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BCIT Citations Collection

Developing safe fall strategies for lower limb exoskeletons
Proceedings of the 2017 International Conference on Rehabilitation Robotics (ICORR) QEII Centre, London, UK, July 17-20, 2017. One of the main challenges in the use of a powered lower limb exoskeleton (LLE) is to ensure that balance is maintained throughout the operation of the device. Since no control strategy has yet been implemented that prevents falls in the case of a loss of balance, head or other serious injuries may occur during independent use of LLEs in the event of a fall. These safety concerns limit LLEs in the community to supervised use only. Using the backward fall as a model, we used optimization techniques to develop safe fall control strategies in order to avoid head impact and mitigate the impact velocity of the hips. From available human biomechanics data, we first developed an optimization methodology to study falls of healthy people. The results showed similar kinematic and dynamic characteristics to findings of previous studies on real-life human falls. Second, we extended the optimization methodology to include characteristics of a hypothetical LLE and to generate optimal joint trajectories and optimal torque profiles for the fall duration. The results revealed that by applying the optimal fall strategy, the severity of a simulated fall was minimized compared to when the device fell with locked joints (i.e., how currently used exoskeletons fall): head impact was avoided and hip impact velocity was reduced by more than 50%., Conference paper, Published.
Gene expression noise in embryonic spatial patterning
Proceedings of 2011 21st International Conference on Noise and Fluctuations in Toronto, ON, Canada on 12-16 June 2011. Fruit flies serve as a model for understanding the genetic regulation involved in specifying the complex body plans of higher animals. The head-to-tail (anterior-posterior) axis of the fly (Drosophila) is established in the first hours of development. Maternally supplied factors form concentration gradients which direct embryonic (zygotic) genes where to be activated to express proteins. These protein patterns specify the positions and cell types of the body's tissues. Recent research has shown, comparing between embryos, that the zygotic gene products are much more precisely positioned than the maternal gradients, indicating an embryonic error reduction mechanism. Within embryos, there is the additional aspect that DNA and mRNA operate at very low copy number, and the associated high relative noise has the potential to strongly affect protein expression patterns. In recent work, we have focused on the noise aspects of positional specification within individual embryos. We simulate activation of hunchback (hb), a primary target of the maternal Bicoid (Bcd) protein gradient, which forms an expression pattern dividing the embryo into anterior and posterior halves. We use a master equation approach to simulate the stochastic dynamics of hb regulation, using the known details of the hb promoter, the region of DNA responsible for transcribing hb mRNA. This includes the binding/unbinding of Bcd molecules at the promoter, hb transcription, subsequent translation to Hb protein, binding/unbinding of Hb at the promoter (self-regulation), and diffusion of the Bcd and Hb proteins. Model parameters were set by deterministically matching large scale pattern features for a series of experimental expression patterns: wild-type (WT) embryos; hb mutants lacking self-regulation; and constructs in which portions of the hb promoter were used to express a reporter gene (lacZ). The model was then solved stochastically to predict the noise output in these different experiments. In subsequent noise measurements we experimentally corroborated a number of the predictions. These include that mRNA is noisier than protein, and that Hb self-regulation reduces noise. Results indicate that WT (self-regulatory) Hb output noise is predominantly dependent on the transcription and translation dynamics of its own expression, and is uncorrelated with Bcd fluctuations. This contradicts prior work, which had assumed a complete dependence of Hb fluctuations on Bcd fluctuations. In the constructs and mutant, which lack self-regulation, we find that increasing the number and strength of Bcd binding sites (there are 6 in the core hb promoter) provides a rudimentary level of noise reduction. The model is robust to the various Bcd binding site numbers seen across different fly species. New directions in the project include incorporating a known inhibitor of hb, Krüppel, into the model to study its effect on the noise dynamics. Our study has identified particular ways in which hb output noise is controlled. Since these involve common modes of gene regulation (e.g. multiple regulatory sites, self-regulation), these results contribute to the general understanding of the reproducibility and determinacy of spatial patterning in early development., Conference paper, Published.
Quantifying the effects of on-the-fly changes of seating configuration on the stability of a manual wheelchair
Proceedings of the 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), in Seogwipo, South Korea, 11-15 July 2017. In general, manual wheelchairs are designed with a fixed frame, which is not optimal for every situation. Adjustable on the fly seating allow users to rapidly adapt their wheelchair configuration to suit different tasks. These changes move the center of gravity (CoG) of the system, altering the wheelchair stability and maneuverability. To assess these changes, a computer simulation of a manual wheelchair was created with adjustable seat, backrest, rear axle position and user position, and validated with experimental testing. The stability of the wheelchair was most affected by the position of the rear axle, but adjustments to the backrest and seat angles also result in stability improvements that could be used when wheeling in the community. These findings describe the most influential parameters for wheelchair stability and maneuverability, as well as provide quantitative guidelines for the use of manual wheelchairs with on the fly adjustable seats., Conference paper, Published.
Stochastic dynamics of gene expression in developing fly embryos
Proceedings of 2017 International Conference on Noise and Fluctuations (ICNF), Vilnius, Lithuania on 20-23 June 2017. Segmentation of the developing insect body is preceded by cell-specific gene expression. In fruit flies (Drosophila), pair-rule genes are expressed in spatial stripes specifying segment fates. Transcription of the even-skipped (eve) pair-rule gene was recently shown to proceed in noisy bursts. Here, we develop a stochastic model of eve transcription from DNA to mRNA. This indicates that eve transcription proceeds at two rates, with a slow rate providing basal production and a fast rate allowing for high mRNA output. This two-rate transcription may afford more reliability in mRNA output, and therefore the protein levels which specify cell type, than a simple on-off (one-rate) mechanism., Conference paper, Published.