The timing and amplitude of the muscular activity of the arms preceding impact in a forward fall is modulated with fall velocity.

Protective arm reactions have been shown to be an important injury avoidance mechanism in unavoidable falls. Protective arm reactions have been shown to be modulated with fall height, however it is not clear if they are modulated with impact velocity. The aim of this study was to determine if protective arm reactions are modulated in response to a forward fall with an initially unpredictable impact velocity. Forward falls were evoked via sudden release of a standing pendulum support frame with adjustable counterweight to control fall acceleration and impact velocity. Thirteen younger adults (1 female) participated in this study. Counterweight load explained more than 89% of the variation of impact velocity. Angular velocity at impact decreased (p < 0.001), drop duration increased from 601 ms to 816 ms (p < 0.001), and the maximum vertical ground reaction force decreased from 64%BW to 46%BW (p < 0.001) between the small and large counterweight. Elbow angle at impact (129 degrees extension), triceps (119 ms) and biceps (98 ms) pre-impact time, and co-activation (57%) were not significantly affected by counterweight load (p-values > 0.08). Average triceps and biceps EMG amplitude decreased from 0.26 V/V to 0.19 V/V (p = 0.004) and 0.24 V/V to 0.11 V/V (p = 0.002) with increasing counterweight respectively. Protective arm reactions were modulated with fall velocity by reducing EMG amplitude with decreasing impact velocity. This demonstrates a neuromotor control strategy for managing evolving fall conditions. Future work is needed to further understand how the CNS deals with additional unpredictability (e.g., fall direction, perturbation magnitude, etc.) when deploying protective arm reactions.

Kinetics influence of multibody kinematics optimisation for soft tissue artefact compensation.

Soft tissue artefact (STA) remains a major source of error in human movement analysis. The multibody kinematics optimisation (MKO) approach is widely stated as a solution to reduce the effects of STA. This study aimed at assessing the influence of the MKO STA-compensation on the errors of estimation of the knee intersegment moments. Experimental data were issued from the CAMS-Knee dataset where six participants with instrumented total knee arthroplasty performed five activities of daily living: gait, downhill walking, stair descent, squat, and sit-to-stand. Kinematics was measured both on the basis of skin markers and a mobile mono-plane fluoroscope, used to obtain the STA-free bone movement. For four different lower limb models and one corresponding to a single-body kinematics optimization (SKO), knee intersegmental moments (estimated using model-derived kinematics and ground reaction force) were compared with an estimate based on the fluoroscope. Considering all participants and activities, mean root mean square differences were the largest along the adduction/abduction axis: of 3.22Nm with a SKO approach, 3.49Nm with the three-DoF knee model, and 7.66Nm, 8.52Nm, and 8.54Nm with the one-DoF knee models. Results showed that adding joint kinematics constraints can increase the estimation errors of the intersegmental moment. These errors came directly from the errors in the estimation of the position of the knee joint centre induced by the constraints. When using a MKO approach, we recommend to analyse carefully joint centre position estimates that do not remain close to the one obtained with a SKO approach.

Effect of initial foot angle (IFA) on kinematics and dynamics of body during sit-to-stand transfer.

Sit-to-stand (STS) is considered the most common functional activities in daily life and the basis for other activities. The elderly and patients with lower limb disorders could not complete the STS motion very well due to limb pain and muscle weakness. Physiotherapist find that specific STS transfer strategies can make patients more easily to complete this task. However, few researchers pay attention to the effect of initial foot angle (IFA) on STS motion. Twenty-six healthy subjects were randomly selected to perform STS transfer experiment. The motion characteristic parameters of subjects under 4 different IFAs (nature, 0°, 15°, and 30°) were obtained, including the percentage of duration in each phase, the velocity of joints, rotation angle and angular velocity of joints (shoulder, hip and knee), center of gravity (COG) trajectory. the change of plantar pressure parameters, and dynamic margin of stability. By comparing the motion characteristic parameters obtained under different IFAs and carrying out statistical analysis, the influence of different IFAs on body kinematics and dynamics during STS task was further explored. The kinematic parameters obtained under different IFAs are significantly different. The percentage of duration in each phase of the STS transfer was different with different IFA, the main differences were in phase I and phase II. The phase I of U15 took 24.5% T, while phase I of N, U0 and U30 took about 20% T, and the maximum difference was (U15-U0) 5.4%. The phase II of U15 took the least time, about 30.8% T. When the IFA is nature (N) and 15°(U15), the trajectories of COG are basically in coincidence; when the IFA is 0°(U0) and 30°(U30), the displacement of COG in anterior-posterior direction is larger. The larger the IFA, the smaller the plantar pressure parameter. When the IFA is 15°, the COG is close to the center of limits of stability, which can provide a better stability. This paper summarizes the influence under 4 different experimental conditions of IFAs on STS transfer, so as to provide a starting point and bases for clinicians to develop rehabilitation training protocols and STS motion strategies for patient.

A complete biomechanical model of Hydra contractile behaviors, from neural drive to muscle to movement.

How does neural activity drive muscles to produce behavior? The recent development of genetic lines in Hydra that allow complete calcium imaging of both neuronal and muscle activity, as well as systematic machine learning quantification of behaviors, makes this small cnidarian an ideal model system to understand and model the complete transformation from neural firing to body movements. To achieve this, we have built a neuromechanical model of Hydra's fluid-filled hydrostatic skeleton, showing how drive by neuronal activity activates distinct patterns of muscle activity and body column biomechanics. Our model is based on experimental measurements of neuronal and muscle activity and assumes gap junctional coupling among muscle cells and calcium-dependent force generation by muscles. With these assumptions, we can robustly reproduce a basic set of Hydra's behaviors. We can further explain puzzling experimental observations, including the dual timescale kinetics observed in muscle activation and the engagement of ectodermal and endodermal muscles in different behaviors. This work delineates the spatiotemporal control space of Hydra movement and can serve as a template for future efforts to systematically decipher the transformations in the neural basis of behavior.

SE-TCN network for continuous estimation of upper limb joint angles.

The maturity of human-computer interaction technology has made it possible to use surface electromyographic signals (sEMG) to control exoskeleton robots and intelligent prostheses. However, the available upper limb rehabilitation robots controlled by sEMG have the shortcoming of inflexible joints. This paper proposes a method based on a temporal convolutional network (TCN) to predict upper limb joint angles by sEMG. The raw TCN depth was expanded to extract the temporal features and save the original information. The timing sequence characteristics of the muscle blocks that dominate the upper limb movement are not apparent, leading to low accuracy of the joint angle estimation. Therefore, this study squeeze-and-excitation networks (SE-Net) to improve the network model of the TCN. Finally, seven movements of the human upper limb were selected for ten human subjects, recording elbow angle (EA), shoulder vertical angle (SVA), and shoulder horizontal angle (SHA) values during their movements. The designed experiment compared the proposed SE-TCN model with the backpropagation (BP) and long short-term memory (LSTM) networks. The proposed SE-TCN systematically outperformed the BP network and LSTM model by the mean RMSE values: by 25.0 and 36.8% for EA, by 38.6 and 43.6% for SHA, and by 45.6 and 49.5% for SVA, respectively. Consequently, its R2 values exceeded those of BP and LSTM by 13.6 and 39.20% for EA, 19.01 and 31.72% for SHA, and 29.22 and 31.89% for SVA, respectively. This indicates that the proposed SE-TCN model has good accuracy and can be used to estimate the angles of upper limb rehabilitation robots in the future.

Editorial Commentary: The Trillat Procedure May Be (Rarely) Indicated Instead of Shoulder Latarjet for Recurrent Instability, Irreparable Cuff Tear, No Pain, Preserved Active Motion, and No Critical Glenoid Bone Loss.

The Latarjet shoulder bone block procedure for recurrent instability has largely replaced the Trillat procedure. Both procedures stabilize the shoulder by a dynamic "sling effect." Latarjet increases the anterior glenoid width or "jumping distance," whereas the Trillat prevents the humeral head anterosuperior migration. The Latarjet violates the subscapularis (albeit to a minimal degree), whereas the Trillat procedure only lowers the subscapularis. One clear indication for the Trillat procedure is recurrent shoulder dislocation associated with functioning irreparable cuff tear in patients with no pain and absence of critical glenoid bone loss. Indications matter.

Both whole-body rotation and visual flow induce cardiovascular autonomic response in human, but visual response is overridden by vestibular stimulation.

While the influence of the vestibular and extra-vestibular gravity signals on the cardiovascular system has been demonstrated, there is little evidence that visual stimuli can trigger cardiovascular responses. Furthermore, there is no evidence of interaction between visual and vestibular signals in autonomic control, as would be expected since they are highly integrated. The present study explored the cardiovascular responses to vestibular and visual stimuli in normal subjects. We hypothesized that the visual stimuli would modify the cardiovascular response to vestibular stimulation, especially when the latter is ambiguous with respect to gravity. Off-Vertical-Axis-Rotation (OVAR) was used to stimulate vestibular and extra-vestibular receptors of gravity in 36 healthy young adults while virtual reality was used for visual stimulation. Arterial pressure (AP), respiratory rate and ECG were measured. The analysis accounted for the respiratory modulation of AP and heart rate (HR). Vestibular stimulation by OVAR was shown to modulate both mean arterial pressure (MAP) and HR, while the visual stimulation was significantly affecting HR modulation, but not MAP. Moreover, the specific visual effect was present only when the subjects were not in rotation. Therefore, visual stimulation is able to modulate the heart rate, but is overridden by vestibular stimulation due to real movement.

Effect of different aging treatments on the transport of nano-biochar in saturated porous media.

Widely used for soil amendment, carbon sequestration, and remediation of contaminated soils, biochars (BCs) inevitably produce a large number of nanoparticles with relatively high mobility. Geochemical aging alters chemical structure of these nanoparticles and thus affect their colloidal aggregation and transport behavior. In this study, the transport of ramie derived nano-BCs (after ball-milling) was investigated by different aging treatments (i.e., photo (PBC) and chemical aging (NBC)) as well as the managing BC under different physicochemical factors (i.e., flow rates, ionic strengths (IS), pH, and coexisting cations). Consequences of the column experiments indicated aging promoted the mobility of the nano-BCs. Compared to the nonaging BC, consequences of spectroscopic analysis demonstrated the aging BCs exhibited a number of tiny corrosion pores. Both of these aging treatments contribute to a more negative zeta potential and a higher dispersion stability of the nano-BCs, which is caused by the abundance of O-functional groups. Also the specific surface area and mesoporous volume of both aging BCs increased significantly, with the increase being more pronounced for NBC. The breakthrough curves (BTCs) obtained for the three nano-BCs were modelled by the advection-dispersion equation (ADE), which included first-order deposition and release terms. The ADE revealed high mobility of aging BCs, which meant their retention in saturated porous media was reduced. This work contributes to a comprehensive understanding of the transport of aging nano-BCs in the environment.

Probing the link between cortical inhibitory and excitatory processes and muscle fascicle dynamics.

During movements, neural signals are translated into muscle fibre shortening, lengthening or they remain isometric. This study investigated cortical excitatory and inhibitory processes in relation to muscle fascicle dynamics during fixed-end rapid contractions. Fourteen adults performed submaximal and maximal ankle dorsiflexions. Single and paired pulse transcranial magnetic stimulation over the cortical representation projecting to the tibialis anterior (TA) was applied during rest, the activation and deactivation phase of contractions to test for short- (SICI) and long-interval intracortical inhibition (LICI) and intracortical facilitation (ICF). Ultrasound images were taken to measure muscle fascicle dynamics of the superficial (TASF) and deep (TADP) TA compartments. The results show significantly greater maximal shortening velocities (p = 0.003, d = 0.26, CI [4.89, 18.52]) and greater maximal fascicle shortening (p = 0.003, d = 0.86, CI [0.29, 3.13]) in TASF than TADP during submaximal dorsiflexions. Significantly lower SICI levels during activation compared to deactivation (p = 0.019, d = 1.12, CI [19.82, 1.76]) and at rest (p < 0.0001) were observed. ICF was significantly greater during activation (p = 0.03) than during rest while LICI did not modulate significantly. Maximal TASF but not TADP shortening velocity correlated with SICI levels at activation (p = 0.06) and with the rate of torque development (p = 0.02). The results suggest that SICI might be related to muscle fascicle behavior and that intracortical inhibition and excitation are phase-dependently modulated.

In-field assessment of change-of-direction ability with a single wearable sensor.

The Agility T-test is a standardized method to measure the change-of-direction (COD) ability of athletes in the field. It is traditionally scored based on the total completion time, which does not provide information on the different CODs. Augmenting the T-test with wearable sensors provides the opportunity to explore new metrics. Towards this, data of 23 professional soccer players were recorded with a trunk-worn GNSS-IMU (Global Navigation Satellite System-Inertial Measurement Unit) device. A method for detecting the four CODs based on the wavelet-denoised antero-posterior acceleration signal was developed and validated using video data (60 Hz). Following this, completion time was estimated using GNSS ground speed and validated with the photocell data. The proposed method yields an error (mean ± standard deviation) of 0 ± 66 ms for the COD detection, - 0.16 ± 0.22 s for completion time, and a relative error for each COD duration and each sequential movement durations of less than 3.5 ± 16% and 7 ± 7%, respectively. The presented algorithm can highlight the asymmetric performance between the phases and CODs in the right and left direction. By providing a more comprehensive analysis in the field, this work can enable coaches to develop more personalized training and rehabilitation programs.

Primary somatosensory cortex sensitivity may increase upon completion of a motor task.

OBJECTIVES: The electroencephalogram and magnetic field primary somatosensory cortex (S1)-derived components are attenuated before and during motor tasks compared to the resting state, a phenomenon called gating; however, the S1 response after a motor task has not been well studied. We aimed to investigate sensory information processing immediately after motor tasks using magnetoencephalography. MATERIALS AND METHODS: We investigated sensory information processing immediately after finger movement using magnetoencephalography in 14 healthy adults. Volunteers performed a simple reaction task where they were required to press a button when they received a cue. In parallel, electrical stimulation to the right index finger was applied at regular intervals to detect the magnetic brain field changes. The end of the motor task timing was defined using the event-related synchronization (ERS) appearance latency in the brain magnetic field's beta band around the primary motor cortex. The ERS appearance latency and the sensory stimuli timing applied every 500 ms were synchronized over the experimental system timeline. We examined whether there was a difference in the S1 somatosensory evoked field responses between the ERS emergence and ERS disappearance phase, focusing on the N20m-P35m peak-to-peak amplitude (N20m-P35m amplitude) value. A control experiment was also conducted in which only sensory stimulation was applied with no motor task. RESULTS: The N20m-P35m mean amplitude value was significantly higher in the ERS emergence phase (15.81 nAm; standard deviation [SD], 6.54 nAm) than in the ERS disappearance phase (13.54 nAm; SD, 5.12 nAm) (p < 0.05) and the control (12.08 nAm, SD 5.61 nAm) (p = 0.013). No statistically significant differences were identified between the ERS disappearance phase and the control (p = 0.281). CONCLUSIONS: The S1 sensitivity may increase rapidly after exiting from the gating influence in S1 (after completing a motor task).

Increased Effective Connectivity of the Left Parietal Lobe During Walking Tasks in Parkinson's Disease.

BACKGROUND: In Parkinson's disease (PD), walking may depend on the activation of the cerebral cortex. Understanding the patterns of interaction between cortical regions during walking tasks is of great importance. OBJECTIVE: This study investigated differences in the effective connectivity (EC) of the cerebral cortex during walking tasks in individuals with PD and healthy controls. METHODS: We evaluated 30 individuals with PD (62.4±7.2 years) and 22 age-matched healthy controls (61.0±6.4 years). A mobile functional near-infrared spectroscopy (fNIRS) was used to record cerebral oxygenation signals in the left prefrontal cortex (LPFC), right prefrontal cortex (RPFC), left parietal lobe (LPL), and right parietal lobe (RPL) and analyze the EC of the cerebral cortex. A wireless movement monitor was used to measure the gait parameters. RESULTS: Individuals with PD demonstrated a primary coupling direction from LPL to LPFC during walking tasks, whereas healthy controls did not demonstrate any main coupling direction. Compared with healthy controls, individuals with PD showed statistically significantly increased EC coupling strength from LPL to LPFC, from LPL to RPFC, and from LPL to RPL. Individuals with PD showed decreased gait speed and stride length and increased variability in speed and stride length. The EC coupling strength from LPL to RPFC negatively correlated with speed and positively correlated with speed variability in individuals with PD. CONCLUSION: In individuals with PD, the left prefrontal cortex may be regulated by the left parietal lobe during walking. This may be the result of functional compensation in the left parietal lobe.

Learning vs. minding: How subjective costs can mask motor learning.

When learning new movements some people make larger kinematic errors than others, interpreted as a reduction in motor-learning ability. Consider a learning task where error-cancelling strategies incur higher effort costs, specifically where subjects reach to targets in a force field. Concluding that those with greater error have learned less has a critical assumption: everyone uses the same error-canceling strategy. Alternatively, it could be that those with greater error may be choosing to sacrifice error reduction in favor of a lower effort movement. Here, we test this hypothesis in a dataset that includes both younger and older adults, where older adults exhibited greater kinematic errors. Utilizing the framework of optimal control theory, we infer subjective costs (i.e., strategies) and internal model accuracy (i.e., proportion of the novel dynamics learned) by fitting a model to each population's trajectory data. Our results demonstrate trajectories are defined by a combination of the amount learned and strategic differences represented by relative cost weights. Based on the model fits, younger adults could have learned between 65-90% of the novel dynamics. Critically, older adults could have learned between 60-85%. Each model fit produces trajectories that match the experimentally observed data, where a lower proportion learned in the model is compensated for by increasing costs on kinematic errors relative to effort. This suggests older and younger adults could be learning to the same extent, but older adults have a higher relative cost on effort compared to younger adults. These results call into question the proposition that older adults learn less than younger adults and provide a potential explanation for the equivocal findings in the literature. Importantly, our findings suggest that the metrics commonly used to probe motor learning paint an incomplete picture, and that to accurately quantify the learning process the subjective costs of movements should be considered.

Induced leg length inequality affects pelvis orientation during upright standing immediately following a sit-to-stand transfer: a pre-post measurement study.

BACKGROUND: Leg length inequality (LLI) greater than 20 mm has been associated with low back pain (LBP) and its correction is clinically recommended. Much less is known about the biomechanical effects that LLI below 15 mm has on pelvis orientation. METHODS: Twenty-two adult participants (8 female) aged between 18 and 30 years without LBP were enrolled in the study and completed a series of sit-to-stand trials with no heel-lift (0 mm baseline) and heel-lifts of varying heights (5, 9 and 12 mm) placed in their right shoe. Three-dimensional kinematic data were obtained from the lower extremities, pelvis and thorax. Additional kinematic data were obtained from the left and right sides of the pelvis. The global orientation of the whole pelvis and relative orientation between the left and right sides of the pelvis were obtained in upright standing immediately upon completion of the sit-to-stand movement. Repeated measures ANOVAs were used to detect differences in sample means across the different levels of heel-lift (0, 5, 9, and 12 mm). The tests for within-subject effects determined overall significant differences between the means at the different levels of heel-lift induced LLI. Partial Eta-Squared was used to express the size for the main effect of heel-lift height. For each level of heel-lift, the estimated marginal mean and 95% confidence interval (95%CI) values of pelvis angles were illustrated graphically. RESULTS: Left frontal plane rotation of the pelvis increased (p = 0.001), that is, the left side of the pelvis was lower than the right side of the pelvis, and anterior tilt of the pelvis decreased (p = 0.020) with a heel-lift height (applied on the right) as low as 5 mm. A significant main effect of heel-lift was only observed for the norm of rotations about all three axes for relative-pelvis orientation (p = 0.034). Post-hoc analyses did not reveal any statistically significant differences between the heel-lifts and the 0 mm baseline (p≥0.072). CONCLUSION: These findings suggest that correcting leg length inequality below the recommended threshold of 20 mm may influence pelvic orientation. Future work can investigate the effects of the altered orientations on spine loading and the clinical effects of corrections to minor leg length inequality.

Collective motions of fish originate from balanced local perceptual interactions and individual stochastics.

The movement of a group of biological individuals, such as fish schools, can evolve from disordered motions to synergistic movements or even ordered patterns. However, the physical origins behind such emergent phenomena of complex systems remain elusive. Here, we established a high-precision protocol for studying the collective behavior of biological groups in quasi-two-dimensional systems. Based on our video recording of ∼600h of fish movements, we extracted a force map of the interactions between fish from their trajectories using the convolution neural network. Presumably, this force implies the fish's perception of the surrounding individuals, the environment, and their response to social information. Interestingly, the fish in our experiments were predominantly in a seemingly disordered swarm state, but their local interactions were clearly specific. Combining such local interactions with the inherent stochasticity of the fish movements, we reproduced the collective motions of the fish through simulations. We demonstrated that a delicate balance between the specific local force and the intrinsic stochasticity is essential for ordered movements. This study presents implications for self-organized systems that use basic physical characterization to produce higher-level sophistication.

The promise and peril of interactive embodied agents for studying non-verbal communication: a machine learning perspective.

In face-to-face interactions, parties rapidly react and adapt to each other's words, movements and expressions. Any science of face-to-face interaction must develop approaches to hypothesize and rigorously test mechanisms that explain such interdependent behaviour. Yet conventional experimental designs often sacrifice interactivity to establish experimental control. Interactive virtual and robotic agents have been offered as a way to study true interactivity while enforcing a measure of experimental control by allowing participants to interact with realistic but carefully controlled partners. But as researchers increasingly turn to machine learning to add realism to such agents, they may unintentionally distort the very interactivity they seek to illuminate, particularly when investigating the role of non-verbal signals such as emotion or active-listening behaviours. Here I discuss some of the methodological challenges that may arise when machine learning is used to model the behaviour of interaction partners. By articulating and explicitly considering these commitments, researchers can transform 'unintentional distortions' into valuable methodological tools that yield new insights and better contextualize existing experimental findings that rely on learning technology. This article is part of a discussion meeting issue 'Face2face: advancing the science of social interaction'.

Comparison of the effects of different rapid maxillary expansion techniques on craniofacial structures: a finite element analysis study.

AIM: To compare the effects of three different maxillary expansion appliances with five different types of expansion modalities on stress distribution and displacement on the maxilla and its adjacent craniofacial structures using the finite element method (FEM). MATERIALS AND METHODS: Cone-beam computed tomography data of a patient with maxillary transverse deficiency were rendered into a three-dimensional model of craniomaxillary structures. The expansion appliances included tooth-borne, hybrid, and bone-borne expanders. Five different expansion modalities were applied to each expander [conventional Rapid Maxillary Expansion (RME) (type 1), midpalatal suture cortico-puncture-assisted RME (type 2), LeFort l cortico-puncture-assisted RME (type 3), surgically assisted RME (SARME) without pterygomaxillary junction (PMJ) separation (type 4), and SARME with bilateral PMJ separation (type 5)]. The numerical and visual data were analyzed. RESULTS: The highest amount of stress accumulation on teeth was found in the tooth-borne and hybrid groups. On the other hand, more stress concentration on the maxilla was observed in the bone-borne group. SARME cuts with PMJ separation increased total movement by reducing the stress on the midpalatal suture in all groups. While types 1, 2, and 3 were similar in terms of the amounts of displacement, types 4 and 5 increased the total amount of displacement in all groups. The total amounts of displacements from the highest value to the lowest value for the anterior and posterior maxilla were in the bone-borne, tooth-borne, and hybrid groups. CONCLUSIONS: SARME cuts were effective in reducing stress on the teeth, but the cortico-puncture application affected neither the stress values on the teeth nor the transverse displacement in the tooth-borne expanders. Surgical procedures such as SARME and corticotomy should be used with bone-borne devices to improve the outcomes of maxillary expansion procedures.

Wearable Sensors for the Monitoring of Maternal Health-A Systematic Review.

Maternal health includes health during pregnancy and childbirth. Each stage during pregnancy should be a positive experience, ensuring that women and their babies reach their full potential in health and well-being. However, this cannot always be achieved. According to UNFPA (United Nations Population Fund), approximately 800 women die every day from avoidable causes related to pregnancy and childbirth, so it is important to monitor mother and fetal health throughout the pregnancy. Many wearable sensors and devices have been developed to monitor both fetal and the mother's health and physical activities and reduce risk during pregnancy. Some wearables monitor fetal ECG or heart rate and movement, while others focus on the mother's health and physical activities. This study presents a systematic review of these analyses. Twelve scientific articles were reviewed to address three research questions oriented to (1) sensors and method of data acquisition; (2) processing methods of the acquired data; and (3) detection of the activities or movements of the fetus or the mother. Based on these findings, we discuss how sensors can help effectively monitor maternal and fetal health during pregnancy. We have observed that most of the wearable sensors were used in a controlled environment. These sensors need more testing in free-living conditions and to be employed for continuous monitoring before being recommended for mass implementation.