Frequency Dependence of Compliance Contrast Detection

2000 ◽  
Author(s):  
Neel Dhruv ◽  
Frank Tendick

Abstract Psychophysical experiments were performed to investigate the haptic perception of objects with varying compliance over their surfaces. Perception of compliance contrast is important in interaction with soft environments, as in teleoperative surgery. Simulated surfaces were presented using a haptic interface in virtual environments. An adaptive 2–down, 1–up procedure was used to determine thresholds for compliance contrast detection at a range of spatial frequencies. The maximum effective temporal frequencies of compliance change, due to the subjects’ action of scanning the surfaces, were calculated. Force contrast detection thresholds were determined at a range of temporal frequencies to investigate the reliance of compliance contrast detection on force cues. Compliance and force discrimination thresholds were determined in order to compare with low frequency contrast thresholds. Compliance and force contrast detection thresholds were found to be 2% and 1% above 1/2 cyc/cm and 20 Hz, respectively. Both were significantly smaller than respective compliance and force discrimination thresholds and low frequency contrast detection thresholds. It appears that the improvement in compliance contrast detection sensitivity is due to subjects being more sensitive to force contrast at higher temporal frequencies. By changing environment exploration strategies or limb impedance, subjects may be able to change their sensitivity to object compliance contrast.

Perception ◽  
1997 ◽  
Vol 26 (1_suppl) ◽  
pp. 289-289
Author(s):  
R Näsänen ◽  
C O'Leary

Using a forced-choice method, we determined human contrast thresholds for recognising handwritten numerals. Digitised numerals were presented on a computer display with additive white static noise. The numerals were either unfiltered or were filtered to two-octave spatial-frequency bands of different centre frequencies varying from 1.2 to 17.7 cycles/object height. We had ten variations of each numeral representing the handwriting of different persons. Human performance was compared with the performance of an ideal ‘signals-known-exactly’ (template matching) observer, and the results were presented in terms of efficiency. The highest efficiency for the band-pass filtered numerals was about 11% at centre frequencies of 3 – 5 cycles/object. The efficiency declined towards lower and higher centre frequencies so that at 1.2 cycles/object and 18 cycles/object the efficiency was about 4%. The efficiencies for unfiltered numerals were about 10% – 14%, being thus slightly higher than or equal to the highest efficiency of the band-pass filtered numerals. If only a two-octave band of spatial frequencies contributed character recognition, as has been suggested previously, the unfiltered numerals would contain redundant low-frequency and high-frequency information. Band-pass filtered numerals of optimal centre frequency would contain less redundancy, and a larger proportion of contrast energy would be used. Therefore, efficiency for them should have been higher than for unfiltered numerals. Since this was not the case, it seems that human observers are able to use a relatively broad band of spatial frequencies in character recognition.


1998 ◽  
Vol 25 (1) ◽  
pp. 64-67 ◽  
Author(s):  
René Verry

Susan Lederman (SL) is an invited member of the International Council of Research Fellows for the Braille Research Center and a Fellow of he Canadian Psychology Association. She was also an Associate of the Canadian Institute for Advanced Research in the Robotics and Artificial Intelligence Programme for 8 years. A Professor in the Departments of Psychology and Computing & Information Science at Queen's University at Kingston (Ontario, Canada), she has written and coauthored numerous articles on tactile psychophysics, haptic perception and cognition, motor control, and haptic applications in robotics, teleoperation, and virtual environments. She is currently the coorganizer of the Annual Symposium a Haptic Interfaces for Teleoperation and Virtual Environment Systems. René Verry (RV) is a psychology professor at Millikin University (Decatur, IL), where she teaches a variety of courses in the experimental core, including Sensation and Perception. She chose the often-subordinated somatic senses as the focus of her interview, and recruited Susan Lederman as our research specialist.


Blood ◽  
2019 ◽  
Vol 134 (Supplement_1) ◽  
pp. 5774-5774
Author(s):  
John Williamson ◽  
Timothy Looney ◽  
Geoffrey Lowman ◽  
Harwinder Sidhu ◽  
Luis Solano ◽  
...  

Introduction: The ability to detect and quantitate low frequency T-cell clones enables numerous hematology/oncology research applications, including identification and assessment of biomarkers associated minimal residual disease (MRD). Rare clone detection via NGS requires highly efficient library preparation and accurate sequencing methodologies, because single nucleotide substitution sequencing errors mimic the natural variation in the T-cell repertoire, resulting in detection of artifactual low frequency clones. Here we present an experimental framework and corresponding performance of rare clone detection utilizing the OncomineTM TCR Beta short read (TCRb-SR) assay, using Ampliseq-based library preparation targeting the highly variable CDR3 region of TCRb using either DNA or RNA as input, with sample-to-result in 2 days. Methods: To evaluate detection sensitivity of the TCRB-SR assay, we utilized Jurkat cell line DNA and RNA because the presence of a single T cell clone enables precise control of dilution studies. Commercially procured Jurkat gDNA or RNA was spiked into peripheral blood leukocyte gDNA or RNA from 10-1 to 10-6 absolute clone frequency to create specimens with a known T-cell clone at frequencies commonly observed in MRD research applications. Peripheral blood leukocyte gDNA or RNA was used as the background for spike in studies due to its high T-Cell diversity. Six to twenty technical replicates were analyzed per dilution point, with DNA inputs ranging from 100ng to 1ug and RNA inputs ranging from 25ng to 100ng to evaluate the minimum detectable clone frequency as a function of nucleic acid input. Libraries were prepared following the TCRB-SR manufacturer's instructions for both DNA and RNA, followed by templating and sequencing using Ion Chef and S5 systems. Data processing was performed in Torrent Suite software (v5.10) followed by read alignment to the IMGT database of variable, diversity, and joining genes using Ion Reporter software (v5.10). For the 10-6 target frequency with gDNA as the input, four 1ug libraries were combined for analysis in Ion Reporter. Analytical sensitivity was calculated at each target clone frequency by detection of the Jurkat clone as defined by V-gene, Joining gene, and CDR3 nucleotide sequence. Results: Detection sensitivity was dependent on the amount gDNA or RNA input. For gDNA inputs, we observed 100% sensitivity at 10-3 with 100ng input, 100% sensitivity at 10-4 with 250ng input, 95% sensitivity at 10-5 with 1ug input, and 100% sensitivity at 10-6 with 4ug input. For RNA inputs, we observed 100% sensitivity at 10-5 with 25ng input and 100% sensitivity at 10-6 with 100ng input. In addition, we observe a strong linearity of observed clone frequencies at each dilution level, with an r-squared of 0.97. Conclusions: Here we demonstrate the ability to detect T-cell clones down to 10-6 from gDNA or RNA inputs with high sensitivity and linearity utilizing the OncomineTM TCR Beta short read assay. We present data demonstrating detection of clones with absolute frequencies of 10-6 utilizing 4ug gDNA input or 100ng RNA input, highlighting strong performance at nucleic acid input levels typically seen in clinical research samples. Taken together, we show feasibility for rare clone detection in either gDNA or RNA enabling research and development for T-cell minimal residual disease applications. For research use only, not for use in diagnostic procedures. Disclosures Williamson: Thermo Fisher Scientific: Employment. Looney:Thermo Fisher Scientific: Employment. Lowman:Thermo Fisher Scientific: Employment. Sidhu:Thermo Fisher Scientific: Employment. Solano:Thermo Fisher Scientific: Employment. Salazar:Thermo Fisher Scientific: Employment. Tian:Thermo Fisher Scientific: Employment. Ramsamooj:Thermo Fisher Scientific: Consultancy.


2017 ◽  
Author(s):  
Ghaith Tarawneh ◽  
Vivek Nityananda ◽  
Ronny Rosner ◽  
Steven Errington ◽  
William Herbert ◽  
...  

AbstractRecently, we showed a novel property of the Hassenstein-Reichardt detector: namely, that insect motion detection can be masked by “invisible” noise, i.e. visual noise presented at spatial frequencies to which the animals do not respond when presented as a signal. While this study compared the effect of noise on human and insect motion perception, it used different ways of quantifying masking in two species. This was because the human studies measured contrast thresholds, which were too time-consuming to acquire in the insect given the large number of stimulus parameters examined. Here, we run longer experiments in which we obtained contrast thresholds at just two signal and two noise frequencies. We examine the increase in threshold produced by noise at either the same frequency as the signal, or a different frequency. We do this in both humans and praying mantises (Sphodromantis lineola), enabling us to compare these species directly in the same paradigm. Our results confirm our earlier finding: whereas in humans, visual noise masks much more effectively when presented at the signal spatial frequency, in insects, noise is roughly equivalently effective whether presented at the same frequency or a lower frequency. In both species, visual noise presented at a higher spatial frequency is a less effective mask.Summary StatementWe here show that despite having similar motion detection systems, insects and humans differ in the effect of low and high spatial frequency noise on their contrast thresholds.


Author(s):  
Michael A. Nelson ◽  
Ronald L. Halberg

Threshold contrasts for red, green, and achromatic sinusoidal gratings were measured. Spatial frequencies ranged from 0.25 to 15 cycles/deg. No significant differences in contrast thresholds were found among the three grating types. From this finding it was concluded that, under conditions of normal viewing, no significant differences should be expected in the acquisition of spatial information from monochromatic or achromatic displays of equal resolution.


Author(s):  
Abhishek Gupta ◽  
Marcia K. O’Malley

A high-quality haptic interface is typically characterized by low apparent inertia and damping, high structural stiffness, minimal backlash and absence of mechanical singularities in the workspace. In addition to these specifications, exoskeleton haptic interface design involves consideration of additional parameters and constraints including space and weight limitations, workspace requirements and the kinematic constraints placed on the device by the human arm. In this context, we present the design of a five degree-of-freedom haptic arm exoskeleton for training and rehabilitation in virtual environments. The design of the device, including actuator and sensor selection, is discussed. Limitations of the device that result from the above selections are also presented. The device is capable of providing kinesthetic feedback to the joints of the lower arm and wrist of the operator, and will be used in future work for robot-assisted rehabilitation and training.


Perception ◽  
1996 ◽  
Vol 25 (1_suppl) ◽  
pp. 94-94
Author(s):  
B Lee ◽  
B J Rogers

Narrow-band-filtered random-dot stereograms were used to determine stereo thresholds for detecting sinusoidal disparity modulations. These stereograms were designed to stimulate selectively channels tuned to luminance and corrugation spatial frequencies (Schumer and Ganz, 1979 Vision Research19 1303 – 1314). Thresholds were determined for corrugation frequencies ranging from 0.125 to 1 cycle deg−1, luminance centre spatial frequencies ranging from 1 to 8 cycles deg−1 and disparity pedestal sizes ranging from −32 to +32 min arc. For small disparity pedestals, lowest modulation thresholds were found around 0.5 cycle deg−1 corrugation frequency and 4 cycles deg−1 luminance centre spatial frequency. For large disparity pedestals (±32 arc min), lowest thresholds were shifted towards the lower corrugation frequencies (0.125 cycle deg−1) and lower luminance frequencies (2 cycles deg−1). There was a significant interaction between luminance spatial frequency and disparity pedestal size. For small pedestals, lowest thresholds were found with the highest luminance frequency pattern (4 cycles deg−1). For large pedestals, best performance shifted towards the low-frequency patterns (1 cycle deg−1). This effect demonstrates a massive reduction in stereo-efficiency for high-frequency patterns in the luminance domain at large disparity pedestals which is consistent with the ‘size-disparity relation’ proposed by previous researchers.


Author(s):  
Paul Penn ◽  
Helen Petrie ◽  
Chetz Colwell ◽  
Diana Kornbrot ◽  
Stephen Furner ◽  
...  

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