our estimators is compared with the non-differential method. This method is an improvement with respect to previous approaches that study the beam wandering.

  20. Three-dimensional liver motion tracking using real-time two-dimensional MRI.

    Science.gov (United States)

    Brix, Lau; Ringgaard, Steffen; Sørensen, Thomas Sangild; Poulsen, Per Rugaard

    2014-04-01

    Combined magnetic resonance imaging (MRI) systems and linear accelerators for radiotherapy (MR-Linacs) are currently under development. MRI is noninvasive and nonionizing and can produce images with high soft tissue contrast. However, new tracking methods are required to obtain fast real-time spatial target localization. This study develops and evaluates a method for tracking three-dimensional (3D) respiratory liver motion in two-dimensional (2D) real-time MRI image series with high temporal and spatial resolution. The proposed method for 3D tracking in 2D real-time MRI series has three steps: (1) Recording of a 3D MRI scan and selection of a blood vessel (or tumor) structure to be tracked in subsequent 2D MRI series. (2) Generation of a library of 2D image templates oriented parallel to the 2D MRI image series by reslicing and resampling the 3D MRI scan. (3) 3D tracking of the selected structure in each real-time 2D image by finding the template and template position that yield the highest normalized cross correlation coefficient with the image. Since the tracked structure has a known 3D position relative to each template, the selection and 2D localization of a specific template translates into quantification of both the through-plane and in-plane position of the structure. As a proof of principle, 3D tracking of liver blood vessel structures was performed in five healthy volunteers in two 5.4 Hz axial, sagittal, and coronal real-time 2D MRI series of 30 s duration. In each 2D MRI series, the 3D localization was carried out twice, using nonoverlapping template libraries, which resulted in a total of 12 estimated 3D trajectories per volunteer. Validation tests carried out to support the tracking algorithm included quantification of the breathing induced 3D liver motion and liver motion directionality for the volunteers, and comparison of 2D MRI estimated positions of a structure in a watermelon with the actual positions. Axial, sagittal, and coronal 2D MRI series

  1. Three-dimensional liver motion tracking using real-time two-dimensional MRI

    Energy Technology Data Exchange (ETDEWEB)

    Brix, Lau, E-mail: lau.brix@stab.rm.dk [Department of Procurement and Clinical Engineering, Region Midt, Olof Palmes Allé 15, 8200 Aarhus N, Denmark and MR Research Centre, Aarhus University Hospital, Skejby, Brendstrupgaardsvej 100, 8200 Aarhus N (Denmark); Ringgaard, Steffen [MR Research Centre, Aarhus University Hospital, Skejby, Brendstrupgaardsvej 100, 8200 Aarhus N (Denmark); Sørensen, Thomas Sangild [Department of Computer Science, Aarhus University, Aabogade 34, 8200 Aarhus N, Denmark and Department of Clinical Medicine, Aarhus University, Brendstrupgaardsvej 100, 8200 Aarhus N (Denmark); Poulsen, Per Rugaard [Department of Clinical Medicine, Aarhus University, Brendstrupgaardsvej 100, 8200 Aarhus N, Denmark and Department of Oncology, Aarhus University Hospital, Nørrebrogade 44, 8000 Aarhus C (Denmark)

    2014-04-15

    Purpose: Combined magnetic resonance imaging (MRI) systems and linear accelerators for radiotherapy (MR-Linacs) are currently under development. MRI is noninvasive and nonionizing and can produce images with high soft tissue contrast. However, new tracking methods are required to obtain fast real-time spatial target localization. This study develops and evaluates a method for tracking three-dimensional (3D) respiratory liver motion in two-dimensional (2D) real-time MRI image series with high temporal and spatial resolution. Methods: The proposed method for 3D tracking in 2D real-time MRI series has three steps: (1) Recording of a 3D MRI scan and selection of a blood vessel (or tumor) structure to be tracked in subsequent 2D MRI series. (2) Generation of a library of 2D image templates oriented parallel to the 2D MRI image series by reslicing and resampling the 3D MRI scan. (3) 3D tracking of the selected structure in each real-time 2D image by finding the template and template position that yield the highest normalized cross correlation coefficient with the image. Since the tracked structure has a known 3D position relative to each template, the selection and 2D localization of a specific template translates into quantification of both the through-plane and in-plane position of the structure. As a proof of principle, 3D tracking of liver blood vessel structures was performed in five healthy volunteers in two 5.4 Hz axial, sagittal, and coronal real-time 2D MRI series of 30 s duration. In each 2D MRI series, the 3D localization was carried out twice, using nonoverlapping template libraries, which resulted in a total of 12 estimated 3D trajectories per volunteer. Validation tests carried out to support the tracking algorithm included quantification of the breathing induced 3D liver motion and liver motion directionality for the volunteers, and comparison of 2D MRI estimated positions of a structure in a watermelon with the actual positions. Results: Axial, sagittal

  2. Three-dimensional liver motion tracking using real-time two-dimensional MRI

    International Nuclear Information System (INIS)

    Brix, Lau; Ringgaard, Steffen; Sørensen, Thomas Sangild; Poulsen, Per Rugaard

    2014-01-01

    Purpose: Combined magnetic resonance imaging (MRI) systems and linear accelerators for radiotherapy (MR-Linacs) are currently under development. MRI is noninvasive and nonionizing and can produce images with high soft tissue contrast. However, new tracking methods are required to obtain fast real-time spatial target localization. This study develops and evaluates a method for tracking three-dimensional (3D) respiratory liver motion in two-dimensional (2D) real-time MRI image series with high temporal and spatial resolution. Methods: The proposed method for 3D tracking in 2D real-time MRI series has three steps: (1) Recording of a 3D MRI scan and selection of a blood vessel (or tumor) structure to be tracked in subsequent 2D MRI series. (2) Generation of a library of 2D image templates oriented parallel to the 2D MRI image series by reslicing and resampling the 3D MRI scan. (3) 3D tracking of the selected structure in each real-time 2D image by finding the template and template position that yield the highest normalized cross correlation coefficient with the image. Since the tracked structure has a known 3D position relative to each template, the selection and 2D localization of a specific template translates into quantification of both the through-plane and in-plane position of the structure. As a proof of principle, 3D tracking of liver blood vessel structures was performed in five healthy volunteers in two 5.4 Hz axial, sagittal, and coronal real-time 2D MRI series of 30 s duration. In each 2D MRI series, the 3D localization was carried out twice, using nonoverlapping template libraries, which resulted in a total of 12 estimated 3D trajectories per volunteer. Validation tests carried out to support the tracking algorithm included quantification of the breathing induced 3D liver motion and liver motion directionality for the volunteers, and comparison of 2D MRI estimated positions of a structure in a watermelon with the actual positions. Results: Axial, sagittal

  3. Molecular motors that digest their track to rectify Brownian motion: processive movement of exonuclease enzymes.

    Science.gov (United States)

    Xie, Ping

    2009-09-16

    A general model is presented for the processive movement of molecular motors such as λ-exonuclease, RecJ and exonuclease I that use digestion of a DNA track to rectify Brownian motion along this track. Using this model, the translocation dynamics of these molecular motors is studied. The sequence-dependent pausing of λ-exonuclease, which results from a site-specific high affinity DNA interaction, is also studied. The theoretical results are consistent with available experimental data. Moreover, the model is used to predict the lifetime distribution and force dependence of these paused states.

  4. Molecular motors that digest their track to rectify Brownian motion: processive movement of exonuclease enzymes

    International Nuclear Information System (INIS)

    Xie Ping

    2009-01-01

    A general model is presented for the processive movement of molecular motors such as λ-exonuclease, RecJ and exonuclease I that use digestion of a DNA track to rectify Brownian motion along this track. Using this model, the translocation dynamics of these molecular motors is studied. The sequence-dependent pausing of λ-exonuclease, which results from a site-specific high affinity DNA interaction, is also studied. The theoretical results are consistent with available experimental data. Moreover, the model is used to predict the lifetime distribution and force dependence of these paused states.

  5. A comparison of Lagrangian/Eulerian approaches for tracking the kinematics of high deformation solid motion.

    Energy Technology Data Exchange (ETDEWEB)

    Ames, Thomas L.; Farnsworth, Grant V.; Ketcheson, David Isaac; Robinson, Allen Conrad

    2009-09-01

    The modeling of solids is most naturally placed within a Lagrangian framework because it requires constitutive models which depend on knowledge of the original material orientations and subsequent deformations. Detailed kinematic information is needed to ensure material frame indifference which is captured through the deformation gradient F. Such information can be tracked easily in a Lagrangian code. Unfortunately, not all problems can be easily modeled using Lagrangian concepts due to severe distortions in the underlying motion. Either a Lagrangian/Eulerian or a pure Eulerian modeling framework must be introduced. We discuss and contrast several Lagrangian/Eulerian approaches for keeping track of the details of material kinematics.

  6. Human Motion Capture Data Tailored Transform Coding.

    Science.gov (United States)

    Junhui Hou; Lap-Pui Chau; Magnenat-Thalmann, Nadia; Ying He

    2015-07-01

    Human motion capture (mocap) is a widely used technique for digitalizing human movements. With growing usage, compressing mocap data has received increasing attention, since compact data size enables efficient storage and transmission. Our analysis shows that mocap data have some unique characteristics that distinguish themselves from images and videos. Therefore, directly borrowing image or video compression techniques, such as discrete cosine transform, does not work well. In this paper, we propose a novel mocap-tailored transform coding algorithm that takes advantage of these features. Our algorithm segments the input mocap sequences into clips, which are represented in 2D matrices. Then it computes a set of data-dependent orthogonal bases to transform the matrices to frequency domain, in which the transform coefficients have significantly less dependency. Finally, the compression is obtained by entropy coding of the quantized coefficients and the bases. Our method has low computational cost and can be easily extended to compress mocap databases. It also requires neither training nor complicated parameter setting. Experimental results demonstrate that the proposed scheme significantly outperforms state-of-the-art algorithms in terms of compression performance and speed.

  7. Magnetic Resonance Imaging–Guided versus Surrogate-Based Motion Tracking in Liver Radiation Therapy: A Prospective Comparative Study

    Energy Technology Data Exchange (ETDEWEB)

    Paganelli, Chiara, E-mail: chiara.paganelli@polimi.it [Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano (Italy); Seregni, Matteo; Fattori, Giovanni [Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano (Italy); Summers, Paul [Division of Radiology, Istituto Europeo di Oncologia, Milano (Italy); Bellomi, Massimo [Division of Radiology, Istituto Europeo di Oncologia, Milano (Italy); Department of Health Sciences, Università degli Studi di Milano, Milano (Italy); Baroni, Guido; Riboldi, Marco [Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano (Italy); Bioengineering Unit, CNAO Foundation, Pavia (Italy)

    2015-03-15

    Purpose: This study applied automatic feature detection on cine–magnetic resonance imaging (MRI) liver images in order to provide a prospective comparison between MRI-guided and surrogate-based tracking methods for motion-compensated liver radiation therapy. Methods and Materials: In a population of 30 subjects (5 volunteers plus 25 patients), 2 oblique sagittal slices were acquired across the liver at high temporal resolution. An algorithm based on scale invariant feature transform (SIFT) was used to extract and track multiple features throughout the image sequence. The position of abdominal markers was also measured directly from the image series, and the internal motion of each feature was quantified through multiparametric analysis. Surrogate-based tumor tracking with a state-of-the-art external/internal correlation model was simulated. The geometrical tracking error was measured, and its correlation with external motion parameters was also investigated. Finally, the potential gain in tracking accuracy relying on MRI guidance was quantified as a function of the maximum allowed tracking error. Results: An average of 45 features was extracted for each subject across the whole liver. The multi-parametric motion analysis reported relevant inter- and intrasubject variability, highlighting the value of patient-specific and spatially-distributed measurements. Surrogate-based tracking errors (relative to the motion amplitude) were were in the range 7% to 23% (1.02-3.57mm) and were significantly influenced by external motion parameters. The gain of MRI guidance compared to surrogate-based motion tracking was larger than 30% in 50% of the subjects when considering a 1.5-mm tracking error tolerance. Conclusions: Automatic feature detection applied to cine-MRI allows detailed liver motion description to be obtained. Such information was used to quantify the performance of surrogate-based tracking methods and to provide a prospective comparison with respect to MRI

  8. Online 4D ultrasound guidance for real-time motion compensation by MLC tracking.

    Science.gov (United States)

    Ipsen, Svenja; Bruder, Ralf; O'Brien, Rick; Keall, Paul J; Schweikard, Achim; Poulsen, Per R

    2016-10-01

    With the trend in radiotherapy moving toward dose escalation and hypofractionation, the need for highly accurate targeting increases. While MLC tracking is already being successfully used for motion compensation of moving targets in the prostate, current real-time target localization methods rely on repeated x-ray imaging and implanted fiducial markers or electromagnetic transponders rather than direct target visualization. In contrast, ultrasound imaging can yield volumetric data in real-time (3D + time = 4D) without ionizing radiation. The authors report the first results of combining these promising techniques-online 4D ultrasound guidance and MLC tracking-in a phantom. A software framework for real-time target localization was installed directly on a 4D ultrasound station and used to detect a 2 mm spherical lead marker inside a water tank. The lead marker was rigidly attached to a motion stage programmed to reproduce nine characteristic tumor trajectories chosen from large databases (five prostate, four lung). The 3D marker position detected by ultrasound was transferred to a computer program for MLC tracking at a rate of 21.3 Hz and used for real-time MLC aperture adaption on a conventional linear accelerator. The tracking system latency was measured using sinusoidal trajectories and compensated for by applying a kernel density prediction algorithm for the lung traces. To measure geometric accuracy, static anterior and lateral conformal fields as well as a 358° arc with a 10 cm circular aperture were delivered for each trajectory. The two-dimensional (2D) geometric tracking error was measured as the difference between marker position and MLC aperture center in continuously acquired portal images. For dosimetric evaluation, VMAT treatment plans with high and low modulation were delivered to a biplanar diode array dosimeter using the same trajectories. Dose measurements with and without MLC tracking were compared to a static reference dose using 3%/3 mm and 2

  9. Motion management during IMAT treatment of mobile lung tumors-A comparison of MLC tracking and gated delivery

    DEFF Research Database (Denmark)

    Falk, Marianne; Pommer, Tobias; Keall, Paul

    2014-01-01

    Purpose:To compare real-time dynamic multileaf collimator (MLC) tracking, respiratory amplitude and phase gating, and no compensation for intrafraction motion management during intensity modulated arc therapy (IMAT). Methods: Motion management with MLC tracking and gating was evaluated for four...... tracking reduced the effects of the target movements, although the gated delivery showed a better dosimetric accuracy and enabled a larger reduction of the margins in some cases. MLC tracking did not prolong the treatment time compared to delivery with no motion compensation while gating had a considerably...... of the dosimetric error contributions showed that the gated delivery mainly had errors in target localization, while MLC tracking also had contributions from MLC leaf fitting and leaf adjustment. The average treatment time was about three times longer with gating compared to delivery with MLC tracking (that did...

  10. A Smart Assistant for Shooting Virtual Cinematography with Motion-Tracked Cameras

    OpenAIRE

    Lino , Christophe; Christie , Marc; Ranon , Roberto; Bares , William

    2011-01-01

    International audience; This demonstration shows how an automated assistant encoded with knowledge of cinematography practice can off er suggested viewpoints to a fi lmmaker operating a hand-held motion-tracked virtual camera device. Our system, called Director's Lens, uses an intelligent cinematography engine to compute, at the request of the lmmaker, a set of suitable camera placements for starting a shot that represent semantically and cinematically distinct choices for visualizing the cur...

  11. A software-based tool for video motion tracking in the surgical skills assessment landscape

    OpenAIRE

    Ganni, S.; Botden, Sanne M.B.I.; Chmarra, M.K.; Goossens, R.H.M.; Jakimowicz, J.J.

    2018-01-01

    Background: The use of motion tracking has been proved to provide an objective assessment in surgical skills training. Current systems, however, require the use of additional equipment or specialised laparoscopic instruments and cameras to extract the data. The aim of this study was to determine the possibility of using a software-based solution to extract the data. Methods: 6 expert and 23 novice participants performed a basic laparoscopic cholecystectomy procedure in the operating room. The...

  12. Time-domain prefilter design for enhanced tracking and vibration suppression in machine motion control

    Science.gov (United States)

    Cole, Matthew O. T.; Shinonawanik, Praween; Wongratanaphisan, Theeraphong

    2018-05-01

    Structural flexibility can impact negatively on machine motion control systems by causing unmeasured positioning errors and vibration at locations where accurate motion is important for task execution. To compensate for these effects, command signal prefiltering may be applied. In this paper, a new FIR prefilter design method is described that combines finite-time vibration cancellation with dynamic compensation properties. The time-domain formulation exploits the relation between tracking error and the moment values of the prefilter impulse response function. Optimal design solutions for filters having minimum H2 norm are derived and evaluated. The control approach does not require additional actuation or sensing and can be effective even without complete and accurate models of the machine dynamics. Results from implementation and testing on an experimental high-speed manipulator having a Delta robot architecture with directionally compliant end-effector are presented. The results show the importance of prefilter moment values for tracking performance and confirm that the proposed method can achieve significant reductions in both peak and RMS tracking error, as well as settling time, for complex motion patterns.

  13. Acute myocarditis with normal wall motion detected with 2D speckle tracking echocardiography

    Directory of Open Access Journals (Sweden)

    Thomas Sturmberger

    2016-05-01

    Full Text Available We present the case of a 26-year-old male with acute tonsillitis who was referred for coronary angiography because of chest pain, elevated cardiac biomarkers, and biphasic T waves. The patient had no cardiovascular risk factors. Echocardiography showed no wall motion abnormalities and no pericardial effusion. 2D speckle tracking revealed distinct decreased regional peak longitudinal systolic strain in the lateral and posterior walls. Ischemic disease was extremely unlikely in view of his young age, negative family history regarding coronary artery disease, and lack of regional wall motion abnormalities on the conventional 2D echocardiogram. Coronary angiography was deferred as myocarditis was suspected. To confirm the diagnosis, cardiac magnetic resonance tomography (MRT was performed, showing subepicardial delayed hyperenhancement in the lateral and posterior walls correlating closely with the strain pattern obtained by 2D speckle tracking echocardiography. With a working diagnosis of acute myocarditis associated with acute tonsillitis, we prescribed antibiotics and nonsteroidal anti-inflammatory drugs. The patient’s clinical signs resolved along with normalization of serum creatine kinase (CK levels, and the patient was discharged on the third day after admission. Learning points: • Acute myocarditis can mimic acute coronary syndromes. • Conventional 2D echocardiography lacks specific features for detection of subtle regional wall motion abnormalities. • 2D speckle tracking expands the scope of echocardiography in identifying myocardial dysfunction derived from edema in acute myocarditis.

  14. Application of inertial sensors and flux-gate magnetometer to real-time human body motion capture

    OpenAIRE

    Frey, William.

    1996-01-01

    Human body tracking for synthetic environment interface has become a significant human- computer interface challenge. There are several different types of motion capture systems currently available. Inherent problems, most resulting from the use of artificially-generated source signals, plague these systems. A proposed motion capture system is being developed at the Naval Postgraduate School which utilizes a combination of inertial sensors to overcome these difficulties. However, the current ...

  15. Real-time circumferential mapping catheter tracking for motion compensation in atrial fibrillation ablation procedures

    Science.gov (United States)

    Brost, Alexander; Bourier, Felix; Wimmer, Andreas; Koch, Martin; Kiraly, Atilla; Liao, Rui; Kurzidim, Klaus; Hornegger, Joachim; Strobel, Norbert

    2012-02-01

    Atrial fibrillation (AFib) has been identified as a major cause of stroke. Radiofrequency catheter ablation has become an increasingly important treatment option, especially when drug therapy fails. Navigation under X-ray can be enhanced by using augmented fluoroscopy. It renders overlay images from pre-operative 3-D data sets which are then fused with X-ray images to provide more details about the underlying soft-tissue anatomy. Unfortunately, these fluoroscopic overlay images are compromised by respiratory and cardiac motion. Various methods to deal with motion have been proposed. To meet clinical demands, they have to be fast. Methods providing a processing frame rate of 3 frames-per-second (fps) are considered suitable for interventional electrophysiology catheter procedures if an acquisition frame rate of 2 fps is used. Unfortunately, when working at a processing rate of 3 fps, the delay until the actual motion compensated image can be displayed is about 300 ms. More recent algorithms can achieve frame rates of up to 20 fps, which reduces the lag to 50 ms. By using a novel approach involving a 3-D catheter model, catheter segmentation and a distance transform, we can speed up motion compensation to 25 fps which results in a display delay of only 40 ms on a standard workstation for medical applications. Our method uses a constrained 2-D/3-D registration to perform catheter tracking, and it obtained a 2-D tracking error of 0.61 mm.

  16. A Simulation Study of a Radiofrequency Localization System for Tracking Patient Motion in Radiotherapy

    Directory of Open Access Journals (Sweden)

    Mark Ostyn

    2016-04-01

    Full Text Available One of the most widely used tools in cancer treatment is external beam radiotherapy. However, the major risk involved in radiotherapy is excess radiation dose to healthy tissue, exacerbated by patient motion. Here, we present a simulation study of a potential radiofrequency (RF localization system designed to track intrafraction motion (target motion during the radiation treatment. This system includes skin-wearable RF beacons and an external tracking system. We develop an analytical model for direction of arrival measurement with radio frequencies (GHz range for use in a localization estimate. We use a Monte Carlo simulation to investigate the relationship between a localization estimate and angular resolution of sensors (signal receivers in a simulated room. The results indicate that the external sensor needs an angular resolution of about 0.03 degrees to achieve millimeter-level localization accuracy in a treatment room. This fundamental study of a novel RF localization system offers the groundwork to design a radiotherapy-compatible patient positioning system for active motion compensation.

  17. A Simulation Study of a Radiofrequency Localization System for Tracking Patient Motion in Radiotherapy.

    Science.gov (United States)

    Ostyn, Mark; Kim, Siyong; Yeo, Woon-Hong

    2016-04-13

    One of the most widely used tools in cancer treatment is external beam radiotherapy. However, the major risk involved in radiotherapy is excess radiation dose to healthy tissue, exacerbated by patient motion. Here, we present a simulation study of a potential radiofrequency (RF) localization system designed to track intrafraction motion (target motion during the radiation treatment). This system includes skin-wearable RF beacons and an external tracking system. We develop an analytical model for direction of arrival measurement with radio frequencies (GHz range) for use in a localization estimate. We use a Monte Carlo simulation to investigate the relationship between a localization estimate and angular resolution of sensors (signal receivers) in a simulated room. The results indicate that the external sensor needs an angular resolution of about 0.03 degrees to achieve millimeter-level localization accuracy in a treatment room. This fundamental study of a novel RF localization system offers the groundwork to design a radiotherapy-compatible patient positioning system for active motion compensation.

  18. Development of an Embedded Solar Tracking System with LabVIEW Motion Control

    International Nuclear Information System (INIS)

    Oh, Seung Jin; Hyun, Jun Ho; Oh, Won Jong; Kim, Yeong Min; Lee, Yoon Joon; Chun, Won Gee

    2010-01-01

    Motion control is a sub-field of automation, in which the position and/or velocity of machines are controlled using some type of device such as a hydraulic pump, linear actuator, or an electric motor. The motion control is widely used in the packaging, printing, textile, semiconductor production, and power plants. National Instruments LabVIEW is a graphical programming language that has its roots in automation control and data acquisition. Its graphical representation, similar to a process flow diagram, was created to provide an intuitive programming environment for scientist and engineers. Crystal River Nuclear Plant engineers developed automated testing system of nuclear plant control modules in an aging nuclear power plant using LabVIEW to improve performance and reliability and reduce cost. In this study, an embedded two-axis solar tracking system was developed using LabVIEW motion control module

  19. Automatic Video-based Analysis of Human Motion

    DEFF Research Database (Denmark)

    Fihl, Preben

    The human motion contains valuable information in many situations and people frequently perform an unconscious analysis of the motion of other people to understand their actions, intentions, and state of mind. An automatic analysis of human motion will facilitate many applications and thus has...... received great interest from both industry and research communities. The focus of this thesis is on video-based analysis of human motion and the thesis presents work within three overall topics, namely foreground segmentation, action recognition, and human pose estimation. Foreground segmentation is often...... the first important step in the analysis of human motion. By separating foreground from background the subsequent analysis can be focused and efficient. This thesis presents a robust background subtraction method that can be initialized with foreground objects in the scene and is capable of handling...

  20. A Method for Testing the Dynamic Accuracy of Micro-Electro-Mechanical Systems (MEMS) Magnetic, Angular Rate, and Gravity (MARG) Sensors for Inertial Navigation Systems (INS) and Human Motion Tracking Applications

    Science.gov (United States)

    2010-06-01

    swinging, while the game software translates these actions into on-screen game play. Games like tennis , golf, bowling, fishing and more are controlled...reality, as in [20], sensors may be placed on the wrists, elbows , shoulders, head, and elsewhere to track the orientation of the individual. When...below. When pointing an arm or a rifle, the elbow or shoulder act as the pivot and the arm or rifle may swing horizontally about that point. These

  1. Using the Theory of Combined Friction when Making Mathematical Models of Curvilinear Motion of Tracked Vehicles

    Directory of Open Access Journals (Sweden)

    M. V. Vyaznikov

    2014-01-01

    Full Text Available The paper presents study results of the nonlinear interaction processes between the supporting surface of the track Assembly and the ground in the contact patch, using the mathematical models of friction. For the case blaskapelle motion of a caterpillar, when the resultant of the elementary friction forces is limited by the coupling due to the sliding tracks on the ground, it appears that the increase of the lateral component leads to a decrease of the longitudinal component and the change of direction of the resulting force. As a result, with increasing angular velocity of the tracked vehicle a longitudinal component of the friction force decreases, which is the geometric factor and is defined by the locus of friction for a given type of soil. In the development of this well-known model is considered the general case of friction, which describes the effect of reducing the coefficient of friction in the contact patch at increasing the angular velocity of rotation. To describe this process is used the model of the combined friction which occurs when the surface of the body is doing at the same time the rotational and translational motion. The resulting expression for the resultant of forces of friction and the moment of resistance to rotation based on the decomposition of the first order Pade for a flat spot track Assembly with ground of rectangular shape. With combined friction any arbitrarily small perturbation force acting parallel to the surface of the contact spot, leads to slip. The paper considers the possibility of using the model of the combined friction to research a sustainability curvilinear motion of tracked vehicles. The proposed motion of the machine in the mode of skidding on the basis of the frictionslip. The interpretation of the physical processes occurring in the contact area, on the basis of the theory of the combined friction would allow using this mathematical model in the algorithm structure of automatic traffic control

  2. DLP technology application: 3D head tracking and motion correction in medical brain imaging

    DEFF Research Database (Denmark)

    Olesen, Oline Vinter; Wilm, Jakob; Paulsen, Rasmus Reinhold

    2014-01-01

    In this paper we present a novel sensing system, robust Near-infrared Structured Light Scanning (NIRSL) for three-dimensional human model scanning application. Human model scanning due to its nature of various hair and dress appearance and body motion has long been a challenging task. Previous...... surfaces, such as hair, dark jeans and black shoes under visible illumination. Moreover, successful structured light scan relies on the assumption that the subject is static during scanning. Due to the nature of body motion, it is very time sensitive to keep this assumption in the case of human model scan....... The proposed sensing system, by utilizing the new near-infrared capable high speed LightCrafter DLP projector, is robust to motion, provides accurate and high resolution three-dimensional point cloud, making our system more efficient and robust for human model reconstruction. Experimental results demonstrate...

  3. Comparative analysis of respiratory motion tracking using Microsoft Kinect v2 sensor.

    Science.gov (United States)

    Silverstein, Evan; Snyder, Michael

    2018-05-01

    To present and evaluate a straightforward implementation of a marker-less, respiratory motion-tracking process utilizing Kinect v2 camera as a gating tool during 4DCT or during radiotherapy treatments. Utilizing the depth sensor on the Kinect as well as author written C# code, respiratory motion of a subject was tracked by recording depth values obtained at user selected points on the subject, with each point representing one pixel on the depth image. As a patient breathes, specific anatomical points on the chest/abdomen will move slightly within the depth image across pixels. By tracking how depth values change for a specific pixel, instead of how the anatomical point moves throughout the image, a respiratory trace can be obtained based on changing depth values of the selected pixel. Tracking these values was implemented via marker-less setup. Varian's RPM system and the Anzai belt system were used in tandem with the Kinect to compare respiratory traces obtained by each using two different subjects. Analysis of the depth information from the Kinect for purposes of phase- and amplitude-based binning correlated well with the RPM and Anzai systems. Interquartile Range (IQR) values were obtained comparing times correlated with specific amplitude and phase percentages against each product. The IQR time spans indicated the Kinect would measure specific percentage values within 0.077 s for Subject 1 and 0.164 s for Subject 2 when compared to values obtained with RPM or Anzai. For 4DCT scans, these times correlate to less than 1 mm of couch movement and would create an offset of 1/2 an acquired slice. By tracking depth values of user selected pixels within the depth image, rather than tracking specific anatomical locations, respiratory motion can be tracked and visualized utilizing the Kinect with results comparable to that of the Varian RPM and Anzai belt. © 2018 The Authors. Journal of Applied Clinical Medical Physics published by Wiley Periodicals, Inc. on behalf of

  4. Simultaneous tumor and surrogate motion tracking with dynamic MRI for radiation therapy planning

    Science.gov (United States)

    Park, Seyoun; Farah, Rana; Shea, Steven M.; Tryggestad, Erik; Hales, Russell; Lee, Junghoon

    2018-01-01

    Respiration-induced tumor motion is a major obstacle for achieving high-precision radiotherapy of cancers in the thoracic and abdominal regions. Surrogate-based estimation and tracking methods are commonly used in radiotherapy, but with limited understanding of quantified correlation to tumor motion. In this study, we propose a method to simultaneously track the lung tumor and external surrogates to evaluate their spatial correlation in a quantitative way using dynamic MRI, which allows real-time acquisition without ionizing radiation exposure. To capture the lung and whole tumor, four MRI-compatible fiducials are placed on the patient’s chest and upper abdomen. Two different types of acquisitions are performed in the sagittal orientation including multi-slice 2D cine MRIs to reconstruct 4D-MRI and two-slice 2D cine MRIs to simultaneously track the tumor and fiducials. A phase-binned 4D-MRI is first reconstructed from multi-slice MR images using body area as a respiratory surrogate and groupwise registration. The 4D-MRI provides 3D template volumes for different breathing phases. 3D tumor position is calculated by 3D-2D template matching in which 3D tumor templates in the 4D-MRI reconstruction and the 2D cine MRIs from the two-slice tracking dataset are registered. 3D trajectories of the external surrogates are derived via matching a 3D geometrical model of the fiducials to their segmentations on the 2D cine MRIs. We tested our method on ten lung cancer patients. Using a correlation analysis, the 3D tumor trajectory demonstrates a noticeable phase mismatch and significant cycle-to-cycle motion variation, while the external surrogate was not sensitive enough to capture such variations. Additionally, there was significant phase mismatch between surrogate signals obtained from the fiducials at different locations.

  5. Object Detection and Tracking using Modified Diamond Search Block Matching Motion Estimation Algorithm

    Directory of Open Access Journals (Sweden)

    Apurva Samdurkar

    2018-06-01

    Full Text Available Object tracking is one of the main fields within computer vision. Amongst various methods/ approaches for object detection and tracking, the background subtraction approach makes the detection of object easier. To the detected object, apply the proposed block matching algorithm for generating the motion vectors. The existing diamond search (DS and cross diamond search algorithms (CDS are studied and experiments are carried out on various standard video data sets and user defined data sets. Based on the study and analysis of these two existing algorithms a modified diamond search pattern (MDS algorithm is proposed using small diamond shape search pattern in initial step and large diamond shape (LDS in further steps for motion estimation. The initial search pattern consists of five points in small diamond shape pattern and gradually grows into a large diamond shape pattern, based on the point with minimum cost function. The algorithm ends with the small shape pattern at last. The proposed MDS algorithm finds the smaller motion vectors and fewer searching points than the existing DS and CDS algorithms. Further, object detection is carried out by using background subtraction approach and finally, MDS motion estimation algorithm is used for tracking the object in color video sequences. The experiments are carried out by using different video data sets containing a single object. The results are evaluated and compared by using the evaluation parameters like average searching points per frame and average computational time per frame. The experimental results show that the MDS performs better than DS and CDS on average search point and average computation time.

  6. High-bandwidth and flexible tracking control for precision motion with application to a piezo nanopositioner.

    Science.gov (United States)

    Feng, Zhao; Ling, Jie; Ming, Min; Xiao, Xiao-Hui

    2017-08-01

    For precision motion, high-bandwidth and flexible tracking are the two important issues for significant performance improvement. Iterative learning control (ILC) is an effective feedforward control method only for systems that operate strictly repetitively. Although projection ILC can track varying references, the performance is still limited by the fixed-bandwidth Q-filter, especially for triangular waves tracking commonly used in a piezo nanopositioner. In this paper, a wavelet transform-based linear time-varying (LTV) Q-filter design for projection ILC is proposed to compensate high-frequency errors and improve the ability to tracking varying references simultaneously. The LVT Q-filter is designed based on the modulus maximum of wavelet detail coefficients calculated by wavelet transform to determine the high-frequency locations of each iteration with the advantages of avoiding cross-terms and segmenting manually. The proposed approach was verified on a piezo nanopositioner. Experimental results indicate that the proposed approach can locate the high-frequency regions accurately and achieve the best performance under varying references compared with traditional frequency-domain and projection ILC with a fixed-bandwidth Q-filter, which validates that through implementing the LTV filter on projection ILC, high-bandwidth and flexible tracking can be achieved simultaneously by the proposed approach.

  7. MotorSense: Using Motion Tracking Technology to Support the Identification and Treatment of Gross-Motor Dysfunction.

    Science.gov (United States)

    Arnedillo-Sánchez, Inmaculada; Boyle, Bryan; Bossavit, Benoît

    2017-01-01

    MotorSense is a motion detection and tracking technology that can be implemented across a range of environments to assist in detecting delays in gross-motor skills development. The system utilises the motion tracking functionality of Microsoft's Kinect™. It features games that require children to perform graded gross-motor tasks matched with their chronological and developmental ages. This paper describes the rationale for MotorSense, provides an overview of the functionality of the system and illustrates sample activities.

  8. Human Kinematics of Cochlear Implant Surgery: An Investigation of Insertion Micro-Motions and Speed Limitations.

    Science.gov (United States)

    Kesler, Kyle; Dillon, Neal P; Fichera, Loris; Labadie, Robert F

    2017-09-01

    Objectives Document human motions associated with cochlear implant electrode insertion at different speeds and determine the lower limit of continuous insertion speed by a human. Study Design Observational. Setting Academic medical center. Subjects and Methods Cochlear implant forceps were coupled to a frame containing reflective fiducials, which enabled optical tracking of the forceps' tip position in real time. Otolaryngologists (n = 14) performed mock electrode insertions at different speeds based on recommendations from the literature: "fast" (96 mm/min), "stable" (as slow as possible without stopping), and "slow" (15 mm/min). For each insertion, the following metrics were calculated from the tracked position data: percentage of time at prescribed speed, percentage of time the surgeon stopped moving forward, and number of direction reversals (ie, going from forward to backward motion). Results Fast insertion trials resulted in better adherence to the prescribed speed (45.4% of the overall time), no motion interruptions, and no reversals, as compared with slow insertions (18.6% of time at prescribed speed, 15.7% stopped time, and an average of 18.6 reversals per trial). These differences were statistically significant for all metrics ( P implant electrode at 15 mm/min is not feasible for human operators. The lower limit of continuous forward insertion is 52 mm/min on average. Guidelines on manual insertion kinematics should consider this practical limit of human motion.

  9. Real-Time Motion Tracking for Mobile Augmented/Virtual Reality Using Adaptive Visual-Inertial Fusion.

    Science.gov (United States)

    Fang, Wei; Zheng, Lianyu; Deng, Huanjun; Zhang, Hongbo

    2017-05-05

    In mobile augmented/virtual reality (AR/VR), real-time 6-Degree of Freedom (DoF) motion tracking is essential for the registration between virtual scenes and the real world. However, due to the limited computational capacity of mobile terminals today, the latency between consecutive arriving poses would damage the user experience in mobile AR/VR. Thus, a visual-inertial based real-time motion tracking for mobile AR/VR is proposed in this paper. By means of high frequency and passive outputs from the inertial sensor, the real-time performance of arriving poses for mobile AR/VR is achieved. In addition, to alleviate the jitter phenomenon during the visual-inertial fusion, an adaptive filter framework is established to cope with different motion situations automatically, enabling the real-time 6-DoF motion tracking by balancing the jitter and latency. Besides, the robustness of the traditional visual-only based motion tracking is enhanced, giving rise to a better mobile AR/VR performance when motion blur is encountered. Finally, experiments are carried out to demonstrate the proposed method, and the results show that this work is capable of providing a smooth and robust 6-DoF motion tracking for mobile AR/VR in real-time.

  10. Towards an IMU Evaluation Framework for Human Body Tracking.

    Science.gov (United States)

    Venek, Verena; Kremser, Wolfgang; Schneider, Cornelia

    2018-01-01

    Existing full-body tracking systems, which use Inertial Measurement Units (IMUs) as sensing unit, require expert knowledge for setup and data collection. Thus, the daily application for human body tracking is difficult. In particular, in the field of active and assisted living (AAL), tracking human movements would enable novel insights not only into the quantity but also into the quality of human movement, for example by monitoring functional training. While the current market offers a wide range of products with vastly different properties, literature lacks guidelines for choosing IMUs for body tracking applications. Therefore, this paper introduces developments towards an IMU evaluation framework for human body tracking which compares IMUs against five requirement areas that consider device features and data quality. The data quality is assessed by conducting a static and a dynamic error analysis. In a first application to four IMUs of different component consumption, the IMU evaluation framework convinced as promising tool for IMU selection.

  11. A Review of Point-Wise Motion Tracking Algorithms for Fetal Magnetic Resonance Imaging.

    Science.gov (United States)

    Chikop, Shivaprasad; Koulagi, Girish; Kumbara, Ankita; Geethanath, Sairam

    2016-01-01

    We review recent feature-based tracking algorithms as applied to fetal magnetic resonance imaging (MRI). Motion in fetal MRI is an active and challenging area of research, but the challenge can be mitigated by strategies related to patient setup, acquisition, reconstruction, and image processing. We focus on fetal motion correction through methods based on tracking algorithms for registration of slices with similar anatomy in multiple volumes. We describe five motion detection algorithms based on corner detection and region-based methods through pseudocodes, illustrating the results of their application to fetal MRI. We compare the performance of these methods on the basis of error in registration and minimum number of feature points required for registration. Harris, a corner detection method, provides similar error when compared to the other methods and has the lowest number of feature points required at that error level. We do not discuss group-wise methods here. Finally, we attempt to communicate the application of available feature extraction methods to fetal MRI.

  12. Geocenter Motion Derived from GNSS and SLR Tracking Data of LEO

    Science.gov (United States)

    Li, Y. S.; Ning, F. S.; Tseng, K. H.; Tseng, T. P.; Wu, J. M.; Chen, K. L.

    2017-12-01

    Space geodesy techniques can provide the monitoring data of global variations with high precision and large coverage through the satellites. Geocenter motion (GM) describes the difference of CF (Center of Figure) respect to CM (Center of Mass of the Earth System) due to the re-distribution and deformation of the earth system. Because satellite tracking data between ground stations and satellites orbit around the CM, geocenter motion is related to the realization of the ITRF (International Terrestrial Reference Frame) origin. In this study, GPS (Global Positioning System) observation data of IGS (International GNSS Service) and SLR (Satellite Laser Ranging) tracking data are applied to estimate the coordinates of observing sites on Earth's surface. The GPS observing sites are distributed deliberately and globally by 15° ×15° grids. Meanwhile, two different global ocean tide models are applied here. The model used in ITRF comparison and combination is parameter transformation, which is a mathematical formula allowing to transform the different frames between ITRF and CM system. Following the parameter transformation, the results of geocenter motion can be determined. The FORMOSAT-7/COSMIC-2 (F7C2) mission is a constellation of LEO (Low-Earth-Orbit) satellites, which will be launched in 2018. Besides the observing system for Meteorology, Ionosphere, and Climate, the F7C2 will be equipped with LRR (Laser Ranging Retroreflector). This work is a pilot survey to study the application of LEO SLR data in Taiwan.

  13. Sybar, a human motion analysis system for rehabilition medicine

    NARCIS (Netherlands)

    Hautus, E.H.

    1997-01-01

    The Sybar project is a designer's Ph.D project that deals with the development of a motion-analysis system for rehabilitation medicine, at the VU Hospital in Amsterdam. Human motion can be analyzed by biomechanical measurement systems. There are a number of different methods to generate several

  14. Spatio-Temporal Constrained Human Trajectory Generation from the PIR Motion Detector Sensor Network Data: A Geometric Algebra Approach.

    Science.gov (United States)

    Yu, Zhaoyuan; Yuan, Linwang; Luo, Wen; Feng, Linyao; Lv, Guonian

    2015-12-30

    Passive infrared (PIR) motion detectors, which can support long-term continuous observation, are widely used for human motion analysis. Extracting all possible trajectories from the PIR sensor networks is important. Because the PIR sensor does not log location and individual information, none of the existing methods can generate all possible human motion trajectories that satisfy various spatio-temporal constraints from the sensor activation log data. In this paper, a geometric algebra (GA)-based approach is developed to generate all possible human trajectories from the PIR sensor network data. Firstly, the representation of the geographical network, sensor activation response sequences and the human motion are represented as algebraic elements using GA. The human motion status of each sensor activation are labeled using the GA-based trajectory tracking. Then, a matrix multiplication approach is developed to dynamically generate the human trajectories according to the sensor activation log and the spatio-temporal constraints. The method is tested with the MERL motion database. Experiments show that our method can flexibly extract the major statistical pattern of the human motion. Compared with direct statistical analysis and tracklet graph method, our method can effectively extract all possible trajectories of the human motion, which makes it more accurate. Our method is also likely to provides a new way to filter other passive sensor log data in sensor networks.

  15. Spatio-Temporal Constrained Human Trajectory Generation from the PIR Motion Detector Sensor Network Data: A Geometric Algebra Approach

    Directory of Open Access Journals (Sweden)

    Zhaoyuan Yu

    2015-12-01

    Full Text Available Passive infrared (PIR motion detectors, which can support long-term continuous observation, are widely used for human motion analysis. Extracting all possible trajectories from the PIR sensor networks is important. Because the PIR sensor does not log location and individual information, none of the existing methods can generate all possible human motion trajectories that satisfy various spatio-temporal constraints from the sensor activation log data. In this paper, a geometric algebra (GA-based approach is developed to generate all possible human trajectories from the PIR sensor network data. Firstly, the representation of the geographical network, sensor activation response sequences and the human motion are represented as algebraic elements using GA. The human motion status of each sensor activation are labeled using the GA-based trajectory tracking. Then, a matrix multiplication approach is developed to dynamically generate the human trajectories according to the sensor activation log and the spatio-temporal constraints. The method is tested with the MERL motion database. Experiments show that our method can flexibly extract the major statistical pattern of the human motion. Compared with direct statistical analysis and tracklet graph method, our method can effectively extract all possible trajectories of the human motion, which makes it more accurate. Our method is also likely to provides a new way to filter other passive sensor log data in sensor networks.

  16. A biplanar X-ray approach for studying the 3D dynamics of human track formation.

    Science.gov (United States)

    Hatala, Kevin G; Perry, David A; Gatesy, Stephen M

    2018-05-09

    Recent discoveries have made hominin tracks an increasingly prevalent component of the human fossil record, and these data have the capacity to inform long-standing debates regarding the biomechanics of hominin locomotion. However, there is currently no consensus on how to decipher biomechanical variables from hominin tracks. These debates can be linked to our generally limited understanding of the complex interactions between anatomy, motion, and substrate that give rise to track morphology. These interactions are difficult to study because direct visualization of the track formation process is impeded by foot and substrate opacity. To address these obstacles, we developed biplanar X-ray and computer animation methods, derived from X-ray Reconstruction of Moving Morphology (XROMM), to analyze the 3D dynamics of three human subjects' feet as they walked across four substrates (three deformable muds and rigid composite panel). By imaging and reconstructing 3D positions of external markers, we quantified the 3D dynamics at the foot-substrate interface. Foot shape, specifically heel and medial longitudinal arch deformation, was significantly affected by substrate rigidity. In deformable muds, we found that depths measured across tracks did not directly reflect the motions of the corresponding regions of the foot, and that track outlines were not perfectly representative of foot size. These results highlight the complex, dynamic nature of track formation, and the experimental methods presented here offer a promising avenue for developing and refining methods for accurately inferring foot anatomy and gait biomechanics from fossil hominin tracks. Copyright © 2018 Elsevier Ltd. All rights reserved.

  17. Three-dimensional motion tracking correlates with skill level in upper gastrointestinal endoscopy

    DEFF Research Database (Denmark)

    Arnold, Sif H.; Svendsen, Morten Bo Søndergaard; Konge, Lars

    2015-01-01

    untrained medical students) were tested using a virtual reality simulator. A motion sensor was used to collect data regarding the distance between the hands, and height and movement of the scope hand. Test characteristics between groups were explored using Kruskal-Wallis H and Man-Whitney U exact tests......Background and study aim: Feedback is an essential part of training in upper gastrointestinal endoscopy. Virtual reality simulators provide limited feedback, focusing only on visual recognition with no feedback on the procedural part of training. Motion tracking identifies patterns of movement......, and this study aimed to explore the correlation between skill level and operator movement using an objective automated tool. Methods: In this medical education study, 37 operators (12 senior doctors who performed endoscopic retrograde cholangiopancreatography, 13 doctors with varying levels of experience, and 12...

  18. On designing geometric motion planners to solve regulating and trajectory tracking problems for robotic locomotion systems

    International Nuclear Information System (INIS)

    Asnafi, Alireza; Mahzoon, Mojtaba

    2011-01-01

    Based on a geometric fiber bundle structure, a generalized method to solve both regulation and trajectory tracking problems for locomotion systems is presented. The method is especially applied to two case studies of robotic locomotion systems; a three link articulated fish-like robot as a prototype of locomotion systems with symmetry, and the snakeboard as a prototype of mixed locomotion systems. Our results show that although these motion planners have an open loop structure, due to their generalities, they can steer case studies with negligible errors for almost any complicated path.

  19. Image motion compensation by area correlation and centroid tracking of solar surface features

    International Nuclear Information System (INIS)

    Nein, M.E.; Mcintosh, W.R.; Cumings, N.P.

    1983-07-01

    An experimental solar correlation tracker was tested and evaluated on a ground-based solar magnetograph. Using sunspots as fixed targets, tracking error signals were derived by which the telescope image was stabilized against wind induced perturbations. Two methods of stabilization were investigated mechanical stabilization of the image by controlled two-axes motion of an active optical element in the telescope beam, and electronic stabilization by biasing of the electron scan in the recording camera. Both approaches have demonstrated telescope stability of about 0.6 arc sec under random perturbations which can cause the unstabilized image to move up to 120 arc sec at frequencies up to 30 Hz

  20. Image motion compensation by area correlation and centroid tracking of solar surface features

    Science.gov (United States)

    Nein, M. E.; Mcintosh, W. R.; Cumings, N. P.

    1983-01-01

    An experimental solar correlation tracker was tested and evaluated on a ground-based solar magnetograph. Using sunspots as fixed targets, tracking error signals were derived by which the telescope image was stabilized against wind induced perturbations. Two methods of stabilization were investigated; mechanical stabilization of the image by controlled two-axes motion of an active optical element in the telescope beam, and electronic stabilization by biasing of the electron scan in the recording camera. Both approaches have demonstrated telescope stability of about 0.6 arc sec under random perturbations which can cause the unstabilized image to move up to 120 arc sec at frequencies up to 30 Hz.

  1. On designing geometric motion planners to solve regulating and trajectory tracking problems for robotic locomotion systems

    Energy Technology Data Exchange (ETDEWEB)

    Asnafi, Alireza [Hydro-Aeronautical Research Center, Shiraz University, Shiraz, 71348-13668 (Iran, Islamic Republic of); Mahzoon, Mojtaba [Department of Mechanical Engineering, School of Engineering, Shiraz University, Shiraz, 71348-13668 (Iran, Islamic Republic of)

    2011-09-15

    Based on a geometric fiber bundle structure, a generalized method to solve both regulation and trajectory tracking problems for locomotion systems is presented. The method is especially applied to two case studies of robotic locomotion systems; a three link articulated fish-like robot as a prototype of locomotion systems with symmetry, and the snakeboard as a prototype of mixed locomotion systems. Our results show that although these motion planners have an open loop structure, due to their generalities, they can steer case studies with negligible errors for almost any complicated path.

  2. Group of Hexagonal Search Patterns for Motion Estimation and Object Tracking

    International Nuclear Information System (INIS)

    Elazm, A.A.; Mahmoud, I.I; Hashima, S.M.

    2010-01-01

    This paper presents a group of fast block matching algorithms based on the hexagon pattern search .A new predicted one point hexagon (POPHEX) algorithm is proposed and compared with other well known algorithms. The comparison of these algorithms and our proposed one is performed for both motion estimation and object tracking. Test video sequences are used to demonstrate the behavior of studied algorithms. All algorithms are implemented in MATLAB environment .Experimental results showed that the proposed algorithm posses less number of search points however its computational overhead is little increased due to prediction procedure.

  3. Hierarchical Aligned Cluster Analysis for Temporal Clustering of Human Motion.

    Science.gov (United States)

    Zhou, Feng; De la Torre, Fernando; Hodgins, Jessica K

    2013-03-01

    Temporal segmentation of human motion into plausible motion primitives is central to understanding and building computational models of human motion. Several issues contribute to the challenge of discovering motion primitives: the exponential nature of all possible movement combinations, the variability in the temporal scale of human actions, and the complexity of representing articulated motion. We pose the problem of learning motion primitives as one of temporal clustering, and derive an unsupervised hierarchical bottom-up framework called hierarchical aligned cluster analysis (HACA). HACA finds a partition of a given multidimensional time series into m disjoint segments such that each segment belongs to one of k clusters. HACA combines kernel k-means with the generalized dynamic time alignment kernel to cluster time series data. Moreover, it provides a natural framework to find a low-dimensional embedding for time series. HACA is efficiently optimized with a coordinate descent strategy and dynamic programming. Experimental results on motion capture and video data demonstrate the effectiveness of HACA for segmenting complex motions and as a visualization tool. We also compare the performance of HACA to state-of-the-art algorithms for temporal clustering on data of a honey bee dance. The HACA code is available online.

  4. Multi-level human motion analysis for surveillance applications

    NARCIS (Netherlands)

    Lao, W.; Han, Jungong; With, de P.H.N.; Rabbani, M.; Stevenson, R.L.

    2009-01-01

    In this paper, we study a flexible framework for semantic analysis of human motion from a monocular surveillance video. Successful trajectory estimation and human-body modeling facilitate the semantic analysis of human activities in video sequences. As a first contribution, we propose a flexible

  5. Poster - 51: A tumor motion-compensating system with tracking and prediction – a proof-of-concept study

    Energy Technology Data Exchange (ETDEWEB)

    Guo, Kaiming; Teo, Peng; Kawalec, Philip; Pistorius, Stephen [CancerCare Manitoba (Canada)

    2016-08-15

    Purpose: This work reports on the development of a mechanical slider system for the counter-steering of tumor motion in adaptive Radiation Therapy (RT). The tumor motion was tracked using a weighted optical flow algorithm and its position is being predicted with a neural network (NN). Methods: The components of the proposed mechanical counter-steering system includes: (1) an actuator which provides the tumor motion, (2) the motion detection using an optical flow algorithm, (3) motion prediction using a neural network, (4) a control module and (5) a mechanical slider to counter-steer the anticipated motion of the tumor phantom. An asymmetrical cosine function and five patient traces (P1–P5) were used to evaluate the tracking of a 3D printed lung tumor. In the proposed mechanical counter-steering system, both actuator (Zaber NA14D60) and slider (Zaber A-BLQ0070-E01) were programed to move independently with LabVIEW and their positions were recorded by 2 potentiometers (ETI LCP12S-25). The accuracy of this counter-steering system is given by the difference between the two potentiometers. Results: The inherent accuracy of the system, measured using the cosine function, is −0.15 ± 0.06 mm. While the errors when tracking and prediction were included, is (0.04 ± 0.71) mm. Conclusion: A prototype tumor motion counter-steering system with tracking and prediction was implemented. The inherent errors are small in comparison to the tracking and prediction errors, which in turn are small in comparison to the magnitude of tumor motion. The results show that this system is suited for evaluating RT tracking and prediction.

  6. The NOMA track module on nutrition, human rights and governance ...

    African Journals Online (AJOL)

    The NOMA track module on nutrition, human rights and governance: Part 2. ... each offering a Master's degree in nutrition, collaboratively developed the ... process, emerging themes were used to compile a code list for content analysis of the ...

  7. The effect of visual-motion time-delays on pilot performance in a simulated pursuit tracking task

    Science.gov (United States)

    Miller, G. K., Jr.; Riley, D. R.

    1977-01-01

    An experimental study was made to determine the effect on pilot performance of time delays in the visual and motion feedback loops of a simulated pursuit tracking task. Three major interrelated factors were identified: task difficulty either in the form of airplane handling qualities or target frequency, the amount and type of motion cues, and time delay itself. In general, the greater the task difficulty, the smaller the time delay that could exist without degrading pilot performance. Conversely, the greater the motion fidelity, the greater the time delay that could be tolerated. The effect of motion was, however, pilot dependent.

  8. Respiratory motion tracking using Microsoft’s Kinect v2 camera

    Directory of Open Access Journals (Sweden)

    Ernst Floris

    2015-09-01

    Full Text Available In image-guided radiotherapy, monitoring and compensating for respiratory motion is of high importance. We have analysed the possibility to use Microsoft’s Kinect v2 sensor as a low-cost tracking camera. In our experiment, eleven circular markers were printed onto a Lycra shirt and were tracked in the camera’s color image using cross correlation-based template matching. The 3D position of the marker was determined using this information and the mean distance of all template pixels from the sensor. In an experiment with four volunteers (male and female we could demonstrate that real time position tracking is possible in 3D. By averaging over the depth values inside the template, it was possible to increase the Kinect’s depth resolution from 1 mm to 0.1 mm. The noise level was reduced to a standard deviation of 0.4 mm. Temperature sensitivity of the measured depth values was observed for about 10-15 minutes after system start.

  9. Application of an Image Tracking Algorithm in Fire Ant Motion Experiment

    Directory of Open Access Journals (Sweden)

    Lichuan Gui

    2009-04-01

    Full Text Available An image tracking algorithm, which was originally used with the particle image velocimetry (PIV to determine velocities of buoyant solid particles in water, is modified and applied in the presented work to detect motion of fire ant on a planar surface. A group of fire ant workers are put to the bottom of a tub and excited with vibration of selected frequency and intensity. The moving fire ants are captured with an image system that successively acquires image frames of high digital resolution. The background noise in the imaging recordings is extracted by averaging hundreds of frames and removed from each frame. The individual fire ant images are identified with a recursive digital filter, and then they are tracked between frames according to the size, brightness, shape, and orientation angle of the ant image. The speed of an individual ant is determined with the displacement of its images and the time interval between frames. The trail of the individual fire ant is determined with the image tracking results, and a statistical analysis is conducted for all the fire ants in the group. The purpose of the experiment is to investigate the response of fire ants to the substrate vibration. Test results indicate that the fire ants move faster after being excited, but the number of active ones are not increased even after a strong excitation.

  10. Evaluation method for acoustic trapping performance by tracking motion of trapped microparticle

    Science.gov (United States)

    Lim, Hae Gyun; Ham Kim, Hyung; Yoon, Changhan

    2018-05-01

    We report a method to evaluate the performances of a single-beam acoustic tweezer using a high-frequency ultrasound transducer. The motion of a microparticle trapped by a 45-MHz single-element transducer was captured and analyzed to deduce the magnitude of trapping force. In the proposed method, the motion of a trapped microparticle was analyzed from a series of microscopy images to compute trapping force; thus, no additional equipment such as microfluidics is required. The method could be used to estimate the effective trapping force in an acoustic tweezer experiment to assess cell membrane deformability by attaching a microbead to the surface of a cell and tracking the motion of the trapped bead, which is similar to a bead-based assay that uses optical tweezers. The results showed that the trapping force increased with increasing acoustic intensity and duty factor, but the force eventually reached a plateau at a higher acoustic intensity. They demonstrated that this method could be used as a simple tool to evaluate the performance and to optimize the operating conditions of acoustic tweezers.

  11. Biodynamics of deformable human body motion

    Science.gov (United States)

    Strauss, A. M.; Huston, R. L.

    1976-01-01

    The objective is to construct a framework wherein the various models of human biomaterials fit in order to describe the biodynamic response of the human body. The behavior of the human body in various situations, from low frequency, low amplitude vibrations to impact loadings in automobile and aircraft crashes, is very complicated with respect to all aspects of the problem: materials, geometry and dynamics. The materials problem is the primary concern, but the materials problem is intimately connected with geometry and dynamics.

  12. Comparison of 2D and 3D modeled tumor motion estimation/prediction for dynamic tumor tracking during arc radiotherapy

    Science.gov (United States)

    Liu, Wu; Ma, Xiangyu; Yan, Huagang; Chen, Zhe; Nath, Ravinder; Li, Haiyun

    2017-05-01

    Many real-time imaging techniques have been developed to localize a target in 3D space or in a 2D beam’s eye view (BEV) plane for intrafraction motion tracking in radiation therapy. With tracking system latency, the 3D-modeled method is expected to be more accurate even in terms of 2D BEV tracking error. No quantitative analysis, however, has been reported. In this study, we simulated co-planar arc deliveries using respiratory motion data acquired from 42 patients to quantitatively compare the accuracy between 2D BEV and 3D-modeled tracking in arc therapy and to determine whether 3D information is needed for motion tracking. We used our previously developed low kV dose adaptive MV-kV imaging and motion compensation framework as a representative of 3D-modeled methods. It optimizes the balance between additional kV imaging dose and 3D tracking accuracy and solves the MLC blockage issue. With simulated Gaussian marker detection errors (zero mean and 0.39 mm standard deviation) and ~155/310/460 ms tracking system latencies, the mean percentage of time that the target moved  >2 mm from the predicted 2D BEV position are 1.1%/4.0%/7.8% and 1.3%/5.8%/11.6% for the 3D-modeled and 2D-only tracking, respectively. The corresponding average BEV RMS errors are 0.67/0.90/1.13 mm and 0.79/1.10/1.37 mm. Compared to the 2D method, the 3D method reduced the average RMS unresolved motion along the beam direction from ~3 mm to ~1 mm, resulting in on average only  <1% dosimetric advantage in the depth direction. Only for a small fraction of the patients, when tracking latency is long, the 3D-modeled method showed significant improvement of BEV tracking accuracy, indicating potential dosimetric advantage. However, if the tracking latency is short (~150 ms or less), those improvements are limited. Therefore, 2D BEV tracking has sufficient targeting accuracy for most clinical cases. The 3D technique is, however, still important in solving the MLC blockage problem

  13. Absolute plate motions and true polar wander in the absence of hotspot tracks.

    Science.gov (United States)

    Steinberger, Bernhard; Torsvik, Trond H

    2008-04-03

    The motion of continents relative to the Earth's spin axis may be due either to rotation of the entire Earth relative to its spin axis--true polar wander--or to the motion of individual plates. In order to distinguish between these over the past 320 Myr (since the formation of the Pangaea supercontinent), we present here computations of the global average of continental motion and rotation through time in a palaeomagnetic reference frame. Two components are identified: a steady northward motion and, during certain time intervals, clockwise and anticlockwise rotations, interpreted as evidence for true polar wander. We find approximately 18 degrees anticlockwise rotation about 250-220 Myr ago and the same amount of clockwise rotation about 195-145 Myr ago. In both cases the rotation axis is located at about 10-20 degrees W, 0 degrees N, near the site that became the North American-South American-African triple junction at the break-up of Pangaea. This was followed by approximately 10 degrees clockwise rotation about 145-135 Myr ago, followed again by the same amount of anticlockwise rotation about 110-100 Myr ago, with a rotation axis in both cases approximately 25-50 degrees E in the reconstructed area of North Africa and Arabia. These rotation axes mark the maxima of the degree-two non-hydrostatic geoid during those time intervals, and the fact that the overall net rotation since 320 Myr ago is nearly zero is an indication of long-term stability of the degree-two geoid and related mantle structure. We propose a new reference frame, based on palaeomagnetism, but corrected for the true polar wander identified in this study, appropriate for relating surface to deep mantle processes from 320 Myr ago until hotspot tracks can be used (about 130 Myr ago).

  14. Vision-based human motion analysis: An overview

    NARCIS (Netherlands)

    Poppe, Ronald Walter

    2007-01-01

    Markerless vision-based human motion analysis has the potential to provide an inexpensive, non-obtrusive solution for the estimation of body poses. The significant research effort in this domain has been motivated by the fact that many application areas, including surveillance, Human-Computer

  15. Human motion estimation with multiple frequency modulated continuous wave radars

    NARCIS (Netherlands)

    van Dorp, P.; Groen, F.C.A.

    2010-01-01

    Human motion estimation is an important issue in automotive, security or home automation applications. Radar systems are well suited for this because they are robust, are independent of day or night conditions and have accurate range and speed domain. The human response in a radar range-speed-time

  16. Observation and analysis of high-speed human motion with frequent occlusion in a large area

    International Nuclear Information System (INIS)

    Wang, Yuru; Liu, Jiafeng; Liu, Guojun; Tang, Xianglong; Liu, Peng

    2009-01-01

    The use of computer vision technology in collecting and analyzing statistics during sports matches or training sessions is expected to provide valuable information for tactics improvement. However, the measurements published in the literature so far are either unreliably documented to be used in training planning due to their limitations or unsuitable for studying high-speed motion in large area with frequent occlusions. A sports annotation system is introduced in this paper for tracking high-speed non-rigid human motion over a large playing area with the aid of motion camera, taking short track speed skating competitions as an example. The proposed system is composed of two sub-systems: precise camera motion compensation and accurate motion acquisition. In the video registration step, a distinctive invariant point feature detector (probability density grads detector) and a global parallax based matching points filter are used, to provide reliable and robust matching across a large range of affine distortion and illumination change. In the motion acquisition step, a two regions' relationship constrained joint color model and Markov chain Monte Carlo based joint particle filter are emphasized, by dividing the human body into two relative key regions. Several field tests are performed to assess measurement errors, including comparison to popular algorithms. With the help of the system presented, the system obtains position data on a 30 m × 60 m large rink with root-mean-square error better than 0.3975 m, velocity and acceleration data with absolute error better than 1.2579 m s −1 and 0.1494 m s −2 , respectively

  17. Observation and analysis of high-speed human motion with frequent occlusion in a large area

    Science.gov (United States)

    Wang, Yuru; Liu, Jiafeng; Liu, Guojun; Tang, Xianglong; Liu, Peng

    2009-12-01

    The use of computer vision technology in collecting and analyzing statistics during sports matches or training sessions is expected to provide valuable information for tactics improvement. However, the measurements published in the literature so far are either unreliably documented to be used in training planning due to their limitations or unsuitable for studying high-speed motion in large area with frequent occlusions. A sports annotation system is introduced in this paper for tracking high-speed non-rigid human motion over a large playing area with the aid of motion camera, taking short track speed skating competitions as an example. The proposed system is composed of two sub-systems: precise camera motion compensation and accurate motion acquisition. In the video registration step, a distinctive invariant point feature detector (probability density grads detector) and a global parallax based matching points filter are used, to provide reliable and robust matching across a large range of affine distortion and illumination change. In the motion acquisition step, a two regions' relationship constrained joint color model and Markov chain Monte Carlo based joint particle filter are emphasized, by dividing the human body into two relative key regions. Several field tests are performed to assess measurement errors, including comparison to popular algorithms. With the help of the system presented, the system obtains position data on a 30 m × 60 m large rink with root-mean-square error better than 0.3975 m, velocity and acceleration data with absolute error better than 1.2579 m s-1 and 0.1494 m s-2, respectively.

  18. An Assessment of a Low-Cost Visual Tracking System (VTS) to Detect and Compensate for Patient Motion During SPECT

    Science.gov (United States)

    McNamara, Joseph E.; Bruyant, Philippe; Johnson, Karen; Feng, Bing; Lehovich, Andre; Gu, Songxiang; Gennert, Michael A.; King, Michael A.

    2008-06-01

    Patient motion is inevitable in SPECT and PET due to the lengthy period of time patients are imaged and patient motion can degrade diagnostic accuracy. The goal of our studies is to perfect a methodology for tracking and correcting patient motion when it occurs. In this paper we report on enhancements to the calibration, camera stability, accuracy of motion tracking, and temporal synchronization of a low-cost visual tracking system (VTS) we are developing. The purpose of the VTS is to track the motion of retro-reflective markers on stretchy bands wrapped about the chest and abdomen of patients. We have improved the accuracy of 3D spatial calibration by using a MATLAB optical camera calibration package with a planar calibration pattern. This allowed us to determine the intrinsic and extrinsic parameters for stereo-imaging with our CCD cameras. Locations in the VTS coordinate system are transformed to the SPECT coordinate system by a VTS/SPECT mapping using a phantom of 7 retro-reflective spheres each filled with a drop of Tc99m. We switched from pan, tilt and zoom (PTZ) network cameras to fixed network cameras to reduce the amount of camera drift. The improved stability was verified by tracking the positions of fixed retro-reflective markers on a wall. The ability of our VTS to track movement, on average, with sub-millimeter and sub-degree accuracy was established with the 7-sphere phantom for 1 cm vertical and axial steps as well as for an arbitrary rotation and translation. The difference in the time of optical image acquisition as decoded from the image headers relative to synchronization signals sent to the SPECT system was used to establish temporal synchrony between optical and list-mode SPECT acquisition. Two experiments showed better than 100 ms agreement between VTS and SPECT observed motion for three axial translations. We were able to track 3 reflective markers on an anthropomorphic phantom with a precision that allowed us to correct motion such that no

  19. Study on robot motion control for intelligent welding processes based on the laser tracking sensor

    Science.gov (United States)

    Zhang, Bin; Wang, Qian; Tang, Chen; Wang, Ju

    2017-06-01

    A robot motion control method is presented for intelligent welding processes of complex spatial free-form curve seams based on the laser tracking sensor. First, calculate the tip position of the welding torch according to the velocity of the torch and the seam trajectory detected by the sensor. Then, search the optimal pose of the torch under constraints using genetic algorithms. As a result, the intersection point of the weld seam and the laser plane of the sensor is within the detectable range of the sensor. Meanwhile, the angle between the axis of the welding torch and the tangent of the weld seam meets the requirements. The feasibility of the control method is proved by simulation.

  20. Integrated direct/indirect adaptive robust motion trajectory tracking control of pneumatic cylinders

    Science.gov (United States)

    Meng, Deyuan; Tao, Guoliang; Zhu, Xiaocong

    2013-09-01

    This paper studies the precision motion trajectory tracking control of a pneumatic cylinder driven by a proportional-directional control valve. An integrated direct/indirect adaptive robust controller is proposed. The controller employs a physical model based indirect-type parameter estimation to obtain reliable estimates of unknown model parameters, and utilises a robust control method with dynamic compensation type fast adaptation to attenuate the effects of parameter estimation errors, unmodelled dynamics and disturbances. Due to the use of projection mapping, the robust control law and the parameter adaption algorithm can be designed separately. Since the system model uncertainties are unmatched, the recursive backstepping technology is adopted to design the robust control law. Extensive comparative experimental results are presented to illustrate the effectiveness of the proposed controller and its performance robustness to parameter variations and sudden disturbances.

  1. Kinect-Based Moving Human Tracking System with Obstacle Avoidance

    Directory of Open Access Journals (Sweden)

    Abdel Mehsen Ahmad

    2017-04-01

    Full Text Available This paper is an extension of work originally presented and published in IEEE International Multidisciplinary Conference on Engineering Technology (IMCET. This work presents a design and implementation of a moving human tracking system with obstacle avoidance. The system scans the environment by using Kinect, a 3D sensor, and tracks the center of mass of a specific user by using Processing, an open source computer programming language. An Arduino microcontroller is used to drive motors enabling it to move towards the tracked user and avoid obstacles hampering the trajectory. The implemented system is tested under different lighting conditions and the performance is analyzed using several generated depth images.

  2. A parallelizable real-time motion tracking algorithm with applications to ultrasonic strain imaging

    International Nuclear Information System (INIS)

    Jiang, J; Hall, T J

    2007-01-01

    Ultrasound-based mechanical strain imaging systems utilize signals from conventional diagnostic ultrasound systems to image tissue elasticity contrast that provides new diagnostically valuable information. Previous works (Hall et al 2003 Ultrasound Med. Biol. 29 427, Zhu and Hall 2002 Ultrason. Imaging 24 161) demonstrated that uniaxial deformation with minimal elevation motion is preferred for breast strain imaging and real-time strain image feedback to operators is important to accomplish this goal. The work reported here enhances the real-time speckle tracking algorithm with two significant modifications. One fundamental change is that the proposed algorithm is a column-based algorithm (a column is defined by a line of data parallel to the ultrasound beam direction, i.e. an A-line), as opposed to a row-based algorithm (a row is defined by a line of data perpendicular to the ultrasound beam direction). Then, displacement estimates from its adjacent columns provide good guidance for motion tracking in a significantly reduced search region to reduce computational cost. Consequently, the process of displacement estimation can be naturally split into at least two separated tasks, computed in parallel, propagating outward from the center of the region of interest (ROI). The proposed algorithm has been implemented and optimized in a Windows (registered) system as a stand-alone ANSI C++ program. Results of preliminary tests, using numerical and tissue-mimicking phantoms, and in vivo tissue data, suggest that high contrast strain images can be consistently obtained with frame rates (10 frames s -1 ) that exceed our previous methods

  3. Model-based identification of motion sensor placement for tracking retraction and elongation of the tongue.

    Science.gov (United States)

    Wang, Yikun K; Nash, Martyn P; Pullan, Andrew J; Kieser, Jules A; Röhrle, Oliver

    2013-04-01

    Electromagnetic articulography (EMA) is designed to track facial and tongue movements. In practice, the EMA sensors for tracking the movement of the tongue's surface are placed heuristically. No recommendation exists. Within this paper, a model-based approach providing a mathematical analysis and a computational-based recommendation for the placement of sensors, which is based on the tongue's envelope of movement, is proposed. For this purpose, an anatomically detailed Finite Element (FE) model of the tongue has been employed to determine the envelope of motion for retraction and elongation using a forward simulation. Two optimality criteria have been proposed to identify a set of optimal sensor locations based on the pre-computed envelope of motion. The first one is based on the assumption that locations exhibiting large displacements contain the most information regarding the tongue's movement and are less susceptible to measurement errors. The second one selects sensors exhibiting each the largest displacements in the anterior-posterior, superior-inferior, medial-lateral and overall direction. The quality of the two optimality criteria is analysed based on their ability to deduce from the respective sensor locations the corresponding muscle activation parameters of the relevant muscle fibre groups during retraction and elongation by solving the corresponding inverse problem. For this purpose, a statistical analysis has been carried out, in which sensor locations for two different modes of deformation have been subjected to typical measurement errors. Then, for tongue retraction and elongation, the expectation value, the standard deviation, the averaged bias and the averaged coefficient of variation have been computed based on 41 different error-afflicted sensor locations. The results show that the first optimality criteria is superior to the second one and that the averaged bias and averaged coefficient of variation decrease when the number of sensors is

  4. Infrared tomographic PIV and 3D motion tracking system applied to aquatic predator–prey interaction

    International Nuclear Information System (INIS)

    Adhikari, Deepak; Longmire, Ellen K

    2013-01-01

    Infrared tomographic PIV and 3D motion tracking are combined to measure evolving volumetric velocity fields and organism trajectories during aquatic predator–prey interactions. The technique was used to study zebrafish foraging on both non-evasive and evasive prey species. Measurement volumes of 22.5 mm × 10.5 mm × 12 mm were reconstructed from images captured on a set of four high-speed cameras. To obtain accurate fluid velocity vectors within each volume, fish were first masked out using an automated visual hull method. Fish and prey locations were identified independently from the same image sets and tracked separately within the measurement volume. Experiments demonstrated that fish were not influenced by the infrared laser illumination or the tracer particles. Results showed that the zebrafish used different strategies, suction and ram feeding, for successful capture of non-evasive and evasive prey, respectively. The two strategies yielded different variations in fluid velocity between the fish mouth and the prey. In general, the results suggest that the local flow field, the direction of prey locomotion with respect to the predator and the relative accelerations and speeds of the predator and prey may all be significant in determining predation success. (paper)

  5. Dynamic tracking of a nano-particle in fluids under Brownian motions

    International Nuclear Information System (INIS)

    Wu, X C; Zhang, W J; Sammynaiken, R

    2008-01-01

    Most previous studies on H 2 S were devoted to its toxic effects. However, recently there have been increasing evidences which show that endogenously generated H 2 S in specific mammalian tissues has certain significant positive physiological effects such as a neuromodulator and vasorelaxant in a membrane receptor-independent manner. In order to know the functions of endogenous H 2 S, low concentration and high accuracy measurement of H 2 S is a must. Furthermore, this measurement is desired to be real-time and non-invasive. It is reported that low concentration and nano quantity of H 2 S can be detected in water solutions and sera using carbon nanotubes with the fluorescence by confocal laser scanning microscopy. However, because of the Brownian motion of the small particle (carbon nanotube), a control system must be developed to track the movement of the particle in fluids. In this paper, we present a study to track a carbon nanotube which absorbs H 2 S in water or serum using a Raman microscope or confocal laser scanning microscope. In particular, we developed a novel control system for this task. Simulation has shown that our system works very well.

  6. RGBD Video Based Human Hand Trajectory Tracking and Gesture Recognition System

    Directory of Open Access Journals (Sweden)

    Weihua Liu

    2015-01-01

    Full Text Available The task of human hand trajectory tracking and gesture trajectory recognition based on synchronized color and depth video is considered. Toward this end, in the facet of hand tracking, a joint observation model with the hand cues of skin saliency, motion and depth is integrated into particle filter in order to move particles to local peak in the likelihood. The proposed hand tracking method, namely, salient skin, motion, and depth based particle filter (SSMD-PF, is capable of improving the tracking accuracy considerably, in the context of the signer performing the gesture toward the camera device and in front of moving, cluttered backgrounds. In the facet of gesture recognition, a shape-order context descriptor on the basis of shape context is introduced, which can describe the gesture in spatiotemporal domain. The efficient shape-order context descriptor can reveal the shape relationship and embed gesture sequence order information into descriptor. Moreover, the shape-order context leads to a robust score for gesture invariant. Our approach is complemented with experimental results on the settings of the challenging hand-signed digits datasets and American sign language dataset, which corroborate the performance of the novel techniques.

  7. Visual gravitational motion and the vestibular system in humans

    Directory of Open Access Journals (Sweden)

    Francesco eLacquaniti

    2013-12-01

    Full Text Available The visual system is poorly sensitive to arbitrary accelerations, but accurately detects the effects of gravity on a target motion. Here we review behavioral and neuroimaging data about the neural mechanisms for dealing with object motion and egomotion under gravity. The results from several experiments show that the visual estimates of a target motion under gravity depend on the combination of a prior of gravity effects with on-line visual signals on target position and velocity. These estimates are affected by vestibular inputs, and are encoded in a visual-vestibular network whose core regions lie within or around the Sylvian fissure, and are represented by the posterior insula/retroinsula/temporo-parietal junction. This network responds both to target motions coherent with gravity and to vestibular caloric stimulation in human fMRI studies. Transient inactivation of the temporo-parietal junction selectively disrupts the interception of targets accelerated by gravity.

  8. Visual gravitational motion and the vestibular system in humans.

    Science.gov (United States)

    Lacquaniti, Francesco; Bosco, Gianfranco; Indovina, Iole; La Scaleia, Barbara; Maffei, Vincenzo; Moscatelli, Alessandro; Zago, Myrka

    2013-12-26

    The visual system is poorly sensitive to arbitrary accelerations, but accurately detects the effects of gravity on a target motion. Here we review behavioral and neuroimaging data about the neural mechanisms for dealing with object motion and egomotion under gravity. The results from several experiments show that the visual estimates of a target motion under gravity depend on the combination of a prior of gravity effects with on-line visual signals on target position and velocity. These estimates are affected by vestibular inputs, and are encoded in a visual-vestibular network whose core regions lie within or around the Sylvian fissure, and are represented by the posterior insula/retroinsula/temporo-parietal junction. This network responds both to target motions coherent with gravity and to vestibular caloric stimulation in human fMRI studies. Transient inactivation of the temporo-parietal junction selectively disrupts the interception of targets accelerated by gravity.

  9. Robotic Assistance of Human Motion Using Active-Backdrivability on a Geared Electromagnetic Motor

    Directory of Open Access Journals (Sweden)

    Mario Jorge Claros

    2016-03-01

    Full Text Available In this research, we describe an actuation and control system designed for geared electromagnetic motors, which is characterized by its simple implementation, fast response to external input loads, reliable human-machine interaction features, no need for previous set-up or calibration from user to user and high portability due to the reduction of weight and space used. By the implementation of the proposed system, an electromagnetic motor can become a multitasking, wearable actuation system capable of: detecting the user's intentions regarding motion, tracking the limbs with minimal force interaction within a wide bandwidth and also providing controllable assistance and resistance forces to the user's movements, without the use of any biological signal. Validation of the proposed approach is shown by the construction of a powered orthosis for the knee, used to test the system's performance under real human motion conditions. The proposed system was tested on one healthy subject by measuring electromyographic levels both with and without the orthosis, under controlled flexion and extension cycles. Experimental results demonstrate the effectiveness of the proposed approach in detecting the user's intentions regarding motion, reducing and increasing muscular activity when configured for assistance and resistance, respectively, and also increasing the transparency of the actuation system when perfect tracking of the limbs is needed.

  10. Tracking of the nuclear wavepacket motion in cyanine photoisomerization by ultrafast pump-dump-probe spectroscopy.

    Science.gov (United States)

    Wei, Zhengrong; Nakamura, Takumi; Takeuchi, Satoshi; Tahara, Tahei

    2011-06-01

    Understanding ultrafast reactions, which proceed on a time scale of nuclear motions, requires a quantitative characterization of the structural dynamics. To track such structural changes with time, we studied a nuclear wavepacket motion in photoisomerization of a prototype cyanine dye, 1,1'-diethyl-4,4'-cyanine, by ultrafast pump-dump-probe measurements in solution. The temporal evolution of wavepacket motion was examined by monitoring the efficiency of stimulated emission dumping, which was obtained from the recovery of a ground-state bleaching signal. The dump efficiency versus pump-dump delay exhibited a finite rise time, and it became longer (97 fs → 330 fs → 390 fs) as the dump pulse was tuned to longer wavelengths (690 nm → 950 nm → 1200 nm). This result demonstrates a continuous migration of the leading edge of the wavepacket on the excited-state potential from the Franck-Condon region toward the potential minimum. A slowly decaying feature of the dump efficiency indicated a considerable broadening of the wavepacket over a wide range of the potential, which results in the spread of a population distribution on the flat S(1) potential energy surface. The rapid migration as well as broadening of the wavepacket manifests a continuous nature of the structural dynamics and provides an intuitive visualization of this ultrafast reaction. We also discussed experimental strategies to evaluate reliable dump efficiencies separately from other ultrafast processes and showed a high capability and possibility of the pump-dump-probe method for spectroscopic investigation of unexplored potential regions such as conical intersections. © 2011 American Chemical Society

  11. Effect of task-related continuous auditory feedback during learning of tracking motion exercises

    Directory of Open Access Journals (Sweden)

    Rosati Giulio

    2012-10-01

    Full Text Available Abstract Background This paper presents the results of a set of experiments in which we used continuous auditory feedback to augment motor training exercises. This feedback modality is mostly underexploited in current robotic rehabilitation systems, which usually implement only very basic auditory interfaces. Our hypothesis is that properly designed continuous auditory feedback could be used to represent temporal and spatial information that could in turn, improve performance and motor learning. Methods We implemented three different experiments on healthy subjects, who were asked to track a target on a screen by moving an input device (controller with their hand. Different visual and auditory feedback modalities were envisaged. The first experiment investigated whether continuous task-related auditory feedback can help improve performance to a greater extent than error-related audio feedback, or visual feedback alone. In the second experiment we used sensory substitution to compare different types of auditory feedback with equivalent visual feedback, in order to find out whether mapping the same information on a different sensory channel (the visual channel yielded comparable effects with those gained in the first experiment. The final experiment applied a continuously changing visuomotor transformation between the controller and the screen and mapped kinematic information, computed in either coordinate system (controller or video, to the audio channel, in order to investigate which information was more relevant to the user. Results Task-related audio feedback significantly improved performance with respect to visual feedback alone, whilst error-related feedback did not. Secondly, performance in audio tasks was significantly better with respect to the equivalent sensory-substituted visual tasks. Finally, with respect to visual feedback alone, video-task-related sound feedback decreased the tracking error during the learning of a novel

  12. A Self-Powered Insole for Human Motion Recognition

    Directory of Open Access Journals (Sweden)

    Yingzhou Han

    2016-09-01

    Full Text Available Biomechanical energy harvesting is a feasible solution for powering wearable sensors by directly driving electronics or acting as wearable self-powered sensors. A wearable insole that not only can harvest energy from foot pressure during walking but also can serve as a self-powered human motion recognition sensor is reported. The insole is designed as a sandwich structure consisting of two wavy silica gel film separated by a flexible piezoelectric foil stave, which has higher performance compared with conventional piezoelectric harvesters with cantilever structure. The energy harvesting insole is capable of driving some common electronics by scavenging energy from human walking. Moreover, it can be used to recognize human motion as the waveforms it generates change when people are in different locomotion modes. It is demonstrated that different types of human motion such as walking and running are clearly classified by the insole without any external power source. This work not only expands the applications of piezoelectric energy harvesters for wearable power supplies and self-powered sensors, but also provides possible approaches for wearable self-powered human motion monitoring that is of great importance in many fields such as rehabilitation and sports science.

  13. An evaluation of intrafraction motion of the prostate in the prone and supine positions using electromagnetic tracking

    International Nuclear Information System (INIS)

    Shah, Amish P.; Kupelian, Patrick A.; Willoughby, Twyla R.; Langen, Katja M.; Meeks, Sanford L.

    2011-01-01

    Purpose: To evaluate differences in target motion during prostate irradiation in the prone versus supine position using electromagnetic tracking to measure prostate mobility. Materials/methods: Twenty patients received prostate radiotherapy in the supine position utilizing the Calypso Localization System (registered) for prostate positioning and monitoring. For each patient, 10 treatment fractions were followed by a session in which the patient was repositioned prone, and prostate mobility was tracked. The fraction of time that the prostate was displaced by >3, 5, 7, and 10 mm was calculated for each patient, for both positions (400 tracking sessions). Results: Clear patterns of respiratory motion were seen in the prone tracks due to the influence of increased abdominal motion. Averaged over all patients, the prostate was displaced >3 and 5 mm for 37.8% and 10.1% of the total tracking time in the prone position, respectively. In the supine position, the prostate was displaced >3 and 5 mm for 12.6% and 2.9%, respectively. With both patient setups, inferior and posterior drifts of the prostate position were observed. Averaged over all prone tracking sessions, the prostate was displaced >3 mm in the posterior and inferior directions for 11.7% and 9.5% of the total time, respectively. Conclusions: With real-time tracking of the prostate, it is possible to study the effects of different setup positions on the prostate mobility. The percentage of time the prostate moved >3 and 5 mm was increased by a factor of three in the prone versus supine position. For larger displacements (>7 mm) no difference in prostate mobility was observed between prone and supine positions. To reduce rectal toxicity, radiotherapy in the prone position may be a suitable alternative provided respiratory motion is accounted for during treatment. Acute and late toxicity results remain to be evaluated for both patient positions.

  14. Getting Back on Track to Being Human

    Directory of Open Access Journals (Sweden)

    Darcia Narvaez

    2017-03-01

    Full Text Available Cooperation and compassion are forms of intelligence. Their lack is an indication of ongoing stress or toxic stress during development that undermined the usual growth of compassion capacities. Though it is hard to face at first awareness, humans in the dominant culture tend to be pretty unintelligent compared to those from societies that existed sustainably for thousands, sometimes tens of thousands, of years. Whereas in sustainable societies everyone must learn to cooperate with earth’s systems to survive and thrive, in the dominant culture this is no longer the case. Now due to technological advances that do not take into account the long-term welfare of earth systems, humans have become “free riders” until these systems collapse from abuse or misuse. The dominant human culture, a “weed species,” has come to devastate planetary ecosystems in a matter of centuries. What do we do to return ourselves to living as earth creatures, as one species among many in community? Humanity needs to restore lost capacities—relational attunement and communal imagination—whose loss occurs primarily in cultures dominated by child-raising practices and ways of thinking that undermine cooperative companionship and a sense of partnership that otherwise develops from the beginning of life. To plant the seeds of cooperation, democracy, and partnership, we need to provide the evolved nest to children, and facilitate the development of ecological attachment to their landscape. This will take efforts at the individual, policy, and institutional levels.

  15. TH-CD-207A-03: A Surface Deformation Driven Respiratory Model for Organ Motion Tracking in Lung Cancer Radiotherapy

    International Nuclear Information System (INIS)

    Chen, H; Zhen, X; Zhou, L; Gu, X

    2016-01-01

    Purpose: To propose and validate a novel real-time surface-mesh-based internal organ-external surface motion and deformation tracking method for lung cancer radiotherapy. Methods: Deformation vector fields (DVFs) which characterizes the internal and external motion are obtained by registering the internal organ and tumor contours and external surface meshes to a reference phase in the 4D CT images using a recent developed local topology preserved non-rigid point matching algorithm (TOP). A composite matrix is constructed by combing the estimated internal and external DVFs. Principle component analysis (PCA) is then applied on the composite matrix to extract principal motion characteristics and finally yield the respiratory motion model parameters which correlates the internal and external motion and deformation. The accuracy of the respiratory motion model is evaluated using a 4D NURBS-based cardiac-torso (NCAT) synthetic phantom and three lung cancer cases. The center of mass (COM) difference is used to measure the tumor motion tracking accuracy, and the Dice’s coefficient (DC), percent error (PE) and Housdourf’s distance (HD) are used to measure the agreement between the predicted and ground truth tumor shape. Results: The mean COM is 0.84±0.49mm and 0.50±0.47mm for the phantom and patient data respectively. The mean DC, PE and HD are 0.93±0.01, 0.13±0.03 and 1.24±0.34 voxels for the phantom, and 0.91±0.04, 0.17±0.07 and 3.93±2.12 voxels for the three lung cancer patients, respectively. Conclusions: We have proposed and validate a real-time surface-mesh-based organ motion and deformation tracking method with an internal-external motion modeling. The preliminary results conducted on a synthetic 4D NCAT phantom and 4D CT images from three lung cancer cases show that the proposed method is reliable and accurate in tracking both the tumor motion trajectory and deformation, which can serve as a potential tool for real-time organ motion and deformation

  16. TH-CD-207A-03: A Surface Deformation Driven Respiratory Model for Organ Motion Tracking in Lung Cancer Radiotherapy

    Energy Technology Data Exchange (ETDEWEB)

    Chen, H; Zhen, X; Zhou, L [Southern Medical University, Guangzhou, Guangdong (China); Gu, X [UT Southwestern Medical Center, Dallas, TX (United States)

    2016-06-15

    Purpose: To propose and validate a novel real-time surface-mesh-based internal organ-external surface motion and deformation tracking method for lung cancer radiotherapy. Methods: Deformation vector fields (DVFs) which characterizes the internal and external motion are obtained by registering the internal organ and tumor contours and external surface meshes to a reference phase in the 4D CT images using a recent developed local topology preserved non-rigid point matching algorithm (TOP). A composite matrix is constructed by combing the estimated internal and external DVFs. Principle component analysis (PCA) is then applied on the composite matrix to extract principal motion characteristics and finally yield the respiratory motion model parameters which correlates the internal and external motion and deformation. The accuracy of the respiratory motion model is evaluated using a 4D NURBS-based cardiac-torso (NCAT) synthetic phantom and three lung cancer cases. The center of mass (COM) difference is used to measure the tumor motion tracking accuracy, and the Dice’s coefficient (DC), percent error (PE) and Housdourf’s distance (HD) are used to measure the agreement between the predicted and ground truth tumor shape. Results: The mean COM is 0.84±0.49mm and 0.50±0.47mm for the phantom and patient data respectively. The mean DC, PE and HD are 0.93±0.01, 0.13±0.03 and 1.24±0.34 voxels for the phantom, and 0.91±0.04, 0.17±0.07 and 3.93±2.12 voxels for the three lung cancer patients, respectively. Conclusions: We have proposed and validate a real-time surface-mesh-based organ motion and deformation tracking method with an internal-external motion modeling. The preliminary results conducted on a synthetic 4D NCAT phantom and 4D CT images from three lung cancer cases show that the proposed method is reliable and accurate in tracking both the tumor motion trajectory and deformation, which can serve as a potential tool for real-time organ motion and deformation

  17. Rapid, topology-based particle tracking for high-resolution measurements of large complex 3D motion fields.

    Science.gov (United States)

    Patel, Mohak; Leggett, Susan E; Landauer, Alexander K; Wong, Ian Y; Franck, Christian

    2018-04-03

    Spatiotemporal tracking of tracer particles or objects of interest can reveal localized behaviors in biological and physical systems. However, existing tracking algorithms are most effective for relatively low numbers of particles that undergo displacements smaller than their typical interparticle separation distance. Here, we demonstrate a single particle tracking algorithm to reconstruct large complex motion fields with large particle numbers, orders of magnitude larger than previously tractably resolvable, thus opening the door for attaining very high Nyquist spatial frequency motion recovery in the images. Our key innovations are feature vectors that encode nearest neighbor positions, a rigorous outlier removal scheme, and an iterative deformation warping scheme. We test this technique for its accuracy and computational efficacy using synthetically and experimentally generated 3D particle images, including non-affine deformation fields in soft materials, complex fluid flows, and cell-generated deformations. We augment this algorithm with additional particle information (e.g., color, size, or shape) to further enhance tracking accuracy for high gradient and large displacement fields. These applications demonstrate that this versatile technique can rapidly track unprecedented numbers of particles to resolve large and complex motion fields in 2D and 3D images, particularly when spatial correlations exist.

  18. Using Human Motion Intensity as Input for Urban Design

    DEFF Research Database (Denmark)

    Poulsen, Esben Skouboe; Andersen, Hans Jørgen; Gade, Rikke

    2012-01-01

    of a town square, human occupancy and motion intensities are used to generate situated or topologies presenting new adaptive methods for urban design. These methods incorporate local or as design drivers for canopy, pavement and furniture layout. The urban design solution may be congured due to various...

  19. Coupled motions direct electrons along human microsomal P450 Chains.

    Directory of Open Access Journals (Sweden)

    Christopher R Pudney

    2011-12-01

    Full Text Available Protein domain motion is often implicated in biological electron transfer, but the general significance of motion is not clear. Motion has been implicated in the transfer of electrons from human cytochrome P450 reductase (CPR to all microsomal cytochrome P450s (CYPs. Our hypothesis is that tight coupling of motion with enzyme chemistry can signal "ready and waiting" states for electron transfer from CPR to downstream CYPs and support vectorial electron transfer across complex redox chains. We developed a novel approach to study the time-dependence of dynamical change during catalysis that reports on the changing conformational states of CPR. FRET was linked to stopped-flow studies of electron transfer in CPR that contains donor-acceptor fluorophores on the enzyme surface. Open and closed states of CPR were correlated with key steps in the catalytic cycle which demonstrated how redox chemistry and NADPH binding drive successive opening and closing of the enzyme. Specifically, we provide evidence that reduction of the flavin moieties in CPR induces CPR opening, whereas ligand binding induces CPR closing. A dynamic reaction cycle was created in which CPR optimizes internal electron transfer between flavin cofactors by adopting closed states and signals "ready and waiting" conformations to partner CYP enzymes by adopting more open states. This complex, temporal control of enzyme motion is used to catalyze directional electron transfer from NADPH→FAD→FMN→heme, thereby facilitating all microsomal P450-catalysed reactions. Motions critical to the broader biological functions of CPR are tightly coupled to enzyme chemistry in the human NADPH-CPR-CYP redox chain. That redox chemistry alone is sufficient to drive functionally necessary, large-scale conformational change is remarkable. Rather than relying on stochastic conformational sampling, our study highlights a need for tight coupling of motion to enzyme chemistry to give vectorial electron

  20. Time-frequency analysis of human motion during rhythmic exercises.

    Science.gov (United States)

    Omkar, S N; Vyas, Khushi; Vikranth, H N

    2011-01-01

    Biomechanical signals due to human movements during exercise are represented in time-frequency domain using Wigner Distribution Function (WDF). Analysis based on WDF reveals instantaneous spectral and power changes during a rhythmic exercise. Investigations were carried out on 11 healthy subjects who performed 5 cycles of sun salutation, with a body-mounted Inertial Measurement Unit (IMU) as a motion sensor. Variance of Instantaneous Frequency (I.F) and Instantaneous Power (I.P) for performance analysis of the subject is estimated using one-way ANOVA model. Results reveal that joint Time-Frequency analysis of biomechanical signals during motion facilitates a better understanding of grace and consistency during rhythmic exercise.

  1. An Exoskeleton Robot for Human Forearm and Wrist Motion Assist

    Science.gov (United States)

    Ranathunga Arachchilage Ruwan Chandra Gopura; Kiguchi, Kazuo

    The exoskeleton robot is worn by the human operator as an orthotic device. Its joints and links correspond to those of the human body. The same system operated in different modes can be used for different fundamental applications; a human-amplifier, haptic interface, rehabilitation device and assistive device sharing a portion of the external load with the operator. We have been developing exoskeleton robots for assisting the motion of physically weak individuals such as elderly or slightly disabled in daily life. In this paper, we propose a three degree of freedom (3DOF) exoskeleton robot (W-EXOS) for the forearm pronation/ supination motion, wrist flexion/extension motion and ulnar/radial deviation. The paper describes the wrist anatomy toward the development of the exoskeleton robot, the hardware design of the exoskeleton robot and EMG-based control method. The skin surface electromyographic (EMG) signals of muscles in forearm of the exoskeletons' user and the hand force/forearm torque are used as input information for the controller. By applying the skin surface EMG signals as main input signals to the controller, automatic control of the robot can be realized without manipulating any other equipment. Fuzzy control method has been applied to realize the natural and flexible motion assist. Experiments have been performed to evaluate the proposed exoskeleton robot and its control method.

  2. MO-F-CAMPUS-J-02: Commissioning of Radiofrequency Tracking for Gated SBRT of the Liver Using Novel Motion System

    International Nuclear Information System (INIS)

    James, J; Cetnar, A; Nguyen, V; Wang, B

    2015-01-01

    Purpose: Tracking soft tissue targets has recently been approved as a new application of the Calypso radiofrequency tracking system allowing for gated treatment of the liver based on the motion of the target volume itself. As part of the commissioning process, an end-to-end test was performed using a 3D diode array and 6D motion platform to verify the dosimetric accuracy and establish the workflow of gated SBRT treatment of the liver using Calypso. Methods: A 4DCT scan of the ScandiDos Delta4 phantom was acquired using the HexaMotion motion platform to simulate realistic breathing motion. A VMAT plan was optimized on the end of inspiration phase of the 4DCT scan and delivered to the Delta4 phantom using the Varian TrueBeam. The treatment beam was gated by Calypso to deliver dose at the end of inspiration. The expected dose was compared to the delivered dose using gamma analysis. In addition, gating limits were investigated to determine how large the gating range can be while still maintaining dosimetric accuracy. Results: The 3%/3mm and 2%/2mm gamma pass rate for the gated treatment delivery was 100% and 98.4%, respectively. When increasing the gating limits beyond the known extent of planned motion from the 4DCT, the gamma pass rates decreased as expected. The 3%/3mm gamma pass rate for a 1, 2, and 3mm increase in gating limits were measured to be 96.0%, 92.7%, and 78.8%, respectively. Conclusion: Radiofrequency tracking was shown to be an effective way to provide gated SBRT treatment of the liver. Baseline gating limits should be determined by measuring the extent of target motion during the respiratory phases used for planning. We recommend adding 1mm to the baseline limits to provide the proper balance between treatment efficiency and dosimetric accuracy

  3. Representation of visual gravitational motion in the human vestibular cortex.

    Science.gov (United States)

    Indovina, Iole; Maffei, Vincenzo; Bosco, Gianfranco; Zago, Myrka; Macaluso, Emiliano; Lacquaniti, Francesco

    2005-04-15

    How do we perceive the visual motion of objects that are accelerated by gravity? We propose that, because vision is poorly sensitive to accelerations, an internal model that calculates the effects of gravity is derived from graviceptive information, is stored in the vestibular cortex, and is activated by visual motion that appears to be coherent with natural gravity. The acceleration of visual targets was manipulated while brain activity was measured using functional magnetic resonance imaging. In agreement with the internal model hypothesis, we found that the vestibular network was selectively engaged when acceleration was consistent with natural gravity. These findings demonstrate that predictive mechanisms of physical laws of motion are represented in the human brain.

  4. New human-centered linear and nonlinear motion cueing algorithms for control of simulator motion systems

    Science.gov (United States)

    Telban, Robert J.

    While the performance of flight simulator motion system hardware has advanced substantially, the development of the motion cueing algorithm, the software that transforms simulated aircraft dynamics into realizable motion commands, has not kept pace. To address this, new human-centered motion cueing algorithms were developed. A revised "optimal algorithm" uses time-invariant filters developed by optimal control, incorporating human vestibular system models. The "nonlinear algorithm" is a novel approach that is also formulated by optimal control, but can also be updated in real time. It incorporates a new integrated visual-vestibular perception model that includes both visual and vestibular sensation and the interaction between the stimuli. A time-varying control law requires the matrix Riccati equation to be solved in real time by a neurocomputing approach. Preliminary pilot testing resulted in the optimal algorithm incorporating a new otolith model, producing improved motion cues. The nonlinear algorithm vertical mode produced a motion cue with a time-varying washout, sustaining small cues for longer durations and washing out large cues more quickly compared to the optimal algorithm. The inclusion of the integrated perception model improved the responses to longitudinal and lateral cues. False cues observed with the NASA adaptive algorithm were absent. As a result of unsatisfactory sensation, an augmented turbulence cue was added to the vertical mode for both the optimal and nonlinear algorithms. The relative effectiveness of the algorithms, in simulating aircraft maneuvers, was assessed with an eleven-subject piloted performance test conducted on the NASA Langley Visual Motion Simulator (VMS). Two methods, the quasi-objective NASA Task Load Index (TLX), and power spectral density analysis of pilot control, were used to assess pilot workload. TLX analysis reveals, in most cases, less workload and variation among pilots with the nonlinear algorithm. Control input

  5. Note: Reliable and non-contact 6D motion tracking system based on 2D laser scanners for cargo transportation

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Young-Keun, E-mail: ykkim@handong.edu [Department of Mechanical and Control Engineering, Handong Global University, Pohang (Korea, Republic of); Kim, Kyung-Soo [Department of Mechanical Engineering, KAIST, Daejeon 305-701 (Korea, Republic of)

    2014-10-15

    Maritime transportation demands an accurate measurement system to track the motion of oscillating container boxes in real time. However, it is a challenge to design a sensor system that can provide both reliable and non-contact methods of 6-DOF motion measurements of a remote object for outdoor applications. In the paper, a sensor system based on two 2D laser scanners is proposed for detecting the relative 6-DOF motion of a crane load in real time. Even without implementing a camera, the proposed system can detect the motion of a remote object using four laser beam points. Because it is a laser-based sensor, the system is expected to be highly robust to sea weather conditions.

  6. Real-time ultrasound-tagging to track the 2D motion of the common carotid artery wall in vivo

    Energy Technology Data Exchange (ETDEWEB)

    Zahnd, Guillaume, E-mail: g.zahnd@erasmusmc.nl [Biomedical Imaging Group Rotterdam, Departments of Radiology and Medical Informatics, Erasmus MC, Rotterdam 3000 CA (Netherlands); Salles, Sébastien; Liebgott, Hervé; Vray, Didier [Université de Lyon, CREATIS, CNRS UMR 5220, INSERM U1044, INSA-Lyon, Université Lyon 1, Lyon 69100 (France); Sérusclat, André [Department of Radiology, Louis Pradel Hospital, Lyon 69500 (France); Moulin, Philippe [Department of Endocrinology, Louis Pradel Hospital, Hospices Civils de Lyon, Université Lyon 1, Lyon 69100, France and INSERM UMR 1060, Lyon 69500 (France)

    2015-02-15

    Purpose: Tracking the motion of biological tissues represents an important issue in the field of medical ultrasound imaging. However, the longitudinal component of the motion (i.e., perpendicular to the beam axis) remains more challenging to extract due to the rather coarse resolution cell of ultrasound scanners along this direction. The aim of this study is to introduce a real-time beamforming strategy dedicated to acquire tagged images featuring a distinct pattern in the objective to ease the tracking. Methods: Under the conditions of the Fraunhofer approximation, a specific apodization function was applied to the received raw channel data, in real-time during image acquisition, in order to introduce a periodic oscillations pattern along the longitudinal direction of the radio frequency signal. Analytic signals were then extracted from the tagged images, and subpixel motion tracking of the intima–media complex was subsequently performed offline, by means of a previously introduced bidimensional analytic phase-based estimator. Results: The authors’ framework was applied in vivo on the common carotid artery from 20 young healthy volunteers and 6 elderly patients with high atherosclerosis risk. Cine-loops of tagged images were acquired during three cardiac cycles. Evaluated against reference trajectories manually generated by three experienced analysts, the mean absolute tracking error was 98 ± 84 μm and 55 ± 44 μm in the longitudinal and axial directions, respectively. These errors corresponded to 28% ± 23% and 13% ± 9% of the longitudinal and axial amplitude of the assessed motion, respectively. Conclusions: The proposed framework enables tagged ultrasound images of in vivo tissues to be acquired in real-time. Such unconventional beamforming strategy contributes to improve tracking accuracy and could potentially benefit to the interpretation and diagnosis of biomedical images.

  7. Rotational Kinematics Model Based Adaptive Particle Filter for Robust Human Tracking in Thermal Omnidirectional Vision

    Directory of Open Access Journals (Sweden)

    Yazhe Tang

    2015-01-01

    Full Text Available This paper presents a novel surveillance system named thermal omnidirectional vision (TOV system which can work in total darkness with a wild field of view. Different to the conventional thermal vision sensor, the proposed vision system exhibits serious nonlinear distortion due to the effect of the quadratic mirror. To effectively model the inherent distortion of omnidirectional vision, an equivalent sphere projection is employed to adaptively calculate parameterized distorted neighborhood of an object in the image plane. With the equivalent projection based adaptive neighborhood calculation, a distortion-invariant gradient coding feature is proposed for thermal catadioptric vision. For robust tracking purpose, a rotational kinematic modeled adaptive particle filter is proposed based on the characteristic of omnidirectional vision, which can handle multiple movements effectively, including the rapid motions. Finally, the experiments are given to verify the performance of the proposed algorithm for human tracking in TOV system.

  8. Motion tracking in the liver: Validation of a method based on 4D ultrasound using a nonrigid registration technique

    Energy Technology Data Exchange (ETDEWEB)

    Vijayan, Sinara, E-mail: sinara.vijayan@ntnu.no [Norwegian University of Science and Technology, 7491 Trondheim (Norway); Klein, Stefan [Norwegian University of Science and Technology, 7491 Trondheim, Norway and Biomedical Imaging Group Rotterdam, Department of Medical Informatics and Radiology, Erasmus MC, 3000 CA Rotterdam (Netherlands); Hofstad, Erlend Fagertun; Langø, Thomas [SINTEF, Department Medical Technology, 7465 Trondheim (Norway); Lindseth, Frank [Norwegian University of Science and Technology, 7491 Trondheim, Norway and SINTEF, Department Medical Technology, 7465 Trondheim (Norway); Ystgaard, Brynjulf [Department of Surgery, St. Olavs Hospital, 7030 Trondheim (Norway)

    2014-08-15

    Purpose: Treatments like radiotherapy and focused ultrasound in the abdomen require accurate motion tracking, in order to optimize dosage delivery to the target and minimize damage to critical structures and healthy tissues around the target. 4D ultrasound is a promising modality for motion tracking during such treatments. In this study, the authors evaluate the accuracy of motion tracking in the liver based on deformable registration of 4D ultrasound images. Methods: The offline analysis was performed using a nonrigid registration algorithm that was specifically designed for motion estimation from dynamic imaging data. The method registers the entire 4D image data sequence in a groupwise optimization fashion, thus avoiding a bias toward a specifically chosen reference time point. Three healthy volunteers were scanned over several breathing cycles (12 s) from three different positions and angles on the abdomen; a total of nine 4D scans for the three volunteers. Well-defined anatomic landmarks were manually annotated in all 96 time frames for assessment of the automatic algorithm. The error of the automatic motion estimation method was compared with interobserver variability. The authors also performed experiments to investigate the influence of parameters defining the deformation field flexibility and evaluated how well the method performed with a lower temporal resolution in order to establish the minimum frame rate required for accurate motion estimation. Results: The registration method estimated liver motion with an error of 1 mm (75% percentile over all datasets), which was lower than the interobserver variability of 1.4 mm. The results were only slightly dependent on the degrees of freedom of the deformation model. The registration error increased to 2.8 mm with an eight times lower temporal resolution. Conclusions: The authors conclude that the methodology was able to accurately track the motion of the liver in the 4D ultrasound data. The authors believe

  9. SU-G-JeP1-06: Correlation of Lung Tumor Motion with Tumor Location Using Electromagnetic Tracking

    Energy Technology Data Exchange (ETDEWEB)

    Muccigrosso, D; Maughan, N; Parikh, P [Washington University School of Medicine, Saint Louis, MO (United States); Schultejans, H; Bera, R [Lindbergh High School, St. Louis, MO (United States)

    2016-06-15

    Purpose: It is well known that lung tumors move with respiration. However, most measurements of lung tumor motion have studied long treatment times with intermittent imaging; those populations may not necessarily represent conventional LINAC patients. We summarized the correlation between tumor motion and location in a multi-institutional trial with electromagnetic tracking, and identified the patient cohort that would most benefit from respiratory gating. Methods: Continuous electromagnetic transponder data (Varian Medical, Seattle, WA) of lung tumor motion was collected from 14 patients (214 total fractions) across 3 institutions during external beam radiation therapy in a prospective clinical trial (NCT01396551). External intervention from the clinician, such as couch shifts, instructed breath-holds, and acquisition pauses, were manually removed from the 10 Hz tracking data according to recorded notes. The average three-dimensional displacement from the breathing cycle’s end-expiratory to end-inhalation phases (peak-to-peak distance) of the transponders’ isocenter was calculated for each patient’s treatment. A weighted average of each isocenter was used to assess the effects of location on motion. A total of 14 patients were included in this analysis, grouped by their transponders’ location in the lung: upper, medial, and lower. Results: 8 patients had transponders in the upper lung, and 3 patients each in the medial lobe and lower lung. The weighted average ± standard deviation of all peak-to-peak distances for each group was: 1.04 ± 0.39 cm in the lower lung, 0.56 ± 0.14 cm in the medial lung, and 0.30 ± 0.06 cm in the upper lung. Conclusion: Tumors in the lower lung are most susceptible to excessive motion and daily variation, and would benefit most from continuous motion tracking and gating. Those in the medial lobe might be at moderate risk. The upper lobes have limited motion. These results can guide different motion management strategies

  10. Human detection and motion analysis at security points

    Science.gov (United States)

    Ozer, I. Burak; Lv, Tiehan; Wolf, Wayne H.

    2003-08-01

    This paper presents a real-time video surveillance system for the recognition of specific human activities. Specifically, the proposed automatic motion analysis is used as an on-line alarm system to detect abnormal situations in a campus environment. A smart multi-camera system developed at Princeton University is extended for use in smart environments in which the camera detects the presence of multiple persons as well as their gestures and their interaction in real-time.

  11. Wearable sensor system for human localization and motion capture

    OpenAIRE

    Zihajehzadeh, Shaghayegh

    2017-01-01

    Recent advances in MEMS wearable inertial/magnetic sensors and mobile computing have fostered a dramatic growth of interest for ambulatory human motion capture (MoCap). Compared to traditional optical MoCap systems such as the optical systems, inertial (i.e. accelerometer and gyroscope) and magnetic sensors do not require external fixtures such as cameras. Hence, they do not have in-the-lab measurement limitations and thus are ideal for ambulatory applications. However, due to the manufacturi...

  12. Tracking lung tissue motion and expansion/compression with inverse consistent image registration and spirometry.

    Science.gov (United States)

    Christensen, Gary E; Song, Joo Hyun; Lu, Wei; El Naqa, Issam; Low, Daniel A

    2007-06-01

    Breathing motion is one of the major limiting factors for reducing dose and irradiation of normal tissue for conventional conformal radiotherapy. This paper describes a relationship between tracking lung motion using spirometry data and image registration of consecutive CT image volumes collected from a multislice CT scanner over multiple breathing periods. Temporal CT sequences from 5 individuals were analyzed in this study. The couch was moved from 11 to 14 different positions to image the entire lung. At each couch position, 15 image volumes were collected over approximately 3 breathing periods. It is assumed that the expansion and contraction of lung tissue can be modeled as an elastic material. Furthermore, it is assumed that the deformation of the lung is small over one-fifth of a breathing period and therefore the motion of the lung can be adequately modeled using a small deformation linear elastic model. The small deformation inverse consistent linear elastic image registration algorithm is therefore well suited for this problem and was used to register consecutive image scans. The pointwise expansion and compression of lung tissue was measured by computing the Jacobian of the transformations used to register the images. The logarithm of the Jacobian was computed so that expansion and compression of the lung were scaled equally. The log-Jacobian was computed at each voxel in the volume to produce a map of the local expansion and compression of the lung during the breathing period. These log-Jacobian images demonstrate that the lung does not expand uniformly during the breathing period, but rather expands and contracts locally at different rates during inhalation and exhalation. The log-Jacobian numbers were averaged over a cross section of the lung to produce an estimate of the average expansion or compression from one time point to the next and compared to the air flow rate measured by spirometry. In four out of five individuals, the average log

  13. Tracking lung tissue motion and expansion/compression with inverse consistent image registration and spirometry

    International Nuclear Information System (INIS)

    Christensen, Gary E.; Song, Joo Hyun; Lu, Wei; Naqa, Issam El; Low, Daniel A.

    2007-01-01

    Breathing motion is one of the major limiting factors for reducing dose and irradiation of normal tissue for conventional conformal radiotherapy. This paper describes a relationship between tracking lung motion using spirometry data and image registration of consecutive CT image volumes collected from a multislice CT scanner over multiple breathing periods. Temporal CT sequences from 5 individuals were analyzed in this study. The couch was moved from 11 to 14 different positions to image the entire lung. At each couch position, 15 image volumes were collected over approximately 3 breathing periods. It is assumed that the expansion and contraction of lung tissue can be modeled as an elastic material. Furthermore, it is assumed that the deformation of the lung is small over one-fifth of a breathing period and therefore the motion of the lung can be adequately modeled using a small deformation linear elastic model. The small deformation inverse consistent linear elastic image registration algorithm is therefore well suited for this problem and was used to register consecutive image scans. The pointwise expansion and compression of lung tissue was measured by computing the Jacobian of the transformations used to register the images. The logarithm of the Jacobian was computed so that expansion and compression of the lung were scaled equally. The log-Jacobian was computed at each voxel in the volume to produce a map of the local expansion and compression of the lung during the breathing period. These log-Jacobian images demonstrate that the lung does not expand uniformly during the breathing period, but rather expands and contracts locally at different rates during inhalation and exhalation. The log-Jacobian numbers were averaged over a cross section of the lung to produce an estimate of the average expansion or compression from one time point to the next and compared to the air flow rate measured by spirometry. In four out of five individuals, the average log

  14. Mitigation of motion artifacts in CBCT of lung tumors based on tracked tumor motion during CBCT acquisition

    International Nuclear Information System (INIS)

    Lewis, John H; Li Ruijiang; Jia Xun; Watkins, W Tyler; Song, William Y; Jiang, Steve B; Lou, Yifei

    2011-01-01

    An algorithm capable of mitigating respiratory motion blurring artifacts in cone-beam computed tomography (CBCT) lung tumor images based on the motion of the tumor during the CBCT scan is developed. The tumor motion trajectory and probability density function (PDF) are reconstructed from the acquired CBCT projection images using a recently developed algorithm Lewis et al (2010 Phys. Med. Biol. 55 2505-22). Assuming that the effects of motion blurring can be represented by convolution of the static lung (or tumor) anatomy with the motion PDF, a cost function is defined, consisting of a data fidelity term and a total variation regularization term. Deconvolution is performed through iterative minimization of this cost function. The algorithm was tested on digital respiratory phantom, physical respiratory phantom and patient data. A clear qualitative improvement is evident in the deblurred images as compared to the motion-blurred images for all cases. Line profiles show that the tumor boundaries are more accurately and clearly represented in the deblurred images. The normalized root-mean-squared error between the images used as ground truth and the motion-blurred images are 0.29, 0.12 and 0.30 in the digital phantom, physical phantom and patient data, respectively. Deblurring reduces the corresponding values to 0.13, 0.07 and 0.19. Application of a -700 HU threshold to the digital phantom results in tumor dimension measurements along the superior-inferior axis of 2.8, 1.8 and 1.9 cm in the motion-blurred, ground truth and deblurred images, respectively. Corresponding values for the physical phantom are 3.4, 2.7 and 2.7 cm. A threshold of -500 HU applied to the patient case gives measurements of 3.1, 1.6 and 1.7 cm along the SI axis in the CBCT, 4DCT and deblurred images, respectively. This technique could provide more accurate information about a lung tumor's size and shape on the day of treatment.

  15. Collaborative real-time motion video analysis by human observer and image exploitation algorithms

    Science.gov (United States)

    Hild, Jutta; Krüger, Wolfgang; Brüstle, Stefan; Trantelle, Patrick; Unmüßig, Gabriel; Heinze, Norbert; Peinsipp-Byma, Elisabeth; Beyerer, Jürgen

    2015-05-01

    Motion video analysis is a challenging task, especially in real-time applications. In most safety and security critical applications, a human observer is an obligatory part of the overall analysis system. Over the last years, substantial progress has been made in the development of automated image exploitation algorithms. Hence, we investigate how the benefits of automated video analysis can be integrated suitably into the current video exploitation systems. In this paper, a system design is introduced which strives to combine both the qualities of the human observer's perception and the automated algorithms, thus aiming to improve the overall performance of a real-time video analysis system. The system design builds on prior work where we showed the benefits for the human observer by means of a user interface which utilizes the human visual focus of attention revealed by the eye gaze direction for interaction with the image exploitation system; eye tracker-based interaction allows much faster, more convenient, and equally precise moving target acquisition in video images than traditional computer mouse selection. The system design also builds on prior work we did on automated target detection, segmentation, and tracking algorithms. Beside the system design, a first pilot study is presented, where we investigated how the participants (all non-experts in video analysis) performed in initializing an object tracking subsystem by selecting a target for tracking. Preliminary results show that the gaze + key press technique is an effective, efficient, and easy to use interaction technique when performing selection operations on moving targets in videos in order to initialize an object tracking function.

  16. Adaptive robust motion trajectory tracking control of pneumatic cylinders with LuGre model-based friction compensation

    Science.gov (United States)

    Meng, Deyuan; Tao, Guoliang; Liu, Hao; Zhu, Xiaocong

    2014-07-01

    Friction compensation is particularly important for motion trajectory tracking control of pneumatic cylinders at low speed movement. However, most of the existing model-based friction compensation schemes use simple classical models, which are not enough to address applications with high-accuracy position requirements. Furthermore, the friction force in the cylinder is time-varying, and there exist rather severe unmodelled dynamics and unknown disturbances in the pneumatic system. To deal with these problems effectively, an adaptive robust controller with LuGre model-based dynamic friction compensation is constructed. The proposed controller employs on-line recursive least squares estimation (RLSE) to reduce the extent of parametric uncertainties, and utilizes the sliding mode control method to attenuate the effects of parameter estimation errors, unmodelled dynamics and disturbances. In addition, in order to realize LuGre model-based friction compensation, the modified dual-observer structure for estimating immeasurable friction internal state is developed. Therefore, a prescribed motion tracking transient performance and final tracking accuracy can be guaranteed. Since the system model uncertainties are unmatched, the recursive backstepping design technology is applied. In order to solve the conflicts between the sliding mode control design and the adaptive control design, the projection mapping is used to condition the RLSE algorithm so that the parameter estimates are kept within a known bounded convex set. Finally, the proposed controller is tested for tracking sinusoidal trajectories and smooth square trajectory under different loads and sudden disturbance. The testing results demonstrate that the achievable performance of the proposed controller is excellent and is much better than most other studies in literature. Especially when a 0.5 Hz sinusoidal trajectory is tracked, the maximum tracking error is 0.96 mm and the average tracking error is 0.45 mm. This

  17. Performances of motion tracking enhanced Tomo-PIV on turbulent shear flows.

    Science.gov (United States)

    Novara, Matteo; Scarano, Fulvio

    The motion tracking enhancement technique (MTE) is a recently introduced method to improve the accuracy of tomographic PIV measurements at seeding density higher than currently practiced. The working principle is based on the fact that the particle field and its projections are correlated between the two exposures. Therefore, information from subsequent exposures can be shared within the tomographic reconstruction process of a single object, which largely reduces the energy lost into ghost particles . The study follows a previous work based on synthetic particle images, showing that the MTE technique has an effect similar to that of increasing the number of cameras. In the present analysis, MTE is applied to Tomographic PIV data from two time-resolved experiments on turbulent shear flows: a round jet at Re  = 5,000 ( f acq  = 1,000 Hz) and a turbulent boundary layer at the trailing edge of an airfoil ( Re c  = 370,000) measured at 12,000 Hz. The application of MTE is extended to the case of more than two recordings. The performance is assessed comparing the results from a lowered number of cameras with respect to the full tomographic imaging system. The analysis of the jet flow agrees with the findings of numerical simulations provided the results are scaled taking into account the concept of MTE efficiency based on the volume fraction where ghost - pairs (Elsinga et al. 2010a) are produced. When a large fraction of fluid has uniform motion (stagnant fluid surrounding the jet), only a moderate reduction in ghost intensity is expected by MTE. Nevertheless, a visible recovery of reconstruction quality is observed for the 3-cameras system when MTE is applied making use of 3 recordings. In the turbulent boundary layer, the objective is set to increase the seeding density beyond current practice, and the experiments are performed at approximately 200,000 particles/megapixel. The measurement robustness is monitored with the signal-to-noise ratio S/N for the cross

  18. Synchronizing the tracking eye movements with the motion of a visual target: Basic neural processes.

    Science.gov (United States)

    Goffart, Laurent; Bourrelly, Clara; Quinet, Julie

    2017-01-01

    In primates, the appearance of an object moving in the peripheral visual field elicits an interceptive saccade that brings the target image onto the foveae. This foveation is then maintained more or less efficiently by slow pursuit eye movements and subsequent catch-up saccades. Sometimes, the tracking is such that the gaze direction looks spatiotemporally locked onto the moving object. Such a spatial synchronism is quite spectacular when one considers that the target-related signals are transmitted to the motor neurons through multiple parallel channels connecting separate neural populations with different conduction speeds and delays. Because of the delays between the changes of retinal activity and the changes of extraocular muscle tension, the maintenance of the target image onto the fovea cannot be driven by the current retinal signals as they correspond to past positions of the target. Yet, the spatiotemporal coincidence observed during pursuit suggests that the oculomotor system is driven by a command estimating continuously the current location of the target, i.e., where it is here and now. This inference is also supported by experimental perturbation studies: when the trajectory of an interceptive saccade is experimentally perturbed, a correction saccade is produced in flight or after a short delay, and brings the gaze next to the location where unperturbed saccades would have landed at about the same time, in the absence of visual feedback. In this chapter, we explain how such correction can be supported by previous visual signals without assuming "predictive" signals encoding future target locations. We also describe the basic neural processes which gradually yield the synchronization of eye movements with the target motion. When the process fails, the gaze is driven by signals related to past locations of the target, not by estimates to its upcoming locations, and a catch-up is made to reinitiate the synchronization. © 2017 Elsevier B.V. All rights

  19. Tracking the ultrafast motion of a single molecule by femtosecond orbital imaging

    Science.gov (United States)

    Cocker, Tyler L.; Peller, Dominik; Yu, Ping; Repp, Jascha; Huber, Rupert

    2016-11-01

    Watching a single molecule move on its intrinsic timescale has been one of the central goals of modern nanoscience, and calls for measurements that combine ultrafast temporal resolution with atomic spatial resolution. Steady-state experiments access the requisite spatial scales, as illustrated by direct imaging of individual molecular orbitals using scanning tunnelling microscopy or the acquisition of tip-enhanced Raman and luminescence spectra with sub-molecular resolution. But tracking the intrinsic dynamics of a single molecule directly in the time domain faces the challenge that interactions with the molecule must be confined to a femtosecond time window. For individual nanoparticles, such ultrafast temporal confinement has been demonstrated by combining scanning tunnelling microscopy with so-called lightwave electronics, which uses the oscillating carrier wave of tailored light pulses to directly manipulate electronic motion on timescales faster even than a single cycle of light. Here we build on ultrafast terahertz scanning tunnelling microscopy to access a state-selective tunnelling regime, where the peak of a terahertz electric-field waveform transiently opens an otherwise forbidden tunnelling channel through a single molecular state. It thereby removes a single electron from an individual pentacene molecule’s highest occupied molecular orbital within a time window shorter than one oscillation cycle of the terahertz wave. We exploit this effect to record approximately 100-femtosecond snapshot images of the orbital structure with sub-ångström spatial resolution, and to reveal, through pump/probe measurements, coherent molecular vibrations at terahertz frequencies directly in the time domain. We anticipate that the combination of lightwave electronics and the atomic resolution of our approach will open the door to visualizing ultrafast photochemistry and the operation of molecular electronics on the single-orbital scale.

  20. Energy Optimal Trajectories in Human Arm Motion Aiming for Assistive Robots

    Directory of Open Access Journals (Sweden)

    Lelai Zhou

    2017-01-01

    Full Text Available The energy expenditure in human arm has been of great interests for seeking optimal human arm trajectories. This paper presents a new way for calculating metabolic energy consumption of human arm motions. The purpose is to reveal the relationship between the energy consumption and the trajectory of arm motion, and further, the acceleration and arm orientation contributions. Human arm motion in horizontal plane is investigated by virtue of Qualisys motion capture system. The motion data is post-processed by a biomechanical model to obtain the metabolic expenditure. Results on the arm motion kinematics, dynamics and metabolic energy consumption, are included.

  1. A new method for automatic tracking of facial landmarks in 3D motion captured images (4D).

    Science.gov (United States)

    Al-Anezi, T; Khambay, B; Peng, M J; O'Leary, E; Ju, X; Ayoub, A

    2013-01-01

    The aim of this study was to validate the automatic tracking of facial landmarks in 3D image sequences. 32 subjects (16 males and 16 females) aged 18-35 years were recruited. 23 anthropometric landmarks were marked on the face of each subject with non-permanent ink using a 0.5mm pen. The subjects were asked to perform three facial animations (maximal smile, lip purse and cheek puff) from rest position. Each animation was captured by the 3D imaging system. A single operator manually digitised the landmarks on the 3D facial models and their locations were compared with those of the automatically tracked ones. To investigate the accuracy of manual digitisation, the operator re-digitised the same set of 3D images of 10 subjects (5 male and 5 female) at 1 month interval. The discrepancies in x, y and z coordinates between the 3D position of the manual digitised landmarks and that of the automatic tracked facial landmarks were within 0.17mm. The mean distance between the manually digitised and the automatically tracked landmarks using the tracking software was within 0.55 mm. The automatic tracking of facial landmarks demonstrated satisfactory accuracy which would facilitate the analysis of the dynamic motion during facial animations. Copyright © 2012 International Association of Oral and Maxillofacial Surgeons. Published by Elsevier Ltd. All rights reserved.

  2. Improved Leg Tracking Considering Gait Phase and Spline-Based Interpolation during Turning Motion in Walk Tests

    Directory of Open Access Journals (Sweden)

    Ayanori Yorozu

    2015-09-01

    Full Text Available Falling is a common problem in the growing elderly population, and fall-risk assessment systems are needed for community-based fall prevention programs. In particular, the timed up and go test (TUG is the clinical test most often used to evaluate elderly individual ambulatory ability in many clinical institutions or local communities. This study presents an improved leg tracking method using a laser range sensor (LRS for a gait measurement system to evaluate the motor function in walk tests, such as the TUG. The system tracks both legs and measures the trajectory of both legs. However, both legs might be close to each other, and one leg might be hidden from the sensor. This is especially the case during the turning motion in the TUG, where the time that a leg is hidden from the LRS is longer than that during straight walking and the moving direction rapidly changes. These situations are likely to lead to false tracking and deteriorate the measurement accuracy of the leg positions. To solve these problems, a novel data association considering gait phase and a Catmull–Rom spline-based interpolation during the occlusion are proposed. From the experimental results with young people, we confirm   that the proposed methods can reduce the chances of false tracking. In addition, we verify the measurement accuracy of the leg trajectory compared to a three-dimensional motion analysis system (VICON.

  3. Simulator study of the effect of visual-motion time delays on pilot tracking performance with an audio side task

    Science.gov (United States)

    Riley, D. R.; Miller, G. K., Jr.

    1978-01-01

    The effect of time delay was determined in the visual and motion cues in a flight simulator on pilot performance in tracking a target aircraft that was oscillating sinusoidally in altitude only. An audio side task was used to assure the subject was fully occupied at all times. The results indicate that, within the test grid employed, about the same acceptable time delay (250 msec) was obtained for a single aircraft (fighter type) by each of two subjects for both fixed-base and motion-base conditions. Acceptable time delay is defined as the largest amount of delay that can be inserted simultaneously into the visual and motion cues before performance degradation occurs. A statistical analysis of the data was made to establish this value of time delay. Audio side task provided quantitative data that documented the subject's work level.

  4. Wall-motion tracking in fetal echocardiography-Influence of frame rate on longitudinal strain analysis assessed by two-dimensional speckle tracking.

    Science.gov (United States)

    Enzensberger, Christian; Achterberg, Friederike; Graupner, Oliver; Wolter, Aline; Herrmann, Johannes; Axt-Fliedner, Roland

    2017-06-01

    Frame rates (FR) used for strain analysis assessed by speckle tracking in fetal echocardiography show a considerable variation. The aim of this study was to investigate the influence of the FR on strain analysis in 2D speckle tracking. Fetal echocardiography was performed prospectively on a Toshiba Aplio 500 system and a Toshiba Artida system, respectively. Based on an apical or basal four-chamber view of the fetal heart, cine loops were stored with a FR of 30 fps (Aplio 500) and 60 fps (Artida/Aplio 500). For both groups (30fps and 60fps), global and segmental longitudinal peak systolic strain (LPSS) values of both, left (LV) and right ventricle (RV), were assessed by 2D wall-motion tracking. A total of 101 fetuses, distributed to three study groups, were included. The mean gestational age was 25.2±5.0 weeks. Mean global LPSS values for RV in the 30 fps group and in the 60 fps group were -16.07% and -16.47%, respectively. Mean global LPSS values for LV in the 30 fps group and in the 60 fps group were -17.54% and -17.06%, respectively. Comparing global and segmental LPSS values of both, the RV and LV, did not show any statistically significant differences within the two groups. Performance of myocardial 2D strain analysis by wall-motion tracking was feasible with 30 and 60 fps. Obtained global and segmental LPSS values of both ventricles were relatively independent from acquisition rate. © 2017, Wiley Periodicals, Inc.

  5. Automatic Prostate Tracking and Motion Assessment in Volumetric Modulated Arc Therapy With an Electronic Portal Imaging Device

    International Nuclear Information System (INIS)

    Azcona, Juan Diego; Li, Ruijiang; Mok, Edward; Hancock, Steven; Xing, Lei

    2013-01-01

    Purpose: To assess the prostate intrafraction motion in volumetric modulated arc therapy treatments using cine megavoltage (MV) images acquired with an electronic portal imaging device (EPID). Methods and Materials: Ten prostate cancer patients were treated with volumetric modulated arc therapy using a Varian TrueBeam linear accelerator equipped with an EPID for acquiring cine MV images during treatment. Cine MV images acquisition was scheduled for single or multiple treatment fractions (between 1 and 8). A novel automatic fiducial detection algorithm that can handle irregular multileaf collimator apertures, field edges, fast leaf and gantry movement, and MV image noise and artifacts in patient anatomy was used. All sets of images (approximately 25,000 images in total) were analyzed to measure the positioning accuracy of implanted fiducial markers and assess the prostate movement. Results: Prostate motion can vary greatly in magnitude among different patients. Different motion patterns were identified, showing its unpredictability. The mean displacement and standard deviation of the intrafraction motion was generally less than 2.0 ± 2.0 mm in each of the spatial directions. In certain patients, however, the percentage of the treatment time in which the prostate is displaced more than 5 mm from its planned position in at least 1 spatial direction was 10% or more. The maximum prostate displacement observed was 13.3 mm. Conclusion: Prostate tracking and motion assessment was performed with MV imaging and an EPID. The amount of prostate motion observed suggests that patients will benefit from its real-time monitoring. Megavoltage imaging can provide the basis for real-time prostate tracking using conventional linear accelerators

  6. Adaptive Radiation Therapy for Postprostatectomy Patients Using Real-Time Electromagnetic Target Motion Tracking During External Beam Radiation Therapy

    Energy Technology Data Exchange (ETDEWEB)

    Zhu, Mingyao [Department of Radiation Oncology, Washington University School of Medicine, Saint Louis, Missouri (United States); Bharat, Shyam [Philips Research North America, Briarcliff Manor, New York (United States); Michalski, Jeff M.; Gay, Hiram A. [Department of Radiation Oncology, Washington University School of Medicine, Saint Louis, Missouri (United States); Hou, Wei-Hsien [St Louis University School of Medicine, St Louis, Missouri (United States); Parikh, Parag J., E-mail: pparikh@radonc.wustl.edu [Department of Radiation Oncology, Washington University School of Medicine, Saint Louis, Missouri (United States)

    2013-03-15

    Purpose: Using real-time electromagnetic (EM) transponder tracking data recorded by the Calypso 4D Localization System, we report inter- and intrafractional target motion of the prostate bed, describe a strategy to evaluate treatment adequacy in postprostatectomy patients receiving intensity modulated radiation therapy (IMRT), and propose an adaptive workflow. Methods and Materials: Tracking data recorded by Calypso EM transponders was analyzed for postprostatectomy patients that underwent step-and-shoot IMRT. Rigid target motion parameters during beam delivery were calculated from recorded transponder positions in 16 patients with rigid transponder geometry. The delivered doses to the clinical target volume (CTV) were estimated from the planned dose matrix and the target motion for the first 3, 5, 10, and all fractions. Treatment adequacy was determined by comparing the delivered minimum dose (D{sub min}) with the planned D{sub min} to the CTV. Treatments were considered adequate if the delivered CTV D{sub min} is at least 95% of the planned CTV D{sub min}. Results: Translational target motion was minimal for all 16 patients (mean: 0.02 cm; range: −0.12 cm to 0.07 cm). Rotational motion was patient-specific, and maximum pitch, yaw, and roll were 12.2, 4.1, and 10.5°, respectively. We observed inadequate treatments in 5 patients. In these treatments, we observed greater target rotations along with large distances between the CTV centroid and transponder centroid. The treatment adequacy from the initial 10 fractions successfully predicted the overall adequacy in 4 of 5 inadequate treatments and 10 of 11 adequate treatments. Conclusion: Target rotational motion could cause underdosage to partial volume of the postprostatectomy targets. Our adaptive treatment strategy is applicable to post-prostatectomy patients receiving IMRT to evaluate and improve radiation therapy delivery.

  7. A model for the pilot's use of motion cues in roll-axis tracking tasks

    Science.gov (United States)

    Levison, W. H.; Junker, A. M.

    1977-01-01

    Simulated target-following and disturbance-regulation tasks were explored with subjects using visual-only and combined visual and motion cues. The effects of motion cues on task performance and pilot response behavior were appreciably different for the two task configurations and were consistent with data reported in earlier studies for similar task configurations. The optimal-control model for pilot/vehicle systems provided a task-independent framework for accounting for the pilot's use of motion cues. Specifically, the availability of motion cues was modeled by augmenting the set of perceptual variables to include position, rate, acceleration, and accleration-rate of the motion simulator, and results were consistent with the hypothesis of attention-sharing between visual and motion variables. This straightforward informational model allowed accurate model predictions of the effects of motion cues on a variety of response measures for both the target-following and disturbance-regulation tasks.

  8. SU-G-JeP1-07: Development of a Programmable Motion Testbed for the Validation of Ultrasound Tracking Algorithms

    International Nuclear Information System (INIS)

    Shepard, A; Matrosic, C; Zagzebski, J; Bednarz, B

    2016-01-01

    Purpose: To develop an advanced testbed that combines a 3D motion stage and ultrasound phantom to optimize and validate 2D and 3D tracking algorithms for real-time motion management during radiation therapy. Methods: A Siemens S2000 Ultrasound scanner utilizing a 9L4 transducer was coupled with the Washington University 4D Phantom to simulate patient motion. The transducer was securely fastened to the 3D stage and positioned to image three cylinders of varying contrast in a Gammex 404GS LE phantom. The transducer was placed within a water bath above the phantom in order to maintain sufficient coupling for the entire range of simulated motion. A programmed motion sequence was used to move the transducer during image acquisition and a cine video was acquired for one minute to allow for long sequence tracking. Images were analyzed using a normalized cross-correlation block matching tracking algorithm and compared to the known motion of the transducer relative to the phantom. Results: The setup produced stable ultrasound motion traces consistent with those programmed into the 3D motion stage. The acquired ultrasound images showed minimal artifacts and an image quality that was more than suitable for tracking algorithm verification. Comparisons of a block matching tracking algorithm with the known motion trace for the three features resulted in an average tracking error of 0.59 mm. Conclusion: The high accuracy and programmability of the 4D phantom allows for the acquisition of ultrasound motion sequences that are highly customizable; allowing for focused analysis of some common pitfalls of tracking algorithms such as partial feature occlusion or feature disappearance, among others. The design can easily be modified to adapt to any probe such that the process can be extended to 3D acquisition. Further development of an anatomy specific phantom better resembling true anatomical landmarks could lead to an even more robust validation. This work is partially funded by NIH

  9. SU-G-JeP1-07: Development of a Programmable Motion Testbed for the Validation of Ultrasound Tracking Algorithms

    Energy Technology Data Exchange (ETDEWEB)

    Shepard, A; Matrosic, C; Zagzebski, J; Bednarz, B [University of Wisconsin, Madison, WI (United States)

    2016-06-15

    Purpose: To develop an advanced testbed that combines a 3D motion stage and ultrasound phantom to optimize and validate 2D and 3D tracking algorithms for real-time motion management during radiation therapy. Methods: A Siemens S2000 Ultrasound scanner utilizing a 9L4 transducer was coupled with the Washington University 4D Phantom to simulate patient motion. The transducer was securely fastened to the 3D stage and positioned to image three cylinders of varying contrast in a Gammex 404GS LE phantom. The transducer was placed within a water bath above the phantom in order to maintain sufficient coupling for the entire range of simulated motion. A programmed motion sequence was used to move the transducer during image acquisition and a cine video was acquired for one minute to allow for long sequence tracking. Images were analyzed using a normalized cross-correlation block matching tracking algorithm and compared to the known motion of the transducer relative to the phantom. Results: The setup produced stable ultrasound motion traces consistent with those programmed into the 3D motion stage. The acquired ultrasound images showed minimal artifacts and an image quality that was more than suitable for tracking algorithm verification. Comparisons of a block matching tracking algorithm with the known motion trace for the three features resulted in an average tracking error of 0.59 mm. Conclusion: The high accuracy and programmability of the 4D phantom allows for the acquisition of ultrasound motion sequences that are highly customizable; allowing for focused analysis of some common pitfalls of tracking algorithms such as partial feature occlusion or feature disappearance, among others. The design can easily be modified to adapt to any probe such that the process can be extended to 3D acquisition. Further development of an anatomy specific phantom better resembling true anatomical landmarks could lead to an even more robust validation. This work is partially funded by NIH

  10. Camera systems in human motion analysis for biomedical applications

    Science.gov (United States)

    Chin, Lim Chee; Basah, Shafriza Nisha; Yaacob, Sazali; Juan, Yeap Ewe; Kadir, Aida Khairunnisaa Ab.

    2015-05-01

    Human Motion Analysis (HMA) system has been one of the major interests among researchers in the field of computer vision, artificial intelligence and biomedical engineering and sciences. This is due to its wide and promising biomedical applications, namely, bio-instrumentation for human computer interfacing and surveillance system for monitoring human behaviour as well as analysis of biomedical signal and image processing for diagnosis and rehabilitation applications. This paper provides an extensive review of the camera system of HMA, its taxonomy, including camera types, camera calibration and camera configuration. The review focused on evaluating the camera system consideration of the HMA system specifically for biomedical applications. This review is important as it provides guidelines and recommendation for researchers and practitioners in selecting a camera system of the HMA system for biomedical applications.

  11. Lateral motion and bending of microtubules studied with a new single-filament tracking routine in living cells.

    Science.gov (United States)

    Pallavicini, Carla; Levi, Valeria; Wetzler, Diana E; Angiolini, Juan F; Benseñor, Lorena; Despósito, Marcelo A; Bruno, Luciana

    2014-06-17

    The cytoskeleton is involved in numerous cellular processes such as migration, division, and contraction and provides the tracks for transport driven by molecular motors. Therefore, it is very important to quantify the mechanical behavior of the cytoskeletal filaments to get a better insight into cell mechanics and organization. It has been demonstrated that relevant mechanical properties of microtubules can be extracted from the analysis of their motion and shape fluctuations. However, tracking individual filaments in living cells is extremely complex due, for example, to the high and heterogeneous background. We introduce a believed new tracking algorithm that allows recovering the coordinates of fluorescent microtubules with ∼9 nm precision in in vitro conditions. To illustrate potential applications of this algorithm, we studied the curvature distributions of fluorescent microtubules in living cells. By performing a Fourier analysis of the microtubule shapes, we found that the curvatures followed a thermal-like distribution as previously reported with an effective persistence length of ∼20 μm, a value significantly smaller than that measured in vitro. We also verified that the microtubule-associated protein XTP or the depolymerization of the actin network do not affect this value; however, the disruption of intermediate filaments decreased the persistence length. Also, we recovered trajectories of microtubule segments in actin or intermediate filament-depleted cells, and observed a significant increase of their motion with respect to untreated cells showing that these filaments contribute to the overall organization of the microtubule network. Moreover, the analysis of trajectories of microtubule segments in untreated cells showed that these filaments presented a slower but more directional motion in the cortex with respect to the perinuclear region, and suggests that the tracking routine would allow mapping the microtubule dynamical organization in cells

  12. Human Body Parts Tracking and Kinematic Features Assessment Based on RSSI and Inertial Sensor Measurements

    Directory of Open Access Journals (Sweden)

    Gaddi Blumrosen

    2013-08-01

    Full Text Available Acquisition of patient kinematics in different environments plays an important role in the detection of risk situations such as fall detection in elderly patients, in rehabilitation of patients with injuries, and in the design of treatment plans for patients with neurological diseases. Received Signal Strength Indicator (RSSI measurements in a Body Area Network (BAN, capture the signal power on a radio link. The main aim of this paper is to demonstrate the potential of utilizing RSSI measurements in assessment of human kinematic features, and to give methods to determine these features. RSSI measurements can be used for tracking different body parts’ displacements on scales of a few centimeters, for classifying motion and gait patterns instead of inertial sensors, and to serve as an additional reference to other sensors, in particular inertial sensors. Criteria and analytical methods for body part tracking, kinematic motion feature extraction, and a Kalman filter model for aggregation of RSSI and inertial sensor were derived. The methods were verified by a set of experiments performed in an indoor environment. In the future, the use of RSSI measurements can help in continuous assessment of various kinematic features of patients during their daily life activities and enhance medical diagnosis accuracy with lower costs.

  13. Simultaneous estimation of human and exoskeleton motion: A simplified protocol.

    Science.gov (United States)

    Alvarez, M T; Torricelli, D; Del-Ama, A J; Pinto, D; Gonzalez-Vargas, J; Moreno, J C; Gil-Agudo, A; Pons, J L

    2017-07-01

    Adequate benchmarking procedures in the area of wearable robots is gaining importance in order to compare different devices on a quantitative basis, improve them and support the standardization and regulation procedures. Performance assessment usually focuses on the execution of locomotion tasks, and is mostly based on kinematic-related measures. Typical drawbacks of marker-based motion capture systems, gold standard for measure of human limb motion, become challenging when measuring limb kinematics, due to the concomitant presence of the robot. This work answers the question of how to reliably assess the subject's body motion by placing markers over the exoskeleton. Focusing on the ankle joint, the proposed methodology showed that it is possible to reconstruct the trajectory of the subject's joint by placing markers on the exoskeleton, although foot flexibility during walking can impact the reconstruction accuracy. More experiments are needed to confirm this hypothesis, and more subjects and walking conditions are needed to better characterize the errors of the proposed methodology, although our results are promising, indicating small errors.

  14. Adaptive Human aware Navigation based on Motion Pattern Analysis

    DEFF Research Database (Denmark)

    Tranberg, Søren; Svenstrup, Mikael; Andersen, Hans Jørgen

    2009-01-01

    Respecting people’s social spaces is an important prerequisite for acceptable and natural robot navigation in human environments. In this paper, we describe an adaptive system for mobile robot navigation based on estimates of whether a person seeks to interact with the robot or not. The estimates...... are based on run-time motion pattern analysis compared to stored experience in a database. Using a potential field centered around the person, the robot positions itself at the most appropriate place relative to the person and the interaction status. The system is validated through qualitative tests...

  15. Digital anthropomorphic phantoms of non-rigid human respiratory and voluntary body motion for investigating motion correction in emission imaging

    International Nuclear Information System (INIS)

    Könik, Arda; Johnson, Karen L; Dasari, Paul; Pretorius, P H; Dey, Joyoni; King, Michael A; Connolly, Caitlin M; Segars, Paul W; Lindsay, Clifford

    2014-01-01

    The development of methods for correcting patient motion in emission tomography has been receiving increased attention. Often the performance of these methods is evaluated through simulations using digital anthropomorphic phantoms, such as the commonly used extended cardiac torso (XCAT) phantom, which models both respiratory and cardiac motion based on human studies. However, non-rigid body motion, which is frequently seen in clinical studies, is not present in the standard XCAT phantom. In addition, respiratory motion in the standard phantom is limited to a single generic trend. In this work, to obtain a more realistic representation of motion, we developed a series of individual-specific XCAT phantoms, modeling non-rigid respiratory and non-rigid body motions derived from the magnetic resonance imaging (MRI) acquisitions of volunteers. Acquisitions were performed in the sagittal orientation using the Navigator methodology. Baseline (no motion) acquisitions at end-expiration were obtained at the beginning of each imaging session for each volunteer. For the body motion studies, MRI was again acquired only at end-expiration for five body motion poses (shoulder stretch, shoulder twist, lateral bend, side roll, and axial slide). For the respiratory motion studies, an MRI was acquired during free/regular breathing. The magnetic resonance slices were then retrospectively sorted into 14 amplitude-binned respiratory states, end-expiration, end-inspiration, six intermediary states during inspiration, and six during expiration using the recorded Navigator signal. XCAT phantoms were then generated based on these MRI data by interactive alignment of the organ contours of the XCAT with the MRI slices using a graphical user interface. Thus far we have created five body motion and five respiratory motion XCAT phantoms from the MRI acquisitions of six healthy volunteers (three males and three females). Non-rigid motion exhibited by the volunteers was reflected in both respiratory

  16. Digital anthropomorphic phantoms of non-rigid human respiratory and voluntary body motion for investigating motion correction in emission imaging

    Science.gov (United States)

    Könik, Arda; Connolly, Caitlin M.; Johnson, Karen L.; Dasari, Paul; Segars, Paul W.; Pretorius, P. H.; Lindsay, Clifford; Dey, Joyoni; King, Michael A.

    2014-07-01

    The development of methods for correcting patient motion in emission tomography has been receiving increased attention. Often the performance of these methods is evaluated through simulations using digital anthropomorphic phantoms, such as the commonly used extended cardiac torso (XCAT) phantom, which models both respiratory and cardiac motion based on human studies. However, non-rigid body motion, which is frequently seen in clinical studies, is not present in the standard XCAT phantom. In addition, respiratory motion in the standard phantom is limited to a single generic trend. In this work, to obtain a more realistic representation of motion, we developed a series of individual-specific XCAT phantoms, modeling non-rigid respiratory and non-rigid body motions derived from the magnetic resonance imaging (MRI) acquisitions of volunteers. Acquisitions were performed in the sagittal orientation using the Navigator methodology. Baseline (no motion) acquisitions at end-expiration were obtained at the beginning of each imaging session for each volunteer. For the body motion studies, MRI was again acquired only at end-expiration for five body motion poses (shoulder stretch, shoulder twist, lateral bend, side roll, and axial slide). For the respiratory motion studies, an MRI was acquired during free/regular breathing. The magnetic resonance slices were then retrospectively sorted into 14 amplitude-binned respiratory states, end-expiration, end-inspiration, six intermediary states during inspiration, and six during expiration using the recorded Navigator signal. XCAT phantoms were then generated based on these MRI data by interactive alignment of the organ contours of the XCAT with the MRI slices using a graphical user interface. Thus far we have created five body motion and five respiratory motion XCAT phantoms from the MRI acquisitions of six healthy volunteers (three males and three females). Non-rigid motion exhibited by the volunteers was reflected in both respiratory

  17. Real-Time Correction By Optical Tracking with Integrated Geometric Distortion Correction for Reducing Motion Artifacts in fMRI

    Science.gov (United States)

    Rotenberg, David J.

    Artifacts caused by head motion are a substantial source of error in fMRI that limits its use in neuroscience research and clinical settings. Real-time scan-plane correction by optical tracking has been shown to correct slice misalignment and non-linear spin-history artifacts, however residual artifacts due to dynamic magnetic field non-uniformity may remain in the data. A recently developed correction technique, PLACE, can correct for absolute geometric distortion using the complex image data from two EPI images, with slightly shifted k-space trajectories. We present a correction approach that integrates PLACE into a real-time scan-plane update system by optical tracking, applied to a tissue-equivalent phantom undergoing complex motion and an fMRI finger tapping experiment with overt head motion to induce dynamic field non-uniformity. Experiments suggest that including volume by volume geometric distortion correction by PLACE can suppress dynamic geometric distortion artifacts in a phantom and in vivo and provide more robust activation maps.

  18. Robot Tracking of Human Subjects in Field Environments

    Science.gov (United States)

    Graham, Jeffrey; Shillcutt, Kimberly

    2003-01-01

    Future planetary exploration will involve both humans and robots. Understanding and improving their interaction is a main focus of research in the Intelligent Systems Branch at NASA's Johnson Space Center. By teaming intelligent robots with astronauts on surface extra-vehicular activities (EVAs), safety and productivity can be improved. The EVA Robotic Assistant (ERA) project was established to study the issues of human-robot teams, to develop a testbed robot to assist space-suited humans in exploration tasks, and to experimentally determine the effectiveness of an EVA assistant robot. A companion paper discusses the ERA project in general, its history starting with ASRO (Astronaut-Rover project), and the results of recent field tests in Arizona. This paper focuses on one aspect of the research, robot tracking, in greater detail: the software architecture and algorithms. The ERA robot is capable of moving towards and/or continuously following mobile or stationary targets or sequences of targets. The contributions made by this research include how the low-level pose data is assembled, normalized and communicated, how the tracking algorithm was generalized and implemented, and qualitative performance reports from recent field tests.

  19. Adding Image Constraints to Inverse Kinematics for Human Motion Capture

    Science.gov (United States)

    Jaume-i-Capó, Antoni; Varona, Javier; González-Hidalgo, Manuel; Perales, Francisco J.

    2009-12-01

    In order to study human motion in biomechanical applications, a critical component is to accurately obtain the 3D joint positions of the user's body. Computer vision and inverse kinematics are used to achieve this objective without markers or special devices attached to the body. The problem of these systems is that the inverse kinematics is "blinded" with respect to the projection of body segments into the images used by the computer vision algorithms. In this paper, we present how to add image constraints to inverse kinematics in order to estimate human motion. Specifically, we explain how to define a criterion to use images in order to guide the posture reconstruction of the articulated chain. Tests with synthetic images show how the scheme performs well in an ideal situation. In order to test its potential in real situations, more experiments with task specific image sequences are also presented. By means of a quantitative study of different sequences, the results obtained show how this approach improves the performance of inverse kinematics in this application.

  20. Tracking down human contamination in ancient human teeth

    DEFF Research Database (Denmark)

    Sampietro, María Lourdes; Gilbert, M Thomas P; Lao, Oscar

    2006-01-01

    DNA sequences can be used to support data authenticity is misleading in scenarios where the presence of old contaminant sequences is possible. We argue therefore that the typing of those involved in the manipulation of the ancient human specimens is critical in order to ensure that generated results......DNA contamination arising from the manipulation of ancient calcified tissue samples is a poorly understood, yet fundamental, problem that affects the reliability of ancient DNA (aDNA) studies. We have typed the mitochondrial DNA hypervariable region I of the only 6 people involved in the excavation...

  1. Modulation of high-frequency vestibuloocular reflex during visual tracking in humans

    Science.gov (United States)

    Das, V. E.; Leigh, R. J.; Thomas, C. W.; Averbuch-Heller, L.; Zivotofsky, A. Z.; Discenna, A. O.; Dell'Osso, L. F.

    1995-01-01

    1. Humans may visually track a moving object either when they are stationary or in motion. To investigate visual-vestibular interaction during both conditions, we compared horizontal smooth pursuit (SP) and active combined eye-head tracking (CEHT) of a target moving sinusoidally at 0.4 Hz in four normal subjects while the subjects were either stationary or vibrated in yaw at 2.8 Hz. We also measured the visually enhanced vestibuloocular reflex (VVOR) during vibration in yaw at 2.8 Hz over a peak head velocity range of 5-40 degrees/s. 2. We found that the gain of the VVOR at 2.8 Hz increased in all four subjects as peak head velocity increased (P modulation in vestibuloocular reflex gain occurred with increasing peak head velocity during a control condition when subjects were rotated in darkness. 3. During both horizontal SP and CEHT, tracking gains were similar, and the mean slip speed of the target's image on the retina was held below 5.5 degrees/s whether subjects were stationary or being vibrated at 2.8 Hz. During both horizontal SP and CEHT of target motion at 0.4 Hz, while subjects were vibrated in yaw, VVOR gain for the 2.8-Hz head rotations was similar to or higher than that achieved during fixation of a stationary target. This is in contrast to the decrease of VVOR gain that is reported while stationary subjects perform CEHT.(ABSTRACT TRUNCATED AT 250 WORDS).

  2. Markerless motion capture systems for tracking of persons in forensic biomechanics

    DEFF Research Database (Denmark)

    Yang, Sylvia; Christiansen, Martin S.; Larsen, Peter Kastmand

    2014-01-01

    the postures from a sagittal viewpoint. Although integrating all three dimensions (3D) might improve the results considerably. The purpose of this paper is to give an overview of the 3D multi-view markerless motion capture systems which could be applicable for 3D gait analysis. This paper contains presentation......Markerless motion capture is a pronounced topic in computer vision. In forensic science, markerless motion capture can be an important tool for identification through gait analysis. Recent studies of gait analysis in forensic science have shown that individuals can be identified when analysing...

  3. Pilot study on real-time motion detection in UAS video data by human observer and image exploitation algorithm

    Science.gov (United States)

    Hild, Jutta; Krüger, Wolfgang; Brüstle, Stefan; Trantelle, Patrick; Unmüßig, Gabriel; Voit, Michael; Heinze, Norbert; Peinsipp-Byma, Elisabeth; Beyerer, Jürgen

    2017-05-01

    Real-time motion video analysis is a challenging and exhausting task for the human observer, particularly in safety and security critical domains. Hence, customized video analysis systems providing functions for the analysis of subtasks like motion detection or target tracking are welcome. While such automated algorithms relieve the human operators from performing basic subtasks, they impose additional interaction duties on them. Prior work shows that, e.g., for interaction with target tracking algorithms, a gaze-enhanced user interface is beneficial. In this contribution, we present an investigation on interaction with an independent motion detection (IDM) algorithm. Besides identifying an appropriate interaction technique for the user interface - again, we compare gaze-based and traditional mouse-based interaction - we focus on the benefit an IDM algorithm might provide for an UAS video analyst. In a pilot study, we exposed ten subjects to the task of moving target detection in UAS video data twice, once performing with automatic support, once performing without it. We compare the two conditions considering performance in terms of effectiveness (correct target selections). Additionally, we report perceived workload (measured using the NASA-TLX questionnaire) and user satisfaction (measured using the ISO 9241-411 questionnaire). The results show that a combination of gaze input and automated IDM algorithm provides valuable support for the human observer, increasing the number of correct target selections up to 62% and reducing workload at the same time.

  4. Effect of the track potential on the motion and energy flow of secondary electrons created from heavy-ion irradiation

    Science.gov (United States)

    Moribayashi, Kengo

    2018-05-01

    Using simulations, we have evaluated the effect of the track potential on the motion and energy flow of secondary electrons, with the goal of determining the spatial distribution of energy deposition due to irradiation with heavy ions. We have simulated this effect as a function of the mean path τ between the incident ion-impact-ionization events at ion energies Eion. Here, the track potential is the potential formed from electric field near this incident ion path. The simulations indicate that this effect is mainly determined by τ and hardly depends on Eion. To understand heavy ion beam science more deeply and to reduce the time required by simulations, we have proposed simple approximation methods that almost reproduce the simulation results here.

  5. A discriminative structural similarity measure and its application to video-volume registration for endoscope three-dimensional motion tracking.

    Science.gov (United States)

    Luo, Xiongbiao; Mori, Kensaku

    2014-06-01

    Endoscope 3-D motion tracking, which seeks to synchronize pre- and intra-operative images in endoscopic interventions, is usually performed as video-volume registration that optimizes the similarity between endoscopic video and pre-operative images. The tracking performance, in turn, depends significantly on whether a similarity measure can successfully characterize the difference between video sequences and volume rendering images driven by pre-operative images. The paper proposes a discriminative structural similarity measure, which uses the degradation of structural information and takes image correlation or structure, luminance, and contrast into consideration, to boost video-volume registration. By applying the proposed similarity measure to endoscope tracking, it was demonstrated to be more accurate and robust than several available similarity measures, e.g., local normalized cross correlation, normalized mutual information, modified mean square error, or normalized sum squared difference. Based on clinical data evaluation, the tracking error was reduced significantly from at least 14.6 mm to 4.5 mm. The processing time was accelerated more than 30 frames per second using graphics processing unit.

  6. Three-dimensional, automated, real-time video system for tracking limb motion in brain-machine interface studies.

    Science.gov (United States)

    Peikon, Ian D; Fitzsimmons, Nathan A; Lebedev, Mikhail A; Nicolelis, Miguel A L

    2009-06-15

    Collection and analysis of limb kinematic data are essential components of the study of biological motion, including research into biomechanics, kinesiology, neurophysiology and brain-machine interfaces (BMIs). In particular, BMI research requires advanced, real-time systems capable of sampling limb kinematics with minimal contact to the subject's body. To answer this demand, we have developed an automated video tracking system for real-time tracking of multiple body parts in freely behaving primates. The system employs high-contrast markers painted on the animal's joints to continuously track the three-dimensional positions of their limbs during activity. Two-dimensional coordinates captured by each video camera are combined and converted to three-dimensional coordinates using a quadratic fitting algorithm. Real-time operation of the system is accomplished using direct memory access (DMA). The system tracks the markers at a rate of 52 frames per second (fps) in real-time and up to 100fps if video recordings are captured to be later analyzed off-line. The system has been tested in several BMI primate experiments, in which limb position was sampled simultaneously with chronic recordings of the extracellular activity of hundreds of cortical cells. During these recordings, multiple computational models were employed to extract a series of kinematic parameters from neuronal ensemble activity in real-time. The system operated reliably under these experimental conditions and was able to compensate for marker occlusions that occurred during natural movements. We propose that this system could also be extended to applications that include other classes of biological motion.

  7. Tracking Human Mobility Using WiFi Signals

    DEFF Research Database (Denmark)

    Sapiezynski, Piotr; Stopczynski, Arkadiusz; Gatej, Radu

    2015-01-01

    We study six months of human mobility data, including WiFi and GPS traces recorded with high temporal resolution, and find that time series of WiFi scans contain a strong latent location signal. In fact, due to inherent stability and low entropy of human mobility, it is possible to assign location...... to WiFi access points based on a very small number of GPS samples and then use these access points as location beacons. Using just one GPS observation per day per person allows us to estimate the location of, and subsequently use, WiFi access points to account for 80% of mobility across a population....... These results reveal a great opportunity for using ubiquitous WiFi routers for high-resolution outdoor positioning, but also significant privacy implications of such side-channel location tracking....

  8. SU-E-J-199: Evaluation of Motion Tracking Effects On Stereotactic Body Radiotherapy of Abdominal Targets

    Energy Technology Data Exchange (ETDEWEB)

    Monterroso, M; Dogan, N; Yang, Y [University Miami, Miami, FL (United States)

    2014-06-01

    Purpose: To evaluate the effects of respiratory motion on the delivered dose distribution of CyberKnife motion tracking-based stereotactic body radiotherapy (SBRT) of abdominal targets. Methods: Four patients (two pancreas and two liver, and all with 4DCT scans) were retrospectively evaluated. A plan (3D plan) using CyberKnife Synchrony was optimized on the end-exhale phase in the CyberKnife's MultiPlan treatment planning system (TPS), with 40Gy prescribed in 5 fractions. A 4D plan was then created following the 4D planning utility in the MultiPlan TPS, by recalculating dose from the 3D plan beams on all 4DCT phases, with the same prescribed isodose line. The other seven phases of the 4DCT were then deformably registered to the end-exhale phase for 4D dose summation. Doses to the target and organs at risk (OAR) were compared between 3D and 4D plans for each patient. The mean and maximum doses to duodenum, liver, spinal cord and kidneys, and doses to 5cc of duodenum, 700cc of liver, 0.25cc of spinal cord and 200cc of kidneys were used. Results: Target coverage in the 4D plans was about 1% higher for two patients and about 9% lower in the other two. OAR dose differences between 3D and 4D varied among structures, with doses as much as 8.26Gy lower or as much as 5.41Gy higher observed in the 4D plans. Conclusion: The delivered dose can be significantly different from the planned dose for both the target and OAR close to the target, which is caused by the relative geometry change while the beams chase the moving target. Studies will be performed on more patients in the future. The differences of motion tracking versus passive motion management with the use of internal target volumes will also be investigated.

  9. SU-E-T-570: New Quality Assurance Method Using Motion Tracking for 6D Robotic Couches

    International Nuclear Information System (INIS)

    Cheon, W; Cho, J; Ahn, S; Han, Y; Choi, D

    2015-01-01

    Purpose: To accommodate geometrically accurate patient positioning, a robotic couch that is capable of 6-degrees of freedom has been introduced. However, conventional couch QA methods are not sufficient to enable the necessary accuracy of tests. Therefore, we have developed a camera based motion detection and geometry calibration system for couch QA. Methods: Employing a Visual-Tracking System (VTS, BonitaB10, Vicon, UK) which tracks infrared reflective(IR) markers, camera calibration was conducted using a 5.7 × 5.7 × 5.7 cm 3 cube attached with IR markers at each corner. After positioning a robotic-couch at the origin with the cube on the table top, 3D coordinates of the cube’s eight corners were acquired by VTS in the VTS coordinate system. Next, positions in reference coordinates (roomcoordinates) were assigned using the known relation between each point. Finally, camera calibration was completed by finding a transformation matrix between VTS and reference coordinate systems and by applying a pseudo inverse matrix method. After the calibration, the accuracy of linear and rotational motions as well as couch sagging could be measured by analyzing the continuously acquired data of the cube while the couch moves to a designated position. Accuracy of the developed software was verified through comparison with measurement data when using a Laser tracker (FARO, Lake Mary, USA) for a robotic-couch installed for proton therapy. Results: VTS system could track couch motion accurately and measured position in room-coordinates. The VTS measurements and Laser tracker data agreed within 1% of difference for linear and rotational motions. Also because the program analyzes motion in 3-Dimension, it can compute couch sagging. Conclusion: Developed QA system provides submillimeter/ degree accuracy which fulfills the high-end couch QA. This work was supported by the National Research Foundation of Korea funded by Ministry of Science, ICT & Future Planning. (2013M2A2A7043507

  10. Camera-marker and inertial sensor fusion for improved motion tracking

    NARCIS (Netherlands)

    Roetenberg, D.; Veltink, P.H.

    2005-01-01

    A method for combining a camera-marker based motion analysis system with miniature inertial sensors is proposed. It is used to fill gaps of optical data and can increase the data rate of the optical system.

  11. Tracking Without Perceiving: A Dissociation Between Eye Movements and Motion Perception

    OpenAIRE

    Spering, Miriam; Pomplun, Marc; Carrasco, Marisa

    2010-01-01

    Can people react to objects in their visual field that they do not consciously perceive? We investigated how visual perception and motor action respond to moving objects whose visibility is reduced, and we found a dissociation between motion processing for perception and for action. We compared motion perception and eye movements evoked by two orthogonally drifting gratings, each presented separately to a different eye. The strength of each monocular grating was manipulated by inducing adapta...

  12. Electrical Properties of PPy-Coated Conductive Fabrics for Human Joint Motion Monitoring

    Directory of Open Access Journals (Sweden)

    Jiyong Hu

    2016-03-01

    Full Text Available Body motion signals indicate several pathological features of the human body, and a wearable human motion monitoring system can respond to human joint motion signal in real time, thereby enabling the prevention and treatment of some diseases. Because conductive fabrics can be well integrated with the garment, they are ideal as a sensing element of wearable human motion monitoring systems. This study prepared polypyrrole conductive fabric by in situ polymerization, and the anisotropic property of the conductive fabric resistance, resistance–strain relationship, and the relationship between resistance and the human knee and elbow movements are discussed preliminarily.

  13. Integration of visual and non-visual self-motion cues during voluntary head movements in the human brain.

    Science.gov (United States)

    Schindler, Andreas; Bartels, Andreas

    2018-05-15

    Our phenomenological experience of the stable world is maintained by continuous integration of visual self-motion with extra-retinal signals. However, due to conventional constraints of fMRI acquisition in humans, neural responses to visuo-vestibular integration have only been studied using artificial stimuli, in the absence of voluntary head-motion. We here circumvented these limitations and let participants to move their heads during scanning. The slow dynamics of the BOLD signal allowed us to acquire neural signal related to head motion after the observer's head was stabilized by inflatable aircushions. Visual stimuli were presented on head-fixed display goggles and updated in real time as a function of head-motion that was tracked using an external camera. Two conditions simulated forward translation of the participant. During physical head rotation, the congruent condition simulated a stable world, whereas the incongruent condition added arbitrary lateral motion. Importantly, both conditions were precisely matched in visual properties and head-rotation. By comparing congruent with incongruent conditions we found evidence consistent with the multi-modal integration of visual cues with head motion into a coherent "stable world" percept in the parietal operculum and in an anterior part of parieto-insular cortex (aPIC). In the visual motion network, human regions MST, a dorsal part of VIP, the cingulate sulcus visual area (CSv) and a region in precuneus (Pc) showed differential responses to the same contrast. The results demonstrate for the first time neural multimodal interactions between precisely matched congruent versus incongruent visual and non-visual cues during physical head-movement in the human brain. The methodological approach opens the path to a new class of fMRI studies with unprecedented temporal and spatial control over visuo-vestibular stimulation. Copyright © 2018 Elsevier Inc. All rights reserved.

  14. Energy harvesting from human motion: exploiting swing and shock excitations

    International Nuclear Information System (INIS)

    Ylli, K; Hoffmann, D; Willmann, A; Becker, P; Folkmer, B; Manoli, Y

    2015-01-01

    Modern compact and low power sensors and systems are leading towards increasingly integrated wearable systems. One key bottleneck of this technology is the power supply. The use of energy harvesting techniques offers a way of supplying sensor systems without the need for batteries and maintenance. In this work we present the development and characterization of two inductive energy harvesters which exploit different characteristics of the human gait. A multi-coil topology harvester is presented which uses the swing motion of the foot. The second device is a shock-type harvester which is excited into resonance upon heel strike. Both devices were modeled and designed with the key constraint of device height in mind, in order to facilitate the integration into the shoe sole. The devices were characterized under different motion speeds and with two test subjects on a treadmill. An average power output of up to 0.84 mW is achieved with the swing harvester. With a total device volume including the housing of 21 cm 3 a power density of 40 μW cm −3 results. The shock harvester generates an average power output of up to 4.13 mW. The power density amounts to 86 μW cm −3 for the total device volume of 48 cm 3 . Difficulties and potential improvements are discussed briefly. (paper)

  15. Human Action Recognition Using Ordinal Measure of Accumulated Motion

    Directory of Open Access Journals (Sweden)

    Kim Wonjun

    2010-01-01

    Full Text Available This paper presents a method for recognizing human actions from a single query action video. We propose an action recognition scheme based on the ordinal measure of accumulated motion, which is robust to variations of appearances. To this end, we first define the accumulated motion image (AMI using image differences. Then the AMI of the query action video is resized to a subimage by intensity averaging and a rank matrix is generated by ordering the sample values in the sub-image. By computing the distances from the rank matrix of the query action video to the rank matrices of all local windows in the target video, local windows close to the query action are detected as candidates. To find the best match among the candidates, their energy histograms, which are obtained by projecting AMI values in horizontal and vertical directions, respectively, are compared with those of the query action video. The proposed method does not require any preprocessing task such as learning and segmentation. To justify the efficiency and robustness of our approach, the experiments are conducted on various datasets.

  16. SU-E-J-42: Evaluation of Fiducial Markers for Ultrasound and X-Ray Images Used for Motion Tracking in Pancreas SBRT

    International Nuclear Information System (INIS)

    Ng, SK; Armour, E; Su, L; Zhang, Y; Wong, J; Ding, K; Iordachita, I; Sen, H Tutkun; Kazanzides, P; Bell, M Lediju

    2015-01-01

    Purpose Ultrasound tracking of target motion relies on visibility of vascular and/or anatomical landmark. However this is challenging when the target is located far from vascular structures or in organs that lack ultrasound landmark structure, such as in the case of pancreas cancer. The purpose of this study is to evaluate visibility, artifacts and distortions of fusion coils and solid gold markers in ultrasound, CT, CBCT and kV images to identify markers suitable for real-time ultrasound tracking of tumor motion in SBRT pancreas treatment. Methods Two fusion coils (1mm × 5mm and 1mm × 10 mm) and a solid gold marker (0.8mm × 10mm) were embedded in a tissue–like ultrasound phantom. The phantom (5cm × 12cm × 20cm) was prepared using water, gelatin and psyllium-hydrophilic-mucilloid fiber. Psylliumhydrophilic mucilloid acts as scattering medium to produce echo texture that simulates sonographic appearance of human tissue in ultrasound images while maintaining electron density close to that of water in CT images. Ultrasound images were acquired using 3D-ultrasound system with markers embedded at 5, 10 and 15mm depth from phantom surface. CT images were acquired using Philips Big Bore CT while CBCT and kV images were acquired with XVI-system (Elexta). Visual analysis was performed to compare visibility of the markers and visibility score (1 to 3) were assigned. Results All markers embedded at various depths are clearly visible (score of 3) in ultrasound images. Good visibility of all markers is observed in CT, CBCT and kV images. The degree of artifact produced by the markers in CT and CBCT images are indistinguishable. No distortion is observed in images from any modalities. Conclusion All markers are visible in images across all modalities in this homogenous tissue-like phantom. Human subject data is necessary to confirm the marker type suitable for real-time ultrasound tracking of tumor motion in SBRT pancreas treatment

  17. SU-E-J-42: Evaluation of Fiducial Markers for Ultrasound and X-Ray Images Used for Motion Tracking in Pancreas SBRT

    Energy Technology Data Exchange (ETDEWEB)

    Ng, SK; Armour, E; Su, L; Zhang, Y; Wong, J; Ding, K [Department of Radiation Oncology, Johns Hopkins University, Baltimore, MD (United States); Iordachita, I [Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD (United States); Sen, H Tutkun; Kazanzides, P; Bell, M Lediju [Department of Computer Science, Johns Hopkins University, Baltimore, MD (United States)

    2015-06-15

    Purpose Ultrasound tracking of target motion relies on visibility of vascular and/or anatomical landmark. However this is challenging when the target is located far from vascular structures or in organs that lack ultrasound landmark structure, such as in the case of pancreas cancer. The purpose of this study is to evaluate visibility, artifacts and distortions of fusion coils and solid gold markers in ultrasound, CT, CBCT and kV images to identify markers suitable for real-time ultrasound tracking of tumor motion in SBRT pancreas treatment. Methods Two fusion coils (1mm × 5mm and 1mm × 10 mm) and a solid gold marker (0.8mm × 10mm) were embedded in a tissue–like ultrasound phantom. The phantom (5cm × 12cm × 20cm) was prepared using water, gelatin and psyllium-hydrophilic-mucilloid fiber. Psylliumhydrophilic mucilloid acts as scattering medium to produce echo texture that simulates sonographic appearance of human tissue in ultrasound images while maintaining electron density close to that of water in CT images. Ultrasound images were acquired using 3D-ultrasound system with markers embedded at 5, 10 and 15mm depth from phantom surface. CT images were acquired using Philips Big Bore CT while CBCT and kV images were acquired with XVI-system (Elexta). Visual analysis was performed to compare visibility of the markers and visibility score (1 to 3) were assigned. Results All markers embedded at various depths are clearly visible (score of 3) in ultrasound images. Good visibility of all markers is observed in CT, CBCT and kV images. The degree of artifact produced by the markers in CT and CBCT images are indistinguishable. No distortion is observed in images from any modalities. Conclusion All markers are visible in images across all modalities in this homogenous tissue-like phantom. Human subject data is necessary to confirm the marker type suitable for real-time ultrasound tracking of tumor motion in SBRT pancreas treatment.

  18. Multi-model approach to characterize human handwriting motion.

    Science.gov (United States)

    Chihi, I; Abdelkrim, A; Benrejeb, M

    2016-02-01

    This paper deals with characterization and modelling of human handwriting motion from two forearm muscle activity signals, called electromyography signals (EMG). In this work, an experimental approach was used to record the coordinates of a pen tip moving on the (x, y) plane and EMG signals during the handwriting act. The main purpose is to design a new mathematical model which characterizes this biological process. Based on a multi-model approach, this system was originally developed to generate letters and geometric forms written by different writers. A Recursive Least Squares algorithm is used to estimate the parameters of each sub-model of the multi-model basis. Simulations show good agreement between predicted results and the recorded data.

  19. Scavenging energy from human motion with tubular dielectric polymer

    Science.gov (United States)

    Jean-Mistral, Claire; Basrour, Skandar

    2010-04-01

    Scavenging energy from human motion is a challenge to supply low consumption systems for sport or medical applications. A promising solution is to use electroactive polymers and especially dielectric polymers to scavenge mechanical energy during walk. In this paper, we present a tubular dielectric generator which is the first step toward an integration of these structures into textiles. For a 10cm length and under a strain of 100%, the structure is able to scavenge 1.5μJ for a poling voltage of 200V and up to 40μJ for a poling voltage of 1000V. A 30cm length structure is finally compared to our previous planar structure, and the power management module for those structures is discussed.

  20. Influence of long-wavelength track irregularities on the motion of a high-speed train

    Science.gov (United States)

    Hung, C. F.; Hsu, W. L.

    2018-01-01

    Vertical track irregularities over viaducts in high-speed rail systems could be possibly caused by concrete creep if pre-stressed concrete bridges are used. For bridge spans that are almost uniformly distributed, track irregularity exhibits a near-regular wave profile that excites car bodies as a high-speed train moves over the bridge system. A long-wavelength irregularity induces low-frequency excitation that may be close to the natural frequencies of the train suspension system, thereby causing significant vibration of the car body. This paper investigates the relationship between the levels of car vibration, bridge vibration, track irregularity, and the train speed. First, this study investigates the vibration levels of a high-speed train and bridge system using 3D finite-element (FE) transient dynamic analysis, before and after adjustment of vertical track irregularities by means of installing shimming plates under rail pads. The analysis models are validated by in situ measurements and on-board measurement. Parametric studies of car body vibration and bridge vibration under three different levels of track irregularity at five train speeds and over two bridge span lengths are conducted using the FE model. Finally, a discontinuous shimming pattern is proposed to avoid vehicle suspension resonance.

  1. The role of human ventral visual cortex in motion perception

    Science.gov (United States)

    Saygin, Ayse P.; Lorenzi, Lauren J.; Egan, Ryan; Rees, Geraint; Behrmann, Marlene

    2013-01-01

    Visual motion perception is fundamental to many aspects of visual perception. Visual motion perception has long been associated with the dorsal (parietal) pathway and the involvement of the ventral ‘form’ (temporal) visual pathway has not been considered critical for normal motion perception. Here, we evaluated this view by examining whether circumscribed damage to ventral visual cortex impaired motion perception. The perception of motion in basic, non-form tasks (motion coherence and motion detection) and complex structure-from-motion, for a wide range of motion speeds, all centrally displayed, was assessed in five patients with a circumscribed lesion to either the right or left ventral visual pathway. Patients with a right, but not with a left, ventral visual lesion displayed widespread impairments in central motion perception even for non-form motion, for both slow and for fast speeds, and this held true independent of the integrity of areas MT/V5, V3A or parietal regions. In contrast with the traditional view in which only the dorsal visual stream is critical for motion perception, these novel findings implicate a more distributed circuit in which the integrity of the right ventral visual pathway is also necessary even for the perception of non-form motion. PMID:23983030

  2. Methods for Motion Correction Evaluation Using 18F-FDG Human Brain Scans on a High-Resolution PET Scanner

    DEFF Research Database (Denmark)

    Keller, Sune H.; Sibomana, Merence; Olesen, Oline Vinter

    2012-01-01

    Many authors have reported the importance of motion correction (MC) for PET. Patient motion during scanning disturbs kinetic analysis and degrades resolution. In addition, using misaligned transmission for attenuation and scatter correction may produce regional quantification bias in the reconstr......Many authors have reported the importance of motion correction (MC) for PET. Patient motion during scanning disturbs kinetic analysis and degrades resolution. In addition, using misaligned transmission for attenuation and scatter correction may produce regional quantification bias...... in the reconstructed emission images. The purpose of this work was the development of quality control (QC) methods for MC procedures based on external motion tracking (EMT) for human scanning using an optical motion tracking system. Methods: Two scans with minor motion and 5 with major motion (as reported...... (automated image registration) software. The following 3 QC methods were used to evaluate the EMT and AIR MC: a method using the ratio between 2 regions of interest with gray matter voxels (GM) and white matter voxels (WM), called GM/WM; mutual information; and cross correlation. Results: The results...

  3. Motion Segments Decomposition of RGB-D Sequences for Human Behavior Understanding

    OpenAIRE

    Devanne , Maxime; Berretti , Stefano; Pala , Pietro; Wannous , Hazem; Daoudi , Mohamed; Bimbo , Alberto ,

    2017-01-01

    International audience; In this paper, we propose a framework for analyzing and understanding human behavior from depth videos. The proposed solution first employs shape analysis of the human pose across time to decompose the full motion into short temporal segments representing elementary motions. Then, each segment is characterized by human motion and depth appearance around hand joints to describe the change in pose of the body and the interaction with objects. Finally , the sequence of te...

  4. Learning Silhouette Features for Control of Human Motion

    National Research Council Canada - National Science Library

    Ren, Liu; Shakhnarovich, Gregory; Hodgins, Jessica K; Pfister, Hanspeter; Viola, Paul A

    2004-01-01

    .... The system combines information about the user's motion contained in silhouettes from several viewpoints with domain knowledge contained in a motion capture database to interactively produce a high quality animation...

  5. Imaging Action Potential in Single Mammalian Neurons by Tracking the Accompanying Sub-Nanometer Mechanical Motion.

    Science.gov (United States)

    Yang, Yunze; Liu, Xian-Wei; Wang, Hui; Yu, Hui; Guan, Yan; Wang, Shaopeng; Tao, Nongjian

    2018-03-28

    Action potentials in neurons have been studied traditionally by intracellular electrophysiological recordings and more recently by the fluorescence detection methods. Here we describe a label-free optical imaging method that can measure mechanical motion in single cells with a sub-nanometer detection limit. Using the method, we have observed sub-nanometer mechanical motion accompanying the action potential in single mammalian neurons by averaging the repeated action potential spikes. The shape and width of the transient displacement are similar to those of the electrically recorded action potential, but the amplitude varies from neuron to neuron, and from one region of a neuron to another, ranging from 0.2-0.4 nm. The work indicates that action potentials may be studied noninvasively in single mammalian neurons by label-free imaging of the accompanying sub-nanometer mechanical motion.

  6. Tracking the mechanical dynamics of human embryonic stem cell chromatin

    Directory of Open Access Journals (Sweden)

    Hinde Elizabeth

    2012-12-01

    Full Text Available Abstract Background A plastic chromatin structure has emerged as fundamental to the self-renewal and pluripotent capacity of embryonic stem (ES cells. Direct measurement of chromatin dynamics in vivo is, however, challenging as high spatiotemporal resolution is required. Here, we present a new tracking-based method which can detect high frequency chromatin movement and quantify the mechanical dynamics of chromatin in live cells. Results We use this method to study how the mechanical properties of chromatin movement in human embryonic stem cells (hESCs are modulated spatiotemporally during differentiation into cardiomyocytes (CM. Notably, we find that pluripotency is associated with a highly discrete, energy-dependent frequency of chromatin movement that we refer to as a ‘breathing’ state. We find that this ‘breathing’ state is strictly dependent on the metabolic state of the cell and is progressively silenced during differentiation. Conclusions We thus propose that the measured chromatin high frequency movements in hESCs may represent a hallmark of pluripotency and serve as a mechanism to maintain the genome in a transcriptionally accessible state. This is a result that could not have been observed without the high spatial and temporal resolution provided by this novel tracking method.

  7. Implied motion because of instability in Hokusai Manga activates the human motion-sensitive extrastriate visual cortex: an fMRI study of the impact of visual art.

    Science.gov (United States)

    Osaka, Naoyuki; Matsuyoshi, Daisuke; Ikeda, Takashi; Osaka, Mariko

    2010-03-10

    The recent development of cognitive neuroscience has invited inference about the neurosensory events underlying the experience of visual arts involving implied motion. We report functional magnetic resonance imaging study demonstrating activation of the human extrastriate motion-sensitive cortex by static images showing implied motion because of instability. We used static line-drawing cartoons of humans by Hokusai Katsushika (called 'Hokusai Manga'), an outstanding Japanese cartoonist as well as famous Ukiyoe artist. We found 'Hokusai Manga' with implied motion by depicting human bodies that are engaged in challenging tonic posture significantly activated the motion-sensitive visual cortex including MT+ in the human extrastriate cortex, while an illustration that does not imply motion, for either humans or objects, did not activate these areas under the same tasks. We conclude that motion-sensitive extrastriate cortex would be a critical region for perception of implied motion in instability.

  8. Tissue feature-based intra-fractional motion tracking for stereoscopic x-ray image guided radiotherapy

    Science.gov (United States)

    Xie, Yaoqin; Xing, Lei; Gu, Jia; Liu, Wu

    2013-06-01

    Real-time knowledge of tumor position during radiation therapy is essential to overcome the adverse effect of intra-fractional organ motion. The goal of this work is to develop a tumor tracking strategy by effectively utilizing the inherent image features of stereoscopic x-ray images acquired during dose delivery. In stereoscopic x-ray image guided radiation delivery, two orthogonal x-ray images are acquired either simultaneously or sequentially. The essence of markerless tumor tracking is the reliable identification of inherent points with distinct tissue features on each projection image and their association between two images. The identification of the feature points on a planar x-ray image is realized by searching for points with high intensity gradient. The feature points are associated by using the scale invariance features transform descriptor. The performance of the proposed technique is evaluated by using images of a motion phantom and four archived clinical cases acquired using either a CyberKnife equipped with a stereoscopic x-ray imaging system, or a LINAC equipped with an onboard kV imager and an electronic portal imaging device. In the phantom study, the results obtained using the proposed method agree with the measurements to within 2 mm in all three directions. In the clinical study, the mean error is 0.48 ± 0.46 mm for four patient data with 144 sequential images. In this work, a tissue feature-based tracking method for stereoscopic x-ray image guided radiation therapy is developed. The technique avoids the invasive procedure of fiducial implantation and may greatly facilitate the clinical workflow.

  9. Tissue feature-based intra-fractional motion tracking for stereoscopic x-ray image guided radiotherapy

    International Nuclear Information System (INIS)

    Xie Yaoqin; Gu Jia; Xing Lei; Liu Wu

    2013-01-01

    Real-time knowledge of tumor position during radiation therapy is essential to overcome the adverse effect of intra-fractional organ motion. The goal of this work is to develop a tumor tracking strategy by effectively utilizing the inherent image features of stereoscopic x-ray images acquired during dose delivery. In stereoscopic x-ray image guided radiation delivery, two orthogonal x-ray images are acquired either simultaneously or sequentially. The essence of markerless tumor tracking is the reliable identification of inherent points with distinct tissue features on each projection image and their association between two images. The identification of the feature points on a planar x-ray image is realized by searching for points with high intensity gradient. The feature points are associated by using the scale invariance features transform descriptor. The performance of the proposed technique is evaluated by using images of a motion phantom and four archived clinical cases acquired using either a CyberKnife equipped with a stereoscopic x-ray imaging system, or a LINAC equipped with an onboard kV imager and an electronic portal imaging device. In the phantom study, the results obtained using the proposed method agree with the measurements to within 2 mm in all three directions. In the clinical study, the mean error is 0.48 ± 0.46 mm for four patient data with 144 sequential images. In this work, a tissue feature-based tracking method for stereoscopic x-ray image guided radiation therapy is developed. The technique avoids the invasive procedure of fiducial implantation and may greatly facilitate the clinical workflow. (paper)

  10. A dynamic model-based approach to motion and deformation tracking of prosthetic valves from biplane x-ray images.

    Science.gov (United States)

    Wagner, Martin G; Hatt, Charles R; Dunkerley, David A P; Bodart, Lindsay E; Raval, Amish N; Speidel, Michael A

    2018-04-16

    Transcatheter aortic valve replacement (TAVR) is a minimally invasive procedure in which a prosthetic heart valve is placed and expanded within a defective aortic valve. The device placement is commonly performed using two-dimensional (2D) fluoroscopic imaging. Within this work, we propose a novel technique to track the motion and deformation of the prosthetic valve in three dimensions based on biplane fluoroscopic image sequences. The tracking approach uses a parameterized point cloud model of the valve stent which can undergo rigid three-dimensional (3D) transformation and different modes of expansion. Rigid elements of the model are individually rotated and translated in three dimensions to approximate the motions of the stent. Tracking is performed using an iterative 2D-3D registration procedure which estimates the model parameters by minimizing the mean-squared image values at the positions of the forward-projected model points. Additionally, an initialization technique is proposed, which locates clusters of salient features to determine the initial position and orientation of the model. The proposed algorithms were evaluated based on simulations using a digital 4D CT phantom as well as experimentally acquired images of a prosthetic valve inside a chest phantom with anatomical background features. The target registration error was 0.12 ± 0.04 mm in the simulations and 0.64 ± 0.09 mm in the experimental data. The proposed algorithm could be used to generate 3D visualization of the prosthetic valve from two projections. In combination with soft-tissue sensitive-imaging techniques like transesophageal echocardiography, this technique could enable 3D image guidance during TAVR procedures. © 2018 American Association of Physicists in Medicine.

  11. The Use of Motion Tracking Technologies in Serious Games to Enhance Rehabilitation in Stroke Patients

    Science.gov (United States)

    Burton, Andrew M.; Liu, Hao; Battersby, Steven; Brown, David; Sherkat, Nasser; Standen, Penny; Walker, Marion

    2011-01-01

    Stroke is the main cause of long term disability worldwide. Of those surviving, more than half will fail to regain functional usage of their impaired upper limb. Typically stroke upper limb rehabilitation exercises consist of repeated movements, which when tracked can form the basis of inputs to games. This paper discusses two systems utilizing…

  12. Measuring the 3D motion of particles in microchannel acoustophoresis using astigmatism particle tracking velocimetry

    DEFF Research Database (Denmark)

    Augustsson, P.; Barnkob, Rune; Bruus, Henrik

    2012-01-01

    We introduce full three-dimensional tracking of particles in an acoustophoresis microchannel using Astigmatism Particle Tracking Velocimetry (APTV) [1]. For the first time the interaction between acoustic streaming and the primary acoustic radiation force in microchannel acoustophoresis are exami...... relative to the influence from the acoustic radiation force. The current study opens the route to optimized acoustophoretic system design and operation to enable manipulation of small biological components such as spores, bacteria and viruses.......We introduce full three-dimensional tracking of particles in an acoustophoresis microchannel using Astigmatism Particle Tracking Velocimetry (APTV) [1]. For the first time the interaction between acoustic streaming and the primary acoustic radiation force in microchannel acoustophoresis...... are examined in three dimensions. We have quantified the velocity of particles driven by the primary acoustic radiation force and acoustic streaming, respectively, using 0.5-μm and 5-μm particles. Increased ultrasound frequency and lowered viscosity of the medium reduced the influence of acoustic streaming...

  13. Imaging of optic nerve head pore structure with motion corrected deeply penetrating OCT using tracking SLO

    NARCIS (Netherlands)

    Vienola, Kari V.; Braaf, Boy; Sheehy, Christy K.; Yang, Qiang; Tiruveedhula, Pavan; de Boer, Johannes F.; Roorda, Austin

    2013-01-01

    Purpose To remove the eye motion and stabilize the optical frequency domain imaging (OFDI) system for obtaining high quality images of the optic nerve head (ONH) and the pore structure of the lamina cribrosa. Methods An optical coherence tomography (OCT) instrument was combined with an active eye

  14. Proposed patient motion monitoring system using feature point tracking with a web camera.

    Science.gov (United States)

    Miura, Hideharu; Ozawa, Shuichi; Matsuura, Takaaki; Yamada, Kiyoshi; Nagata, Yasushi

    2017-12-01

    Patient motion monitoring systems play an important role in providing accurate treatment dose delivery. We propose a system that utilizes a web camera (frame rate up to 30 fps, maximum resolution of 640 × 480 pixels) and an in-house image processing software (developed using Microsoft Visual C++ and OpenCV). This system is simple to use and convenient to set up. The pyramidal Lucas-Kanade method was applied to calculate motions for each feature point by analysing two consecutive frames. The image processing software employs a color scheme where the defined feature points are blue under stable (no movement) conditions and turn red along with a warning message and an audio signal (beeping alarm) for large patient movements. The initial position of the marker was used by the program to determine the marker positions in all the frames. The software generates a text file that contains the calculated motion for each frame and saves it as a compressed audio video interleave (AVI) file. We proposed a patient motion monitoring system using a web camera, which is simple and convenient to set up, to increase the safety of treatment delivery.

  15. Statistical motion vector analysis for object tracking in compressed video streams

    Science.gov (United States)

    Leny, Marc; Prêteux, Françoise; Nicholson, Didier

    2008-02-01

    Compressed video is the digital raw material provided by video-surveillance systems and used for archiving and indexing purposes. Multimedia standards have therefore a direct impact on such systems. If MPEG-2 used to be the coding standard, MPEG-4 (part 2) has now replaced it in most installations, and MPEG-4 AVC/H.264 solutions are now being released. Finely analysing the complex and rich MPEG-4 streams is a challenging issue addressed in that paper. The system we designed is based on five modules: low-resolution decoder, motion estimation generator, object motion filtering, low-resolution object segmentation, and cooperative decision. Our contributions refer to as the statistical analysis of the spatial distribution of the motion vectors, the computation of DCT-based confidence maps, the automatic motion activity detection in the compressed file and a rough indexation by dedicated descriptors. The robustness and accuracy of the system are evaluated on a large corpus (hundreds of hours of in-and outdoor videos with pedestrians and vehicles). The objective benchmarking of the performances is achieved with respect to five metrics allowing to estimate the error part due to each module and for different implementations. This evaluation establishes that our system analyses up to 200 frames (720x288) per second (2.66 GHz CPU).

  16. Robust control of dielectric elastomer diaphragm actuator for human pulse signal tracking

    Science.gov (United States)

    Ye, Zhihang; Chen, Zheng; Asmatulu, Ramazan; Chan, Hoyin

    2017-08-01

    Human pulse signal tracking is an emerging technology that is needed in traditional Chinese medicine. However, soft actuation with multi-frequency tracking capability is needed for tracking human pulse signal. Dielectric elastomer (DE) is one type of soft actuating that has great potential in human pulse signal tracking. In this paper, a DE diaphragm actuator was designed and fabricated to track human pulse pressure signal. A physics-based and control-oriented model has been developed to capture the dynamic behavior of DE diaphragm actuator. Using the physical model, an H-infinity robust control was designed for the actuator to reject high-frequency sensing noises and disturbances. The robust control was then implemented in real-time to track a multi-frequency signal, which verified the tracking capability and robustness of the control system. In the human pulse signal tracking test, a human pulse signal was measured at the City University of Hong Kong and then was tracked using DE actuator at Wichita State University in the US. Experimental results have verified that the DE actuator with its robust control is capable of tracking human pulse signal.

  17. Human motion retrieval from hand-drawn sketch.

    Science.gov (United States)

    Chao, Min-Wen; Lin, Chao-Hung; Assa, Jackie; Lee, Tong-Yee

    2012-05-01

    The rapid growth of motion capture data increases the importance of motion retrieval. The majority of the existing motion retrieval approaches are based on a labor-intensive step in which the user browses and selects a desired query motion clip from the large motion clip database. In this work, a novel sketching interface for defining the query is presented. This simple approach allows users to define the required motion by sketching several motion strokes over a drawn character, which requires less effort and extends the users’ expressiveness. To support the real-time interface, a specialized encoding of the motions and the hand-drawn query is required. Here, we introduce a novel hierarchical encoding scheme based on a set of orthonormal spherical harmonic (SH) basis functions, which provides a compact representation, and avoids the CPU/processing intensive stage of temporal alignment used by previous solutions. Experimental results show that the proposed approach can well retrieve the motions, and is capable of retrieve logically and numerically similar motions, which is superior to previous approaches. The user study shows that the proposed system can be a useful tool to input motion query if the users are familiar with it. Finally, an application of generating a 3D animation from a hand-drawn comics strip is demonstrated.

  18. Numerical and experimental investigations of human swimming motions.

    Science.gov (United States)

    Takagi, Hideki; Nakashima, Motomu; Sato, Yohei; Matsuuchi, Kazuo; Sanders, Ross H

    2016-08-01

    This paper reviews unsteady flow conditions in human swimming and identifies the limitations and future potential of the current methods of analysing unsteady flow. The capability of computational fluid dynamics (CFD) has been extended from approaches assuming steady-state conditions to consideration of unsteady/transient conditions associated with the body motion of a swimmer. However, to predict hydrodynamic forces and the swimmer's potential speeds accurately, more robust and efficient numerical methods are necessary, coupled with validation procedures, requiring detailed experimental data reflecting local flow. Experimental data obtained by particle image velocimetry (PIV) in this area are limited, because at present observations are restricted to a two-dimensional 1.0 m(2) area, though this could be improved if the output range of the associated laser sheet increased. Simulations of human swimming are expected to improve competitive swimming, and our review has identified two important advances relating to understanding the flow conditions affecting performance in front crawl swimming: one is a mechanism for generating unsteady fluid forces, and the other is a theory relating to increased speed and efficiency.

  19. Interactions between motion and form processing in the human visual system.

    Science.gov (United States)

    Mather, George; Pavan, Andrea; Bellacosa Marotti, Rosilari; Campana, Gianluca; Casco, Clara

    2013-01-01

    The predominant view of motion and form processing in the human visual system assumes that these two attributes are handled by separate and independent modules. Motion processing involves filtering by direction-selective sensors, followed by integration to solve the aperture problem. Form processing involves filtering by orientation-selective and size-selective receptive fields, followed by integration to encode object shape. It has long been known that motion signals can influence form processing in the well-known Gestalt principle of common fate; texture elements which share a common motion property are grouped into a single contour or texture region. However, recent research in psychophysics and neuroscience indicates that the influence of form signals on motion processing is more extensive than previously thought. First, the salience and apparent direction of moving lines depends on how the local orientation and direction of motion combine to match the receptive field properties of motion-selective neurons. Second, orientation signals generated by "motion-streaks" influence motion processing; motion sensitivity, apparent direction and adaptation are affected by simultaneously present orientation signals. Third, form signals generated by human body shape influence biological motion processing, as revealed by studies using point-light motion stimuli. Thus, form-motion integration seems to occur at several different levels of cortical processing, from V1 to STS.

  20. Interactions between motion and form processing in the human visual system

    Directory of Open Access Journals (Sweden)

    George eMather

    2013-05-01

    Full Text Available The predominant view of motion and form processing in the human visual system assumes that these two attributes are handled by separate and independent modules. Motion processing involves filtering by direction-selective sensors, followed by integration to solve the aperture problem. Form processing involves filtering by orientation-selective and size-selective receptive fields, followed by integration to encode object shape. It has long been known that motion signals can influence form processing in the well-known Gestalt principle of common fate; texture elements which share a common motion property are grouped into a single contour or texture region. However recent research in psychophysics and neuroscience indicates that the influence of form signals on motion processing is more extensive than previously thought. First, the salience and apparent direction of moving lines depends on how the local orientation and direction of motion combine to match the receptive field properties of motion-selective neurons. Second, orientation signals generated by ‘motion-streaks’ influence motion processing; motion sensitivity, apparent direction and adaptation are affected by simultaneously present orientation signals. Third, form signals generated by human body shape influence biological motion processing, as revealed by studies using point-light motion stimuli. Thus form-motion integration seems to occur at several different levels of cortical processing, from V1 to STS.

  1. A semi-automated motion-tracking analysis of locomotion speed in the C. elegans transgenics overexpressing beta-amyloid in neurons

    Directory of Open Access Journals (Sweden)

    Kevin eMachino

    2014-07-01

    Full Text Available Multi-Worm Tracker (MWT is a real-time computer vision system that can simultaneously quantify motional patterns of multiple worms. MWT provides several behavioral parameters, including analysis of accurate real-time locomotion speed in the nematode, Caenorhabditis elegans. Here, we determined locomotion speed of the Alzheimer’s disease (AD transgenic strain that over-expresses human beta-amyloid1-42 (Aβ in the neurons. The MWT analysis showed that the AD strain logged a slower average speed than the wild type worms. The results may be consistent with the observation that the AD patients with dementia tend to show deficits in physical activities, including frequent falls. The AD strain showed reduced ability of the eggs to hatch and slowed hatching of the eggs. Thus, over-expression of Aβ in neurons causes negative effects on locomotion and hatchability. This study sheds light on new examples of detrimental effects that Aβ deposits can exhibit using C. elegans as a model system. The information gathered from this study indicates that the motion tracking analysis is a cost-effective, efficient way to assess the deficits of Aβ over-expression in the C. elegans system.

  2. Planning Study Comparison of Real-Time Target Tracking and Four-Dimensional Inverse Planning for Managing Patient Respiratory Motion

    International Nuclear Information System (INIS)

    Zhang Peng; Hugo, Geoffrey D.; Yan Di

    2008-01-01

    Purpose: Real-time target tracking (RT-TT) and four-dimensional inverse planning (4D-IP) are two potential methods to manage respiratory target motion. In this study, we evaluated each method using the cumulative dose-volume criteria in lung cancer radiotherapy. Methods and Materials: Respiration-correlated computed tomography scans were acquired for 4 patients. Deformable image registration was applied to generate a displacement mapping for each phase image of the respiration-correlated computed tomography images. First, the dose distribution for the organs of interest obtained from an idealized RT-TT technique was evaluated, assuming perfect knowledge of organ motion and beam tracking. Inverse planning was performed on each phase image separately. The treatment dose to the organs of interest was then accumulated from the optimized plans. Second, 4D-IP was performed using the probability density function of respiratory motion. The beam arrangement, prescription dose, and objectives were consistent in both planning methods. The dose-volume and equivalent uniform dose in the target volume, lung, heart, and spinal cord were used for the evaluation. Results: The cumulative dose in the target was similar for both techniques. The equivalent uniform dose of the lung, heart, and spinal cord was 4.6 ± 2.2, 11 ± 4.4, and 11 ± 6.6 Gy for RT-TT with a 0-mm target margin, 5.2 ± 3.1, 12 ± 5.9, and 12 ± 7.8 Gy for RT-TT with a 2-mm target margin, and 5.3 ± 2.3, 11.9 ± 5.0, and 12 ± 5.6 Gy for 4D-IP, respectively. Conclusion: The results of our study have shown that 4D-IP can achieve plans similar to those achieved by RT-TT. Considering clinical implementation, 4D-IP could be a more reliable and practical method to manage patient respiration-induced motion

  3. Study on the clinical application of pulsed DC magnetic technology for tracking of intraoperative head motion during frameless stereotaxy

    Directory of Open Access Journals (Sweden)

    Stendel Rüdiger

    2006-04-01

    Full Text Available Abstract Background Tracking of post-registration head motion is one of the major problems in frameless stereotaxy. Various attempts in detecting and compensating for this phenomenon rely on a fixed reference device rigidly attached to the patient's head. However, most of such reference tools are either based on an invasive fixation technique or have physical limitations which allow mobility of the head only in a restricted range of motion after completion of the registration procedure. Methods A new sensor-based reference tool, the so-called Dynamic Reference Frame (DRF which is designed to allow an unrestricted, 360° range of motion for the intraoperative use in pulsed DC magnetic navigation was tested in 40 patients. Different methods of non-invasive attachment dependent on the clinical need and type of procedure, as well as the resulting accuracies in the clinical application have been analyzed. Results Apart from conventional, completely rigid immobilization of the head (type A, four additional modes of head fixation and attachment of the DRF were distinguished on clinical grounds: type B1 = pin fixation plus oral DRF attachment; type B2 = pin fixation plus retroauricular DRF attachment; type C1 = free head positioning with oral DRF; and type C2 = free head positioning with retroauricular DRF. Mean fiducial registration errors (FRE were as follows: type A interventions = 1.51 mm, B1 = 1.56 mm, B2 = 1.54 mm, C1 = 1.73 mm, and C2 = 1.75 mm. The mean position errors determined at the end of the intervention as a measure of application accuracy were: 1.45 mm in type A interventions, 1.26 mm in type B1, 1.44 mm in type B2, 1.86 mm in type C1, and 1.68 mm in type C2. Conclusion Rigid head immobilization guarantees most reliable accuracy in various types of frameless stereotaxy. The use of an additional DRF, however, increases the application scope of frameless stereotaxy to include e.g. procedures in which rigid pin fixation of the cranium is

  4. Human torso phantom for imaging of heart with realistic modes of cardiac and respiratory motion

    Science.gov (United States)

    Boutchko, Rostyslav; Balakrishnan, Karthikayan; Gullberg, Grant T; O& #x27; Neil, James P

    2013-09-17

    A human torso phantom and its construction, wherein the phantom mimics respiratory and cardiac cycles in a human allowing acquisition of medical imaging data under conditions simulating patient cardiac and respiratory motion.

  5. An integrated model-driven method for in-treatment upper airway motion tracking using cine MRI in head and neck radiation therapy.

    Science.gov (United States)

    Li, Hua; Chen, Hsin-Chen; Dolly, Steven; Li, Harold; Fischer-Valuck, Benjamin; Victoria, James; Dempsey, James; Ruan, Su; Anastasio, Mark; Mazur, Thomas; Gach, Michael; Kashani, Rojano; Green, Olga; Rodriguez, Vivian; Gay, Hiram; Thorstad, Wade; Mutic, Sasa

    2016-08-01

    For the first time, MRI-guided radiation therapy systems can acquire cine images to dynamically monitor in-treatment internal organ motion. However, the complex head and neck (H&N) structures and low-contrast/resolution of on-board cine MRI images make automatic motion tracking a very challenging task. In this study, the authors proposed an integrated model-driven method to automatically track the in-treatment motion of the H&N upper airway, a complex and highly deformable region wherein internal motion often occurs in an either voluntary or involuntary manner, from cine MRI images for the analysis of H&N motion patterns. Considering the complex H&N structures and ensuring automatic and robust upper airway motion tracking, the authors firstly built a set of linked statistical shapes (including face, face-jaw, and face-jaw-palate) using principal component analysis from clinically approved contours delineated on a set of training data. The linked statistical shapes integrate explicit landmarks and implicit shape representation. Then, a hierarchical model-fitting algorithm was developed to align the linked shapes on the first image frame of a to-be-tracked cine sequence and to localize the upper airway region. Finally, a multifeature level set contour propagation scheme was performed to identify the upper airway shape change, frame-by-frame, on the entire image sequence. The multifeature fitting energy, including the information of intensity variations, edge saliency, curve geometry, and temporal shape continuity, was minimized to capture the details of moving airway boundaries. Sagittal cine MR image sequences acquired from three H&N cancer patients were utilized to demonstrate the performance of the proposed motion tracking method. The tracking accuracy was validated by comparing the results to the average of two manual delineations in 50 randomly selected cine image frames from each patient. The resulting average dice similarity coefficient (93.28%  ±  1

  6. An integrated model-driven method for in-treatment upper airway motion tracking using cine MRI in head and neck radiation therapy

    Energy Technology Data Exchange (ETDEWEB)

    Li, Hua, E-mail: huli@radonc.wustl.edu; Chen, Hsin-Chen; Dolly, Steven; Li, Harold; Fischer-Valuck, Benjamin; Mazur, Thomas; Gach, Michael; Kashani, Rojano; Green, Olga; Rodriguez, Vivian; Gay, Hiram; Thorstad, Wade; Mutic, Sasa [Department of Radiation Oncology, Washington University, St. Louis, Missouri 63110 (United States); Victoria, James; Dempsey, James [ViewRay Incorporated, Inc., Oakwood Village, Ohio 44146 (United States); Ruan, Su [Laboratoire LITIS (EA 4108), Equipe Quantif, University of Rouen, Rouen 76183 (France); Anastasio, Mark [Department of Biomedical Engineering, Washington University, St. Louis, Missouri 63110 (United States)

    2016-08-15

    Purpose: For the first time, MRI-guided radiation therapy systems can acquire cine images to dynamically monitor in-treatment internal organ motion. However, the complex head and neck (H&N) structures and low-contrast/resolution of on-board cine MRI images make automatic motion tracking a very challenging task. In this study, the authors proposed an integrated model-driven method to automatically track the in-treatment motion of the H&N upper airway, a complex and highly deformable region wherein internal motion often occurs in an either voluntary or involuntary manner, from cine MRI images for the analysis of H&N motion patterns. Methods: Considering the complex H&N structures and ensuring automatic and robust upper airway motion tracking, the authors firstly built a set of linked statistical shapes (including face, face-jaw, and face-jaw-palate) using principal component analysis from clinically approved contours delineated on a set of training data. The linked statistical shapes integrate explicit landmarks and implicit shape representation. Then, a hierarchical model-fitting algorithm was developed to align the linked shapes on the first image frame of a to-be-tracked cine sequence and to localize the upper airway region. Finally, a multifeature level set contour propagation scheme was performed to identify the upper airway shape change, frame-by-frame, on the entire image sequence. The multifeature fitting energy, including the information of intensity variations, edge saliency, curve geometry, and temporal shape continuity, was minimized to capture the details of moving airway boundaries. Sagittal cine MR image sequences acquired from three H&N cancer patients were utilized to demonstrate the performance of the proposed motion tracking method. Results: The tracking accuracy was validated by comparing the results to the average of two manual delineations in 50 randomly selected cine image frames from each patient. The resulting average dice similarity

  7. An integrated model-driven method for in-treatment upper airway motion tracking using cine MRI in head and neck radiation therapy

    International Nuclear Information System (INIS)

    Li, Hua; Chen, Hsin-Chen; Dolly, Steven; Li, Harold; Fischer-Valuck, Benjamin; Mazur, Thomas; Gach, Michael; Kashani, Rojano; Green, Olga; Rodriguez, Vivian; Gay, Hiram; Thorstad, Wade; Mutic, Sasa; Victoria, James; Dempsey, James; Ruan, Su; Anastasio, Mark

    2016-01-01

    Purpose: For the first time, MRI-guided radiation therapy systems can acquire cine images to dynamically monitor in-treatment internal organ motion. However, the complex head and neck (H&N) structures and low-contrast/resolution of on-board cine MRI images make automatic motion tracking a very challenging task. In this study, the authors proposed an integrated model-driven method to automatically track the in-treatment motion of the H&N upper airway, a complex and highly deformable region wherein internal motion often occurs in an either voluntary or involuntary manner, from cine MRI images for the analysis of H&N motion patterns. Methods: Considering the complex H&N structures and ensuring automatic and robust upper airway motion tracking, the authors firstly built a set of linked statistical shapes (including face, face-jaw, and face-jaw-palate) using principal component analysis from clinically approved contours delineated on a set of training data. The linked statistical shapes integrate explicit landmarks and implicit shape representation. Then, a hierarchical model-fitting algorithm was developed to align the linked shapes on the first image frame of a to-be-tracked cine sequence and to localize the upper airway region. Finally, a multifeature level set contour propagation scheme was performed to identify the upper airway shape change, frame-by-frame, on the entire image sequence. The multifeature fitting energy, including the information of intensity variations, edge saliency, curve geometry, and temporal shape continuity, was minimized to capture the details of moving airway boundaries. Sagittal cine MR image sequences acquired from three H&N cancer patients were utilized to demonstrate the performance of the proposed motion tracking method. Results: The tracking accuracy was validated by comparing the results to the average of two manual delineations in 50 randomly selected cine image frames from each patient. The resulting average dice similarity

  8. A Survey of Advances in Vision-Based Human Motion Capture and Analysis

    DEFF Research Database (Denmark)

    Moeslund, Thomas B.; Hilton, Adrian; Krüger, Volker

    2006-01-01

    This survey reviews advances in human motion capture and analysis from 2000 to 2006, following a previous survey of papers up to 2000 Human motion capture continues to be an increasingly active research area in computer vision with over 350 publications over this period. A number of significant...... actions and behavior. This survey reviews recent trends in video based human capture and analysis, as well as discussing open problems for future research to achieve automatic visual analysis of human movement....

  9. Tracking of macroscopic particle motions generated by a turbulent wind via digital image analysis

    Science.gov (United States)

    Ciccone, A. D.; Kawall, J. G.; Keffer, J. F.

    A novel technique utilizing the basic principles of two-dimensional signal analysis and artificial intelligence/computer vision to reconstruct the Lagrangian particle trajectories from flow visualization images of macroparticle motions in a turbulent boundary layer is presented. Since, in most cases, the entire trajectory of a particle could not be viewed in one photographic frame (the particles were moving at a high velocity over a small field of view), a stochastic model was developed to complete the trajectories and obtain statistical data on particle velocities. The associated programs were implemented on a Cray supercomputer to optimize computational costs and time.

  10. A Virtual Reality System for Treatment of Phantom Limb Pain using Game Training and Motion Tracking

    DEFF Research Database (Denmark)

    Henriksen, Bartal; Nielsen, Ronni Nedergaard; Szabo, Laszlo

    2016-01-01

    This paper describes the implementation of a phantom limb pain (PLP) home-based system using virtual reality (VR) and a motion sensor to immerse the users in a virtual environment (VE). The work is inspired by mirror therapy (MT), which has been used to relieve PLP. The target patient group focuses...... are conveyed in the VR as three games: (1) A bending game, where the patients have to bend a rod, (2) a box game where the patients pick up and place boxes with their hands, (3) and a button memory game where the patients have to push buttons in a given sequence. These games were tested on twelve healthy...

  11. Radical stereotactic radiosurgery with real-time tumor motion tracking in the treatment of small peripheral lung tumors

    Directory of Open Access Journals (Sweden)

    Chang Thomas

    2007-10-01

    Full Text Available Abstract Background Recent developments in radiotherapeutic technology have resulted in a new approach to treating patients with localized lung cancer. We report preliminary clinical outcomes using stereotactic radiosurgery with real-time tumor motion tracking to treat small peripheral lung tumors. Methods Eligible patients were treated over a 24-month period and followed for a minimum of 6 months. Fiducials (3–5 were placed in or near tumors under CT-guidance. Non-isocentric treatment plans with 5-mm margins were generated. Patients received 45–60 Gy in 3 equal fractions delivered in less than 2 weeks. CT imaging and routine pulmonary function tests were completed at 3, 6, 12, 18, 24 and 30 months. Results Twenty-four consecutive patients were treated, 15 with stage I lung cancer and 9 with single lung metastases. Pneumothorax was a complication of fiducial placement in 7 patients, requiring tube thoracostomy in 4. All patients completed radiation treatment with minimal discomfort, few acute side effects and no procedure-related mortalities. Following treatment transient chest wall discomfort, typically lasting several weeks, developed in 7 of 11 patients with lesions within 5 mm of the pleura. Grade III pneumonitis was seen in 2 patients, one with prior conventional thoracic irradiation and the other treated with concurrent Gefitinib. A small statistically significant decline in the mean % predicted DLCO was observed at 6 and 12 months. All tumors responded to treatment at 3 months and local failure was seen in only 2 single metastases. There have been no regional lymph node recurrences. At a median follow-up of 12 months, the crude survival rate is 83%, with 3 deaths due to co-morbidities and 1 secondary to metastatic disease. Conclusion Radical stereotactic radiosurgery with real-time tumor motion tracking is a promising well-tolerated treatment option for small peripheral lung tumors.

  12. Tracking and Counting Motion for Monitoring Food Intake Based-On Depth Sensor and UDOO Board: A Comprehensive Review

    Science.gov (United States)

    Kassim, Muhammad Fuad bin; Norzali Haji Mohd, Mohd

    2017-08-01

    Technology is all about helping people, which created a new opportunity to take serious action in managing their health care. Moreover, Obesity continues to be a serious public health concern in the Malaysia and continuing to rise. Obesity has been a serious health concern among people. Nearly half of Malaysian people overweight. Most of dietary approach is not tracking and detecting the right calorie intake for weight loss, but currently used tools such as food diaries require users to manually record and track the food calories, making them difficult for daily use. We will be developing a new tool that counts the food intake bite by monitoring hand gesture and face jaw motion movement of caloric intake. The Bite count method showed a good significant that can lead to a successful weight loss by simply monitoring the bite taken during eating. The device used was Kinect Xbox One which used a depth camera to detect the motion on person hand and face during food intake. Previous studies showed that most of the method used to count bite device is worn type. The recent trend is now going towards non-wearable devices due to the difficulty when wearing devices and it has high false alarm ratio. The proposed system gets data from the Kinect that will be monitoring the hand and face gesture of the user while eating. Then, the gesture of hand and face data is sent to the microcontroller board to recognize and start counting bite taken by the user. The system recognizes the patterns of bite taken from user by following the algorithm of basic eating type either using hand or chopstick. This system can help people who are trying to follow a proper way to reduce overweight or eating disorders by monitoring their meal intake and controlling eating rate.

  13. Intermittently-visual Tracking Experiments Reveal the Roles of Error-correction and Predictive Mechanisms in the Human Visual-motor Control System

    Science.gov (United States)

    Hayashi, Yoshikatsu; Tamura, Yurie; Sase, Kazuya; Sugawara, Ken; Sawada, Yasuji

    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.

  14. Compensation of Wave-Induced Motion and Force Phenomena for Ship-Based High Performance Robotic and Human Amplifying Systems

    Energy Technology Data Exchange (ETDEWEB)

    Love, LJL

    2003-09-24

    The decrease in manpower and increase in material handling needs on many Naval vessels provides the motivation to explore the modeling and control of Naval robotic and robotic assistive devices. This report addresses the design, modeling, control and analysis of position and force controlled robotic systems operating on the deck of a moving ship. First we provide background information that quantifies the motion of the ship, both in terms of frequency and amplitude. We then formulate the motion of the ship in terms of homogeneous transforms. This transformation provides a link between the motion of the ship and the base of a manipulator. We model the kinematics of a manipulator as a serial extension of the ship motion. We then show how to use these transforms to formulate the kinetic and potential energy of a general, multi-degree of freedom manipulator moving on a ship. As a demonstration, we consider two examples: a one degree-of-freedom system experiencing three sea states operating in a plane to verify the methodology and a 3 degree of freedom system experiencing all six degrees of ship motion to illustrate the ease of computation and complexity of the solution. The first series of simulations explore the impact wave motion has on tracking performance of a position controlled robot. We provide a preliminary comparison between conventional linear control and Repetitive Learning Control (RLC) and show how fixed time delay RLC breaks down due to the varying nature wave disturbance frequency. Next, we explore the impact wave motion disturbances have on Human Amplification Technology (HAT). We begin with a description of the traditional HAT control methodology. Simulations show that the motion of the base of the robot, due to ship motion, generates disturbances forces reflected to the operator that significantly degrade the positioning accuracy and resolution at higher sea states. As with position-controlled manipulators, augmenting the control with a Repetitive

  15. Identifying and tracking pedestrians based on sensor fusion and motion stability predictions.

    Science.gov (United States)

    Musleh, Basam; García, Fernando; Otamendi, Javier; Armingol, José Maria; de la Escalera, Arturo

    2010-01-01

    The lack of trustworthy sensors makes development of Advanced Driver Assistance System (ADAS) applications a tough task. It is necessary to develop intelligent systems by combining reliable sensors and real-time algorithms to send the proper, accurate messages to the drivers. In this article, an application to detect and predict the movement of pedestrians in order to prevent an imminent collision has been developed and tested under real conditions. The proposed application, first, accurately measures the position of obstacles using a two-sensor hybrid fusion approach: a stereo camera vision system and a laser scanner. Second, it correctly identifies pedestrians using intelligent algorithms based on polylines and pattern recognition related to leg positions (laser subsystem) and dense disparity maps and u-v disparity (vision subsystem). Third, it uses statistical validation gates and confidence regions to track the pedestrian within the detection zones of the sensors and predict their position in the upcoming frames. The intelligent sensor application has been experimentally tested with success while tracking pedestrians that cross and move in zigzag fashion in front of a vehicle.

  16. Identifying and Tracking Pedestrians Based on Sensor Fusion and Motion Stability Predictions

    Directory of Open Access Journals (Sweden)

    Arturo de la Escalera

    2010-08-01

    Full Text Available The lack of trustworthy sensors makes development of Advanced Driver Assistance System (ADAS applications a tough task. It is necessary to develop intelligent systems by combining reliable sensors and real-time algorithms to send the proper, accurate messages to the drivers. In this article, an application to detect and predict the movement of pedestrians in order to prevent an imminent collision has been developed and tested under real conditions. The proposed application, first, accurately measures the position of obstacles using a two-sensor hybrid fusion approach: a stereo camera vision system and a laser scanner. Second, it correctly identifies pedestrians using intelligent algorithms based on polylines and pattern recognition related to leg positions (laser subsystem and dense disparity maps and u-v disparity (vision subsystem. Third, it uses statistical validation gates and confidence regions to track the pedestrian within the detection zones of the sensors and predict their position in the upcoming frames. The intelligent sensor application has been experimentally tested with success while tracking pedestrians that cross and move in zigzag fashion in front of a vehicle.

  17. Relative Vessel Motion Tracking using Sensor Fusion, Aruco Markers, and MRU Sensors

    Directory of Open Access Journals (Sweden)

    Sondre Sanden Tordal

    2017-04-01

    Full Text Available This paper presents a novel approach for estimating the relative motion between two moving offshore vessels. The method is based on a sensor fusion algorithm including a vision system and two motion reference units (MRUs. The vision system makes use of the open-source computer vision library OpenCV and a cube with Aruco markers placed onto each of the cube sides. The Extended Quaternion Kalman Filter (EQKF is used for bad pose rejection for the vision system. The presented sensor fusion algorithm is based on the Indirect Feedforward Kalman Filter for error estimation. The system is self-calibrating in the sense that the Aruco cube can be placed in an arbitrary location on the secondary vessel. Experimental 6-DOF results demonstrate the accuracy and efficiency of the proposed sensor fusion method compared with the internal joint sensors of two Stewart platforms and the industrial robot. The standard deviation error was found to be 31mm or better when the Arcuo cube was placed at three different locations.

  18. SU-E-J-142: Performance Study of Automatic Image-Segmentation Algorithms in Motion Tracking Via MR-IGRT

    International Nuclear Information System (INIS)

    Feng, Y; Olsen, J.; Parikh, P.; Noel, C; Wooten, H; Du, D; Mutic, S; Hu, Y; Kawrakow, I; Dempsey, J

    2014-01-01

    Purpose: Evaluate commonly used segmentation algorithms on a commercially available real-time MR image guided radiotherapy (MR-IGRT) system (ViewRay), compare the strengths and weaknesses of each method, with the purpose of improving motion tracking for more accurate radiotherapy. Methods: MR motion images of bladder, kidney, duodenum, and liver tumor were acquired for three patients using a commercial on-board MR imaging system and an imaging protocol used during MR-IGRT. A series of 40 frames were selected for each case to cover at least 3 respiratory cycles. Thresholding, Canny edge detection, fuzzy k-means (FKM), k-harmonic means (KHM), and reaction-diffusion level set evolution (RD-LSE), along with the ViewRay treatment planning and delivery system (TPDS) were included in the comparisons. To evaluate the segmentation results, an expert manual contouring of the organs or tumor from a physician was used as a ground-truth. Metrics value of sensitivity, specificity, Jaccard similarity, and Dice coefficient were computed for comparison. Results: In the segmentation of single image frame, all methods successfully segmented the bladder and kidney, but only FKM, KHM and TPDS were able to segment the liver tumor and the duodenum. For segmenting motion image series, the TPDS method had the highest sensitivity, Jarccard, and Dice coefficients in segmenting bladder and kidney, while FKM and KHM had a slightly higher specificity. A similar pattern was observed when segmenting the liver tumor and the duodenum. The Canny method is not suitable for consistently segmenting motion frames in an automated process, while thresholding and RD-LSE cannot consistently segment a liver tumor and the duodenum. Conclusion: The study compared six different segmentation methods and showed the effectiveness of the ViewRay TPDS algorithm in segmenting motion images during MR-IGRT. Future studies include a selection of conformal segmentation methods based on image/organ-specific information

  19. SU-E-J-142: Performance Study of Automatic Image-Segmentation Algorithms in Motion Tracking Via MR-IGRT

    Energy Technology Data Exchange (ETDEWEB)

    Feng, Y; Olsen, J.; Parikh, P.; Noel, C; Wooten, H; Du, D; Mutic, S; Hu, Y [Washington University, St. Louis, MO (United States); Kawrakow, I; Dempsey, J [Washington University, St. Louis, MO (United States); ViewRay Co., Oakwood Village, OH (United States)

    2014-06-01

    Purpose: Evaluate commonly used segmentation algorithms on a commercially available real-time MR image guided radiotherapy (MR-IGRT) system (ViewRay), compare the strengths and weaknesses of each method, with the purpose of improving motion tracking for more accurate radiotherapy. Methods: MR motion images of bladder, kidney, duodenum, and liver tumor were acquired for three patients using a commercial on-board MR imaging system and an imaging protocol used during MR-IGRT. A series of 40 frames were selected for each case to cover at least 3 respiratory cycles. Thresholding, Canny edge detection, fuzzy k-means (FKM), k-harmonic means (KHM), and reaction-diffusion level set evolution (RD-LSE), along with the ViewRay treatment planning and delivery system (TPDS) were included in the comparisons. To evaluate the segmentation results, an expert manual contouring of the organs or tumor from a physician was used as a ground-truth. Metrics value of sensitivity, specificity, Jaccard similarity, and Dice coefficient were computed for comparison. Results: In the segmentation of single image frame, all methods successfully segmented the bladder and kidney, but only FKM, KHM and TPDS were able to segment the liver tumor and the duodenum. For segmenting motion image series, the TPDS method had the highest sensitivity, Jarccard, and Dice coefficients in segmenting bladder and kidney, while FKM and KHM had a slightly higher specificity. A similar pattern was observed when segmenting the liver tumor and the duodenum. The Canny method is not suitable for consistently segmenting motion frames in an automated process, while thresholding and RD-LSE cannot consistently segment a liver tumor and the duodenum. Conclusion: The study compared six different segmentation methods and showed the effectiveness of the ViewRay TPDS algorithm in segmenting motion images during MR-IGRT. Future studies include a selection of conformal segmentation methods based on image/organ-specific information

  20. Eye tracking reveals a crucial role for facial motion in recognition of faces by infants.

    Science.gov (United States)

    Xiao, Naiqi G; Quinn, Paul C; Liu, Shaoying; Ge, Liezhong; Pascalis, Olivier; Lee, Kang

    2015-06-01

    Current knowledge about face processing in infancy comes largely from studies using static face stimuli, but faces that infants see in the real world are mostly moving ones. To bridge this gap, 3-, 6-, and 9-month-old Asian infants (N = 118) were familiarized with either moving or static Asian female faces, and then their face recognition was tested with static face images. Eye-tracking methodology was used to record eye movements during the familiarization and test phases. The results showed a developmental change in eye movement patterns, but only for the moving faces. In addition, the more infants shifted their fixations across facial regions, the better their face recognition was, but only for the moving faces. The results suggest that facial movement influences the way faces are encoded from early in development. (c) 2015 APA, all rights reserved).

  1. 3D Surface Realignment Tracking for Medical Imaging: A Phantom Study with PET Motion Correction

    DEFF Research Database (Denmark)

    Olesen, Oline Vinter; Paulsen, Rasmus Reinhold; Jensen, Rasmus Ramsbøl

    2011-01-01

    We present a complete system for motion correction in high resolution brain positron emission tomography (PET) imaging. It is based on a compact structured light scanner mounted above the patient tunnel of the Siemens High Resolution Research Tomograph PET brain scanner. The structured light system...... is equipped with a near infrared diode and uses phase-shift interferometry to compute 3D representations of the forehead of the patient. These 3D point clouds are progressively aligned to a reference surface and thereby giving the head pose changes. The estimated pose changes are used to reposition a sequence...... of recon- structed PET frames. To align the structured light system with the PET coordinate system a novel registration algorithm based on the PET trans- mission scan and an initial surface has been developed. The performance of the complete setup has been evaluated using a custom made phantom based...

  2. The 3D Human Motion Control Through Refined Video Gesture Annotation

    Science.gov (United States)

    Jin, Yohan; Suk, Myunghoon; Prabhakaran, B.

    In the beginning of computer and video game industry, simple game controllers consisting of buttons and joysticks were employed, but recently game consoles are replacing joystick buttons with novel interfaces such as the remote controllers with motion sensing technology on the Nintendo Wii [1] Especially video-based human computer interaction (HCI) technique has been applied to games, and the representative game is 'Eyetoy' on the Sony PlayStation 2. Video-based HCI technique has great benefit to release players from the intractable game controller. Moreover, in order to communicate between humans and computers, video-based HCI is very crucial since it is intuitive, easy to get, and inexpensive. On the one hand, extracting semantic low-level features from video human motion data is still a major challenge. The level of accuracy is really dependent on each subject's characteristic and environmental noises. Of late, people have been using 3D motion-capture data for visualizing real human motions in 3D space (e.g, 'Tiger Woods' in EA Sports, 'Angelina Jolie' in Bear-Wolf movie) and analyzing motions for specific performance (e.g, 'golf swing' and 'walking'). 3D motion-capture system ('VICON') generates a matrix for each motion clip. Here, a column is corresponding to a human's sub-body part and row represents time frames of data capture. Thus, we can extract sub-body part's motion only by selecting specific columns. Different from low-level feature values of video human motion, 3D human motion-capture data matrix are not pixel values, but is closer to human level of semantics.

  3. Tuning for temporal interval in human apparent motion detection.

    Science.gov (United States)

    Bours, Roger J E; Stuur, Sanne; Lankheet, Martin J M

    2007-01-08

    Detection of apparent motion in random dot patterns requires correlation across time and space. It has been difficult to study the temporal requirements for the correlation step because motion detection also depends on temporal filtering preceding correlation and on integration at the next levels. To specifically study tuning for temporal interval in the correlation step, we performed an experiment in which prefiltering and postintegration were held constant and in which we used a motion stimulus containing coherent motion for a single interval value only. The stimulus consisted of a sparse random dot pattern in which each dot was presented in two frames only, separated by a specified interval. On each frame, half of the dots were refreshed and the other half was a displaced reincarnation of the pattern generated one or several frames earlier. Motion energy statistics in such a stimulus do not vary from frame to frame, and the directional bias in spatiotemporal correlations is similar for different interval settings. We measured coherence thresholds for left-right direction discrimination by varying motion coherence levels in a Quest staircase procedure, as a function of both step size and interval. Results show that highest sensitivity was found for an interval of 17-42 ms, irrespective of viewing distance. The falloff at longer intervals was much sharper than previously described. Tuning for temporal interval was largely, but not completely, independent of step size. The optimal temporal interval slightly decreased with increasing step size. Similarly, the optimal step size decreased with increasing temporal interval.

  4. Cone-beam computed tomography internal motion tracking should be used to validate 4-dimensional computed tomography for abdominal radiation therapy patients

    DEFF Research Database (Denmark)

    Rankine, Leith; Wan, Hanlin; Parikh, Parag

    2016-01-01

    Purpose To demonstrate that fiducial tracking during pretreatment Cone-Beam CT (CBCT) can accurately measure tumor motion and that this method should be used to validate 4-dimensional CT (4DCT) margins before each treatment fraction. Methods and Materials For 31 patients with abdominal tumors and...

  5. Real-time 2D/3D registration using kV-MV image pairs for tumor motion tracking in image guided radiotherapy.

    Science.gov (United States)

    Furtado, Hugo; Steiner, Elisabeth; Stock, Markus; Georg, Dietmar; Birkfellner, Wolfgang

    2013-10-01

    Intra-fractional respiratory motion during radiotherapy leads to a larger planning target volume (PTV). Real-time tumor motion tracking by two-dimensional (2D)/3D registration using on-board kilo-voltage (kV) imaging can allow for a reduction of the PTV though motion along the imaging beam axis cannot be resolved using only one projection image. We present a retrospective patient study investigating the impact of paired portal mega-voltage (MV) and kV images on registration accuracy. Material and methods. We used data from 10 patients suffering from non-small cell lung cancer (NSCLC) undergoing stereotactic body radiation therapy (SBRT) lung treatment. For each patient we acquired a planning computed tomography (CT) and sequences of kV and MV images during treatment. We compared the accuracy of motion tracking in six degrees-of-freedom (DOF) using the anterior-posterior (AP) kV sequence or the sequence of kV-MV image pairs. Results. Motion along cranial-caudal direction could accurately be extracted when using only the kV sequence but in AP direction we obtained large errors. When using kV-MV pairs, the average error was reduced from 2.9 mm to 1.5 mm and the motion along AP was successfully extracted. Mean registration time was 188 ms. Conclusion. Our evaluation shows that using kV-MV image pairs leads to improved motion extraction in six DOF and is suitable for real-time tumor motion tracking with a conventional LINAC.

  6. Interactions between motion and form processing in the human visual system

    OpenAIRE

    Mather, G.; Pavan, A.; Bellacosa Marotti, R.; Campana, G.; Casco, C.

    2013-01-01

    The predominant view of motion and form processing in the human visual system assumes that these two attributes are handled by separate and independent modules. Motion processing involves filtering by direction-selective sensors, followed by integration to solve the aperture problem. Form processing involves filtering by orientation-selective and size-selective receptive fields, followed by integration to encode object shape. It has long been known that motion signals can influence form proce...

  7. S3-3: Misbinding of Color and Motion in Human V2 Revealed by Color-Contingent Motion Adaptation

    Directory of Open Access Journals (Sweden)

    Fang Fang

    2012-10-01

    Full Text Available Wu, Kanai, & Shimojo (2004 Nature 429 262 described a compelling illusion demonstrating a steady-state misbinding of color and motion. Here, we took advantage of the illusion and performed psychophysical and fMRI adaptation experiments to explore the neural mechanism of color-motion misbinding. The stimulus subtended 20 deg by 14 deg of visual angle and contained two sheets of random dots, one sheet moving up and the other moving down. On the upward-moving sheet, dots in the right-end area (4 deg by 14 deg were red, and the rest of the dots were green. On the downward-moving sheet, dots in the right-end area were green, and the rest of the dots were red. When subjects fixated at the center of the stimulus, they bound the color and motion of the dots in the right-end area erroneously–the red dots appeared to move downwards and the green dots appeared to move upwards. In the psychophysical experiment, we measured the color-contingent motion aftereffect in the right-end area after adaptation to the illusory stimulus. A significant aftereffect was observed as if subjects had adapted to the perceived binding of color and motion, rather than the physical binding. For example, after adaptation, stationary red dots appeared to move upwards, and stationary green dots appeared to move downwards. In the fMRI experiment, we measured direction-selective motion adaptation effects in V1, V2, V3, V4, V3A/B, and V5. Relative to other cortical areas, V2 showed a much stronger adaptation effect to the perceived motion direction (rather than the physical direction for both the red and green dots. Significantly, the fMRI adaptation effect in V2 correlated with the color-contingent motion aftereffect across twelve subjects. This study provides the first human evidence that color and motion could be misbound at a very early stage of visual processing.

  8. Particle Filter Tracking without Dynamics

    Directory of Open Access Journals (Sweden)

    Jaime Ortegon-Aguilar

    2007-01-01

    Full Text Available People tracking is an interesting topic in computer vision. It has applications in industrial areas such as surveillance or human-machine interaction. Particle Filters is a common algorithm for people tracking; challenging situations occur when the target's motion is poorly modelled or with unexpected motions. In this paper, an alternative to address people tracking is presented. The proposed algorithm is based in particle filters, but instead of using a dynamical model, it uses background subtraction to predict future locations of particles. The algorithm is able to track people in omnidirectional sequences with a low frame rate (one or two frames per second. Our approach can tackle unexpected discontinuities and changes in the direction of the motion. The main goal of the paper is to track people from laboratories, but it has applications in surveillance, mainly in controlled environments.

  9. Data Fusion Research of Triaxial Human Body Motion Gesture based on Decision Tree

    Directory of Open Access Journals (Sweden)

    Feihong Zhou

    2014-05-01

    Full Text Available The development status of human body motion gesture data fusion domestic and overseas has been analyzed. A triaxial accelerometer is adopted to develop a wearable human body motion gesture monitoring system aimed at old people healthcare. On the basis of a brief introduction of decision tree algorithm, the WEKA workbench is adopted to generate a human body motion gesture decision tree. At last, the classification quality of the decision tree has been validated through experiments. The experimental results show that the decision tree algorithm could reach an average predicting accuracy of 97.5 % with lower time cost.

  10. A Subject-Specific Kinematic Model to Predict Human Motion in Exoskeleton-Assisted Gait.

    Science.gov (United States)

    Torricelli, Diego; Cortés, Camilo; Lete, Nerea; Bertelsen, Álvaro; Gonzalez-Vargas, Jose E; Del-Ama, Antonio J; Dimbwadyo, Iris; Moreno, Juan C; Florez, Julian; Pons, Jose L

    2018-01-01

    The relative motion between human and exoskeleton is a crucial factor that has remarkable consequences on the efficiency, reliability and safety of human-robot interaction. Unfortunately, its quantitative assessment has been largely overlooked in the literature. Here, we present a methodology that allows predicting the motion of the human joints from the knowledge of the angular motion of the exoskeleton frame. Our method combines a subject-specific skeletal model with a kinematic model of a lower limb exoskeleton (H2, Technaid), imposing specific kinematic constraints between them. To calibrate the model and validate its ability to predict the relative motion in a subject-specific way, we performed experiments on seven healthy subjects during treadmill walking tasks. We demonstrate a prediction accuracy lower than 3.5° globally, and around 1.5° at the hip level, which represent an improvement up to 66% compared to the traditional approach assuming no relative motion between the user and the exoskeleton.

  11. ADAPTIVE PARAMETER ESTIMATION OF PERSON RECOGNITION MODEL IN A STOCHASTIC HUMAN TRACKING PROCESS

    OpenAIRE

    W. Nakanishi; T. Fuse; T. Ishikawa

    2015-01-01

    This paper aims at an estimation of parameters of person recognition models using a sequential Bayesian filtering method. In many human tracking method, any parameters of models used for recognize the same person in successive frames are usually set in advance of human tracking process. In real situation these parameters may change according to situation of observation and difficulty level of human position prediction. Thus in this paper we formulate an adaptive parameter estimation ...

  12. Binocular eye movement control and motion perception: What is being tracked?

    NARCIS (Netherlands)

    J. van der Steen (Hans); J. Dits (Joyce)

    2012-01-01

    textabstractPURPOSE. We investigated under what conditions humans can make independent slow phase eye movements. The ability to make independent movements of the two eyes generally is attributed to few specialized lateral eyed animal species, for example chameleons. In our study, we showed that

  13. Do we track what we see? Common versus independent processing for motion perception and smooth pursuit eye movements: a review.

    Science.gov (United States)

    Spering, Miriam; Montagnini, Anna

    2011-04-22

    Many neurophysiological studies in monkeys have indicated that visual motion information for the guidance of perception and smooth pursuit eye movements is - at an early stage - processed in the same visual pathway in the brain, crucially involving the middle temporal area (MT). However, these studies left some questions unanswered: Are perception and pursuit driven by the same or independent neuronal signals within this pathway? Are the perceptual interpretation of visual motion information and the motor response to visual signals limited by the same source of neuronal noise? Here, we review psychophysical studies that were motivated by these questions and compared perception and pursuit behaviorally in healthy human observers. We further review studies that focused on the interaction between perception and pursuit. The majority of results point to similarities between perception and pursuit, but dissociations were also reported. We discuss recent developments in this research area and conclude with suggestions for common and separate principles for the guidance of perceptual and motor responses to visual motion information. Copyright © 2010 Elsevier Ltd. All rights reserved.

  14. Observations on Real-Time Prostate Gland Motion Using Electromagnetic Tracking

    International Nuclear Information System (INIS)

    Langen, Katja M.; Willoughby, Twyla R.; Meeks, Sanford L.; Santhanam, Anand; Cunningham, Alexis; Levine, Lisa; Kupelian, Patrick A.

    2008-01-01

    Purpose: To quantify and describe the real-time movement of the prostate gland in a large data set of patients treated with radiotherapy. Methods and Materials: The Calypso four-dimensional localization system was used for target localization in 17 patients, with electromagnetic markers implanted in the prostate of each patient. We analyzed a total of 550 continuous tracking sessions. The fraction of time that the prostate was displaced by >3, >5, >7, and >10 mm was calculated for each session and patient. The frequencies of displacements after initial patient positioning were analyzed over time. Results: Averaged over all patients, the prostate was displaced >3 and >5 mm for 13.6% and 3.3% of the total treatment time, respectively. For individual patients, the corresponding maximal values were 36.2% and 10.9%. For individual fractions, the corresponding maximal values were 98.7% and 98.6%. Displacements >3 mm were observed at 5 min after initial alignment in about one-eighth of the observations, and increased to one-quarter by 10 min. For individual patients, the maximal value of the displacements >3 mm at 5 and 10 min after initial positioning was 43% and 75%, respectively. Conclusion: On average, the prostate was displaced by >3 mm and >5 mm approximately 14% and 3% of the time, respectively. For individual patients, these values were up to three times greater. After the initial positioning, the likelihood of displacement of the prostate gland increased with elapsed time. This highlights the importance of initiating treatment shortly after initially positioning the patient

  15. WiFi-Based Real-Time Calibration-Free Passive Human Motion Detection

    Directory of Open Access Journals (Sweden)

    Liangyi Gong

    2015-12-01

    Full Text Available With the rapid development of WLAN technology, wireless device-free passive human detection becomes a newly-developing technique and holds more potential to worldwide and ubiquitous smart applications. Recently, indoor fine-grained device-free passive human motion detection based on the PHY layer information is rapidly developed. Previous wireless device-free passive human detection systems either rely on deploying specialized systems with dense transmitter-receiver links or elaborate off-line training process, which blocks rapid deployment and weakens system robustness. In the paper, we explore to research a novel fine-grained real-time calibration-free device-free passive human motion via physical layer information, which is independent of indoor scenarios and needs no prior-calibration and normal profile. We investigate sensitivities of amplitude and phase to human motion, and discover that phase feature is more sensitive to human motion, especially to slow human motion. Aiming at lightweight and robust device-free passive human motion detection, we develop two novel and practical schemes: short-term averaged variance ratio (SVR and long-term averaged variance ratio (LVR. We realize system design with commercial WiFi devices and evaluate it in typical multipath-rich indoor scenarios. As demonstrated in the experiments, our approach can achieve a high detection rate and low false positive rate.

  16. WiFi-Based Real-Time Calibration-Free Passive Human Motion Detection.

    Science.gov (United States)

    Gong, Liangyi; Yang, Wu; Man, Dapeng; Dong, Guozhong; Yu, Miao; Lv, Jiguang

    2015-12-21

    With the rapid development of WLAN technology, wireless device-free passive human detection becomes a newly-developing technique and holds more potential to worldwide and ubiquitous smart applications. Recently, indoor fine-grained device-free passive human motion detection based on the PHY layer information is rapidly developed. Previous wireless device-free passive human detection systems either rely on deploying specialized systems with dense transmitter-receiver links or elaborate off-line training process, which blocks rapid deployment and weakens system robustness. In the paper, we explore to research a novel fine-grained real-time calibration-free device-free passive human motion via physical layer information, which is independent of indoor scenarios and needs no prior-calibration and normal profile. We investigate sensitivities of amplitude and phase to human motion, and discover that phase feature is more sensitive to human motion, especially to slow human motion. Aiming at lightweight and robust device-free passive human motion detection, we develop two novel and practical schemes: short-term averaged variance ratio (SVR) and long-term averaged variance ratio (LVR). We realize system design with commercial WiFi devices and evaluate it in typical multipath-rich indoor scenarios. As demonstrated in the experiments, our approach can achieve a high detection rate and low false positive rate.

  17. WiFi-Based Real-Time Calibration-Free Passive Human Motion Detection †

    Science.gov (United States)

    Gong, Liangyi; Yang, Wu; Man, Dapeng; Dong, Guozhong; Yu, Miao; Lv, Jiguang

    2015-01-01

    With the rapid development of WLAN technology, wireless device-free passive human detection becomes a newly-developing technique and holds more potential to worldwide and ubiquitous smart applications. Recently, indoor fine-grained device-free passive human motion detection based on the PHY layer information is rapidly developed. Previous wireless device-free passive human detection systems either rely on deploying specialized systems with dense transmitter-receiver links or elaborate off-line training process, which blocks rapid deployment and weakens system robustness. In the paper, we explore to research a novel fine-grained real-time calibration-free device-free passive human motion via physical layer information, which is independent of indoor scenarios and needs no prior-calibration and normal profile. We investigate sensitivities of amplitude and phase to human motion, and discover that phase feature is more sensitive to human motion, especially to slow human motion. Aiming at lightweight and robust device-free passive human motion detection, we develop two novel and practical schemes: short-term averaged variance ratio (SVR) and long-term averaged variance ratio (LVR). We realize system design with commercial WiFi devices and evaluate it in typical multipath-rich indoor scenarios. As demonstrated in the experiments, our approach can achieve a high detection rate and low false positive rate. PMID:26703612

  18. Three dimensional monocular human motion analysis in end-effector space

    DEFF Research Database (Denmark)

    Hauberg, Søren; Lapuyade, Jerome; Engell-Nørregård, Morten Pol

    2009-01-01

    In this paper, we present a novel approach to three dimensional human motion estimation from monocular video data. We employ a particle filter to perform the motion estimation. The novelty of the method lies in the choice of state space for the particle filter. Using a non-linear inverse kinemati...

  19. Object Detection and Tracking-Based Camera Calibration for Normalized Human Height Estimation

    Directory of Open Access Journals (Sweden)

    Jaehoon Jung

    2016-01-01

    Full Text Available This paper presents a normalized human height estimation algorithm using an uncalibrated camera. To estimate the normalized human height, the proposed algorithm detects a moving object and performs tracking-based automatic camera calibration. The proposed method consists of three steps: (i moving human detection and tracking, (ii automatic camera calibration, and (iii human height estimation and error correction. The proposed method automatically calibrates camera by detecting moving humans and estimates the human height using error correction. The proposed method can be applied to object-based video surveillance systems and digital forensic.

  20. Comparison of Flight Simulators Based on Human Motion Perception Metrics

    Science.gov (United States)

    Valente Pais, Ana R.; Correia Gracio, Bruno J.; Kelly, Lon C.; Houck, Jacob A.

    2015-01-01

    In flight simulation, motion filters are used to transform aircraft motion into simulator motion. When looking for the best match between visual and inertial amplitude in a simulator, researchers have found that there is a range of inertial amplitudes, rather than a single inertial value, that is perceived by subjects as optimal. This zone, hereafter referred to as the optimal zone, seems to correlate to the perceptual coherence zones measured in flight simulators. However, no studies were found in which these two zones were compared. This study investigates the relation between the optimal and the coherence zone measurements within and between different simulators. Results show that for the sway axis, the optimal zone lies within the lower part of the coherence zone. In addition, it was found that, whereas the width of the coherence zone depends on the visual amplitude and frequency, the width of the optimal zone remains constant.

  1. Mathematical Modeling and Evaluation of Human Motions in Physical Therapy Using Mixture Density Neural Networks.

    Science.gov (United States)

    Vakanski, A; Ferguson, J M; Lee, S

    2016-12-01

    The objective of the proposed research is to develop a methodology for modeling and evaluation of human motions, which will potentially benefit patients undertaking a physical rehabilitation therapy (e.g., following a stroke or due to other medical conditions). The ultimate aim is to allow patients to perform home-based rehabilitation exercises using a sensory system for capturing the motions, where an algorithm will retrieve the trajectories of a patient's exercises, will perform data analysis by comparing the performed motions to a reference model of prescribed motions, and will send the analysis results to the patient's physician with recommendations for improvement. The modeling approach employs an artificial neural network, consisting of layers of recurrent neuron units and layers of neuron units for estimating a mixture density function over the spatio-temporal dependencies within the human motion sequences. Input data are sequences of motions related to a prescribed exercise by a physiotherapist to a patient, and recorded with a motion capture system. An autoencoder subnet is employed for reducing the dimensionality of captured sequences of human motions, complemented with a mixture density subnet for probabilistic modeling of the motion data using a mixture of Gaussian distributions. The proposed neural network architecture produced a model for sets of human motions represented with a mixture of Gaussian density functions. The mean log-likelihood of observed sequences was employed as a performance metric in evaluating the consistency of a subject's performance relative to the reference dataset of motions. A publically available dataset of human motions captured with Microsoft Kinect was used for validation of the proposed method. The article presents a novel approach for modeling and evaluation of human motions with a potential application in home-based physical therapy and rehabilitation. The described approach employs the recent progress in the field of

  2. A human motion model based on maps for navigation systems

    Directory of Open Access Journals (Sweden)

    Kaiser Susanna

    2011-01-01

    Full Text Available Abstract Foot-mounted indoor positioning systems work remarkably well when using additionally the knowledge of floor-plans in the localization algorithm. Walls and other structures naturally restrict the motion of pedestrians. No pedestrian can walk through walls or jump from one floor to another when considering a building with different floor-levels. By incorporating known floor-plans in sequential Bayesian estimation processes such as particle filters (PFs, long-term error stability can be achieved as long as the map is sufficiently accurate and the environment sufficiently constraints pedestrians' motion. In this article, a new motion model based on maps and floor-plans is introduced that is capable of weighting the possible headings of the pedestrian as a function of the local environment. The motion model is derived from a diffusion algorithm that makes use of the principle of a source effusing gas and is used in the weighting step of a PF implementation. The diffusion algorithm is capable of including floor-plans as well as maps with areas of different degrees of accessibility. The motion model more effectively represents the probability density function of possible headings that are restricted by maps and floor-plans than a simple binary weighting of particles (i.e., eliminating those that crossed walls and keeping the rest. We will show that the motion model will help for obtaining better performance in critical navigation scenarios where two or more modes may be competing for some of the time (multi-modal scenarios.

  3. Dealing with Magnetic Disturbances in Human Motion Capture: A Survey of Techniques

    Directory of Open Access Journals (Sweden)

    Gabriele Ligorio

    2016-03-01

    Full Text Available Magnetic-Inertial Measurement Units (MIMUs based on microelectromechanical (MEMS technologies are widespread in contexts such as human motion tracking. Although they present several advantages (lightweight, size, cost, their orientation estimation accuracy might be poor. Indoor magnetic disturbances represent one of the limiting factors for their accuracy, and, therefore, a variety of work was done to characterize and compensate them. In this paper, the main compensation strategies included within Kalman-based orientation estimators are surveyed and classified according to which degrees of freedom are affected by the magnetic data and to the magnetic disturbance rejection methods implemented. By selecting a representative method from each category, four algorithms were obtained and compared in two different magnetic environments: (1 small workspace with an active magnetic source; (2 large workspace without active magnetic sources. A wrist-worn MIMU was used to acquire data from a healthy subject, whereas a stereophotogrammetric system was adopted to obtain ground-truth data. The results suggested that the model-based approaches represent the best compromise between the two testbeds. This is particularly true when the magnetic data are prevented to affect the estimation of the angles with respect to the vertical direction.

  4. Atmospheric Motion Vectors from INSAT-3D: Initial quality assessment and its impact on track forecast of cyclonic storm NANAUK

    Science.gov (United States)

    Deb, S. K.; Kishtawal, C. M.; Kumar, Prashant; Kiran Kumar, A. S.; Pal, P. K.; Kaushik, Nitesh; Sangar, Ghansham

    2016-03-01

    The advanced Indian meteorological geostationary satellite INSAT-3D was launched on 26 July 2013 with an improved imager and an infrared sounder and is placed at 82°E over the Indian Ocean region. With the advancement in retrieval techniques of different atmospheric parameters and with improved imager data have enhanced the scope for better understanding of the different tropical atmospheric processes over this region. The retrieval techniques and accuracy of one such parameter, Atmospheric Motion Vectors (AMV) has improved significantly with the availability of improved spatial resolution data along with more options of spectral channels in the INSAT-3D imager. The present work is mainly focused on providing brief descriptions of INSAT-3D data and AMV derivation processes using these data. It also discussed the initial quality assessment of INSAT-3D AMVs for a period of six months starting from 01 February 2014 to 31 July 2014 with other independent observations: i) Meteosat-7 AMVs available over this region, ii) in-situ radiosonde wind measurements, iii) cloud tracked winds from Multi-angle Imaging Spectro-Radiometer (MISR) and iv) numerical model analysis. It is observed from this study that the qualities of newly derived INSAT-3D AMVs are comparable with existing two versions of Meteosat-7 AMVs over this region. To demonstrate its initial application, INSAT-3D AMVs are assimilated in the Weather Research and Forecasting (WRF) model and it is found that the assimilation of newly derived AMVs has helped in reduction of track forecast errors of the recent cyclonic storm NANAUK over the Arabian Sea. Though, the present study is limited to its application to one case study, however, it will provide some guidance to the operational agencies for implementation of this new AMV dataset for future applications in the Numerical Weather Prediction (NWP) over the south Asia region.

  5. Video stimuli reduce object-directed imitation accuracy: a novel two-person motion-tracking approach.

    Science.gov (United States)

    Reader, Arran T; Holmes, Nicholas P

    2015-01-01

    Imitation is an important form of social behavior, and research has aimed to discover and explain the neural and kinematic aspects of imitation. However, much of this research has featured single participants imitating in response to pre-recorded video stimuli. This is in spite of findings that show reduced neural activation to video vs. real life movement stimuli, particularly in the motor cortex. We investigated the degree to which video stimuli may affect the imitation process using a novel motion tracking paradigm with high spatial and temporal resolution. We recorded 14 positions on the hands, arms, and heads of two individuals in an imitation experiment. One individual freely moved within given parameters (moving balls across a series of pegs) and a second participant imitated. This task was performed with either simple (one ball) or complex (three balls) movement difficulty, and either face-to-face or via a live video projection. After an exploratory analysis, three dependent variables were chosen for examination: 3D grip position, joint angles in the arm, and grip aperture. A cross-correlation and multivariate analysis revealed that object-directed imitation task accuracy (as represented by grip position) was reduced in video compared to face-to-face feedback, and in complex compared to simple difficulty. This was most prevalent in the left-right and forward-back motions, relevant to the imitator sitting face-to-face with the actor or with a live projected video of the same actor. The results suggest that for tasks which require object-directed imitation, video stimuli may not be an ecologically valid way to present task materials. However, no similar effects were found in the joint angle and grip aperture variables, suggesting that there are limits to the influence of video stimuli on imitation. The implications of these results are discussed with regards to previous findings, and with suggestions for future experimentation.

  6. Analyzing the effects of human-aware motion planning on close-proximity human-robot collaboration.

    Science.gov (United States)

    Lasota, Przemyslaw A; Shah, Julie A

    2015-02-01

    The objective of this work was to examine human response to motion-level robot adaptation to determine its effect on team fluency, human satisfaction, and perceived safety and comfort. The evaluation of human response to adaptive robotic assistants has been limited, particularly in the realm of motion-level adaptation. The lack of true human-in-the-loop evaluation has made it impossible to determine whether such adaptation would lead to efficient and satisfying human-robot interaction. We conducted an experiment in which participants worked with a robot to perform a collaborative task. Participants worked with an adaptive robot incorporating human-aware motion planning and with a baseline robot using shortest-path motions. Team fluency was evaluated through a set of quantitative metrics, and human satisfaction and perceived safety and comfort were evaluated through questionnaires. When working with the adaptive robot, participants completed the task 5.57% faster, with 19.9% more concurrent motion, 2.96% less human idle time, 17.3% less robot idle time, and a 15.1% greater separation distance. Questionnaire responses indicated that participants felt safer and more comfortable when working with an adaptive robot and were more satisfied with it as a teammate than with the standard robot. People respond well to motion-level robot adaptation, and significant benefits can be achieved from its use in terms of both human-robot team fluency and human worker satisfaction. Our conclusion supports the development of technologies that could be used to implement human-aware motion planning in collaborative robots and the use of this technique for close-proximity human-robot collaboration.

  7. Motion tracking and electromyography assist the removal of mirror hand contributions to fNIRS images acquired during a finger tapping task performed by children with cerebral palsy

    Science.gov (United States)

    Hervey, Nathan; Khan, Bilal; Shagman, Laura; Tian, Fenghua; Delgado, Mauricio R.; Tulchin-Francis, Kirsten; Shierk, Angela; Smith, Linsley; Reid, Dahlia; Clegg, Nancy J.; Liu, Hanli; MacFarlane, Duncan; Alexandrakis, George

    2013-03-01

    Functional neurological imaging has been shown to be valuable in evaluating brain plasticity in children with cerebral palsy (CP). In recent studies it has been demonstrated that functional near-infrared spectroscopy (fNIRS) is a viable and sensitive method for imaging motor cortex activities in children with CP. However, during unilateral finger tapping tasks children with CP often exhibit mirror motions (unintended motions in the non-tapping hand), and current fNIRS image formation techniques do not account for this. Therefore, the resulting fNIRS images contain activation from intended and unintended motions. In this study, cortical activity was mapped with fNIRS on four children with CP and five controls during a finger tapping task. Finger motion and arm muscle activation were concurrently measured using motion tracking cameras and electromyography (EMG). Subject-specific regressors were created from motion capture and EMG data and used in a general linear model (GLM) analysis in an attempt to create fNIRS images representative of different motions. The analysis provided an fNIRS image representing activation due to motion and muscle activity for each hand. This method could prove to be valuable in monitoring brain plasticity in children with CP by providing more consistent images between measurements. Additionally, muscle effort versus cortical effort was compared between control and CP subjects. More cortical effort was required to produce similar muscle effort in children with CP. It is possible this metric could be a valuable diagnostic tool in determining response to treatment.

  8. Linear array of photodiodes to track a human speaker for video recording

    International Nuclear Information System (INIS)

    DeTone, D; Neal, H; Lougheed, R

    2012-01-01

    Communication and collaboration using stored digital media has garnered more interest by many areas of business, government and education in recent years. This is due primarily to improvements in the quality of cameras and speed of computers. An advantage of digital media is that it can serve as an effective alternative when physical interaction is not possible. Video recordings that allow for viewers to discern a presenter's facial features, lips and hand motions are more effective than videos that do not. To attain this, one must maintain a video capture in which the speaker occupies a significant portion of the captured pixels. However, camera operators are costly, and often do an imperfect job of tracking presenters in unrehearsed situations. This creates motivation for a robust, automated system that directs a video camera to follow a presenter as he or she walks anywhere in the front of a lecture hall or large conference room. Such a system is presented. The system consists of a commercial, off-the-shelf pan/tilt/zoom (PTZ) color video camera, a necklace of infrared LEDs and a linear photodiode array detector. Electronic output from the photodiode array is processed to generate the location of the LED necklace, which is worn by a human speaker. The computer controls the video camera movements to record video of the speaker. The speaker's vertical position and depth are assumed to remain relatively constant– the video camera is sent only panning (horizontal) movement commands. The LED necklace is flashed at 70Hz at a 50% duty cycle to provide noise-filtering capability. The benefit to using a photodiode array versus a standard video camera is its higher frame rate (4kHz vs. 60Hz). The higher frame rate allows for the filtering of infrared noise such as sunlight and indoor lighting–a capability absent from other tracking technologies. The system has been tested in a large lecture hall and is shown to be effective.

  9. Linear array of photodiodes to track a human speaker for video recording

    Science.gov (United States)

    DeTone, D.; Neal, H.; Lougheed, R.

    2012-12-01

    Communication and collaboration using stored digital media has garnered more interest by many areas of business, government and education in recent years. This is due primarily to improvements in the quality of cameras and speed of computers. An advantage of digital media is that it can serve as an effective alternative when physical interaction is not possible. Video recordings that allow for viewers to discern a presenter's facial features, lips and hand motions are more effective than videos that do not. To attain this, one must maintain a video capture in which the speaker occupies a significant portion of the captured pixels. However, camera operators are costly, and often do an imperfect job of tracking presenters in unrehearsed situations. This creates motivation for a robust, automated system that directs a video camera to follow a presenter as he or she walks anywhere in the front of a lecture hall or large conference room. Such a system is presented. The system consists of a commercial, off-the-shelf pan/tilt/zoom (PTZ) color video camera, a necklace of infrared LEDs and a linear photodiode array detector. Electronic output from the photodiode array is processed to generate the location of the LED necklace, which is worn by a human speaker. The computer controls the video camera movements to record video of the speaker. The speaker's vertical position and depth are assumed to remain relatively constant- the video camera is sent only panning (horizontal) movement commands. The LED necklace is flashed at 70Hz at a 50% duty cycle to provide noise-filtering capability. The benefit to using a photodiode array versus a standard video camera is its higher frame rate (4kHz vs. 60Hz). The higher frame rate allows for the filtering of infrared noise such as sunlight and indoor lighting-a capability absent from other tracking technologies. The system has been tested in a large lecture hall and is shown to be effective.

  10. TH-AB-202-05: BEST IN PHYSICS (JOINT IMAGING-THERAPY): First Online Ultrasound-Guided MLC Tracking for Real-Time Motion Compensation in Radiotherapy

    Energy Technology Data Exchange (ETDEWEB)

    Ipsen, S; Bruder, R; Schweikard, A [University of Luebeck, Luebeck, DE (United States); O’Brien, R; Keall, P [University of Sydney, Sydney (Australia); Poulsen, P [Aarhus University Hospital, Aarhus (Denmark)

    2016-06-15

    Purpose: While MLC tracking has been successfully used for motion compensation of moving targets, current real-time target localization methods rely on correlation models with x-ray imaging or implanted electromagnetic transponders rather than direct target visualization. In contrast, ultrasound imaging yields volumetric data in real-time (4D) without ionizing radiation. We report the first results of online 4D ultrasound-guided MLC tracking in a phantom. Methods: A real-time tracking framework was installed on a 4D ultrasound station (Vivid7 dimension, GE) and used to detect a 2mm spherical lead marker inside a water tank. The volumetric frame rate was 21.3Hz (47ms). The marker was rigidly attached to a motion stage programmed to reproduce nine tumor trajectories (five prostate, four lung). The 3D marker position from ultrasound was used for real-time MLC aperture adaption. The tracking system latency was measured and compensated by prediction for lung trajectories. To measure geometric accuracy, anterior and lateral conformal fields with 10cm circular aperture were delivered for each trajectory. The tracking error was measured as the difference between marker position and MLC aperture in continuous portal imaging. For dosimetric evaluation, 358° VMAT fields were delivered to a biplanar diode array dosimeter using the same trajectories. Dose measurements with and without MLC tracking were compared to a static reference dose using a 3%/3 mm γ-test. Results: The tracking system latency was 170ms. The mean root-mean-square tracking error was 1.01mm (0.75mm prostate, 1.33mm lung). Tracking reduced the mean γ-failure rate from 13.9% to 4.6% for prostate and from 21.8% to 0.6% for lung with high-modulation VMAT plans and from 5% (prostate) and 18% (lung) to 0% with low modulation. Conclusion: Real-time ultrasound tracking was successfully integrated with MLC tracking for the first time and showed similar accuracy and latency as other methods while holding the

  11. Decoding conjunctions of direction-of-motion and binocular disparity from human visual cortex.

    Science.gov (United States)

    Seymour, Kiley J; Clifford, Colin W G

    2012-05-01

    Motion and binocular disparity are two features in our environment that share a common correspondence problem. Decades of psychophysical research dedicated to understanding stereopsis suggest that these features interact early in human visual processing to disambiguate depth. Single-unit recordings in the monkey also provide evidence for the joint encoding of motion and disparity across much of the dorsal visual stream. Here, we used functional MRI and multivariate pattern analysis to examine where in the human brain conjunctions of motion and disparity are encoded. Subjects sequentially viewed two stimuli that could be distinguished only by their conjunctions of motion and disparity. Specifically, each stimulus contained the same feature information (leftward and rightward motion and crossed and uncrossed disparity) but differed exclusively in the way these features were paired. Our results revealed that a linear classifier could accurately decode which stimulus a subject was viewing based on voxel activation patterns throughout the dorsal visual areas and as early as V2. This decoding success was conditional on some voxels being individually sensitive to the unique conjunctions comprising each stimulus, thus a classifier could not rely on independent information about motion and binocular disparity to distinguish these conjunctions. This study expands on evidence that disparity and motion interact at many levels of human visual processing, particularly within the dorsal stream. It also lends support to the idea that stereopsis is subserved by early mechanisms also tuned to direction of motion.

  12. A triboelectric motion sensor in wearable body sensor network for human activity recognition.

    Science.gov (United States)

    Hui Huang; Xian Li; Ye Sun

    2016-08-01

    The goal of this study is to design a novel triboelectric motion sensor in wearable body sensor network for human activity recognition. Physical activity recognition is widely used in well-being management, medical diagnosis and rehabilitation. Other than traditional accelerometers, we design a novel wearable sensor system based on triboelectrification. The triboelectric motion sensor can be easily attached to human body and collect motion signals caused by physical activities. The experiments are conducted to collect five common activity data: sitting and standing, walking, climbing upstairs, downstairs, and running. The k-Nearest Neighbor (kNN) clustering algorithm is adopted to recognize these activities and validate the feasibility of this new approach. The results show that our system can perform physical activity recognition with a successful rate over 80% for walking, sitting and standing. The triboelectric structure can also be used as an energy harvester for motion harvesting due to its high output voltage in random low-frequency motion.

  13. The Seismic Response of High-Speed Railway Bridges Subjected to Near-Fault Forward Directivity Ground Motions Using a Vehicle-Track-Bridge Element

    Directory of Open Access Journals (Sweden)

    Chen Ling-kun

    2014-01-01

    Full Text Available Based on the Next Generation Attenuation (NGA project ground motion library, the finite element model of the high-speed railway vehicle-bridge system is established. The model was specifically developed for such system that is subjected to near-fault ground motions. In addition, it accounted for the influence of the rail irregularities. The vehicle-track-bridge (VTB element is presented to simulate the interaction between train and bridge, in which a train can be modeled as a series of sprung masses concentrated at the axle positions. For the short period railway bridge, the results from the case study demonstrate that directivity pulse effect tends to increase the seismic responses of the bridge compared with far-fault ground motions or nonpulse-like motions and the directivity pulse effect and high values of the vertical acceleration component can notably influence the hysteretic behaviour of piers.

  14. Real-time intensity based 2D/3D registration using kV-MV image pairs for tumor motion tracking in image guided radiotherapy

    Science.gov (United States)

    Furtado, H.; Steiner, E.; Stock, M.; Georg, D.; Birkfellner, W.

    2014-03-01

    Intra-fractional respiratorymotion during radiotherapy is one of themain sources of uncertainty in dose application creating the need to extend themargins of the planning target volume (PTV). Real-time tumormotion tracking by 2D/3D registration using on-board kilo-voltage (kV) imaging can lead to a reduction of the PTV. One limitation of this technique when using one projection image, is the inability to resolve motion along the imaging beam axis. We present a retrospective patient study to investigate the impact of paired portal mega-voltage (MV) and kV images, on registration accuracy. We used data from eighteen patients suffering from non small cell lung cancer undergoing regular treatment at our center. For each patient we acquired a planning CT and sequences of kV and MV images during treatment. Our evaluation consisted of comparing the accuracy of motion tracking in 6 degrees-of-freedom(DOF) using the anterior-posterior (AP) kV sequence or the sequence of kV-MV image pairs. We use graphics processing unit rendering for real-time performance. Motion along cranial-caudal direction could accurately be extracted when using only the kV sequence but in AP direction we obtained large errors. When using kV-MV pairs, the average error was reduced from 3.3 mm to 1.8 mm and the motion along AP was successfully extracted. The mean registration time was of 190+/-35ms. Our evaluation shows that using kVMV image pairs leads to improved motion extraction in 6 DOF. Therefore, this approach is suitable for accurate, real-time tumor motion tracking with a conventional LINAC.

  15. Eye Detection and Tracking for Intelligent Human Computer Interaction

    National Research Council Canada - National Science Library

    Yin, Lijun

    2006-01-01

    .... In this project, Dr. Lijun Yin has developed a new algorithm for detecting and tracking eyes under an unconstrained environment using a single ordinary camera or webcam. The new algorithm is advantageous in that it works in a non-intrusive way based on a socalled Topographic Context approach.

  16. Exploiting Density to Track Human Behavior in Crowded Environments

    NARCIS (Netherlands)

    Martella, Claudio; Cattani, Marco; Van Steen, Maarten

    2017-01-01

    For the Internet of Things to be people-centered, things need to identify when people and their things are nearby. In this article, we present the design, implementation, and deployment of a positioning system based on mobile and fixed inexpensive proximity sensors that we use to track when

  17. Scavenging energy from the motion of human lower limbs via a piezoelectric energy harvester

    Science.gov (United States)

    Fan, Kangqi; Yu, Bo; Zhu, Yingmin; Liu, Zhaohui; Wang, Liansong

    2017-03-01

    Scavenging energy from human motion through piezoelectric transduction has been considered as a feasible alternative to batteries for powering portable devices and realizing self-sustained devices. To date, most piezoelectric energy harvesters (PEHs) developed can only collect energy from the uni-directional mechanical vibration. This deficiency severely limits their applicability to human motion energy harvesting because the human motion involves diverse mechanical motions. In this paper, a novel PEH is proposed to harvest energy from the motion of human lower limbs. This PEH is composed of two piezoelectric cantilever beams, a sleeve and a ferromagnetic ball. The two beams are designed to sense the vibration along the tibial axis and conduct piezoelectric conversion. The ball senses the leg swing and actuates the two beams to vibrate via magnetic coupling. Theoretical and experimental studies indicate that the proposed PEH can scavenge energy from both the vibration and the swing. During each stride, the PEH can produce multiple peaks in voltage output, which is attributed to the superposition of different excitations. Moreover, the root-mean-square (RMS) voltage output of the PEH increases when the walking speed ranges from 2 to 8 km/h. In addition, the ultra-low frequencies of human motion are also up-converted by the proposed design.

  18. Focus-of-attention for human activity recognition from UAVs

    NARCIS (Netherlands)

    Burghouts, G.J.; Eekeren, A.W.M. van; Dijk, J.

    2014-01-01

    This paper presents a system to extract metadata about human activities from full-motion video recorded from a UAV. The pipeline consists of these components: tracking, motion features, representation of the tracks in terms of their motion features, and classification of each track as one of the

  19. Human error identification for laparoscopic surgery: Development of a motion economy perspective.

    Science.gov (United States)

    Al-Hakim, Latif; Sevdalis, Nick; Maiping, Tanaphon; Watanachote, Damrongpan; Sengupta, Shomik; Dissaranan, Charuspong

    2015-09-01

    This study postulates that traditional human error identification techniques fail to consider motion economy principles and, accordingly, their applicability in operating theatres may be limited. This study addresses this gap in the literature with a dual aim. First, it identifies the principles of motion economy that suit the operative environment and second, it develops a new error mode taxonomy for human error identification techniques which recognises motion economy deficiencies affecting the performance of surgeons and predisposing them to errors. A total of 30 principles of motion economy were developed and categorised into five areas. A hierarchical task analysis was used to break down main tasks of a urological laparoscopic surgery (hand-assisted laparoscopic nephrectomy) to their elements and the new taxonomy was used to identify errors and their root causes resulting from violation of motion economy principles. The approach was prospectively tested in 12 observed laparoscopic surgeries performed by 5 experienced surgeons. A total of 86 errors were identified and linked to the motion economy deficiencies. Results indicate the developed methodology is promising. Our methodology allows error prevention in surgery and the developed set of motion economy principles could be useful for training surgeons on motion economy principles. Copyright © 2015 Elsevier Ltd and The Ergonomics Society. All rights reserved.

  20. WE-DE-BRA-11: A Study of Motion Tracking Accuracy of Robotic Radiosurgery Using a Novel CCD Camera Based End-To-End Test System

    Energy Technology Data Exchange (ETDEWEB)

    Wang, L; M Yang, Y [Department of Radiation Oncology, Stanford University School of Medicine, Stanford, CA (United States); Nelson, B [Logos Systems Intl, Scotts Valley, CA (United States)

    2016-06-15

    Purpose: A novel end-to-end test system using a CCD camera and a scintillator based phantom (XRV-124, Logos Systems Int’l) capable of measuring the beam-by-beam delivery accuracy of Robotic Radiosurgery (CyberKnife) was developed and reported in our previous work. This work investigates its application in assessing the motion tracking (Synchrony) accuracy for CyberKnife. Methods: A QA plan with Anterior and Lateral beams (with 4 different collimator sizes) was created (Multiplan v5.3) for the XRV-124 phantom. The phantom was placed on a motion platform (superior and inferior movement), and the plans were delivered on the CyberKnife M6 system using four motion patterns: static, Sine- wave, Sine with 15° phase shift, and a patient breathing pattern composed of 2cm maximum motion with 4 second breathing cycle. Under integral recording mode, the time-averaged beam vectors (X, Y, Z) were measured by the phantom and compared with static delivery. In dynamic recording mode, the beam spots were recorded at a rate of 10 frames/second. The beam vector deviation from average position was evaluated against the various breathing patterns. Results: The average beam position of the six deliveries with no motion and three deliveries with Synchrony tracking on ideal motion (sinewave without phase shift) all agree within −0.03±0.00 mm, 0.10±0.04, and 0.04±0.03 in the X, Y, and X directions. Radiation beam width (FWHM) variations are within ±0.03 mm. Dynamic video record showed submillimeter tracking stability for both regular and irregular breathing pattern; however the tracking error up to 3.5 mm was observed when a 15 degree phase shift was introduced. Conclusion: The XRV-124 system is able to provide 3D and 4D targeting accuracy for CyberKnife delivery with Synchrony. The experimental results showed sub-millimeter delivery in phantom with excellent correlation in target to breathing motion. The accuracy was degraded when irregular motion and phase shift was introduced.

  1. WE-AB-303-05: Breathing Motion of Liver Segments From Fiducial Tracking During Robotic Radiosurgery and Comparison with 4D-CT-Derived Fiducial Motion

    International Nuclear Information System (INIS)

    Sutherland, J; Pantarotto, J; Nair, V; Cook, G; Plourde, M; Vandervoort, E

    2015-01-01

    Purpose: To quantify respiratory-induced motion of liver segments using the positions of implanted fiducials during robotic radiosurgery. This study also compared fiducial motion derived from four-dimensional computed tomography (4D-CT) maximum intensity projections (MIP) with motion derived from imaging during treatment. Methods: Forty-two consecutive liver patients treated with liver ablative radiotherapy were accrued to an ethics approved retrospective study. The liver segment in which each fiducial resided was identified. Fiducial positions throughout each treatment fraction were determined using orthogonal kilovoltage images. Any data due to patient repositioning or motion was removed. Mean fiducial positions were calculated. Fiducial positions beyond two standard deviations of the mean were discarded and remaining positions were fit to a line segment using least squares minimization (LSM). For eight patients, fiducial motion was derived from 4D-CT MIPs by calculating the CT number weighted mean position of the fiducial on each slice and fitting a line segment to these points using LSM. Treatment derived fiducial trajectories were corrected for patient rotation and compared to MIP derived trajectories. Results: The mean total magnitude of fiducial motion across all liver segments in left-right, anteroposterior, and superoinferior (SI) directions were 3.0 ± 0.2 mm, 9.3 ± 0.4 mm, and 20.5 ± 0.5 mm, respectively. Differences in per-segment mean fiducial motion were found with SI motion ranging from 12.6 ± 0.8 mm to 22.6 ± 0.9 mm for segments 3 and 8, respectively. Large, varied differences between treatment and MIP derived motion at simulation were found with the mean difference for SI motion being 2.6 mm (10.8 mm standard deviation). Conclusion: The magnitude of liver fiducial motion was found to differ by liver segment. MIP derived liver fiducial motion differed from motion observed during treatment, implying that 4D-CTs may not accurately capture the

  2. WE-AB-303-05: Breathing Motion of Liver Segments From Fiducial Tracking During Robotic Radiosurgery and Comparison with 4D-CT-Derived Fiducial Motion

    Energy Technology Data Exchange (ETDEWEB)

    Sutherland, J; Pantarotto, J; Nair, V; Cook, G; Plourde, M; Vandervoort, E [The Ottawa Hospital Cancer Centre, Ottawa, Ontario (Canada)

    2015-06-15

    Purpose: To quantify respiratory-induced motion of liver segments using the positions of implanted fiducials during robotic radiosurgery. This study also compared fiducial motion derived from four-dimensional computed tomography (4D-CT) maximum intensity projections (MIP) with motion derived from imaging during treatment. Methods: Forty-two consecutive liver patients treated with liver ablative radiotherapy were accrued to an ethics approved retrospective study. The liver segment in which each fiducial resided was identified. Fiducial positions throughout each treatment fraction were determined using orthogonal kilovoltage images. Any data due to patient repositioning or motion was removed. Mean fiducial positions were calculated. Fiducial positions beyond two standard deviations of the mean were discarded and remaining positions were fit to a line segment using least squares minimization (LSM). For eight patients, fiducial motion was derived from 4D-CT MIPs by calculating the CT number weighted mean position of the fiducial on each slice and fitting a line segment to these points using LSM. Treatment derived fiducial trajectories were corrected for patient rotation and compared to MIP derived trajectories. Results: The mean total magnitude of fiducial motion across all liver segments in left-right, anteroposterior, and superoinferior (SI) directions were 3.0 ± 0.2 mm, 9.3 ± 0.4 mm, and 20.5 ± 0.5 mm, respectively. Differences in per-segment mean fiducial motion were found with SI motion ranging from 12.6 ± 0.8 mm to 22.6 ± 0.9 mm for segments 3 and 8, respectively. Large, varied differences between treatment and MIP derived motion at simulation were found with the mean difference for SI motion being 2.6 mm (10.8 mm standard deviation). Conclusion: The magnitude of liver fiducial motion was found to differ by liver segment. MIP derived liver fiducial motion differed from motion observed during treatment, implying that 4D-CTs may not accurately capture the

  3. Measuring Accurate Body Parameters of Dressed Humans with Large-Scale Motion Using a Kinect Sensor

    Directory of Open Access Journals (Sweden)

    Sidan Du

    2013-08-01

    Full Text Available Non-contact human body measurement plays an important role in surveillance, physical healthcare, on-line business and virtual fitting. Current methods for measuring the human body without physical contact usually cannot handle humans wearing clothes, which limits their applicability in public environments. In this paper, we propose an effective solution that can measure accurate parameters of the human body with large-scale motion from a Kinect sensor, assuming that the people are wearing clothes. Because motion can drive clothes attached to the human body loosely or tightly, we adopt a space-time analysis to mine the information across the posture variations. Using this information, we recover the human body, regardless of the effect of clothes, and measure the human body parameters accurately. Experimental results show that our system can perform more accurate parameter estimation on the human body than state-of-the-art methods.

  4. SU-E-J-197: Investigation of Microsoft Kinect 2.0 Depth Resolution for Patient Motion Tracking

    Energy Technology Data Exchange (ETDEWEB)

    Silverstein, E; Snyder, M [Wayne State University, Detroit, MI (United States)

    2015-06-15

    Purpose: Investigate the use of the Kinect 2.0 for patient motion tracking during radiotherapy by studying spatial and depth resolution capabilities. Methods: Using code written in C#, depth map data was abstracted from the Kinect to create an initial depth map template indicative of the initial position of an object to be compared to the depth map of the object over time. To test this process, simple setup was created in which two objects were imaged: a 40 cm × 40 cm board covered in non reflective material and a 15 cm × 26 cm textbook with a slightly reflective, glossy cover. Each object, imaged and measured separately, was placed on a movable platform with object to camera distance measured. The object was then moved a specified amount to ascertain whether the Kinect’s depth camera would visualize the difference in position of the object. Results: Initial investigations have shown the Kinect depth resolution is dependent on the object to camera distance. Measurements indicate that movements as small as 1 mm can be visualized for objects as close as 50 cm away. This depth resolution decreases linearly with object to camera distance. At 4 m, the depth resolution had decreased to observe a minimum movement of 1 cm. Conclusion: The improved resolution and advanced hardware of the Kinect 2.0 allows for increase of depth resolution over the Kinect 1.0. Although obvious that the depth resolution should decrease with increasing distance from an object given the decrease in number of pixels representing said object, the depth resolution at large distances indicates its usefulness in a clinical setting.

  5. Quantitative Evaluation of 3D Mouse Behaviors and Motor Function in the Open-Field after Spinal Cord Injury Using Markerless Motion Tracking

    Science.gov (United States)

    Sheets, Alison L.; Lai, Po-Lun; Fisher, Lesley C.; Basso, D. Michele

    2013-01-01

    Thousands of scientists strive to identify cellular mechanisms that could lead to breakthroughs in developing ameliorative treatments for debilitating neural and muscular conditions such as spinal cord injury (SCI). Most studies use rodent models to test hypotheses, and these are all limited by the methods available to evaluate animal motor function. This study’s goal was to develop a behavioral and locomotor assessment system in a murine model of SCI that enables quantitative kinematic measurements to be made automatically in the open-field by applying markerless motion tracking approaches. Three-dimensional movements of eight naïve, five mild, five moderate, and four severe SCI mice were recorded using 10 cameras (100 Hz). Background subtraction was used in each video frame to identify the animal’s silhouette, and the 3D shape at each time was reconstructed using shape-from-silhouette. The reconstructed volume was divided into front and back halves using k-means clustering. The animal’s front Center of Volume (CoV) height and whole-body CoV speed were calculated and used to automatically classify animal behaviors including directed locomotion, exploratory locomotion, meandering, standing, and rearing. More detailed analyses of CoV height, speed, and lateral deviation during directed locomotion revealed behavioral differences and functional impairments in animals with mild, moderate, and severe SCI when compared with naïve animals. Naïve animals displayed the widest variety of behaviors including rearing and crossing the center of the open-field, the fastest speeds, and tallest rear CoV heights. SCI reduced the range of behaviors, and decreased speed (r = .70 pstudies are conducted. By providing scientists with sensitive, quantitative measurement methods, subjectivity and human error is reduced, potentially providing insights leading to breakthroughs in treating human disease. PMID:24058586

  6. A motion-compensated image filter for low-dose fluoroscopy in a real-time tumor-tracking radiotherapy system

    International Nuclear Information System (INIS)

    Miyamoto, Naoki; Ishikawa, Masayori; Sutherland, Kenneth

    2015-01-01

    In the real-time tumor-tracking radiotherapy system, a surrogate fiducial marker inserted in or near the tumor is detected by fluoroscopy to realize respiratory-gated radiotherapy. The imaging dose caused by fluoroscopy should be minimized. In this work, an image processing technique is proposed for tracing a moving marker in low-dose imaging. The proposed tracking technique is a combination of a motion-compensated recursive filter and template pattern matching. The proposed image filter can reduce motion artifacts resulting from the recursive process based on the determination of the region of interest for the next frame according to the current marker position in the fluoroscopic images. The effectiveness of the proposed technique and the expected clinical benefit were examined by phantom experimental studies with actual tumor trajectories generated from clinical patient data. It was demonstrated that the marker motion could be traced in low-dose imaging by applying the proposed algorithm with acceptable registration error and high pattern recognition score in all trajectories, although some trajectories were not able to be tracked with the conventional spatial filters or without image filters. The positional accuracy is expected to be kept within ±2 mm. The total computation time required to determine the marker position is a few milliseconds. The proposed image processing technique is applicable for imaging dose reduction. (author)

  7. Sensitive and Flexible Polymeric Strain Sensor for Accurate Human Motion Monitoring.

    Science.gov (United States)

    Khan, Hassan; Razmjou, Amir; Ebrahimi Warkiani, Majid; Kottapalli, Ajay; Asadnia, Mohsen

    2018-02-01

    Flexible electronic devices offer the capability to integrate and adapt with human body. These devices are mountable on surfaces with various shapes, which allow us to attach them to clothes or directly onto the body. This paper suggests a facile fabrication strategy via electrospinning to develop a stretchable, and sensitive poly (vinylidene fluoride) nanofibrous strain sensor for human motion monitoring. A complete characterization on the single PVDF nano fiber has been performed. The charge generated by PVDF electrospun strain sensor changes was employed as a parameter to control the finger motion of the robotic arm. As a proof of concept, we developed a smart glove with five sensors integrated into it to detect the fingers motion and transfer it to a robotic hand. Our results shows that the proposed strain sensors are able to detect tiny motion of fingers and successfully run the robotic hand.

  8. Sensitive and Flexible Polymeric Strain Sensor for Accurate Human Motion Monitoring

    Directory of Open Access Journals (Sweden)

    Hassan Khan

    2018-02-01

    Full Text Available Flexible electronic devices offer the capability to integrate and adapt with human body. These devices are mountable on surfaces with various shapes, which allow us to attach them to clothes or directly onto the body. This paper suggests a facile fabrication strategy via electrospinning to develop a stretchable, and sensitive poly (vinylidene fluoride nanofibrous strain sensor for human motion monitoring. A complete characterization on the single PVDF nano fiber has been performed. The charge generated by PVDF electrospun strain sensor changes was employed as a parameter to control the finger motion of the robotic arm. As a proof of concept, we developed a smart glove with five sensors integrated into it to detect the fingers motion and transfer it to a robotic hand. Our results shows that the proposed strain sensors are able to detect tiny motion of fingers and successfully run the robotic hand.

  9. Quantitative evaluation of 3D mouse behaviors and motor function in the open-field after spinal cord injury using markerless motion tracking.

    Science.gov (United States)

    Sheets, Alison L; Lai, Po-Lun; Fisher, Lesley C; Basso, D Michele

    2013-01-01

    Thousands of scientists strive to identify cellular mechanisms that could lead to breakthroughs in developing ameliorative treatments for debilitating neural and muscular conditions such as spinal cord injury (SCI). Most studies use rodent models to test hypotheses, and these are all limited by the methods available to evaluate animal motor function. This study's goal was to develop a behavioral and locomotor assessment system in a murine model of SCI that enables quantitative kinematic measurements to be made automatically in the open-field by applying markerless motion tracking approaches. Three-dimensional movements of eight naïve, five mild, five moderate, and four severe SCI mice were recorded using 10 cameras (100 Hz). Background subtraction was used in each video frame to identify the animal's silhouette, and the 3D shape at each time was reconstructed using shape-from-silhouette. The reconstructed volume was divided into front and back halves using k-means clustering. The animal's front Center of Volume (CoV) height and whole-body CoV speed were calculated and used to automatically classify animal behaviors including directed locomotion, exploratory locomotion, meandering, standing, and rearing. More detailed analyses of CoV height, speed, and lateral deviation during directed locomotion revealed behavioral differences and functional impairments in animals with mild, moderate, and severe SCI when compared with naïve animals. Naïve animals displayed the widest variety of behaviors including rearing and crossing the center of the open-field, the fastest speeds, and tallest rear CoV heights. SCI reduced the range of behaviors, and decreased speed (r = .70 p<.005) and rear CoV height (r = .65 p<.01) were significantly correlated with greater lesion size. This markerless tracking approach is a first step toward fundamentally changing how rodent movement studies are conducted. By providing scientists with sensitive, quantitative measurement methods

  10. Quantitative evaluation of 3D mouse behaviors and motor function in the open-field after spinal cord injury using markerless motion tracking.

    Directory of Open Access Journals (Sweden)

    Alison L Sheets

    Full Text Available Thousands of scientists strive to identify cellular mechanisms that could lead to breakthroughs in developing ameliorative treatments for debilitating neural and muscular conditions such as spinal cord injury (SCI. Most studies use rodent models to test hypotheses, and these are all limited by the methods available to evaluate animal motor function. This study's goal was to develop a behavioral and locomotor assessment system in a murine model of SCI that enables quantitative kinematic measurements to be made automatically in the open-field by applying markerless motion tracking approaches. Three-dimensional movements of eight naïve, five mild, five moderate, and four severe SCI mice were recorded using 10 cameras (100 Hz. Background subtraction was used in each video frame to identify the animal's silhouette, and the 3D shape at each time was reconstructed using shape-from-silhouette. The reconstructed volume was divided into front and back halves using k-means clustering. The animal's front Center of Volume (CoV height and whole-body CoV speed were calculated and used to automatically classify animal behaviors including directed locomotion, exploratory locomotion, meandering, standing, and rearing. More detailed analyses of CoV height, speed, and lateral deviation during directed locomotion revealed behavioral differences and functional impairments in animals with mild, moderate, and severe SCI when compared with naïve animals. Naïve animals displayed the widest variety of behaviors including rearing and crossing the center of the open-field, the fastest speeds, and tallest rear CoV heights. SCI reduced the range of behaviors, and decreased speed (r = .70 p<.005 and rear CoV height (r = .65 p<.01 were significantly correlated with greater lesion size. This markerless tracking approach is a first step toward fundamentally changing how rodent movement studies are conducted. By providing scientists with sensitive, quantitative

  11. Motion in Human and Machine: A Virtual Fatigue Approach

    NARCIS (Netherlands)

    Potkonjak, V.; Kostic, D.; Rasic, M.; Djordjevic, G.

    2002-01-01

    Achieving human-like behavior of a robot is a key issue of the paper. Redundancy in the inverse kinematics problem is resolved using a biological analogue. It is shown that by means of "virtual fatigue" functions, it is possible to generate robot movements similar to movements of a human arm subject

  12. The development of human factors experimental evaluation technology - 3-dimensional measurement system for motion analysis

    Energy Technology Data Exchange (ETDEWEB)

    Park, Kyung Soo; Pan, Young Hwan; Lee, Ahn Jae; Lee, Kyung Tae; Lim, Chi Hwan; Chang, Pil Sik; Lee, Seok Woo; Han, Sung Wook; Park, Chul Wook [Korea Advanced Institute of Science and Technology, Taejon (Korea, Republic of)

    1996-07-01

    Measurement of human motion is important in the application of ergonomics. We developed a system which can measure body movement, especially= hand movement using advanced direct video measurement technology. This system has as dynamic accuracy with 1% error and the sampling rate to 6 - 10 Hz, and can analyse the trajectory and speed of the marker. The use of passive marker obviates the need for a marker telemetry system and minimize motion disruption. 18 refs., 4 tabs., 6 figs. (author)

  13. Accuracy and precision of a custom camera-based system for 2D and 3D motion tracking during speech and nonspeech motor tasks

    Science.gov (United States)

    Feng, Yongqiang; Max, Ludo

    2014-01-01

    Purpose Studying normal or disordered motor control requires accurate motion tracking of the effectors (e.g., orofacial structures). The cost of electromagnetic, optoelectronic, and ultrasound systems is prohibitive for many laboratories, and limits clinical applications. For external movements (lips, jaw), video-based systems may be a viable alternative, provided that they offer high temporal resolution and sub-millimeter accuracy. Method We examined the accuracy and precision of 2D and 3D data recorded with a system that combines consumer-grade digital cameras capturing 60, 120, or 240 frames per second (fps), retro-reflective markers, commercially-available computer software (APAS, Ariel Dynamics), and a custom calibration device. Results Overall mean error (RMSE) across tests was 0.15 mm for static tracking and 0.26 mm for dynamic tracking, with corresponding precision (SD) values of 0.11 and 0.19 mm, respectively. The effect of frame rate varied across conditions, but, generally, accuracy was reduced at 240 fps. The effect of marker size (3 vs. 6 mm diameter) was negligible at all frame rates for both 2D and 3D data. Conclusion Motion tracking with consumer-grade digital cameras and the APAS software can achieve sub-millimeter accuracy at frame rates that are appropriate for kinematic analyses of lip/jaw movements for both research and clinical purposes. PMID:24686484

  14. Human-motion energy harvester for autonomous body area sensors

    Science.gov (United States)

    Geisler, M.; Boisseau, S.; Perez, M.; Gasnier, P.; Willemin, J.; Ait-Ali, I.; Perraud, S.

    2017-03-01

    This paper reports on a method to optimize an electromagnetic energy harvester converting the low-frequency body motion and aimed at powering wireless body area sensors. This method is based on recorded accelerations, and mechanical and transduction models that enable an efficient joint optimization of the structural parameters. An optimized prototype of 14.8 mmØ × 52 mm, weighting 20 g, has generated up to 4.95 mW in a resistive load when worn at the arm during a run, and 6.57 mW when hand-shaken. Among the inertial electromagnetic energy harvesters reported so far, this one exhibits one of the highest power densities (up to 730 μW cm-3). The energy harvester was finally used to power a bluetooth low energy wireless sensor node with accelerations measurements at 25 Hz.

  15. Music recommendation according to human motion based on kernel CCA-based relationship

    Science.gov (United States)

    Ohkushi, Hiroyuki; Ogawa, Takahiro; Haseyama, Miki

    2011-12-01

    In this article, a method for recommendation of music pieces according to human motions based on their kernel canonical correlation analysis (CCA)-based relationship is proposed. In order to perform the recommendation between different types of multimedia data, i.e., recommendation of music pieces from human motions, the proposed method tries to estimate their relationship. Specifically, the correlation based on kernel CCA is calculated as the relationship in our method. Since human motions and music pieces have various time lengths, it is necessary to calculate the correlation between time series having different lengths. Therefore, new kernel functions for human motions and music pieces, which can provide similarities between data that have different time lengths, are introduced into the calculation of the kernel CCA-based correlation. This approach effectively provides a solution to the conventional problem of not being able to calculate the correlation from multimedia data that have various time lengths. Therefore, the proposed method can perform accurate recommendation of best matched music pieces according to a target human motion from the obtained correlation. Experimental results are shown to verify the performance of the proposed method.

  16. Philosophy for Welders: Colleges Offer Innovative Humanities Curricula for Liberal Arts and Career Track Students Alike

    Science.gov (United States)

    Finkel, Ed

    2016-01-01

    Does America needs more welders and fewer philosophers? Community college humanities professors and administrators say it benefits all students, whether liberal arts or career track, to take courses in philosophy, history, political science, language arts, and other liberal arts subjects. And they're developing innovative humanities curricula to…

  17. Measurement of uranium in human teeth and kidney stones with the fission track technique

    International Nuclear Information System (INIS)

    Vartanian, R.

    1986-01-01

    The measurement of uranium in human teeth and in kidney stones was carried out using the fission track activation technique. In this determination 2759 and 2205 absolute counts of tracks for teeth samples and 1689 tracks for kidney stone samples were performed, respectively. The results are as follows: xsub(tooth) (1)=(0.227+-0.006) ppm, xsub(tooth) (2)=(0.143+-0.007) ppm and xsub(kidney)=(0.568+-0.020) ppm. The experimental method is described and the results are discussed. (author)

  18. Canine scent detection and microbial source tracking of human waste contamination in storm drains.

    Science.gov (United States)

    Van De Werfhorst, Laurie C; Murray, Jill L S; Reynolds, Scott; Reynolds, Karen; Holden, Patricia A

    2014-06-01

    Human fecal contamination of surface waters and drains is difficult to diagnose. DNA-based and chemical analyses of water samples can be used to specifically quantify human waste contamination, but their expense precludes routine use. We evaluated canine scent tracking, using two dogs trained to respond to the scent of municipal wastewater, as a field approach for surveying human fecal contamination. Fecal indicator bacteria, as well as DNA-based and chemical markers of human waste, were analyzed in waters sampled from canine scent-evaluated sites (urban storm drains and creeks). In the field, the dogs responded positively (70% and 100%) at sites for which sampled waters were then confirmed as contaminated with human waste. When both dogs indicated a negative response, human waste markers were absent. Overall, canine scent tracking appears useful for prioritizing sampling sites for which DNA-based and similarly expensive assays can confirm and quantify human waste contamination.

  19. Cone-Beam Computed Tomography Internal Motion Tracking Should Be Used to Validate 4-Dimensional Computed Tomography for Abdominal Radiation Therapy Patients

    Energy Technology Data Exchange (ETDEWEB)

    Rankine, Leith; Wan, Hanlin; Parikh, Parag; Maughan, Nichole [Department of Radiation Oncology, Washington University School of Medicine, St. Louis, Missouri (United States); Poulsen, Per [Department of Oncology, Aarhus University Hospital, Aarhus (Denmark); DeWees, Todd; Klein, Eric [Department of Radiation Oncology, Washington University School of Medicine, St. Louis, Missouri (United States); Santanam, Lakshmi, E-mail: lsantanam@radonc.wustl.edu [Department of Radiation Oncology, Washington University School of Medicine, St. Louis, Missouri (United States)

    2016-06-01

    Purpose: To demonstrate that fiducial tracking during pretreatment Cone-Beam CT (CBCT) can accurately measure tumor motion and that this method should be used to validate 4-dimensional CT (4DCT) margins before each treatment fraction. Methods and Materials: For 31 patients with abdominal tumors and implanted fiducial markers, tumor motion was measured daily with CBCT and fluoroscopy for 202 treatment fractions. Fiducial tracking and maximum-likelihood algorithms extracted 3-dimensional fiducial trajectories from CBCT projections. The daily internal margin (IM) (ie, range of fiducial motion) was calculated for CBCT and fluoroscopy as the 5th-95th percentiles of displacement in each cardinal direction. The planning IM from simulation 4DCT (IM{sub 4DCT}) was considered adequate when within ±1.2 mm (anterior–posterior, left–right) and ±3 mm (superior–inferior) of the daily measured IM. We validated CBCT fiducial tracking as an accurate predictive measure of intrafraction motion by comparing the daily measured IM{sub CBCT} with the daily IM measured by pretreatment fluoroscopy (IM{sub pre-fluoro}); these were compared with pre- and posttreatment fluoroscopy (IM{sub fluoro}) to identify those patients who could benefit from imaging during treatment. Results: Four-dimensional CT could not accurately predict intrafractional tumor motion for ≥80% of fractions in 94% (IM{sub CBCT}), 97% (IM{sub pre-fluoro}), and 100% (IM{sub fluoro}) of patients. The IM{sub CBCT} was significantly closer to IM{sub pre-fluoro} than IM{sub 4DCT} (P<.01). For patients with median treatment time t < 7.5 minutes, IM{sub CBCT} was in agreement with IM{sub fluoro} for 93% of fractions (superior–inferior), compared with 63% for the t > 7.5 minutes group, demonstrating the need for patient-specific intratreatment imaging. Conclusions: Tumor motion determined from 4DCT simulation does not accurately predict the daily motion observed on CBCT or fluoroscopy. Cone-beam CT could

  20. Tracking the allocation of attention using human pupillary oscillations

    Directory of Open Access Journals (Sweden)

    Marnix eNaber

    2013-12-01

    Full Text Available The muscles that control the pupil are richly innervated by the autonomic nervous system. While there are central pathways that drive pupil dilations in relation to arousal, there is no anatomical evidence that cortical centers involved with visual selective attention innervate the pupil. In this study, we show that such connections must exist. Specifically, we demonstrate a novel Pupil Frequency Tagging (PFT method, where oscillatory changes in stimulus brightness over time are mirrored by pupil constrictions and dilations. We find that the luminance induced pupil oscillations are enhanced when covert attention is directed to the flicker stimulus and when targets are correctly detected in an attentional tracking task. These results suggest that the amplitudes of pupil responses closely follow the allocation of focal visual attention and the encoding of stimuli. PFT provides a new opportunity to study top down visual attention itself as well as identifying the pathways and mechanisms that support this unexpected phenomenon.

  1. Evaluation of the Effectiveness of the Stereotactic Body Frame in Reducing Respiratory Intrafractional Organ Motion Using the Real-Time Tumor-Tracking Radiotherapy System

    International Nuclear Information System (INIS)

    Bengua, Gerard; Ishikawa, Masayori; Sutherland, Kenneth; Horita, Kenji; Yamazaki, Rie; Fujita, Katsuhisa; Onimaru, Rikiya; Katoh, Noriwo; Inoue, Tetsuya; Onodera, Shunsuke; Shirato, Hiroki

    2010-01-01

    Purpose: To evaluate the effectiveness of the stereotactic body frame (SBF), with or without a diaphragm press or a breathing cycle monitoring device (Abches), in controlling the range of lung tumor motion, by tracking the real-time position of fiducial markers. Methods and Materials: The trajectories of gold markers in the lung were tracked with the real-time tumor-tracking radiotherapy system. The SBF was used for patient immobilization and the diaphragm press and Abches were used to actively control breathing and for self-controlled respiration, respectively. Tracking was performed in five setups, with and without immobilization and respiration control. The results were evaluated using the effective range, which was defined as the range that includes 95% of all the recorded marker positions in each setup. Results: The SBF, with or without a diaphragm press or Abches, did not yield effective ranges of marker motion which were significantly different from setups that did not use these materials. The differences in the effective marker ranges in the upper lobes for all the patient setups were less than 1mm. Larger effective ranges were obtained for the markers in the middle or lower lobes. Conclusion: The effectiveness of controlling respiratory-induced organ motion by using the SBF+diaphragm press or SBF + Abches patient setups were highly dependent on the individual patient reaction to the use of these materials and the location of the markers. They may be considered for lung tumors in the lower lobes, but are not necessary for tumors in the upper lobes.

  2. Motion Cueing Algorithm Development: Human-Centered Linear and Nonlinear Approaches

    Science.gov (United States)

    Houck, Jacob A. (Technical Monitor); Telban, Robert J.; Cardullo, Frank M.

    2005-01-01

    While the performance of flight simulator motion system hardware has advanced substantially, the development of the motion cueing algorithm, the software that transforms simulated aircraft dynamics into realizable motion commands, has not kept pace. Prior research identified viable features from two algorithms: the nonlinear "adaptive algorithm", and the "optimal algorithm" that incorporates human vestibular models. A novel approach to motion cueing, the "nonlinear algorithm" is introduced that combines features from both approaches. This algorithm is formulated by optimal control, and incorporates a new integrated perception model that includes both visual and vestibular sensation and the interaction between the stimuli. Using a time-varying control law, the matrix Riccati equation is updated in real time by a neurocomputing approach. Preliminary pilot testing resulted in the optimal algorithm incorporating a new otolith model, producing improved motion cues. The nonlinear algorithm vertical mode produced a motion cue with a time-varying washout, sustaining small cues for longer durations and washing out large cues more quickly compared to the optimal algorithm. The inclusion of the integrated perception model improved the responses to longitudinal and lateral cues. False cues observed with the NASA adaptive algorithm were absent. The neurocomputing approach was crucial in that the number of presentations of an input vector could be reduced to meet the real time requirement without degrading the quality of the motion cues.

  3. A Customized Vision System for Tracking Humans Wearing Reflective Safety Clothing from Industrial Vehicles and Machinery

    Science.gov (United States)

    Mosberger, Rafael; Andreasson, Henrik; Lilienthal, Achim J.

    2014-01-01

    This article presents a novel approach for vision-based detection and tracking of humans wearing high-visibility clothing with retro-reflective markers. Addressing industrial applications where heavy vehicles operate in the vicinity of humans, we deploy a customized stereo camera setup with active illumination that allows for efficient detection of the reflective patterns created by the worker's safety garments. After segmenting reflective objects from the image background, the interest regions are described with local image feature descriptors and classified in order to discriminate safety garments from other reflective objects in the scene. In a final step, the trajectories of the detected humans are estimated in 3D space relative to the camera. We evaluate our tracking system in two industrial real-world work environments on several challenging video sequences. The experimental results indicate accurate tracking performance and good robustness towards partial occlusions, body pose variation, and a wide range of different illumination conditions. PMID:25264956

  4. Three-Dimensional Intrafractional Motion of Breast During Tangential Breast Irradiation Monitored With High-Sampling Frequency Using a Real-Time Tumor-Tracking Radiotherapy System

    International Nuclear Information System (INIS)

    Kinoshita, Rumiko; Shimizu, Shinichi; Taguchi, Hiroshi; Katoh, Norio; Fujino, Masaharu; Onimaru, Rikiya; Aoyama, Hidefumi; Katoh, Fumi; Omatsu, Tokuhiko; Ishikawa, Masayori; Shirato, Hiroki

    2008-01-01

    Purpose: To evaluate the three-dimensional intrafraction motion of the breast during tangential breast irradiation using a real-time tracking radiotherapy (RT) system with a high-sampling frequency. Methods and Materials: A total of 17 patients with breast cancer who had received breast conservation RT were included in this study. A 2.0-mm gold marker was placed on the skin near the nipple of the breast for RT. A fluoroscopic real-time tumor-tracking RT system was used to monitor the marker. The range of motion of each patient was calculated in three directions. Results: The mean ± standard deviation of the range of respiratory motion was 1.0 ± 0.6 mm (median, 0.9; 95% confidence interval [CI] of the marker position, 0.4-2.6), 1.3 ± 0.5 mm (median, 1.1; 95% CI, 0.5-2.5), and 2.6 ± 1.4 (median, 2.3; 95% CI, 1.0-6.9) for the right-left, craniocaudal, and anteroposterior direction, respectively. No correlation was found between the range of motion and the body mass index or respiratory function. The mean ± standard deviation of the absolute value of the baseline shift in the right-left, craniocaudal, and anteroposterior direction was 0.2 ± 0.2 mm (range, 0.0-0.8 mm), 0.3 ± 0.2 mm (range, 0.0-0.7 mm), and 0.8 ± 0.7 mm (range, 0.1-1.8 mm), respectively. Conclusion: Both the range of motion and the baseline shift were within a few millimeters in each direction. As long as the conventional wedge-pair technique and the proper immobilization are used, the intrafraction three-dimensional change in the breast surface did not much influence the dose distribution

  5. A Subject-Specific Kinematic Model to Predict Human Motion in Exoskeleton-Assisted Gait

    Science.gov (United States)

    Torricelli, Diego; Cortés, Camilo; Lete, Nerea; Bertelsen, Álvaro; Gonzalez-Vargas, Jose E.; del-Ama, Antonio J.; Dimbwadyo, Iris; Moreno, Juan C.; Florez, Julian; Pons, Jose L.

    2018-01-01

    The relative motion between human and exoskeleton is a crucial factor that has remarkable consequences on the efficiency, reliability and safety of human-robot interaction. Unfortunately, its quantitative assessment has been largely overlooked in the literature. Here, we present a methodology that allows predicting the motion of the human joints from the knowledge of the angular motion of the exoskeleton frame. Our method combines a subject-specific skeletal model with a kinematic model of a lower limb exoskeleton (H2, Technaid), imposing specific kinematic constraints between them. To calibrate the model and validate its ability to predict the relative motion in a subject-specific way, we performed experiments on seven healthy subjects during treadmill walking tasks. We demonstrate a prediction accuracy lower than 3.5° globally, and around 1.5° at the hip level, which represent an improvement up to 66% compared to the traditional approach assuming no relative motion between the user and the exoskeleton. PMID:29755336

  6. Accuracy of human motion capture systems for sport applications; state-of-the-art review.

    Science.gov (United States)

    van der Kruk, Eline; Reijne, Marco M

    2018-05-09

    Sport research often requires human motion capture of an athlete. It can, however, be labour-intensive and difficult to select the right system, while manufacturers report on specifications which are determined in set-ups that largely differ from sport research in terms of volume, environment and motion. The aim of this review is to assist researchers in the selection of a suitable motion capture system for their experimental set-up for sport applications. An open online platform is initiated, to support (sport)researchers in the selection of a system and to enable them to contribute and update the overview. systematic review; Method: Electronic searches in Scopus, Web of Science and Google Scholar were performed, and the reference lists of the screened articles were scrutinised to determine human motion capture systems used in academically published studies on sport analysis. An overview of 17 human motion capture systems is provided, reporting the general specifications given by the manufacturer (weight and size of the sensors, maximum capture volume, environmental feasibilities), and calibration specifications as determined in peer-reviewed studies. The accuracy of each system is plotted against the measurement range. The overview and chart can assist researchers in the selection of a suitable measurement system. To increase the robustness of the database and to keep up with technological developments, we encourage researchers to perform an accuracy test prior to their experiment and to add to the chart and the system overview (online, open access).

  7. MULTIPLE HUMAN TRACKING IN COMPLEX SITUATION BY DATA ASSIMILATION WITH PEDESTRIAN BEHAVIOR MODEL

    Directory of Open Access Journals (Sweden)

    W. Nakanishi

    2012-07-01

    Full Text Available A new method of multiple human tracking is proposed. The key concept is that to assume a tracking process as a data assimilation process. Despite the importance of understanding pedestrian behavior in public space with regard to achieving more sophisticated space design and flow control, automatic human tracking in complex situation is still challenging when people move close to each other or are occluded by others. For this difficulty, we stochastically combine existing tracking method by image processing with simulation models of walking behavior. We describe a system in a form of general state space model and define the components of the model according to the review on related works. Then we apply the proposed method to the data acquired at the ticket gate of the railway station. We show the high performance of the method, as well as compare the result with other model to present the advantage of integrating the behavior model to the tracking method. We also show the method's ability to acquire passenger flow information such as ticket gate choice and OD data automatically from the tracking result.

  8. Measuring Human Performance in Simulated Nuclear Power Plant Control Rooms Using Eye Tracking

    Energy Technology Data Exchange (ETDEWEB)

    Kovesdi, Casey Robert [Idaho National Lab. (INL), Idaho Falls, ID (United States); Rice, Brandon Charles [Idaho National Lab. (INL), Idaho Falls, ID (United States); Bower, Gordon Ross [Idaho National Lab. (INL), Idaho Falls, ID (United States); Spielman, Zachary Alexander [Idaho National Lab. (INL), Idaho Falls, ID (United States); Hill, Rachael Ann [Idaho National Lab. (INL), Idaho Falls, ID (United States); LeBlanc, Katya Lee [Idaho National Lab. (INL), Idaho Falls, ID (United States)

    2015-11-01

    Control room modernization will be an important part of life extension for the existing light water reactor fleet. As part of modernization efforts, personnel will need to gain a full understanding of how control room technologies affect performance of human operators. Recent advances in technology enables the use of eye tracking technology to continuously measure an operator’s eye movement, which correlates with a variety of human performance constructs such as situation awareness and workload. This report describes eye tracking metrics in the context of how they will be used in nuclear power plant control room simulator studies.

  9. Measuring Human Performance in Simulated Nuclear Power Plant Control Rooms Using Eye Tracking

    International Nuclear Information System (INIS)

    Kovesdi, Casey Robert; Rice, Brandon Charles; Bower, Gordon Ross; Spielman, Zachary Alexander; Hill, Rachael Ann; LeBlanc, Katya Lee

    2015-01-01

    Control room modernization will be an important part of life extension for the existing light water reactor fleet. As part of modernization efforts, personnel will need to gain a full understanding of how control room technologies affect performance of human operators. Recent advances in technology enables the use of eye tracking technology to continuously measure an operator's eye movement, which correlates with a variety of human performance constructs such as situation awareness and workload. This report describes eye tracking metrics in the context of how they will be used in nuclear power plant control room simulator studies.

  10. Motion tracking to enable pre-surgical margin mapping in basal cell carcinoma using optical imaging modalities: initial feasibility study using optical coherence tomography

    Science.gov (United States)

    Duffy, M.; Richardson, T. J.; Craythorne, E.; Mallipeddi, R.; Coleman, A. J.

    2014-02-01

    A system has been developed to assess the feasibility of using motion tracking to enable pre-surgical margin mapping of basal cell carcinoma (BCC) in the clinic using optical coherence tomography (OCT). This system consists of a commercial OCT imaging system (the VivoSight 1500, MDL Ltd., Orpington, UK), which has been adapted to incorporate a webcam and a single-sensor electromagnetic positional tracking module (the Flock of Birds, Ascension Technology Corp, Vermont, USA). A supporting software interface has also been developed which allows positional data to be captured and projected onto a 2D dermoscopic image in real-time. Initial results using a stationary test phantom are encouraging, with maximum errors in the projected map in the order of 1-2mm. Initial clinical results were poor due to motion artefact, despite attempts to stabilise the patient. However, the authors present several suggested modifications that are expected to reduce the effects of motion artefact and improve the overall accuracy and clinical usability of the system.

  11. The Use of Wearable Inertial Motion Sensors in Human Lower Limb Biomechanics Studies: A Systematic Review

    Directory of Open Access Journals (Sweden)

    Yue-Yan Chan

    2010-12-01

    Full Text Available Wearable motion sensors consisting of accelerometers, gyroscopes and magnetic sensors are readily available nowadays. The small size and low production costs of motion sensors make them a very good tool for human motions analysis. However, data processing and accuracy of the collected data are important issues for research purposes. In this paper, we aim to review the literature related to usage of inertial sensors in human lower limb biomechanics studies. A systematic search was done in the following search engines: ISI Web of Knowledge, Medline, SportDiscus and IEEE Xplore. Thirty nine full papers and conference abstracts with related topics were included in this review. The type of sensor involved, data collection methods, study design, validation methods and its applications were reviewed.

  12. The use of wearable inertial motion sensors in human lower limb biomechanics studies: a systematic review.

    Science.gov (United States)

    Fong, Daniel Tik-Pui; Chan, Yue-Yan

    2010-01-01

    Wearable motion sensors consisting of accelerometers, gyroscopes and magnetic sensors are readily available nowadays. The small size and low production costs of motion sensors make them a very good tool for human motions analysis. However, data processing and accuracy of the collected data are important issues for research purposes. In this paper, we aim to review the literature related to usage of inertial sensors in human lower limb biomechanics studies. A systematic search was done in the following search engines: ISI Web of Knowledge, Medline, SportDiscus and IEEE Xplore. Thirty nine full papers and conference abstracts with related topics were included in this review. The type of sensor involved, data collection methods, study design, validation methods and its applications were reviewed.

  13. Human upper limb manipulator mass center motion and mass moments of inertia variation

    Directory of Open Access Journals (Sweden)

    Nikolova Gergana

    2018-01-01

    Full Text Available Motion control is complicated for people having traumas or neurological diseases. An underlying assumption in our work is that the motion of healthy people is optimal with respect to positioning accuracy, movement response, and energy expenditure. In this paper, a new approach for determination of the human upper limb mass-inertial characteristics is presented by using the 3D geometrical mathematical modeling analysis approach. Two examples will be given to illustrate the main features and advantages of the proposed design concepts. The objective of the work presented in this paper is a determination of the mass properties of a two joints human upper limb manipulator. Results are aimed to have application in an exoskeleton design, the design of manipulation system and external manipulation system, serving people with some motion difficulties, as well as in sport and rehabilitation.

  14. Efficient Human Action and Gait Analysis Using Multiresolution Motion Energy Histogram

    Directory of Open Access Journals (Sweden)

    Kuo-Chin Fan

    2010-01-01

    Full Text Available Average Motion Energy (AME image is a good way to describe human motions. However, it has to face the computation efficiency problem with the increasing number of database templates. In this paper, we propose a histogram-based approach to improve the computation efficiency. We convert the human action/gait recognition problem to a histogram matching problem. In order to speed up the recognition process, we adopt a multiresolution structure on the Motion Energy Histogram (MEH. To utilize the multiresolution structure more efficiently, we propose an automated uneven partitioning method which is achieved by utilizing the quadtree decomposition results of MEH. In that case, the computation time is only relevant to the number of partitioned histogram bins, which is much less than the AME method. Two applications, action recognition and gait classification, are conducted in the experiments to demonstrate the feasibility and validity of the proposed approach.

  15. High bandwidth synaptic communication and frequency tracking in human neocortex

    NARCIS (Netherlands)

    Testa-Silva, Guilherme; Verhoog, Matthijs B; Linaro, Daniele; de Kock, Christiaan P J; Baayen, Johannes C; Meredith, Rhiannon M; De Zeeuw, Chris I; Giugliano, Michele; Mansvelder, Huibert D

    2014-01-01

    Neuronal firing, synaptic transmission, and its plasticity form the building blocks for processing and storage of information in the brain. It is unknown whether adult human synapses are more efficient in transferring information between neurons than rodent synapses. To test this, we recorded from

  16. High bandwidth synaptic communication and frequency tracking in human neocortex.

    NARCIS (Netherlands)

    Testa-Silva, G.; Verhoog, M.B.; Linaro, D.; de Kock, C.P.J.; Baayen, J.C.; Meredith, R.M.; Zeeuw, C.I.; Giugliano, M.; Mansvelder, H.D.

    2014-01-01

    Neuronal firing, synaptic transmission, and its plasticity form the building blocks for processing and storage of information in the brain. It is unknown whether adult human synapses are more efficient in transferring information between neurons than rodent synapses. To test this, we recorded from

  17. High Bandwidth Synaptic Communication and Frequency Tracking in Human Neocortex

    NARCIS (Netherlands)

    G. Testa-Silva (Guilherme); M.B. Verhoog (Matthijs); D. Linaro (Daniele); C.P.J. de Kock (Christiaan); J.C. Baayen; R.M. Meredith (Rhiannon); C.I. de Zeeuw (Chris); M. Giugliano (Michele); H.D. Mansvelder (Huibert)

    2014-01-01

    textabstractNeuronal firing, synaptic transmission, and its plasticity form the building blocks for processing and storage of information in the brain. It is unknown whether adult human synapses are more efficient in transferring information between neurons than rodent synapses. To test this, we

  18. The NOMA track module on nutrition, human rights and governance ...

    African Journals Online (AJOL)

    Background. A module on nutrition, human rights and governance was developed and presented jointly by academic institutions in Norway, South Africa and Uganda, under the NOrway MAsters (NOMA) programme, for their respective Master's degree programmes in nutrition. Consisting of three study units, it was ...

  19. Analysis of Human's Motions Based on Local Mean Decomposition in Through-wall Radar Detection

    Science.gov (United States)

    Lu, Qi; Liu, Cai; Zeng, Zhaofa; Li, Jing; Zhang, Xuebing

    2016-04-01

    Observation of human motions through a wall is an important issue in security applications and search-and rescue. Radar has advantages in looking through walls where other sensors give low performance or cannot be used at all. Ultrawideband (UWB) radar has high spatial resolution as a result of employment of ultranarrow pulses. It has abilities to distinguish the closely positioned targets and provide time-lapse information of targets. Moreover, the UWB radar shows good performance in wall penetration when the inherently short pulses spread their energy over a broad frequency range. Human's motions show periodic features including respiration, swing arms and legs, fluctuations of the torso. Detection of human targets is based on the fact that there is always periodic motion due to breathing or other body movements like walking. The radar can gain the reflections from each human body parts and add the reflections at each time sample. The periodic movements will cause micro-Doppler modulation in the reflected radar signals. Time-frequency analysis methods are consider as the effective tools to analysis and extract micro-Doppler effects caused by the periodic movements in the reflected radar signal, such as short-time Fourier transform (STFT), wavelet transform (WT), and Hilbert-Huang transform (HHT).The local mean decomposition (LMD), initially developed by Smith (2005), is to decomposed amplitude and frequency modulated signals into a small set of product functions (PFs), each of which is the product of an envelope signal and a frequency modulated signal from which a time-vary instantaneous phase and instantaneous frequency can be derived. As bypassing the Hilbert transform, the LMD has no demodulation error coming from window effect and involves no negative frequency without physical sense. Also, the instantaneous attributes obtained by LMD are more stable and precise than those obtained by the empirical mode decomposition (EMD) because LMD uses smoothed local

  20. APPLICATION OF EYE TRACKING FOR MEASUREMENT AND EVALUATION IN HUMAN FACTORS STUDIES IN CONTROL ROOM MODERNIZATION

    Energy Technology Data Exchange (ETDEWEB)

    Kovesdi, C.; Spielman, Z.; LeBlanc, K.; Rice, B.

    2017-05-01

    An important element of human factors engineering (HFE) pertains to measurement and evaluation (M&E). The role of HFE-M&E should be integrated throughout the entire control room modernization (CRM) process and be used for human-system performance evaluation and diagnostic purposes with resolving potential human engineering deficiencies (HEDs) and other human machine interface (HMI) design issues. NUREG-0711 describes how HFE in CRM should employ a hierarchical set of measures, particularly during integrated system validation (ISV), including plant performance, personnel task performance, situation awareness, cognitive workload, and anthropometric/ physiological factors. Historically, subjective measures have been primarily used since they are easier to collect and do not require specialized equipment. However, there are pitfalls with relying solely on subjective measures in M&E such that negatively impact reliability, sensitivity, and objectivity. As part of comprehensively capturing a diverse set of measures that strengthen findings and inferences made of the benefits from emerging technologies like advanced displays, this paper discusses the value of using eye tracking as an objective method that can be used in M&E. A brief description of eye tracking technology and relevant eye tracking measures is provided. Additionally, technical considerations and the unique challenges with using eye tracking in full-scaled simulations are addressed. Finally, this paper shares preliminary findings regarding the use of a wearable eye tracking system in a full-scale simulator study. These findings should help guide future full-scale simulator studies using eye tracking as a methodology to evaluate human-system performance.

  1. Human-like motion planning model for driving in signalized intersections

    Directory of Open Access Journals (Sweden)

    Yanlei Gu

    2017-10-01

    Full Text Available Highly automated and fully autonomous vehicles are much more likely to be accepted if they react in the same way as human drivers do, especially in a hybrid traffic situation, which allows autonomous vehicles and human-driven vehicles to share the same road. This paper proposes a human-like motion planning model to represent how human drivers assess environments and operate vehicles in signalized intersections. The developed model consists of a pedestrian intention detection model, gap detection model, and vehicle control model. These three submodels are individually responsible for situation assessment, decision making, and action, and also depend on each other in the process of motion planning. In addition, these submodels are constructed and learned on the basis of human drivers' data collected from real traffic environments. To verify the effectiveness of the proposed motion planning model, we compared the proposed model with actual human driver and pedestrian data. The experimental results showed that our proposed model and actual human driver behaviors are highly similar with respect to gap acceptance in intersections.

  2. Tracking a Subset of Skeleton Joints: An Effective Approach towards Complex Human Activity Recognition

    Directory of Open Access Journals (Sweden)

    Muhammad Latif Anjum

    2017-01-01

    Full Text Available We present a robust algorithm for complex human activity recognition for natural human-robot interaction. The algorithm is based on tracking the position of selected joints in human skeleton. For any given activity, only a few skeleton joints are involved in performing the activity, so a subset of joints contributing the most towards the activity is selected. Our approach of tracking a subset of skeleton joints (instead of tracking the whole skeleton is computationally efficient and provides better recognition accuracy. We have developed both manual and automatic approaches for the selection of these joints. The position of the selected joints is tracked for the duration of the activity and is used to construct feature vectors for each activity. Once the feature vectors have been constructed, we use a Support Vector Machines (SVM multiclass classifier for training and testing the algorithm. The algorithm has been tested on a purposely built dataset of depth videos recorded using Kinect camera. The dataset consists of 250 videos of 10 different activities being performed by different users. Experimental results show classification accuracy of 83% when tracking all skeleton joints, 95% when using manual selection of subset joints, and 89% when using automatic selection of subset joints.

  3. Kinematics design and human motion transfer for a humanoid service robot arm

    CSIR Research Space (South Africa)

    Dube, C

    2009-11-01

    Full Text Available . Philadelphia: Saunders Col- lege Publishing, 1982. [2] Hamill, J. and Knutzen, K. M., Biomechanical Basis of Human Motion, Baltimore: Williams and Wilkins, 1995. [3] Lenarcˇicˇ, J. and Klopcˇar, N.,“Positional kinematics of hu- manoid arms,” Robotica, vol...

  4. Complex Human Activity Recognition Using Smartphone and Wrist-Worn Motion Sensors

    NARCIS (Netherlands)

    Shoaib, M.; Bosch, S.; Durmaz, O.; Scholten, Johan; Havinga, Paul J.M.

    2016-01-01

    The position of on-body motion sensors plays an important role in human activity recognition. Most often, mobile phone sensors at the trouser pocket or an equivalent position are used for this purpose. However, this position is not suitable for recognizing activities that involve hand gestures, such

  5. SU-G-BRA-10: Marker Free Lung Tumor Motion Tracking by An Active Contour Model On Cone Beam CT Projections for Stereotactic Body Radiation Therapy of Lung Cancer

    International Nuclear Information System (INIS)

    Chao, M; Yuan, Y; Lo, Y; Wei, J

    2016-01-01

    Purpose: To develop a novel strategy to extract the lung tumor motion from cone beam CT (CBCT) projections by an active contour model with interpolated respiration learned from diaphragm motion. Methods: Tumor tracking on CBCT projections was accomplished with the templates derived from planning CT (pCT). There are three major steps in the proposed algorithm: 1) The pCT was modified to form two CT sets: a tumor removed pCT and a tumor only pCT, the respective digitally reconstructed radiographs DRRtr and DRRto following the same geometry of the CBCT projections were generated correspondingly. 2) The DRRtr was rigidly registered with the CBCT projections on the frame-by-frame basis. Difference images between CBCT projections and the registered DRRtr were generated where the tumor visibility was appreciably enhanced. 3) An active contour method was applied to track the tumor motion on the tumor enhanced projections with DRRto as templates to initialize the tumor tracking while the respiratory motion was compensated for by interpolating the diaphragm motion estimated by our novel constrained linear regression approach. CBCT and pCT from five patients undergoing stereotactic body radiotherapy were included in addition to scans from a Quasar phantom programmed with known motion. Manual tumor tracking was performed on CBCT projections and was compared to the automatic tracking to evaluate the algorithm accuracy. Results: The phantom study showed that the error between the automatic tracking and the ground truth was within 0.2mm. For the patients the discrepancy between the calculation and the manual tracking was between 1.4 and 2.2 mm depending on the location and shape of the lung tumor. Similar patterns were observed in the frequency domain. Conclusion: The new algorithm demonstrated the feasibility to track the lung tumor from noisy CBCT projections, providing a potential solution to better motion management for lung radiation therapy.

  6. SU-G-BRA-10: Marker Free Lung Tumor Motion Tracking by An Active Contour Model On Cone Beam CT Projections for Stereotactic Body Radiation Therapy of Lung Cancer

    Energy Technology Data Exchange (ETDEWEB)

    Chao, M; Yuan, Y; Lo, Y [The Mount Sinai Medical Center, New York, NY (United States); Wei, J [City College of New York, New York, NY (United States)

    2016-06-15

    Purpose: To develop a novel strategy to extract the lung tumor motion from cone beam CT (CBCT) projections by an active contour model with interpolated respiration learned from diaphragm motion. Methods: Tumor tracking on CBCT projections was accomplished with the templates derived from planning CT (pCT). There are three major steps in the proposed algorithm: 1) The pCT was modified to form two CT sets: a tumor removed pCT and a tumor only pCT, the respective digitally reconstructed radiographs DRRtr and DRRto following the same geometry of the CBCT projections were generated correspondingly. 2) The DRRtr was rigidly registered with the CBCT projections on the frame-by-frame basis. Difference images between CBCT projections and the registered DRRtr were generated where the tumor visibility was appreciably enhanced. 3) An active contour method was applied to track the tumor motion on the tumor enhanced projections with DRRto as templates to initialize the tumor tracking while the respiratory motion was compensated for by interpolating the diaphragm motion estimated by our novel constrained linear regression approach. CBCT and pCT from five patients undergoing stereotactic body radiotherapy were included in addition to scans from a Quasar phantom programmed with known motion. Manual tumor tracking was performed on CBCT projections and was compared to the automatic tracking to evaluate the algorithm accuracy. Results: The phantom study showed that the error between the automatic tracking and the ground truth was within 0.2mm. For the patients the discrepancy between the calculation and the manual tracking was between 1.4 and 2.2 mm depending on the location and shape of the lung tumor. Similar patterns were observed in the frequency domain. Conclusion: The new algorithm demonstrated the feasibility to track the lung tumor from noisy CBCT projections, providing a potential solution to better motion management for lung radiation therapy.

  7. Automated assessment and tracking of human body thermal variations using unsupervised clustering.

    Science.gov (United States)

    Yousefi, Bardia; Fleuret, Julien; Zhang, Hai; Maldague, Xavier P V; Watt, Raymond; Klein, Matthieu

    2016-12-01

    The presented approach addresses a review of the overheating that occurs during radiological examinations, such as magnetic resonance imaging, and a series of thermal experiments to determine a thermally suitable fabric material that should be used for radiological gowns. Moreover, an automatic system for detecting and tracking of the thermal fluctuation is presented. It applies hue-saturated-value-based kernelled k-means clustering, which initializes and controls the points that lie on the region-of-interest (ROI) boundary. Afterward, a particle filter tracks the targeted ROI during the video sequence independently of previous locations of overheating spots. The proposed approach was tested during experiments and under conditions very similar to those used during real radiology exams. Six subjects have voluntarily participated in these experiments. To simulate the hot spots occurring during radiology, a controllable heat source was utilized near the subject's body. The results indicate promising accuracy for the proposed approach to track hot spots. Some approximations were used regarding the transmittance of the atmosphere, and emissivity of the fabric could be neglected because of the independence of the proposed approach for these parameters. The approach can track the heating spots continuously and correctly, even for moving subjects, and provides considerable robustness against motion artifact, which occurs during most medical radiology procedures.

  8. Tracking the Evolution of Smartphone Sensing for Monitoring Human Movement

    Science.gov (United States)

    del Rosario, Michael B.; Redmond, Stephen J.; Lovell, Nigel H.

    2015-01-01

    Advances in mobile technology have led to the emergence of the “smartphone”, a new class of device with more advanced connectivity features that have quickly made it a constant presence in our lives. Smartphones are equipped with comparatively advanced computing capabilities, a global positioning system (GPS) receivers, and sensing capabilities (i.e., an inertial measurement unit (IMU) and more recently magnetometer and barometer) which can be found in wearable ambulatory monitors (WAMs). As a result, algorithms initially developed for WAMs that “count” steps (i.e., pedometers); gauge physical activity levels; indirectly estimate energy expenditure and monitor human movement can be utilised on the smartphone. These algorithms may enable clinicians to “close the loop” by prescribing timely interventions to improve or maintain wellbeing in populations who are at risk of falling or suffer from a chronic disease whose progression is linked to a reduction in movement and mobility. The ubiquitous nature of smartphone technology makes it the ideal platform from which human movement can be remotely monitored without the expense of purchasing, and inconvenience of using, a dedicated WAM. In this paper, an overview of the sensors that can be found in the smartphone are presented, followed by a summary of the developments in this field with an emphasis on the evolution of algorithms used to classify human movement. The limitations identified in the literature will be discussed, as well as suggestions about future research directions. PMID:26263998

  9. One-degree-of-freedom spherical model for the passive motion of the human ankle joint.

    Science.gov (United States)

    Sancisi, Nicola; Baldisserri, Benedetta; Parenti-Castelli, Vincenzo; Belvedere, Claudio; Leardini, Alberto

    2014-04-01

    Mathematical modelling of mobility at the human ankle joint is essential for prosthetics and orthotic design. The scope of this study is to show that the ankle joint passive motion can be represented by a one-degree-of-freedom spherical motion. Moreover, this motion is modelled by a one-degree-of-freedom spherical parallel mechanism model, and the optimal pivot-point position is determined. Passive motion and anatomical data were taken from in vitro experiments in nine lower limb specimens. For each of these, a spherical mechanism, including the tibiofibular and talocalcaneal segments connected by a spherical pair and by the calcaneofibular and tibiocalcaneal ligament links, was defined from the corresponding experimental kinematics and geometry. An iterative procedure was used to optimize the geometry of the model, able to predict original experimental motion. The results of the simulations showed a good replication of the original natural motion, despite the numerous model assumptions and simplifications, with mean differences between experiments and predictions smaller than 1.3 mm (average 0.33 mm) for the three joint position components and smaller than 0.7° (average 0.32°) for the two out-of-sagittal plane rotations, once plotted versus the full flexion arc. The relevant pivot-point position after model optimization was found within the tibial mortise, but not exactly in a central location. The present combined experimental and modelling analysis of passive motion at the human ankle joint shows that a one degree-of-freedom spherical mechanism predicts well what is observed in real joints, although its computational complexity is comparable to the standard hinge joint model.

  10. An examination of the degrees of freedom of human jaw motion in speech and mastication.

    Science.gov (United States)

    Ostry, D J; Vatikiotis-Bateson, E; Gribble, P L

    1997-12-01

    The kinematics of human jaw movements were assessed in terms of the three orientation angles and three positions that characterize the motion of the jaw as a rigid body. The analysis focused on the identification of the jaw's independent movement dimensions, and was based on an examination of jaw motion paths that were plotted in various combinations of linear and angular coordinate frames. Overall, both behaviors were characterized by independent motion in four degrees of freedom. In general, when jaw movements were plotted to show orientation in the sagittal plane as a function of horizontal position, relatively straight paths were observed. In speech, the slopes and intercepts of these paths varied depending on the phonetic material. The vertical position of the jaw was observed to shift up or down so as to displace the overall form of the sagittal plane motion path of the jaw. Yaw movements were small but independent of pitch, and vertical and horizontal position. In mastication, the slope and intercept of the relationship between pitch and horizontal position were affected by the type of food and its size. However, the range of variation was less than that observed in speech. When vertical jaw position was plotted as a function of horizontal position, the basic form of the path of the jaw was maintained but could be shifted vertically. In general, larger bolus diameters were associated with lower jaw positions throughout the movement. The timing of pitch and yaw motion differed. The most common pattern involved changes in pitch angle during jaw opening followed by a phase predominated by lateral motion (yaw). Thus, in both behaviors there was evidence of independent motion in pitch, yaw, horizontal position, and vertical position. This is consistent with the idea that motions in these degrees of freedom are independently controlled.

  11. Appearance-Based Multimodal Human Tracking and Identification for Healthcare in the Digital Home

    Directory of Open Access Journals (Sweden)

    Mau-Tsuen Yang

    2014-08-01

    Full Text Available There is an urgent need for intelligent home surveillance systems to provide home security, monitor health conditions, and detect emergencies of family members. One of the fundamental problems to realize the power of these intelligent services is how to detect, track, and identify people at home. Compared to RFID tags that need to be worn all the time, vision-based sensors provide a natural and nonintrusive solution. Observing that body appearance and body build, as well as face, provide valuable cues for human identification, we model and record multi-view faces, full-body colors and shapes of family members in an appearance database by using two Kinects located at a home’s entrance. Then the Kinects and another set of color cameras installed in other parts of the house are used to detect, track, and identify people by matching the captured color images with the registered templates in the appearance database. People are detected and tracked by multisensor fusion (Kinects and color cameras using a Kalman filter that can handle duplicate or partial measurements. People are identified by multimodal fusion (face, body appearance, and silhouette using a track-based majority voting. Moreover, the appearance-based human detection, tracking, and identification modules can cooperate seamlessly and benefit from each other. Experimental results show the effectiveness of the human tracking across multiple sensors and human identification considering the information of multi-view faces, full-body clothes, and silhouettes. The proposed home surveillance system can be applied to domestic applications in digital home security and intelligent healthcare.

  12. Spotting and tracking good biometrics with the human visual system

    Science.gov (United States)

    Szu, Harold; Jenkins, Jeffrey; Hsu, Charles

    2011-06-01

    We mathematically model the mammalian Visual System's (VS) capability of spotting objects. How can a hawk see a tiny running rabbit from miles above ground? How could that rabbit see the approaching hawk? This predatorprey interaction draws parallels with spotting a familiar person in a crowd. We assume that mammal eyes use peripheral vision to perceive unexpected changes from our memory, and then use our central vision (fovea) to pay attention. The difference between an image and our memory of that image is usually small, mathematically known as a 'sparse representation'. The VS communicates with the brain using a finite reservoir of neurotransmittents, which produces an on-center and thus off-surround Hubel/Wiesel Mexican hat receptive field. This is the basis of our model. This change detection mechanism could drive our attention, allowing us to hit a curveball. If we are about to hit a baseball, what information extracted by our HVS tells us where to swing? Physical human features such as faces, irises, and fingerprints have been successfully used for identification (Biometrics) for decades, recently including voice and walking style for identification from further away. Biologically, humans must use a change detection strategy to achieve an ordered sparseness and use a sigmoid threshold for noisy measurements in our Hetero-Associative Memory [HAM] classifier for fault tolerant recall. Human biometrics is dynamic, and therefore involves more than just the surface, requiring a 3 dimensional measurement (i.e. Daugman/Gabor iris features). Such a measurement can be achieved using the partial coherence of a laser's reflection from a 3-D biometric surface, creating more degrees of freedom (d.o.f.) to meet the Army's challenge of distant Biometrics. Thus, one might be able to increase the standoff loss of less distinguished degrees of freedom (DOF).

  13. Tracking blood vessels in human forearms using visual servoing

    DEFF Research Database (Denmark)

    Savarimuthu, Thiusius Rajeeth; Ellekilde, Lars-Peter; Hansen, Morten

    compensation. By using images taken with near-infrared light to locate the blood vessels in a human forearm and using the same images to detects movements of the arm, this paper shows that it is possible make a robot arm, potentially equipped with a needle for drawing the blood, compensate for the movements......Drawing an average of more than 2 blood sample per Danish citizen per year increases the demand for an automatic blood sampling method. This paper presents a proof of concept to one of the main challenges in making a fully automated blood sampling procedure, namely: the patient movement...

  14. Human immunodeficiency virus type 1 evolution in vivo tracked by DNA heteroduplex mobility assays

    NARCIS (Netherlands)

    Delwart, E. L.; Sheppard, H. W.; Walker, B. D.; Goudsmit, J.; Mullins, J. I.

    1994-01-01

    High mutation rates and strong selective pressures imposed on human immunodeficiency viruses in vivo result in the formation of pools of genetic variants known as quasispecies. DNA heteroduplex mobility and tracking analyses were used to monitor the generation of HIV sequence diversity, to estimate

  15. Modeling of human operator dynamics in simple manual control utilizing time series analysis. [tracking (position)

    Science.gov (United States)

    Agarwal, G. C.; Osafo-Charles, F.; Oneill, W. D.; Gottlieb, G. L.

    1982-01-01

    Time series analysis is applied to model human operator dynamics in pursuit and compensatory tracking modes. The normalized residual criterion is used as a one-step analytical tool to encompass the processes of identification, estimation, and diagnostic checking. A parameter constraining technique is introduced to develop more reliable models of human operator dynamics. The human operator is adequately modeled by a second order dynamic system both in pursuit and compensatory tracking modes. In comparing the data sampling rates, 100 msec between samples is adequate and is shown to provide better results than 200 msec sampling. The residual power spectrum and eigenvalue analysis show that the human operator is not a generator of periodic characteristics.

  16. Application Of Three-Dimensional Videography To Human Motion Studies: Constraints, Assumptions, And Mathematics

    Science.gov (United States)

    Rab, George T.

    1988-02-01

    Three-dimensional human motion analysis has been used for complex kinematic description of abnormal gait in children with neuromuscular disease. Multiple skin markers estimate skeletal segment position, and a sorting and smoothing routine provides marker trajectories. The position and orientation of the moving skeleton in space are derived mathematically from the marker positions, and joint motions are calculated from the Eulerian transformation matrix between linked proximal and distal skeletal segments. Reproduceability has been excellent, and the technique has proven to be a useful adjunct to surgical planning.

  17. Testing human sperm chemotaxis: how to detect biased motion in population assays.

    Directory of Open Access Journals (Sweden)

    Leah Armon

    Full Text Available Biased motion of motile cells in a concentration gradient of a chemoattractant is frequently studied on the population level. This approach has been particularly employed in human sperm chemotactic assays, where the fraction of responsive cells is low and detection of biased motion depends on subtle differences. In these assays, statistical measures such as population odds ratios of swimming directions can be employed to infer chemotactic performance. Here, we report on an improved method to assess statistical significance of experimentally determined odds ratios and discuss the strong impact of data correlations that arise from the directional persistence of sperm swimming.

  18. Brain Image Motion Correction

    DEFF Research Database (Denmark)

    Jensen, Rasmus Ramsbøl; Benjaminsen, Claus; Larsen, Rasmus

    2015-01-01

    The application of motion tracking is wide, including: industrial production lines, motion interaction in gaming, computer-aided surgery and motion correction in medical brain imaging. Several devices for motion tracking exist using a variety of different methodologies. In order to use such devices...... offset and tracking noise in medical brain imaging. The data are generated from a phantom mounted on a rotary stage and have been collected using a Siemens High Resolution Research Tomograph for positron emission tomography. During acquisition the phantom was tracked with our latest tracking prototype...

  19. Dynamics Of Human Motion The Case Study of an Examination Hall

    Science.gov (United States)

    Ogunjo, Samuel; Ajayi, Oluwaseyi; Fuwape, Ibiyinka; Dansu, Emmanuel

    Human behaviour is difficult to characterize and generalize due to ITS complex nature. Advances in mathematical models have enabled human systems such as love interaction, alcohol abuse, admission problem to be described using models. This study investigates one of such problems, the dynamics of human motion in an examination hall with limited computer systems such that students write their examination in batches. The examination is characterized by time (t) allocated to each students and difficulty level (dl) associated with the examination. A stochastic model based on the difficulty level of the examination was developed for the prediction of student's motion around the examination hall. A good agreement was obtained between theoretical predictions and numerical simulation. The result obtained will help in better planning of examination session to maximize available resources. Furthermore, results obtained in the research can be extended to other areas such as banking hall, customer service points where available resources will be shared amongst many users.

  20. Energy Harvesting from Upper-Limb Pulling Motions for Miniaturized Human-Powered Generators.

    Science.gov (United States)

    Yeo, Jeongjin; Ryu, Mun-ho; Yang, Yoonseok

    2015-07-03

    The human-powered self-generator provides the best solution for individuals who need an instantaneous power supply for travel, outdoor, and emergency use, since it is less dependent on weather conditions and occupies less space than other renewable power supplies. However, many commercial portable self-generators that employ hand-cranking are not used as much as expected in daily lives although they have enough output capacity due to their intensive workload. This study proposes a portable human-powered generator which is designed to obtain mechanical energy from an upper limb pulling motion for improved human motion economy as well as efficient human-mechanical power transfer. A coreless axial-flux permanent magnet machine (APMM) and a flywheel magnet rotor were used in conjunction with a one-way clutched power transmission system in order to obtain effective power from the pulling motion. The developed prototype showed an average energy conversion efficiency of 30.98% and an average output power of 0.32 W with a maximum of 1.89 W. Its small form factor (50 mm × 32 mm × 43.5 mm, 0.05 kg) and the substantial electricity produced verify the effectiveness of the proposed method in the utilization of human power. It is expected that the developed generator could provide a mobile power supply.

  1. Energy Harvesting from Upper-Limb Pulling Motions for Miniaturized Human-Powered Generators

    Directory of Open Access Journals (Sweden)

    Jeongjin Yeo

    2015-07-01

    Full Text Available The human-powered self-generator provides the best solution for individuals who need an instantaneous power supply for travel, outdoor, and emergency use, since it is less dependent on weather conditions and occupies less space than other renewable power supplies. However, many commercial portable self-generators that employ hand-cranking are not used as much as expected in daily lives although they have enough output capacity due to their intensive workload. This study proposes a portable human-powered generator which is designed to obtain mechanical energy from an upper limb pulling motion for improved human motion economy as well as efficient human-mechanical power transfer. A coreless axial-flux permanent magnet machine (APMM and a flywheel magnet rotor were used in conjunction with a one-way clutched power transmission system in order to obtain effective power from the pulling motion. The developed prototype showed an average energy conversion efficiency of 30.98% and an average output power of 0.32 W with a maximum of 1.89 W. Its small form factor (50 mm × 32 mm × 43.5 mm, 0.05 kg and the substantial electricity produced verify the effectiveness of the proposed method in the utilization of human power. It is expected that the developed generator could provide a mobile power supply.

  2. Tracking urban human activity from mobile phone calling patterns.

    Science.gov (United States)

    Monsivais, Daniel; Ghosh, Asim; Bhattacharya, Kunal; Dunbar, Robin I M; Kaski, Kimmo

    2017-11-01

    Timings of human activities are marked by circadian clocks which in turn are entrained to different environmental signals. In an urban environment the presence of artificial lighting and various social cues tend to disrupt the natural entrainment with the sunlight. However, it is not completely understood to what extent this is the case. Here we exploit the large-scale data analysis techniques to study the mobile phone calling activity of people in large cities to infer the dynamics of urban daily rhythms. From the calling patterns of about 1,000,000 users spread over different cities but lying inside the same time-zone, we show that the onset and termination of the calling activity synchronizes with the east-west progression of the sun. We also find that the onset and termination of the calling activity of users follows a yearly dynamics, varying across seasons, and that its timings are entrained to solar midnight. Furthermore, we show that the average mid-sleep time of people living in urban areas depends on the age and gender of each cohort as a result of biological and social factors.

  3. Tracking urban human activity from mobile phone calling patterns.

    Directory of Open Access Journals (Sweden)

    Daniel Monsivais

    2017-11-01

    Full Text Available Timings of human activities are marked by circadian clocks which in turn are entrained to different environmental signals. In an urban environment the presence of artificial lighting and various social cues tend to disrupt the natural entrainment with the sunlight. However, it is not completely understood to what extent this is the case. Here we exploit the large-scale data analysis techniques to study the mobile phone calling activity of people in large cities to infer the dynamics of urban daily rhythms. From the calling patterns of about 1,000,000 users spread over different cities but lying inside the same time-zone, we show that the onset and termination of the calling activity synchronizes with the east-west progression of the sun. We also find that the onset and termination of the calling activity of users follows a yearly dynamics, varying across seasons, and that its timings are entrained to solar midnight. Furthermore, we show that the average mid-sleep time of people living in urban areas depends on the age and gender of each cohort as a result of biological and social factors.

  4. Position Tracking During Human Walking Using an Integrated Wearable Sensing System

    Directory of Open Access Journals (Sweden)

    Giulio Zizzo

    2017-12-01

    Full Text Available Progress has been made enabling expensive, high-end inertial measurement units (IMUs to be used as tracking sensors. However, the cost of these IMUs is prohibitive to their widespread use, and hence the potential of low-cost IMUs is investigated in this study. A wearable low-cost sensing system consisting of IMUs and ultrasound sensors was developed. Core to this system is an extended Kalman filter (EKF, which provides both zero-velocity updates (ZUPTs and Heuristic Drift Reduction (HDR. The IMU data was combined with ultrasound range measurements to improve accuracy. When a map of the environment was available, a particle filter was used to impose constraints on the possible user motions. The system was therefore composed of three subsystems: IMUs, ultrasound sensors, and a particle filter. A Vicon motion capture system was used to provide ground truth information, enabling validation of the sensing system. Using only the IMU, the system showed loop misclosure errors of 1% with a maximum error of 4–5% during walking. The addition of the ultrasound sensors resulted in a 15% reduction in the total accumulated error. Lastly, the particle filter was capable of providing noticeable corrections, which could keep the tracking error below 2% after the first few steps.

  5. The quantitative determination of uranium in human hair by fission track measurements

    International Nuclear Information System (INIS)

    Wilson, D.J.; Bentley, K.W.

    1985-01-01

    Human hairs containing a uranium burden were placed in contact with a mica sheet as the recording matrix and irradiated in a thermal neutron flux. The fission fragment tracks penetrating the mica were etched and counted. Calculations have been made to show the losses due to the fission fragment range being less than the diameter of the hair and for the variation of track density with distance from the line of contact between the hair and the mica. Experimental data from 50 μm diameter hair and those derived by calculation were compared. (author)

  6. Human Classification Based on Gestural Motions by Using Components of PCA

    International Nuclear Information System (INIS)

    Aziz, Azri A; Wan, Khairunizam; Za'aba, S K; Shahriman A B; Asyekin H; Zuradzman M R; Adnan, Nazrul H

    2013-01-01

    Lately, a study of human capabilities with the aim to be integrated into machine is the famous topic to be discussed. Moreover, human are bless with special abilities that they can hear, see, sense, speak, think and understand each other. Giving such abilities to machine for improvement of human life is researcher's aim for better quality of life in the future. This research was concentrating on human gesture, specifically arm motions for differencing the individuality which lead to the development of the hand gesture database. We try to differentiate the human physical characteristic based on hand gesture represented by arm trajectories. Subjects are selected from different type of the body sizes, and then acquired data undergo resampling process. The results discuss the classification of human based on arm trajectories by using Principle Component Analysis (PCA)

  7. Self-adapted and tunable graphene strain sensors for detecting both subtle and large human motions.

    Science.gov (United States)

    Tao, Lu-Qi; Wang, Dan-Yang; Tian, He; Ju, Zhen-Yi; Liu, Ying; Pang, Yu; Chen, Yuan-Quan; Yang, Yi; Ren, Tian-Ling

    2017-06-22

    Conventional strain sensors rarely have both a high gauge factor and a large strain range simultaneously, so they can only be used in specific situations where only a high sensitivity or a large strain range is required. However, for detecting human motions that include both subtle and large motions, these strain sensors can't meet the diverse demands simultaneously. Here, we come up with laser patterned graphene strain sensors with self-adapted and tunable performance for the first time. A series of strain sensors with either an ultrahigh gauge factor or a preferable strain range can be fabricated simultaneously via one-step laser patterning, and are suitable for detecting all human motions. The strain sensors have a GF of up to 457 with a strain range of 35%, or have a strain range of up to 100% with a GF of 268. Most importantly, the performance of the strain sensors can be easily tuned by adjusting the patterns of the graphene, so that the sensors can meet diverse demands in both subtle and large motion situations. The graphene strain sensors show significant potential in applications such as wearable electronics, health monitoring and intelligent robots. Furthermore, the facile, fast and low-cost fabrication method will make them possible and practical to be used for commercial applications in the future.

  8. The effect of human image in B2C website design: an eye-tracking study

    Science.gov (United States)

    Wang, Qiuzhen; Yang, Yi; Wang, Qi; Ma, Qingguo

    2014-09-01

    On B2C shopping websites, effective visual designs can bring about consumers' positive emotional experience. From this perspective, this article developed a research model to explore the impact of human image as a visual element on consumers' online shopping emotions and subsequent attitudes towards websites. This study conducted an eye-tracking experiment to collect both eye movement data and questionnaire data to test the research model. Questionnaire data analysis showed that product pictures combined with human image induced positive emotions among participants, thus promoting their attitudes towards online shopping websites. Specifically, product pictures with human image first produced higher levels of image appeal and perceived social presence, thus stimulating higher levels of enjoyment and subsequent positive attitudes towards the websites. Moreover, a moderating effect of product type was demonstrated on the relationship between the presence of human image and the level of image appeal. Specifically, human image significantly increased the level of image appeal when integrated in entertainment product pictures while this relationship was not significant in terms of utilitarian products. Eye-tracking data analysis further supported these results and provided plausible explanations. The presence of human image significantly increased the pupil size of participants regardless of product types. For entertainment products, participants paid more attention to product pictures integrated with human image whereas for utilitarian products more attention was paid to functional information of products than to product pictures no matter whether or not integrated with human image.

  9. Biomechanical energy harvesting from human motion: theory, state of the art, design guidelines, and future directions.

    Science.gov (United States)

    Riemer, Raziel; Shapiro, Amir

    2011-04-26

    Biomechanical energy harvesting from human motion presents a promising clean alternative to electrical power supplied by batteries for portable electronic devices and for computerized and motorized prosthetics. We present the theory of energy harvesting from the human body and describe the amount of energy that can be harvested from body heat and from motions of various parts of the body during walking, such as heel strike; ankle, knee, hip, shoulder, and elbow joint motion; and center of mass vertical motion. We evaluated major motions performed during walking and identified the amount of work the body expends and the portion of recoverable energy. During walking, there are phases of the motion at the joints where muscles act as brakes and energy is lost to the surroundings. During those phases of motion, the required braking force or torque can be replaced by an electrical generator, allowing energy to be harvested at the cost of only minimal additional effort. The amount of energy that can be harvested was estimated experimentally and from literature data. Recommendations for future directions are made on the basis of our results in combination with a review of state-of-the-art biomechanical energy harvesting devices and energy conversion methods. For a device that uses center of mass motion, the maximum amount of energy that can be harvested is approximately 1 W per kilogram of device weight. For a person weighing 80 kg and walking at approximately 4 km/h, the power generation from the heel strike is approximately 2 W. For a joint-mounted device based on generative braking, the joints generating the most power are the knees (34 W) and the ankles (20 W). Our theoretical calculations align well with current device performance data. Our results suggest that the most energy can be harvested from the lower limb joints, but to do so efficiently, an innovative and light-weight mechanical design is needed. We also compared the option of carrying batteries to the

  10. Analysis of trace uranium in human urine by using the fission track method

    International Nuclear Information System (INIS)

    Chen Huailu; Yang Huazhang; Zhao Dongzhi; Wang Kaixue

    1988-01-01

    In order to know the contents of uranium in human urine, urine samples from 10 healthy persons with different ages and sexes in Lanzhou area were analysed with the fisson track method. The results, in contrast with the contents of uranium in Yellow River water (in Lanzhou section), tap-water and rainwater, indicated that the content of uranium in human urine was lower than that in tap-water. From the ratio of uranium in human urine to that in tap-water, the maximum excreted rate of uranium from urine is evaluated to be 42.2%

  11. Speed and amplitude of lung tumor motion precisely detected in four-dimensional setup and in real-time tumor-tracking radiotherapy

    International Nuclear Information System (INIS)

    Shirato, Hiroki; Suzuki, Keishiro; Sharp, Gregory C.; Fujita, Katsuhisa R.T.; Onimaru, Rikiya; Fujino, Masaharu; Kato, Norio; Osaka, Yasuhiro; Kinoshita, Rumiko; Taguchi, Hiroshi; Onodera, Shunsuke; Miyasaka, Kazuo

    2006-01-01

    Background: To reduce the uncertainty of registration for lung tumors, we have developed a four-dimensional (4D) setup system using a real-time tumor-tracking radiotherapy system. Methods and Materials: During treatment planning and daily setup in the treatment room, the trajectory of the internal fiducial marker was recorded for 1 to 2 min at the rate of 30 times per second by the real-time tumor-tracking radiotherapy system. To maximize gating efficiency, the patient's position on the treatment couch was adjusted using the 4D setup system with fine on-line remote control of the treatment couch. Results: The trajectory of the marker detected in the 4D setup system was well visualized and used for daily setup. Various degrees of interfractional and intrafractional changes in the absolute amplitude and speed of the internal marker were detected. Readjustments were necessary during each treatment session, prompted by baseline shifting of the tumor position. Conclusion: The 4D setup system was shown to be useful for reducing the uncertainty of tumor motion and for increasing the efficiency of gated irradiation. Considering the interfractional and intrafractional changes in speed and amplitude detected in this study, intercepting radiotherapy is the safe and cost-effective method for 4D radiotherapy using real-time tracking technology

  12. Using Fuzzy Gaussian Inference and Genetic Programming to Classify 3D Human Motions

    Science.gov (United States)

    Khoury, Mehdi; Liu, Honghai

    This research introduces and builds on the concept of Fuzzy Gaussian Inference (FGI) (Khoury and Liu in Proceedings of UKCI, 2008 and IEEE Workshop on Robotic Intelligence in Informationally Structured Space (RiiSS 2009), 2009) as a novel way to build Fuzzy Membership Functions that map to hidden Probability Distributions underlying human motions. This method is now combined with a Genetic Programming Fuzzy rule-based system in order to classify boxing moves from natural human Motion Capture data. In this experiment, FGI alone is able to recognise seven different boxing stances simultaneously with an accuracy superior to a GMM-based classifier. Results seem to indicate that adding an evolutionary Fuzzy Inference Engine on top of FGI improves the accuracy of the classifier in a consistent way.

  13. Human tracking in thermal images using adaptive particle filters with online random forest learning

    Science.gov (United States)

    Ko, Byoung Chul; Kwak, Joon-Young; Nam, Jae-Yeal

    2013-11-01

    This paper presents a fast and robust human tracking method to use in a moving long-wave infrared thermal camera under poor illumination with the existence of shadows and cluttered backgrounds. To improve the human tracking performance while minimizing the computation time, this study proposes an online learning of classifiers based on particle filters and combination of a local intensity distribution (LID) with oriented center-symmetric local binary patterns (OCS-LBP). Specifically, we design a real-time random forest (RF), which is the ensemble of decision trees for confidence estimation, and confidences of the RF are converted into a likelihood function of the target state. First, the target model is selected by the user and particles are sampled. Then, RFs are generated using the positive and negative examples with LID and OCS-LBP features by online learning. The learned RF classifiers are used to detect the most likely target position in the subsequent frame in the next stage. Then, the RFs are learned again by means of fast retraining with the tracked object and background appearance in the new frame. The proposed algorithm is successfully applied to various thermal videos as tests and its tracking performance is better than those of other methods.

  14. Adaptive Parameter Estimation of Person Recognition Model in a Stochastic Human Tracking Process

    Science.gov (United States)

    Nakanishi, W.; Fuse, T.; Ishikawa, T.

    2015-05-01

    This paper aims at an estimation of parameters of person recognition models using a sequential Bayesian filtering method. In many human tracking method, any parameters of models used for recognize the same person in successive frames are usually set in advance of human tracking process. In real situation these parameters may change according to situation of observation and difficulty level of human position prediction. Thus in this paper we formulate an adaptive parameter estimation using general state space model. Firstly we explain the way to formulate human tracking in general state space model with their components. Then referring to previous researches, we use Bhattacharyya coefficient to formulate observation model of general state space model, which is corresponding to person recognition model. The observation model in this paper is a function of Bhattacharyya coefficient with one unknown parameter. At last we sequentially estimate this parameter in real dataset with some settings. Results showed that sequential parameter estimation was succeeded and were consistent with observation situations such as occlusions.

  15. Visual motion transforms visual space representations similarly throughout the human visual hierarchy.

    Science.gov (United States)

    Harvey, Ben M; Dumoulin, Serge O

    2016-02-15

    Several studies demonstrate that visual stimulus motion affects neural receptive fields and fMRI response amplitudes. Here we unite results of these two approaches and extend them by examining the effects of visual motion on neural position preferences throughout the hierarchy of human visual field maps. We measured population receptive field (pRF) properties using high-field fMRI (7T), characterizing position preferences simultaneously over large regions of the visual cortex. We measured pRFs properties using sine wave gratings in stationary apertures, moving at various speeds in either the direction of pRF measurement or the orthogonal direction. We find direction- and speed-dependent changes in pRF preferred position and size in all visual field maps examined, including V1, V3A, and the MT+ map TO1. These effects on pRF properties increase up the hierarchy of visual field maps. However, both within and between visual field maps the extent of pRF changes was approximately proportional to pRF size. This suggests that visual motion transforms the representation of visual space similarly throughout the visual hierarchy. Visual motion can also produce an illusory displacement of perceived stimulus position. We demonstrate perceptual displacements using the same stimulus configuration. In contrast to effects on pRF properties, perceptual displacements show only weak effects of motion speed, with far larger speed-independent effects. We describe a model where low-level mechanisms could underlie the observed effects on neural position preferences. We conclude that visual motion induces similar transformations of visuo-spatial representations throughout the visual hierarchy, which may arise through low-level mechanisms. Copyright © 2015 Elsevier Inc. All rights reserved.

  16. Flexible and multi-directional piezoelectric energy harvester for self-powered human motion sensor

    Science.gov (United States)

    Kim, Min-Ook; Pyo, Soonjae; Oh, Yongkeun; Kang, Yunsung; Cho, Kyung-Ho; Choi, Jungwook; Kim, Jongbaeg

    2018-03-01

    A flexible piezoelectric strain energy harvester that is responsive to multi-directional input forces produced by various human motions is proposed. The structure of the harvester, which includes a polydimethylsiloxane (PDMS) bump, facilitates the effective conversion of strain energy, produced by input forces applied in random directions, into electrical energy. The structural design of the PDMS bump and frame as well as the slits in the piezoelectric polyvinylidene fluoride (PVDF) film provide mechanical flexibility and enhance the strain induced in the PVDF film under input forces applied at various angles. The amount and direction of the strain induced in PVDF can be changed by the direction of the applied force; thus, the generated output power can be varied. The measured maximum output peak voltage is 1.75, 1.29, and 0.98 V when an input force of 4 N (2 Hz) is applied at angles of 0°, 45°, and 90°, and the corresponding maximum output power is 0.064, 0.026, and 0.02 μW, respectively. Moreover, the harvester stably generates output voltage over 1.4 × 104 cycles. Thus, the proposed harvester successfully identifies and converts strain energy produced by multi-directional input forces by various human motions into electrical energy. We demonstrate the potential utility of the proposed flexible energy harvester as a self-powered human motion sensor for wireless healthcare systems.

  17. Frequency of gamma oscillations in humans is modulated by velocity of visual motion

    Science.gov (United States)

    Butorina, Anna V.; Sysoeva, Olga V.; Prokofyev, Andrey O.; Nikolaeva, Anastasia Yu.; Stroganova, Tatiana A.

    2015-01-01

    Gamma oscillations are generated in networks of inhibitory fast-spiking (FS) parvalbumin-positive (PV) interneurons and pyramidal cells. In animals, gamma frequency is modulated by the velocity of visual motion; the effect of velocity has not been evaluated in humans. In this work, we have studied velocity-related modulations of gamma frequency in children using MEG/EEG. We also investigated whether such modulations predict the prominence of the “spatial suppression” effect (Tadin D, Lappin JS, Gilroy LA, Blake R. Nature 424: 312-315, 2003) that is thought to depend on cortical center-surround inhibitory mechanisms. MEG/EEG was recorded in 27 normal boys aged 8–15 yr while they watched high-contrast black-and-white annular gratings drifting with velocities of 1.2, 3.6, and 6.0°/s and performed a simple detection task. The spatial suppression effect was assessed in a separate psychophysical experiment. MEG gamma oscillation frequency increased while power decreased with increasing velocity of visual motion. In EEG, the effects were less reliable. The frequencies of the velocity-specific gamma peaks were 64.9, 74.8, and 87.1 Hz for the slow, medium, and fast motions, respectively. The frequency of the gamma response elicited during slow and medium velocity of visual motion decreased with subject age, whereas the range of gamma frequency modulation by velocity increased with age. The frequency modulation range predicted spatial suppression even after controlling for the effect of age. We suggest that the modulation of the MEG gamma frequency by velocity of visual motion reflects excitability of cortical inhibitory circuits and can be used to investigate their normal and pathological development in the human brain. PMID:25925324

  18. Inertial Motion Tracking for Inserting Humans into a Networked Synthetic Environment

    Science.gov (United States)

    2007-08-31

    interference problems of sourced technologies. All delay or latency is due to data processing and transmission. The availability of low -cost, small-size micro...officer? (5e) N Foreign Countries of application ( 5g -2): 5 Eric Bachmann Miami University/NavalPostgraduate School Oxford Oh 45056 5a: 5f-1a: 5f-c...all orientations without singularities and continuously correct for bias and drift errors associated with low cost angular rate sensors without a need

  19. Combination of Accumulated Motion and Color Segmentation for Human Activity Analysis

    Directory of Open Access Journals (Sweden)

    Briassouli Alexia

    2008-01-01

    Full Text Available Abstract The automated analysis of activity in digital multimedia, and especially video, is gaining more and more importance due to the evolution of higher-level video processing systems and the development of relevant applications such as surveillance and sports. This paper presents a novel algorithm for the recognition and classification of human activities, which employs motion and color characteristics in a complementary manner, so as to extract the most information from both sources, and overcome their individual limitations. The proposed method accumulates the flow estimates in a video, and extracts "regions of activity" by processing their higher-order statistics. The shape of these activity areas can be used for the classification of the human activities and events taking place in a video and the subsequent extraction of higher-level semantics. Color segmentation of the active and static areas of each video frame is performed to complement this information. The color layers in the activity and background areas are compared using the earth mover's distance, in order to achieve accurate object segmentation. Thus, unlike much existing work on human activity analysis, the proposed approach is based on general color and motion processing methods, and not on specific models of the human body and its kinematics. The combined use of color and motion information increases the method robustness to illumination variations and measurement noise. Consequently, the proposed approach can lead to higher-level information about human activities, but its applicability is not limited to specific human actions. We present experiments with various real video sequences, from sports and surveillance domains, to demonstrate the effectiveness of our approach.

  20. Combination of Accumulated Motion and Color Segmentation for Human Activity Analysis

    Directory of Open Access Journals (Sweden)

    Ioannis Kompatsiaris

    2008-03-01

    Full Text Available The automated analysis of activity in digital multimedia, and especially video, is gaining more and more importance due to the evolution of higher-level video processing systems and the development of relevant applications such as surveillance and sports. This paper presents a novel algorithm for the recognition and classification of human activities, which employs motion and color characteristics in a complementary manner, so as to extract the most information from both sources, and overcome their individual limitations. The proposed method accumulates the flow estimates in a video, and extracts “regions of activity” by processing their higher-order statistics. The shape of these activity areas can be used for the classification of the human activities and events taking place in a video and the subsequent extraction of higher-level semantics. Color segmentation of the active and static areas of each video frame is performed to complement this information. The color layers in the activity and background areas are compared using the earth mover's distance, in order to achieve accurate object segmentation. Thus, unlike much existing work on human activity analysis, the proposed approach is based on general color and motion processing methods, and not on specific models of the human body and its kinematics. The combined use of color and motion information increases the method robustness to illumination variations and measurement noise. Consequently, the proposed approach can lead to higher-level information about human activities, but its applicability is not limited to specific human actions. We present experiments with various real video sequences, from sports and surveillance domains, to demonstrate the effectiveness of our approach.

  1. Real-time tracking of tumor motions and deformations along the leaf travel direction with the aid of a synchronized dynamic MLC leaf sequencer

    International Nuclear Information System (INIS)

    Tacke, Martin; Nill, Simeon; Oelfke, Uwe

    2007-01-01

    Advanced radiotherapeutical techniques like intensity-modulated radiation therapy (IMRT) are based on an accurate knowledge of the location of the radiation target. An accurate dose delivery, therefore, requires a method to account for the inter- and intrafractional target motion and the target deformation occurring during the course of treatment. A method to compensate in real time for changes in the position and shape of the target is the use of a dynamic multileaf collimator (MLC) technique which can be devised to automatically arrange the treatment field according to real-time image information. So far, various approaches proposed for leaf sequencers have had to rely on a priori known target motion data and have aimed to optimize the overall treatment time. Since for a real-time dose delivery the target motion is not known a priori, the velocity range of the leading leaves is restricted by a safety margin to c x v max while the following leaves can travel with an additional maximum speed to compensate for the respective target movements. Another aspect to be considered is the tongue and groove effect. A uniform radiation field can only be achieved if the leaf movements are synchronized. The method presented in this note is the first to combine a synchronizing sequencer and real-time tracking with a dynamic MLC. The newly developed algorithm is capable of online optimizing the leaf velocities by minimizing the overall treatment time while at the same time it synchronizes the leaf trajectories in order to avoid the tongue and groove effect. The simultaneous synchronization is performed with the help of an online-calculated mid-time leaf trajectory which is common for all leaf pairs and which takes into account the real-time target motion and deformation information. (note)

  2. Real-time tracking of tumor motions and deformations along the leaf travel direction with the aid of a synchronized dynamic MLC leaf sequencer.

    Science.gov (United States)

    Tacke, Martin; Nill, Simeon; Oelfke, Uwe

    2007-11-21

    Advanced radiotherapeutical techniques like intensity-modulated radiation therapy (IMRT) are based on an accurate knowledge of the location of the radiation target. An accurate dose delivery, therefore, requires a method to account for the inter- and intrafractional target motion and the target deformation occurring during the course of treatment. A method to compensate in real time for changes in the position and shape of the target is the use of a dynamic multileaf collimator (MLC) technique which can be devised to automatically arrange the treatment field according to real-time image information. So far, various approaches proposed for leaf sequencers have had to rely on a priori known target motion data and have aimed to optimize the overall treatment time. Since for a real-time dose delivery the target motion is not known a priori, the velocity range of the leading leaves is restricted by a safety margin to c x v(max) while the following leaves can travel with an additional maximum speed to compensate for the respective target movements. Another aspect to be considered is the tongue and groove effect. A uniform radiation field can only be achieved if the leaf movements are synchronized. The method presented in this note is the first to combine a synchronizing sequencer and real-time tracking with a dynamic MLC. The newly developed algorithm is capable of online optimizing the leaf velocities by minimizing the overall treatment time while at the same time it synchronizes the leaf trajectories in order to avoid the tongue and groove effect. The simultaneous synchronization is performed with the help of an online-calculated mid-time leaf trajectory which is common for all leaf pairs and which takes into account the real-time target motion and deformation information.

  3. Vision-Based System for Human Detection and Tracking in Indoor Environment

    OpenAIRE

    Benezeth , Yannick; Emile , Bruno; Laurent , Hélène; Rosenberger , Christophe

    2010-01-01

    International audience; In this paper, we propose a vision-based system for human detection and tracking in indoor environment using a static camera. The proposed method is based on object recognition in still images combined with methods using temporal information from the video. Doing that, we improve the performance of the overall system and reduce the task complexity. We first use background subtraction to limit the search space of the classifier. The segmentation is realized by modeling ...

  4. Compression of Human Motion Animation Using the Reduction of Interjoint Correlation

    Directory of Open Access Journals (Sweden)

    Shiyu Li

    2008-01-01

    Full Text Available We propose two compression methods for the human motion in 3D space, based on the forward and inverse kinematics. In a motion chain, a movement of each joint is represented by a series of vector signals in 3D space. In general, specific types of joints such as end effectors often require higher precision than other general types of joints in, for example, CG animation and robot manipulation. The first method, which combines wavelet transform and forward kinematics, enables users to reconstruct the end effectors more precisely. Moreover, progressive decoding can be realized. The distortion of parent joint coming from quantization affects its child joint in turn and is accumulated to the end effector. To address this problem and to control the movement of the whole body, we propose a prediction method further based on the inverse kinematics. This method achieves efficient compression with a higher compression ratio and higher quality of the motion data. By comparing with some conventional methods, we demonstrate the advantage of ours with typical motions.

  5. Compression of Human Motion Animation Using the Reduction of Interjoint Correlation

    Directory of Open Access Journals (Sweden)

    Li Shiyu

    2008-01-01

    Full Text Available Abstract We propose two compression methods for the human motion in 3D space, based on the forward and inverse kinematics. In a motion chain, a movement of each joint is represented by a series of vector signals in 3D space. In general, specific types of joints such as end effectors often require higher precision than other general types of joints in, for example, CG animation and robot manipulation. The first method, which combines wavelet transform and forward kinematics, enables users to reconstruct the end effectors more precisely. Moreover, progressive decoding can be realized. The distortion of parent joint coming from quantization affects its child joint in turn and is accumulated to the end effector. To address this problem and to control the movement of the whole body, we propose a prediction method further based on the inverse kinematics. This method achieves efficient compression with a higher compression ratio and higher quality of the motion data. By comparing with some conventional methods, we demonstrate the advantage of ours with typical motions.

  6. Neural Integration of Information Specifying Human Structure from Form, Motion, and Depth

    Science.gov (United States)

    Jackson, Stuart; Blake, Randolph

    2010-01-01

    Recent computational models of biological motion perception operate on ambiguous two-dimensional representations of the body (e.g., snapshots, posture templates) and contain no explicit means for disambiguating the three-dimensional orientation of a perceived human figure. Are there neural mechanisms in the visual system that represent a moving human figure’s orientation in three dimensions? To isolate and characterize the neural mechanisms mediating perception of biological motion, we used an adaptation paradigm together with bistable point-light (PL) animations whose perceived direction of heading fluctuates over time. After exposure to a PL walker with a particular stereoscopically defined heading direction, observers experienced a consistent aftereffect: a bistable PL walker, which could be perceived in the adapted orientation or reversed in depth, was perceived predominantly reversed in depth. A phase-scrambled adaptor produced no aftereffect, yet when adapting and test walkers differed in size or appeared on opposite sides of fixation aftereffects did occur. Thus, this heading direction aftereffect cannot be explained by local, disparity-specific motion adaptation, and the properties of scale and position invariance imply higher-level origins of neural adaptation. Nor is disparity essential for producing adaptation: when suspended on top of a stereoscopically defined, rotating globe, a context-disambiguated “globetrotter” was sufficient to bias the bistable walker’s direction, as were full-body adaptors. In sum, these results imply that the neural signals supporting biomotion perception integrate information on the form, motion, and three-dimensional depth orientation of the moving human figure. Models of biomotion perception should incorporate mechanisms to disambiguate depth ambiguities in two-dimensional body representations. PMID:20089892

  7. SU-E-J-150: Impact of Intrafractional Prostate Motion On the Accuracy and Efficiency of Prostate SBRT Delivery: A Retrospective Analysis of Prostate Tracking Log Files

    Energy Technology Data Exchange (ETDEWEB)

    Xiang, H; Hirsch, A; Willins, J; Kachnic, J [Massachusetts General Hospital and Harvard Medical School, Boston, MA (United States); Boston Medical Center and Boston University School of Medicine, Boston, MA (United States); Qureshi, M; Katz, M; Nicholas, B; Keohan, S [Boston Medical Center and Boston University School of Medicine, Boston, MA (United States); De Armas, R [Massachusetts Institute of Technology, Cambridge, MA (United States); Lu, H; Efstathiou, J; Zietman, A [Massachusetts General Hospital and Harvard Medical School, Boston, MA (United States)

    2014-06-01

    Purpose: To measure intrafractional prostate motion by time-based stereotactic x-ray imaging and investigate the impact on the accuracy and efficiency of prostate SBRT delivery. Methods: Prostate tracking log files with 1,892 x-ray image registrations from 18 SBRT fractions for 6 patients were retrospectively analyzed. Patient setup and beam delivery sessions were reviewed to identify extended periods of large prostate motion that caused delays in setup or interruptions in beam delivery. The 6D prostate motions were compared to the clinically used PTV margin of 3–5 mm (3 mm posterior, 5 mm all other directions), a hypothetical PTV margin of 2–3 mm (2 mm posterior, 3 mm all other directions), and the rotation correction limits (roll ±2°, pitch ±5° and yaw ±3°) of CyberKnife to quantify beam delivery accuracy. Results: Significant incidents of treatment start delay and beam delivery interruption were observed, mostly related to large pitch rotations of ≥±5°. Optimal setup time of 5–15 minutes was recorded in 61% of the fractions, and optimal beam delivery time of 30–40 minutes in 67% of the fractions. At a default imaging interval of 15 seconds, the percentage of prostate motion beyond PTV margin of 3–5 mm varied among patients, with a mean at 12.8% (range 0.0%–31.1%); and the percentage beyond PTV margin of 2–3 mm was at a mean of 36.0% (range 3.3%–83.1%). These timely detected offsets were all corrected real-time by the robotic manipulator or by operator intervention at the time of treatment interruptions. Conclusion: The durations of patient setup and beam delivery were directly affected by the occurrence of large prostate motion. Frequent imaging of down to 15 second interval is necessary for certain patients. Techniques for reducing prostate motion, such as using endorectal balloon, can be considered to assure consistently higher accuracy and efficiency of prostate SBRT delivery.

  8. SU-E-J-150: Impact of Intrafractional Prostate Motion On the Accuracy and Efficiency of Prostate SBRT Delivery: A Retrospective Analysis of Prostate Tracking Log Files

    International Nuclear Information System (INIS)

    Xiang, H; Hirsch, A; Willins, J; Kachnic, J; Qureshi, M; Katz, M; Nicholas, B; Keohan, S; De Armas, R; Lu, H; Efstathiou, J; Zietman, A

    2014-01-01

    Purpose: To measure intrafractional prostate motion by time-based stereotactic x-ray imaging and investigate the impact on the accuracy and efficiency of prostate SBRT delivery. Methods: Prostate tracking log files with 1,892 x-ray image registrations from 18 SBRT fractions for 6 patients were retrospectively analyzed. Patient setup and beam delivery sessions were reviewed to identify extended periods of large prostate motion that caused delays in setup or interruptions in beam delivery. The 6D prostate motions were compared to the clinically used PTV margin of 3–5 mm (3 mm posterior, 5 mm all other directions), a hypothetical PTV margin of 2–3 mm (2 mm posterior, 3 mm all other directions), and the rotation correction limits (roll ±2°, pitch ±5° and yaw ±3°) of CyberKnife to quantify beam delivery accuracy. Results: Significant incidents of treatment start delay and beam delivery interruption were observed, mostly related to large pitch rotations of ≥±5°. Optimal setup time of 5–15 minutes was recorded in 61% of the fractions, and optimal beam delivery time of 30–40 minutes in 67% of the fractions. At a default imaging interval of 15 seconds, the percentage of prostate motion beyond PTV margin of 3–5 mm varied among patients, with a mean at 12.8% (range 0.0%–31.1%); and the percentage beyond PTV margin of 2–3 mm was at a mean of 36.0% (range 3.3%–83.1%). These timely detected offsets were all corrected real-time by the robotic manipulator or by operator intervention at the time of treatment interruptions. Conclusion: The durations of patient setup and beam delivery were directly affected by the occurrence of large prostate motion. Frequent imaging of down to 15 second interval is necessary for certain patients. Techniques for reducing prostate motion, such as using endorectal balloon, can be considered to assure consistently higher accuracy and efficiency of prostate SBRT delivery

  9. Recognizing human actions by learning and matching shape-motion prototype trees.

    Science.gov (United States)

    Jiang, Zhuolin; Lin, Zhe; Davis, Larry S

    2012-03-01

    A shape-motion prototype-based approach is introduced for action recognition. The approach represents an action as a sequence of prototypes for efficient and flexible action matching in long video sequences. During training, an action prototype tree is learned in a joint shape and motion space via hierarchical K-means clustering and each training sequence is represented as a labeled prototype sequence; then a look-up table of prototype-to-prototype distances is generated. During testing, based on a joint probability model of the actor location and action prototype, the actor is tracked while a frame-to-prototype correspondence is established by maximizing the joint probability, which is efficiently performed by searching the learned prototype tree; then actions are recognized using dynamic prototype sequence matching. Distance measures used for sequence matching are rapidly obtained by look-up table indexing, which is an order of magnitude faster than brute-force computation of frame-to-frame distances. Our approach enables robust action matching in challenging situations (such as moving cameras, dynamic backgrounds) and allows automatic alignment of action sequences. Experimental results demonstrate that our approach achieves recognition rates of 92.86 percent on a large gesture data set (with dynamic backgrounds), 100 percent on the Weizmann action data set, 95.77 percent on the KTH action data set, 88 percent on the UCF sports data set, and 87.27 percent on the CMU action data set.

  10. Manifolds for pose tracking from monocular video

    Science.gov (United States)

    Basu, Saurav; Poulin, Joshua; Acton, Scott T.

    2015-03-01

    We formulate a simple human-pose tracking theory from monocular video based on the fundamental relationship between changes in pose and image motion