The Simons Observatory: Cryogenic half wave plate rotation mechanism for the small aperture telescopes.

We present the requirements, design, and evaluation of the cryogenic continuously rotating half-wave plate (CHWP) for the Simons Observatory (SO). SO is a cosmic microwave background polarization experiment at Parque Astronómico de Atacama in northern Chile that covers a wide range of angular scales using both small (⌀0.42 m) and large (⌀6 m) aperture telescopes. In particular, the small aperture telescopes (SATs) focus on large angular scales for primordial B-mode polarization. To this end, the SATs employ a CHWP to modulate the polarization of the incident light at 8 Hz, suppressing atmospheric 1/f noise and mitigating systematic uncertainties that would otherwise arise due to the differential response of detectors sensitive to orthogonal polarizations. The CHWP consists of a 505 mm diameter achromatic sapphire HWP and a cryogenic rotation mechanism, both of which are cooled down to ∼50 K to reduce detector thermal loading. Under normal operation, the HWP is suspended by a superconducting magnetic bearing and rotates with a constant 2 Hz frequency, controlled by an electromagnetic synchronous motor. We find that the number of superconductors and the number of magnets that make up the superconducting magnetic bearing are important design parameters, especially for the rotation mechanism's vibration performance. The rotation angle is detected through an angular encoder with a noise level of 0.07 µrad s. During a cooldown process, the rotor is held in place by a grip-and-release mechanism that serves as both an alignment device and a thermal path. In this paper, we provide an overview of the SO SAT CHWP: its requirements, hardware design, and laboratory performance.

Clusterization of multi-channel electromyograms into muscle-specific activations to drive a subject-specific musculoskeletal model: towards fast and accurate clinical decision-making.

Current clinical decision-making is based on rapid and subjective functional tests such as 10 m walking. Moreover, greater accuracy can be achieved at the expense of rapidity and costs. In biomechanical laboratories, advanced technologies and musculoskeletal modeling can quantitatively describe the biomechanical reasons underlying gait disorders. Our work aims to blend clinical rapidity and biomechanical accuracy through multi-channel (MC) electromyography (EMG) clustering and real-time neuro-musculoskeletal (NMS) modeling techniques integrated into a sensorized wearable garment that is quick to set up. Here we present a unique pipeline that goes from MC EMG signals to ankle torque estimation following two steps: (1) non-negative matrix factorization (NNMF)-based EMG clustering for the extraction of muscle-specific activations and (2) subject-specific EMG-driven NMS modeling. The results show the potential of NNMF as an electrode clustering tool, as well as the ability to predict joint torque during movements that were not used for the EMG clustering.

A medium throughput device to study the effects of combinations of surface strains and fluid-flow shear stresses on cells.

We report a medium throughput device to study the effects of combinations of two mechanical stimuli - surface strains and fluid flow shear stresses, on cells. The first generation prototype can screen combinations of five strain and five shear stress levels. Computational modeling and empirical measurements were used to determine the generated strains and flows. Uniform equibiaxial strains up to 20% and shear stresses up to 0.3 Pa can be generated. Compatibility of the device with cell culture and end point fixation, staining and imaging is shown using C2C12 mouse myoblast cells.

Speed-dependent reference joint trajectory generation for robotic gait support.

For the control of actuated orthoses, or gait rehabilitation robotics, kinematic reference trajectories are often required. These trajectories, consisting of joint angles, angular velocities and accelerations, are highly dependent on walking-speed. We present and evaluate a novel method to reconstruct body-height and speed-dependent joint trajectories. First, we collected gait kinematics in fifteen healthy (middle) aged subjects (47-68), at a wide range of walking-speeds (0.5-5 kph). For each joint trajectory multiple key-events were selected (among which its extremes). Second, we derived regression-models that predict the timing, angle, angular velocity and acceleration for each key-event, based on walking-speed and the subject׳s body-height. Finally, quintic splines were fitted between the predicted key-events to reconstruct a full gait cycle. Regression-models were obtained for hip ab-/adduction, hip flexion/extension, knee flexion/extension and ankle plantar-/dorsiflexion. Results showed that the majority of the key-events were dependent on walking-speed, both in terms of timing and amplitude, whereas the body-height had less effect. The reconstructed trajectories matched the measured trajectories very well, in terms of angle, angular velocity and acceleration. For the angles the RMSE between the reconstructed and measured trajectories was 2.6°. The mean correlation coefficient between the reconstructed and measured angular trajectories was 0.91. The method and the data presented in this paper can be used to generate speed-dependent gait patterns. These patterns can be used for the control of several robotic gait applications. Alternatively they can assist the assessment of pathological gait, where they can serve as a reference for "normal" gait.

Lateral balance control for robotic gait training.

For the rehabilitation of neurological patients robot-aided gait training is increasingly being used. Lack of balance training in these robotic gait trainers might contribute to the fact that they do not live up to the expectations. Therefore, in this study we developed and evaluated an algorithm to support lateral balance during walking, through controlling pelvis motions. This algorithm assists the pelvis, according to a natural pelvic sway pattern, rather than attracting it to the middle of the treadmill. The support algorithm was tested on six healthy young subjects who walked on a treadmill, while different support gains were introduced. Using a higher support gain resulted in a closer approximation of the pelvic sway towards the reference pattern. Step width and step width variability reduced when the external stabilization was provided, and the stability margin increased. This indicates that artificial stabilization reduces the need for active lateral balance control. The presented algorithm to support lateral balance provides a way to assist balance in a more physiological way, compared to attracting the subject to the centre of the treadmill. Here the user is attracted/assisted towards a more natural weight shift pattern. This also facilitates a more natural input of the load receptors, which are largely involved in the regulation of muscle activation patterns and the transitions between the different gait phases.

Improving the transparency of a rehabilitation robot by exploiting the cyclic behaviour of walking.

To promote active participation of neurological patients during robotic gait training, controllers, such as "assist as needed" or "cooperative control", are suggested. Apart from providing support, these controllers also require that the robot should be capable of resembling natural, unsupported, walking. This means that they should have a transparent mode, where the interaction forces between the human and the robot are minimal. Traditional feedback-control algorithms do not exploit the cyclic nature of walking to improve the transparency of the robot. The purpose of this study was to improve the transparent mode of robotic devices, by developing two controllers that use the rhythmic behavior of gait. Both controllers use adaptive frequency oscillators and kernel-based non-linear filters. Kernelbased non-linear filters can be used to estimate signals and their time derivatives, as a function of the gait phase. The first controller learns the motor angle, associated with a certain joint angle pattern, and acts as a feed-forward controller to improve the torque tracking (including the zero-torque mode). The second controller learns the state of the mechanical system and compensates for the dynamical effects (e.g. the acceleration of robot masses). Both controllers have been tested separately and in combination on a small subject population. Using the feedforward controller resulted in an improved torque tracking of at least 52 percent at the hip joint, and 61 percent at the knee joint. When both controllers were active simultaneously, the interaction power between the robot and the human leg was reduced by at least 40 percent at the thigh, and 43 percent at the shank. These results indicate that: if a robotic task is cyclic, the torque tracking and transparency can be improved by exploiting the predictions of adaptive frequency oscillator and kernel-based nonlinear filters.

Locomotor adaptation and retention to gradual and sudden dynamic perturbations.

Motor learning principles are increasingly used in robotic rehabilitation. These principles are mainly derived from reaching studies and it is currently unknown whether the same principles apply in locomotion. The aim of this study was to determine the effect of a gradually and suddenly introduced dynamic perturbation on locomotor adaptation and on recalling the adaptation when being re-exposed to the same perturbation. Subjects walked on a treadmill and adapted to a viscous force field that was applied during the swing phase. In one group the strength of the force field was gradually increased over different steps whereas in a second group it was introduced suddenly at full strength. The gradual group showed less adaptation and a faster decay of the adaptation during the washout than the sudden group. Strikingly, when both groups were being re-exposed to the perturbation at full strength, the gradual group showed no adaptation whereas the sudden group showed a faster occurring adaptation than during the first exposure. In conclusion, in contrast to the reported beneficial effects of a gradual introduction of a perturbation on adaptation in reaching, it seems to have a detrimental effect on locomotor adaptation. These results indicate that caution should be taken when applying motor learning principles solely derived from reaching studies to improve robotic gait rehabilitation.

Rendering potential wearable robot designs with the LOPES gait trainer.

In recent years, wearable robots (WRs) for rehabilitation, personal assistance, or human augmentation are gaining increasing interest. To make these devices more energy efficient, radical changes to the mechanical structure of the device are being considered. However, it remains very difficult to predict how people will respond to, and interact with, WRs that differ in terms of mechanical design. Users may adjust their gait pattern in response to the mechanical restrictions or properties of the device. The goal of this pilot study is to show the feasibility of rendering the mechanical properties of different potential WR designs using the robotic gait training device LOPES. This paper describes a new method that selectively cancels the dynamics of LOPES itself and adds the dynamics of the rendered WR using two parallel inverse models. Adaptive frequency oscillators were used to get estimates of the joint position, velocity, and acceleration. Using the inverse models, different WR designs can be evaluated, eliminating the need to build several prototypes. As a proof of principle, we simulated the effect of a very simple WR that consisted of a mass attached to the ankles. Preliminary results show that we are partially able to cancel the dynamics of LOPES. Additionally, the simulation of the mass showed an increase in muscle activity but not in the same level as during the control, where subjects actually carried the mass. In conclusion, the results in this paper suggest that LOPES can be used to render different WRs. In addition, it is very likely that the results can be further optimized when more effort is put in retrieving proper estimations for the velocity and acceleration, which are required for the inverse models.

In vivo measurement of human knee and hip dynamics using MIMO system identification.

This study presents a new method for the estimation of the dynamic impedance of multi-joint leg movements. The method is based on Multi Input Multi Output (MIMO) system identification techniques and is designed for continuous torque perturbations at the hip and knee joint. Preliminary results from this study indicate that MIMO system identification can successfully be used to estimate the hip and knee impedance and the interaction dynamics between both joints. It is also concluded that, in order to create a good model representation of the leg impedance, the effect of biarticular muscles needs to be taken into account. The obtained measures for joint impedance might be used for clinical assessment and follow up of patients, as well as for the development of supportive devices.

Soft artificial tactile sensors for the measurement of human-robot interaction in the rehabilitation of the lower limb.

A new and alternative method to measure the interaction force between the user and a lower-limb gait rehabilitation exoskeleton is presented. Instead of using a load cell to measure the resulting interaction force, we propose a distributed measure of the normal interaction pressure over the whole contact area between the user and the machine. To obtain this measurement, a soft silicone tactile sensor is inserted between the limb and commonly used connection cuffs. The advantage of this approach is that it allows for a distributed measure of the interaction pressure, which could be useful for rehabilitation therapy assessment purposes, or for control. Moreover, the proposed solution does not change the comfort of the interaction; can be applied to connection cuffs of different shapes and sizes; and can be manufactured at a low cost. Preliminary results during gait assistance tasks show that this approach can precisely detect changes in the pressure distribution during a gait cycle.

Apparatus and method for achieving reproducible measurements of diauxic lag length and anoxic net maximum specific growth rate.

An apparatus for continuous growth of pure bacterial cultures under oxic conditions followed by a switch to anoxic batch conditions was designed. The application of this apparatus gave variability of measured parameters (diauxic lag length, anoxic net maximum specific growth rate) which were significantly lower than the variability of previously reported data. The improvement is attributed to more consistent nitrate reductase levels as a result of achieving steady state under oxic condition prior to switching to anoxic batch conditions.

Near-infrared spectroscopy in the routine diagnostic work-up of patients with leg ischaemia.

OBJECTIVE: To examine the reproducibility and clinical applicability of near-infrared spectroscopy (NIRS) in patients with leg ischaemia. DESIGN: Prospective comparative diagnostic study. MATERIALS AND METHODS: Routinely measured peripheral blood pressure and microcirculatory parameters were compared with tissue oxygen saturation (TsO(2)) measurements using a new NIRS device on the calf muscle and the foot. Healthy subjects (n=20) and patients in different stages of leg ischaemia (n=45) were investigated at rest and after provocation: a treadmill test, arterial occlusion and a change in posture. Healthy volunteers were used as an age-matched reference population. RESULTS: Reproducibility of the NIRS was excellent (intraclass correlation coefficient at rest was 0.91 (95% confidence interval: 80-99). Resting TsO(2) (65%) in healthy controls did not differ significantly from that in patients (Fontaine 2: 66%; F3/4: 68%). After exercise, a significant reduction in TsO(2) was observed only in patients: Fontaine 1: 60%; Fontaine 2: 21%, Fontaine 3/4: 29%. The ankle/brachial index after exercise showed a good correlation (R=0.73) with TsO(2) at the end of the treadmill test. No correlation between NIRS and other micro- or macrocirculatory parameters was found. CONCLUSION: NIRS is a very reproducible tool to assess tissue oxygen saturation, but is not useful for the routine work-up of patients with leg ischaemia.

Effect of temperature and dissolved oxygen on biological nitrification at high ammonia concentrations.

Effect of temperature and dissolved oxygen concentration on nitrification rate were investigated with enrichment cultures of nitrifying bacteria. Values of specific nitrite oxidation rate in the absence of ammonia were 2.9-12 times higher than maximum specific ammonia oxidation rates at the same temperatures. The presence of high ammonia levels reversed this relationship, causing maximum specific nitrite oxidation rates to fall to 19 to 45% as high as maximum specific ammonia oxidation rates. This result suggests that nitrification at high ammonia levels will invariably result in nitrite accumulation. The K(O2) for nitrite oxidation in the presence of high ammonia levels was higher than the K(O2) for ammonia oxidation when temperature exceeded 18 degrees C, whereas the opposite was true at lower temperatures. These results indicate that low oxygen tensions will exacerbate nitrite accumulation when water temperature is high.

Significance of denitrifying enzyme dynamics in biological nitrogen removal processes: a simulation study.

Activated Sludge Model No. 1 (ASM1) was extended to include the enzyme kinetics of denitrifying bacteria switching between oxygen and nitrate as electron acceptors. The extended ASM1 (eASM1) model was applied to two different periodic process configurations, fed-batch and Biodenipho, commonly used for nitrogen removal from wastewater. Predictions of optimal unaerated volume fraction (UVF) by eASM1 were similar to those by ASM1 for both the fed-batch and Biodenipho processes. However, eASM1 predicted substantially longer optimal cycle lengths than ASM1 for both processes. Predictions of optimal UVF and cycle length for the Biodenipho process by eASM1 were closer to current operational values for the University of Florida Biodenipho process than predictions by ASM1.

Effects of toxicants on nitrifying biomass in flocs vs. carriers.

Effects of chemical toxicants on nitrifying bacteria in flocs and porous carriers were compared. Mean inhibitory concentrations (IC50s) of toxicants were invariably higher in carrier suspensions than floc suspensions. The greatest differences were seen with cyanide, nickel and copper, whereas small differences were observed for the organic toxicants Methomyl and thiourea. Decreasing the size of the carriers lessened their protective effect. The results suggest that carriers would be advantageous for nitrification systems subjected to short-term inputs of heavy metals or cyanide but not helpful for systems subjected to transient inputs of organic chemicals.

Removal of nitrogen and phosphate from wastewater by addition of bittern.

Removal of nitrogen and phosphate through crystallization of struvite (MgNH(4)PO(4).6H(2)O) has gained increasing interest. Since wastewaters tend to be low in magnesium relative to ammonia and phosphates, addition of this mineral is usually required to effect the struvite crystallization process. The present study evaluated the feasibility of using bittern, a byproduct of salt manufacture, as a low-cost source of magnesium ions. High reaction rates were observed; the extent of nitrogen and phosphorus removals did not change beyond 10 min. Phosphorus removals from pure solutions with bittern added were equivalent to those obtained with MgCl(2) or seawater. Nitrogen removals with bittern were somewhat lower than with the alternate Mg(2+) sources, however. Application of bittern to biologically treated wastewater from a swine farm achieved high phosphate removal, but ammonia removals were limited by imbalance in the nitrogen:phosphorus ratio.

Extramuscular myofascial force transmission: experiments and finite element modeling.

The specific purpose of the present study was to show that extramuscular myofascial force transmission exclusively has substantial effects on muscular mechanics. Muscle forces exerted at proximal and distal tendons of the rat extensor digitorium longus (EDL) were measured simultaneously, in two conditions (1) with intact extramuscular connections (2) after dissecting the muscles' extramuscular connections to a maximum extent without endangering circulation and innervation (as in most in situ muscle experiments). A finite element model of EDL including the muscles' extramuscular connections was used to assess the effects of extramuscular myofascial force transmission on muscular mechanics, primarily to test if such effects lead to distribution of length of sarcomeres within muscle fibers. In condition (1), EDL isometric forces measured at the distal and proximal tendons were significantly different (F(dist) > F(prox), DeltaF approximates maximally 40% of the proximal force). The model results show that extramuscular myofascial force transmission causes distributions of strain in the fiber direction (shortening in the proximal, lengthening in the distal ends of fibers) at higher lengths. This indicates significant length distributions of sarcomeres arranged in series within muscle fibers. Stress distributions found are in agreement with the higher distal force measured, meaning that the muscle fiber is no longer the unit exerting equal forces at both ends. Experimental results obtained in condition (2) showed no significant changes in the length-force characteristics (i.e., proximo-distal force differences were maintained). This shows that a muscle in situ has to be distinguished from a muscle that is truly isolated in which case the force difference has to be zero. We conclude that extramuscular myofascial force transmission has major effects on muscle functioning.

Effect of nitrate exposure history on the oxygen/nitrate diauxic growth of Pseudomonas denitrificans.

Pseudomonas denitrificans pre-cultured (revived from agar plates) under varying conditions (nitrate absent or present; dissolved oxygen absent or present) was subsequently grown aerobically with or without nitrate present, and finally exposed to anoxic conditions (i.e., aeration stopped and dissolved oxygen stripped from solution). The occurrence and length of diauxic lags following transition from aerobic to anoxic conditions were affected strongly by the nitrate and oxygen exposure history of the biomass.

An adaptive model of sensory integration in a dynamic environment applied to human stance control.

An adaptive estimator model of human spatial orientation is presented. The adaptive model dynamically weights sensory error signals. More specific, the model weights the difference between expected and actual sensory signals as a function of environmental conditions. The model does not require any changes in model parameters. Differences with existing models of spatial orientation are that: (1) environmental conditions are not specified but estimated, (2) the sensor noise characteristics are the only parameters supplied by the model designer, (3) history-dependent effects and mental resources can be modelled, and (4) vestibular thresholds are not included in the model; instead vestibular-related threshold effects are predicted by the model. The model was applied to human stance control and evaluated with results of a visually induced sway experiment. From these experiments it is known that the amplitude of visually induced sway reaches a saturation level as the stimulus level increases. This saturation level is higher when the support base is sway referenced. For subjects experiencing vestibular loss, these saturation effects do not occur. Unknown sensory noise characteristics were found by matching model predictions with these experimental results. Using only five model parameters, far more than five data points were successfully predicted. Model predictions showed that both the saturation levels are vestibular related since removal of the vestibular organs in the model removed the saturation effects, as was also shown in the e xperiments. It seems that the nature of these vestibular-related threshold effects is not physical, since in the model no threshold is included. The model results suggest that vestibular-related thresholds are the result of the processing of noisy sensory and motor output signals. Model analysis suggests that, especially for slow and small movements, the environment postural orientation can not be estimated optimally, which causes sensory illusions. The model also confirms the experimental finding that postural orientation is history dependent and can be shaped by instruction or mental knowledge. In addition the model predicts that: (1) vestibular-loss patients cannot handle sensory conflicting situations and will fall down, (2) during sinusoidal support-base translations vestibular function is needed to prevent falling, (3) loss of somatosensory information from the feet results in larger postural sway for sinusoidal support-base translations, and (4) loss of vestibular function results in falling for large support-base rotations with the eyes closed. These predictions are in agreement with experimental results.

A multisensory integration model of human stance control.

A model is presented to study and quantify the contribution of all available sensory information to human standing based on optimal estimation theory. In the model, delayed sensory information is integrated in such a way that a best estimate of body orientation is obtained. The model approach agrees with the present theory of the goal of human balance control. The model is not based on purely inverted pendulum body dynamics, but rather on a three-link segment model of a standing human on a movable support base. In addition, the model is non-linear and explicitly addresses the problem of multisensory integration and neural time delays. A predictive element is included in the controller to compensate for time delays, necessary to maintain erect body orientation. Model results of sensory perturbations on total body sway closely resemble experimental results. Despite internal and external perturbations, the controller is able to stabilise the model of an inherently unstable standing human with neural time delays of 100 ms. It is concluded, that the model is capable of studying and quantifying multisensory integration in human stance control. We aim to apply the model in (1) the design and development of prostheses and orthoses and (2) the diagnosis of neurological balance disorders.