Sharif Digital Repository

Human motion planning studies are of considerable importance in producing human-like trajectories for various industrial or clinical applications (e.g. assistive robots). In this case, the capability of Central Nervous System (CNS) in generating a large repertoire of actions can be inspirational to develop more efficient motion planning approaches. Here, inspired by structural and functional modularity in the CNS, a novel modular and hierarchical model is developed to plan the sit-to-stand (STS) transfer under varying environmental conditions. In this model, the planning process is distributed among several functionally simple modules. The cooperation of modules enables the model to plan the... 

This study presents applying recurrence quantification analysis (RQA) on EEG recordings and their subbands: delta, theta, alpha, beta, and gamma for epileptic seizure detection. RQA is adopted since it does not require assumptions about stationarity, length of signal, and noise. The decomposition of the original EEG into its five constituent subbands helps better identification of the dynamical system of EEG signal. This leads to better classification of the database into three groups: Healthy subjects, epileptic subjects during a seizure-free interval (Interictal) and epileptic subjects during a seizure course (Ictal). The proposed algorithm is applied to an epileptic EEG dataset provided... 

Catalytic activity of carbon/Pt nanoparticles modified TiO 2 nanotubes electrode was studied by using dopamine contained solutions. The TiO 2 nanotubes electrode was prepared using anodizing method in aqueous solution. The electrochemical pulse method was then applied for electrodeposition of Pt nanoparticles onto the TiO 2 nanotubes. Further modification was achieved by decomposition of polyethylene glycol in a tube furnace to have a carbon/Pt nanoparticles modified TiO 2 nanotubes electrode. The final modified electrode could successfully detect the electro-oxidation of dopamine in a ImM contained solution using cyclic voltametry method. Also, a high sensitivity towards the oxidation of... 

The present work describes sensing application of modified TiO 2 nanotubes having carbon-Pt nanoparticles for simultaneous detection of dopamine and uric acid. The TiO 2 nanotubes electrode was prepared using anodizing method, followed by electrodeposition of Pt nanoparticles onto the tubes. Carbon was deposited by decomposition of polyethylene glycol in a tube furnace to improve the conductivity. The C-Pt-TiO 2 nanotubes modified electrode was characterized by cyclic voltam-metry and differential pulse voltammetry methods. The modified electrode displayed high sensitivity towards the oxidation of dopamine and uric acid in a phosphate buffer solution (pH 7.00). The electro-oxidation currents... 

A nano-based sensor array has been developed for identification and discrimination of catecholamine neurotransmitters based on optical properties of their oxidation products under alkaline conditions. To produce distinct fluorescence response patterns for individual catecholamine, quenching of thioglycolic acid functionalized cadmium telluride (CdTe) quantum dots, by oxidation products, were employed along with the variation of fluorescence spectra of oxidation products. The spectral changes were analyzed with hierarchical cluster analysis (HCA) and principal component analysis (PCA) to identify catecholamine patterns. The proposed sensor could efficiently discriminate the individual... 

The human motor system is organized for execution of various motor tasks in a different and flexible manner. The kinetic redundancy in the human musculoskeletal system is a significant property by which the central nervous system achieves many complementary goals. An equilibrium-based biomechanical model of isometric three-dimensional exertions of trunk muscles has been developed. Following the definition and role of the uncontrolled manifold, the kinetic redundancy concept is explored in mathematical terms. The null space of the kinetically redundant system when a certain joint moment and/or stiffness are needed is derived and discussed. The aforementioned concepts have been illustrated,... 

A nano-based sensor array has been developed for identification and discrimination of catecholamine neurotransmitters based on optical properties of their oxidation products under alkaline conditions. To produce distinct fluorescence response patterns for individual catecholamine, quenching of thioglycolic acid functionalized cadmium telluride (CdTe) quantum dots, by oxidation products, were employed along with the variation of fluorescence spectra of oxidation products. The spectral changes were analyzed with hierarchical cluster analysis (HCA) and principal component analysis (PCA) to identify catecholamine patterns. The proposed sensor could efficiently discriminate the individual... 

This paper used a 4-level frequency shift keying (4-FSK) modulation scheme to enhance the density of wireless data transfer from implantable biomedical microsystems to the outside world. Modeling and simulation of the wireless channel for 4-FSK modulation in the case of a neural recording implant has been done. To realize the 4-FSK scheme, the modulator and demodulator circuits are proposed, designed and simulated in a 0.18-μm CMOS process, and in the 174-216 MHz frequency band at a data rate of 13.5 Mbps. Operated using a 1.8 V supply voltage, the modulator circuit consumes a power of 7.8 μW  

In this paper, a learning algorithm is developed for Dynamic Plastic Continuous Neural Networks (DPCNNs) to improve their learning of highly nonlinear time dependent problems. A DPCNN is comprised of a base medium, which is nonlinear and plastic, and a number of neurons that are attached to the base by wire-like connections similar to perceptrons. The information is distributed within DPCNNs gradually and through wave propagation mechanism. While a DPCNN is adaptive due to its connection weights, the material properties of its base medium can also be adjusted to improve its learning. The material of the medium is plastic and can contribute to memorizing the history of input-response similar... 

Epilepsy is the most common disorder of human brain. The goal of this paper is to present a new method for classification of epileptic phases based on the sub-bands of electroencephalogram (EEG) signals obtained from the Stockwell transform (ST). ST is a time-frequency analysis that not only covers the advantages of both short-time Fourier transform (FT) and wavelet transform (WT), but also overcomes their shortcomings. In the proposed method, at first, EEG signal is transformed into time-frequency domain using ST and all operations are performed in the new domain. Then, the amplitudes of ST in five sub-bands, namely delta (δ), theta (θ), alpha (α), beta (β), and gamma (γ), are computed. In... 

A simple and effective ratiometric fluorescence sensor for selective detection of dopamine (DA) in alkaline media has been developed by simply mixing thioglycolic acid (TGA) functionalized orange fluorescent cadmium telluride (CdTe) quantum dots (QDs) with amino-functionalized blue fluorescent carbon nanodots (CDs). Under a single excitation wavelength of 365 nm, the sensor exhibits dual-emissions centered at 445 and 603 nm. The fluorescence of CdTe QDs is selectively quenched by DA, whereas the fluorescence of CDs is insensitive to the analyte. In the presence of different amounts of DA, the variations in the dual emission intensity ratios exhibit a continuous color change from pink to... 

Levodopa [L-3, 4-dihydroxyphenylalanine, or L-DOPA] is an important neurotransmitter used for the treatment of neural disorders such as Parkinson's disease. Abnormal L-Dopa concentrations in biological fluids can be used for the evaluation of such diseases. In this work, a rapid and sensitive method for L-DOPA detection has been reported which is based on in situ formation of polylevodopa nanoparticles. Under alkaline conditions, L-DOPA is spontaneously oxidized to its quinone derivative and shows fluorescence properties. The fluorescence signal of the oxidation product has been monitored and used for the determination of L-DOPA in the presence of dopamine, uric acid, ascorbic acid and other... 

In this study, for rapid identification and discrimination of catecholamine neurotransmitters in the presence of ascorbic acid (AA), a tricolor fluorescence probe has been constructed by integrating three recognition elements including blue carbon dots (bCDs), green CdTe quantum dots (gQDs) and red CdTe quantum dots (rQDs) into a single well. The proposed array exhibited ternary fluorescence emissions at 450, 520 and 630 nm with an overall luminescent pink emission under a single wavelength excitation (365 nm). In order to produce distinct response patterns from a single fluorimetric test, the spectral changes and the corresponding color variations of the multichannel fluorescence probe were... 

Background: Impaired postural control in Parkinson's disease (PD) seriously compromises life quality. Although balance training improves mobility and postural stability, lack of quantitative studies on the neurophysiological mechanisms of balance training in PD impedes the development of patient-specific therapies. We evaluated the effects of a balance-training program using functional balance and mobility tests, posturography, and a postural control model. Methods: Center-of-pressure (COP) data of 40 PD patients before and after a 12-session balance-training program, and 20 healthy control subjects were recorded in four conditions with two tasks on a rigid surface (R-tasks) and two on foam.... 

Electroencephalogram (EEG) is a noninvasive, low-cost brain recording tool with high temporal but poor spatial resolution. In contrast, functional magnetic resonance imaging (fMRI) is a rather expensive brain recording tool with high spatial and poor temporal resolution. In this study, we aim at recovering the brain activity (source localization and activity-intensity) with high spatial resolution using only EEG recordings. Each EEG electrode records a linear combination of the activities of various parts of the brain. As a result, a multi-electrode EEG recording represents the brain activities via a linear mixing matrix. Due to distance attenuation, this matrix is almost sparse. Using... 

A novel multichannel sensor array has been designed using a single, yet multiemissive lanthanide-doped upconversion nanoparticle (UCNP). The energy levels of lanthanide ions gave rise to several emission bands which were exploited as individual sensor elements for the recognition of four important neurotransmitters (NTs): dopamine, norepinephrine, levodopa, and serotonin. At alkaline conditions, the oxidation products of these NTs quenched the fluorescence emissions of UCNPs with different quenching degrees. The resulting fingerprint multichannel emission profiles from NaYF4:Yb/Er/Tm UCNPs allowed the discrimination of NTs with excellent accuracy. The recognition was further verified in... 

In this study, titania-ceria-graphene quantum dot (TC-GQD) nanocomposite was synthesized by hydrothermal method for the first time. The prepared nanomaterials were characterized by XRD, FTIR dynamic light scattering (DLS), FESEM, HRTEM, and EDX spectroscopy along with elemental mapping. The synergistic effect of the nanocomposite components was studied by diffuse reflectance spectroscopy (DRS) and electrical conductivity meter. The results showed that band gap of TC-GQD nanocomposite was shifted to visible lights relative to its components (1.3 eV), and electrical conductivity of the sample was significant increased to 89.5 μS cm−1. After chemical and physical characterization, prepared new... 

Background: Work-related risk factors of low back disorders have been identified to be external moments, awkward postures, and asymmetrical dynamic lifting amongst others. The distinct role of asymmetry of load versus posture is hard to discern from the literature. Hence, the aim of this study is to measure isometric trunk exertions at upright standing posture at different exertion level and degree of asymmetry to further delineate the effects of exertion level and asymmetry on neuromuscular capability response. Methods: Fifteen healthy volunteers randomly performed trunk exertions at three levels (30%, 60%, and 100% of maximum voluntary exertion and five different angles (0°, 45°, 90°,... 

According to the fact that humans and animals show marvelous capacities in walking on irregular terrain, there is a strong need for adaptive algorithms in walking of biped robots to behave like them. Since the stance leg can easily rise from the ground, the problem of controlling the biped robots is difficult. In other words, the biped walkers have fewer actuators than the degrees of freedom. So they are underactuated mechanical systems. In this paper according to the humans and animals locomotion algorithms, the stability of an underactuated biped walker having point feet is investigated by central pattern generators. For tuning the parameters of the CPG, an effective energy based... 

Blind source separation is an important field of study in signal processing, in which the goal is to estimate source signals by having mixed observations. There are some conventional methods in this field that aim to estimate source signals by considering certain assumptions on sources. One of the most popular assumptions is the non-Gaussianity of sources which is the basis of many popular blind source separation methods. These methods may fail to estimate sources when the distribution of two or more sources is Gaussian. Hence, this study aims to introduce a new approach in blind source separation for nonlinear and chaotic signals by using a dynamical similarity measure and relaxing...