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Biomedical subjects

S Schaal

Publications and source records attributed to S Schaal.

At least 19 recordsLinked to original sources
PubMed2001

Origins and violations of the 2/3 power law in rhythmic three-dimensional arm movements.

The 2/3 power law, the nonlinear relationship between tangential velocity and radius of curvature of the end-effector trajectory, is thought to be a fundamental constraint of the central nervous system in the formation of rhythmic endpoint trajectories. However, studies on the 2/3 power law have been confined largely to planar drawing patterns of relatively small size. With the hypothesis that this strategy overlooks nonlinear effects that are constitutive in movement generation, the present experiments tested the validity of the power law in elliptical patterns that were not confined to a planar surface and which were performed by the unconstrained 7-degrees of freedom (DOF) arm, with significant variations in pattern size and workspace orientation. Data were recorded from five human subjects where the seven joint angles and the endpoint trajectories were analyzed. Additionally, an anthropomorphic 7-DOF robot arm served as a "control subject" whose endpoint trajectories were generated on the basis of the human joint angle data, modeled as simple harmonic oscillations. Analyses of the endpoint trajectories demonstrate that the power law is systematically violated with increasing pattern size, in both exponent and the goodness of fit. The origins of these violations can be explained analytically based on smooth, rhythmic trajectory formation and the kinematic structure of the human arm. We conclude that, in unconstrained rhythmic movements, the power law seems to be a by-product of a movement system that favors smooth trajectories, and that it is unlikely to serve as a primary movement-generating principle. Our data rather suggest that subjects employed smooth oscillatory pattern generators in joint space to realize the required movement patterns.

Adult↗
PubMed2001

Biomimetic gaze stabilization based on feedback-error-learning with nonparametric regression networks.

Oculomotor control in a humanoid robot faces similar problems as biological oculomotor systems, i.e. the stabilization of gaze in face of unknown perturbations of the body, selective attention, stereo vision, and dealing with large information processing delays. Given the nonlinearities of the geometry of binocular vision as well as the possible nonlinearities of the oculomotor plant, it is desirable to accomplish accurate control of these behaviors through learning approaches. This paper develops a learning control system for the phylogenetically oldest behaviors of oculomotor control, the stabilization reflexes of gaze. In a step-wise procedure, we demonstrate how control theoretic reasonable choices of control components result in an oculomotor control system that resembles the known functional anatomy of the primate oculomotor system. The core of the learning system is derived from the biologically inspired principle of feedback-error learning combined with a state-of-the-art non-parametric statistical learning network. With this circuitry, we demonstrate that our humanoid robot is able to acquire high performance visual stabilization reflexes after about 40 s of learning despite significant nonlinearities and processing delays in the system.

Biofeedback, Psychology↗
PubMed2001

Graph matching vs mutual information maximization for object detection.

Labeled Graph Matching (LGM) has been shown successful in numerous object vision tasks. This method is the basis for arguably the best face recognition system in the world. We present an algorithm for visual pattern recognition that is an extension of LGM ('LGM+'). We compare the performance of LGM and LGM+ algorithms with a state of the art statistical method based on Mutual Information Maximization (MIM). We present an adaptation of the MIM method for multi-dimensional Gabor wavelet features. The three pattern recognition methods were evaluated on an object detection task, using a set of stimuli on which none of the methods had been tested previously. The results indicate that while the performance of the MIM method operating upon Gabor wavelets is superior to the same method operating on pixels and to LGM, it is surpassed by LGM+. LGM+ offers a significant improvement in performance over LGM without losing LGM' s virtues of simplicity, biological plausibility, and a computational cost that is 2-3 orders of magnitude lower than that of the MIM algorithm.

Algorithms↗
PubMed2000

Dynamics of a bouncing ball in human performance.

On the basis of a modified bouncing-ball model, we investigated whether human movements utilize principles of dynamic stability in their performance of a similar movement task. Stability analyses of the model provided predictions about conditions indicative of a dynamically stable period-one regime. In a series of experiments, human subjects bounced a ball rhythmically on a racket and displayed these conditions supporting that they attuned to and exploited the dynamic stability properties of the task.

Algorithms↗
PubMed1999

Segmentation of endpoint trajectories does not imply segmented control.

While it is generally assumed that complex movements consist of a sequence of simpler units, the quest to define these units of action, or movement primitives, remains an open question. In this context, two hypotheses of movement segmentation of endpoint trajectories in three-dimensional human drawing movements are reexamined: (1) the stroke-based segmentation hypothesis based on the results that the proportionality coefficient of the two-thirds power law changes discontinuously with each new "stroke," and (2) the segmentation hypothesis inferred from the observation of piecewise planar endpoint trajectories of three-dimensional drawing movements. In two experiments human subjects performed a set of elliptical and figure eight patterns of different sizes and orientations using their whole arm in three dimensions. The kinematic characteristics of the endpoint trajectories and the seven joint angles of the arm were analyzed. While the endpoint trajectories produced similar segmentation features to those reported in the literature, analyses of the joint angles show no obvious segmentation but rather continuous oscillatory patterns. By approximating the joint angle data of human subjects with sinusoidal trajectories, and by implementing this model on a 7-degree-of-freedom (DOF) anthropomorphic robot arm, it is shown that such a continuous movement strategy can produce exactly the same features as observed by the above segmentation hypotheses. The origin of this apparent segmentation of endpoint trajectories is traced back to the nonlinear transformations of the forward kinematics of human arms. The presented results demonstrate that principles of discrete movement generation may not be reconciled with those of rhythmic movement as easily as has been previously suggested, while the generalization of nonlinear pattern generators to arm movements can offer an interesting alternative to approach the question of units of action.

Adult↗
PubMed1999

Is imitation learning the route to humanoid robots?

This review investigates two recent developments in artificial intelligence and neural computation: learning from imitation and the development of humanoid robots. It is postulated that the study of imitation learning offers a promising route to gain new insights into mechanisms of perceptual motor control that could ultimately lead to the creation of autonomous humanoid robots. Imitation learning focuses on three important issues: efficient motor learning, the connection between action and perception, and modular motor control in the form of movement primitives. It is reviewed here how research on representations of, and functional connections between, action and perception have contributed to our understanding of motor acts of other beings. The recent discovery that some areas in the primate brain are active during both movement perception and execution has provided a hypothetical neural basis of imitation. Computational approaches to imitation learning are also described, initially from the perspective of traditional AI and robotics, but also from the perspective of neural network models and statistical-learning research. Parallels and differences between biological and computational approaches to imitation are highlighted and an overview of current projects that actually employ imitation learning for humanoid robots is given.

Journal Article↗
PubMed1998

Constructive incremental learning from only local information

We introduce a constructive, incremental learning system for regression problems that models data by means of spatially localized linear models. In contrast to other approaches, the size and shape of the receptive field of each locally linear model, as well as the parameters of the locally linear model itself, are learned independently, that is, without the need for competition or any other kind of communication. Independent learning is accomplished by incrementally minimizing a weighted local cross-validation error. As a result, we obtain a learning system that can allocate resources as needed while dealing with the bias-variance dilemma in a principled way. The spatial localization of the linear models increases robustness toward negative interference. Our learning system can be interpreted as a nonparametric adaptive bandwidth smoother, as a mixture of experts where the experts are trained in isolation, and as a learning system that profits from combining independent expert knowledge on the same problem. This article illustrates the potential learning capabilities of purely local learning and offers an interesting and powerful approach to learning with receptive fields.

Journal Article↗
PubMed1997

Constitution and solution conformation of the antibiotic mersacidin determined by NMR and molecular dynamics.

The solution structure of the tetracyclic lantibiotic mersacidin in methanol (CD3OH) has been determined by NMR followed by distance bound driven dynamics and subsequent restrained molecular dynamics simulations combined with an iterative relaxation matrix approach and alternatively by a simulated annealing protocol. The molecular dynamics simulations were performed with the AMBER program system and with the INSIGHT program package. The distance bound driven dynamics calculation was conducted using a modified version of the DISGEO II program. The interproton distance restraints were derived from jump symmetrized rotating-frame Overhauser enhancement and exchange (JS-ROESY) spectra, which yield optimum sensitivity for medium-sized molecules like mersacidin. The connectivities via the sulfide bridges were unambiguously confirmed by heteronuclear NMR techniques (heteronuclear single quantum coherence and heteronuclear multiple bond correlation methods). Due to the tetracyclic structure, mersacidin exhibits a rather rigid globular shape, which neither belongs to the duramycin nor to the nisin structure type lantibiotics. The resulting structures for the simulated annealing protocol of restrained and subsequent free molecular dynamics were compared and found to be very similar.

Amino Acid Sequence↗
PubMed1996

Immunodeficiency in protein kinase cbeta-deficient mice.

Cross-linking of the antigen receptor on lymphocytes by antigens or antibodies to the receptor results in activation of enzymes of the protein kinase C (PKC) family. Mice homozygous for a targeted disruption of the gene encoding the PKC-betaI and PKC-betaII isoforms develop an immunodeficiency characterized by impaired humoral immune responses and reduced cellular responses of B cells, which is similar to X-linked immunodeficiency in mice. Thus PKC-betaI and PKC-betaII play an important role in B cell activation and may be functionally linked to Bruton's tyrosine kinase in antigen receptor-mediated signal transduction.

Agammaglobulinaemia Tyrosine Kinase↗
PubMed1996

A prematurely expressed Ig(kappa) transgene, but not V(kappa)J(kappa) gene segment targeted into the Ig(kappa) locus, can rescue B cell development in lambda5-deficient mice.

We generated surrogate light chain (SLC)-deficient mice carrying either a V(kappa)J(kappa)-C(kappa) transgene under the control of the kappa promoter and intron enhancer or a V(kappa)J(kappa) gene segment targeted into its physiological position. Efficient rescue of B cell development was seen in the former and partial rescue in the latter. This difference corresponded to a developmentally earlier onset of kappa chain expression from the conventional than from the targeted transgene. Thus, a kappa chain can substitute for SLC in development. However, mechanisms controlling gene expression in addition to gene rearrangements appear to restrict kappa chain expression largely to a cellular compartment into which mu chain-expressing B cell progenitors are selected with the help of the SLC.

Animals↗
PubMed1995

Caffeine attenuates CNS oxygen toxicity in rats.

We tested the effect of caffeine, on hyperoxia-induced seizures. Thirty-seven rats with chronic cortical electrodes were injected i.p. with caffeine (1.25, 2.5, and 10 mg/kg) or vehicle before exposure to 0.5 MPa oxygen and 17 rats to oxygen with 5% CO2 at 0.5 MPa. EEG monitoring and spectral analysis of EEG activity were carried out. Caffeine significantly prolonged the latent period to the onset of seizures (P < 0.05 in ANOVA), in a dose-related manner. Our results suggest that caffeine may be used in low doses for protection against hyperoxia-induced seizures.

Animals↗
PubMed1995

Defective antigen receptor-mediated proliferation of B and T cells in the absence of Vav.

Crosslinking of B- or T-cell antigen receptors results in the rapid tyrosine phosphorylation of a number of proteins, including Vav, a protein expressed in cells of the haematopoietic system. Vav contains an array of structural motifs that include Src-homology domains SH2/SH3 and regions of homology to the guanine-nucleotide-exchange protein Dbl, pleckstrin and protein kinase C (refs 5-9). Using the RAG-complementation approach, we have analysed in vivo differentiation and in vitro responses of B- and T-lineage cells generated by injection of embryonic stem cells homozygous for a null mutation in the vav gene into blastocysts of RAG-1- or RAG-2-deficient mice. Here we report that antigen receptor-mediated proliferative responses of B and T cells in vitro are severely reduced in the absence of Vav. We also suggest a direct link between the low proliferative response of Vav-deficient B and T cells and the reduced number of these cells in peripheral lymphoid organs of chimaeric mice.

Animals↗
PubMed1993

Immunoglobulin heavy and light chain genes rearrange independently at early stages of B cell development.

The compartment of mouse B cell progenitors can be resolved into five developmentally related fractions by multicolor flow cytometry. Using this system and employing mutant mice in which the membrane exon of the mu chain, the lambda 5 gene, or the JH locus was inactivated by gene targeting, we found that expression of the pre-B cell receptor complex is necessary for the transition from the large CD43+ to the small CD43- pre-B cell stage. We report the occurrence of immunoglobulin heavy and light chain gene rearrangement at the stage of large B cell precursors. We show that neither the pre-B cell receptor complex nor any gene rearrangement in the heavy chain locus is required for the induction of kappa light chain gene rearrangement in early B cell progenitors.

Animals↗
PubMed1993

Intestinal T lymphocytes in the chicken express an integrin-like antigen.

We report the characterization of a molecule recognized on chicken T cells by the murine A19 monoclonal antibody that was generated by immunization with intestinal intraepithelial lymphocytes. Immunofluorescence analysis indicated that both alpha beta and gamma delta T cell subpopulations in the intestine express the A19 antigen, but natural killer cells and B cells do not. The A19-marked T cells were preferentially localized in the intestinal epithelium and less frequently in the underlying lamina propria. T cells appearing in the intestine during embryonic life were A19 negative but acquired the antigen within the first few days after hatching. Although rarely found on cells in non-intestinal tissues at any age, very late expression of the A19 antigen could be induced by concanavalin A stimulation of splenic and circulating T cells. Transforming growth factor beta 1 enhanced this induction of A19 expression. The A19 molecules expressed by intestinal T cells and activated splenic T cells were biochemically identical, consisting of a multi-molecular complex of proteins with approximate M(r) of 205, 145 and 75 kDa under nonreducing conditions and 120, 90 and 28 kDa under reducing conditions. The characteristics of this multimolecular complex and its differential expression suggest that the A19 antigen is a member of the integrin family which may function in the retention of intestinal lymphocytes.

Animals↗
PubMed1992

A critical role of lambda 5 protein in B cell development.

The lambda 5 gene is a homolog of immunoglobulin J lambda-C lambda genes, expressed specifically in immature B-lineage cells. Lambda 5-encoded molecules form membrane complexes with mu or D mu proteins in association with an additional protein specifically expressed in immature B cells that is encoded by the Vpre-B gene. We have generated mice in which the lambda 5 gene is inactivated by targeted gene disruption in embryonic stem cells. In these mice, B cell development in the bone marrow is blocked at the pre-B cell stage. However, the blockade is leaky, allowing B cells to populate the peripheral immune system at a low rate. These cells are allelically excluded and able to respond to antigen.

Animals↗
PubMed1992

Surgical treatment of persistent elbow epicondylitis.

From 1978 through 1987, 86 patients with epicondylitis were admitted for surgery after failed conservative treatment. The Wilhelm technique was performed either alone or in combination with an intraarticular procedure. The Wilhelm technique involves denervation of the epicondyle. The intraarticular procedure described by Bosworth or Boyd involves a one-third resection of the orbicular ligament and resection of a synovial fold. Before surgery a local anesthetic was injected at the sore spot of the epicondyle. After almost complete pain relief after injection, a sole Wilhelm procedure was performed at the lateral epicondyle in 34 patients and at the medial epicondyle in 17 patients. For 27 patients in whom the pain persisted after the injection, a combined Wilhelm and intraarticular procedure using the Bosworth or Boyd method was used. Degeneration of the orbicular ligament or a redundant synovial fold was reported in 77% of the intraarticular operation reports. At a follow-up examination, a minimum of two years and an average of four years nine months after surgery, 85% had good and excellent results after lateral and medial Wilhelm and 56% after combined surgeries while the poor results were 3% and 7% respectively. The results of combined surgery worsened from discharge to follow-up examination, and they show fewer good results than those where a sole Wilhelm procedure was performed. Therefore, intraarticular surgery should be considered for patients with incomplete pain relief after a test injection, but it should not routinely be performed.

Adult↗