Contrast independent biologically inspired translational optic flow estimation.

The visual systems of insects are relatively simple compared to humans. However, they enable navigation through complex environments where insects perform exceptional levels of obstacle avoidance. Biology uses two separable modes of optic flow to achieve this: rapid gaze fixation (rotational motion known as saccades); and the inter-saccadic translational motion. While the fundamental process of insect optic flow has been known since the 1950's, so too has its dependence on contrast. The surrounding visual pathways used to overcome environmental dependencies are less well known. Previous work has shown promise for low-speed rotational motion estimation, but a gap remained in the estimation of translational motion, in particular the estimation of the time to impact. To consistently estimate the time to impact during inter-saccadic translatory motion, the fundamental limitation of contrast dependence must be overcome. By adapting an elaborated rotational velocity estimator from literature to work for translational motion, this paper proposes a novel algorithm for overcoming the contrast dependence of time to impact estimation using nonlinear spatio-temporal feedforward filtering. By applying bioinspired processes, approximately 15 points per decade of statistical discrimination were achieved when estimating the time to impact to a target across 360 background, distance, and velocity combinations: a 17-fold increase over the fundamental process. These results show the contrast dependence of time to impact estimation can be overcome in a biologically plausible manner. This, combined with previous results for low-speed rotational motion estimation, allows for contrast invariant computational models designed on the principles found in the biological visual system, paving the way for future visually guided systems.

Exploration of motion inhibition for the suppression of false positives in biologically inspired small target detection algorithms from a moving platform.

Detecting small moving targets against a cluttered background in visual data is a challenging task. The main problems include spatio-temporal target contrast enhancement, background suppression and accurate target segmentation. When targets are at great distances from a non-stationary camera, the difficulty of these challenges increases. In such cases the moving camera can introduce large spatial changes between frames which may cause issues in temporal algorithms; furthermore targets can approach a single pixel, thereby affecting spatial methods. Previous literature has shown that biologically inspired methods, based on the vision systems of insects, are robust to such conditions. It has also been shown that the use of divisive optic-flow inhibition with these methods enhances the detectability of small targets. However, the location within the visual pathway the inhibition should be applied was ambiguous. In this paper, we investigated the tunings of some of the optic-flow filters and use of a nonlinear transform on the optic-flow signal to modify motion responses for the purpose of suppressing false positives and enhancing small target detection. Additionally, we looked at multiple locations within the biologically inspired vision (BIV) algorithm where inhibition could further enhance detection performance, and look at driving the nonlinear transform with a global motion estimate. To get a better understanding of how the BIV algorithm performs, we compared to other state-of-the-art target detection algorithms, and look at how their performance can be enhanced with the optic-flow inhibition. Our explicit use of the nonlinear inhibition allows for the incorporation of a wider dynamic range of inhibiting signals, along with spatio-temporal filter refinement, which further increases target-background discrimination in the presence of camera motion. Extensive experiments shows that our proposed approach achieves an improvement of 25% over linearly conditioned inhibition schemes and 2.33 times the detection performance of the BIV model without inhibition. Moreover, our approach achieves between 10 and 104 times better detection performance compared to any conventional state-of-the-art moving object detection algorithm applied to the same, highly cluttered and moving scenes. Applying the nonlinear inhibition to other algorithms showed that their performance can be increased by up to 22 times. These findings show that the application of optic-flow- based signal suppression should be applied to enhance target detection from moving platforms. Furthermore, they indicate where best to look for evidence of such signals within the insect brain.

Acoustic detection of unmanned aerial vehicles using biologically inspired vision processing.

Robust detection of acoustically quiet, slow-moving, small unmanned aerial vehicles is challenging. A biologically inspired vision approach applied to the acoustic detection of unmanned aerial vehicles is proposed and demonstrated. The early vision system of insects significantly enhances signal-to-noise ratios in complex, cluttered, and low-light (noisy) scenes. Traditional time-frequency analysis allows acoustic signals to be visualized as images using spectrograms and correlograms. The signals of interest in these representations of acoustic signals, such as linearly related harmonics or broadband correlation peaks, essentially offer equivalence to meaningful image patterns immersed in noise. By applying a model of the photoreceptor stage of the hoverfly vision system, it is shown that the acoustic patterns can be enhanced and noise greatly suppressed. Compared with traditional narrowband and broadband techniques, the bio-inspired processing can extend the maximum detectable distance of the small and medium-sized unmanned aerial vehicles by between 30% and 50%, while simultaneously increasing the accuracy of flight parameter and trajectory estimations.

A Survey of Underwater Acoustic Data Classification Methods Using Deep Learning for Shoreline Surveillance.

This paper presents a comprehensive overview of current deep-learning methods for automatic object classification of underwater sonar data for shoreline surveillance, concentrating mostly on the classification of vessels from passive sonar data and the identification of objects of interest from active sonar (such as minelike objects, human figures or debris of wrecked ships). Not only is the contribution of this work to provide a systematic description of the state of the art of this field, but also to identify five main ingredients in its current development: the application of deep-learning methods using convolutional layers alone; deep-learning methods that apply biologically inspired feature-extraction filters as a preprocessing step; classification of data from frequency and time-frequency analysis; methods using machine learning to extract features from original signals; and transfer learning methods. This paper also describes some of the most important datasets cited in the literature and discusses data-augmentation techniques. The latter are used for coping with the scarcity of annotated sonar datasets from real maritime missions.

Detecting Small Size and Minimal Thermal Signature Targets in Infrared Imagery Using Biologically Inspired Vision.

Thermal infrared imaging provides an effective sensing modality for detecting small moving objects at long range. Typical challenges that limit the efficiency and robustness of the detection performance include sensor noise, minimal target contrast and cluttered backgrounds. These issues become more challenging when the targets are of small physical size and present minimal thermal signatures. In this paper, we experimentally show that a four-stage biologically inspired vision (BIV) model of the flying insect visual system have an excellent ability to overcome these challenges simultaneously. The early two stages of the model suppress spatio-temporal clutter and enhance spatial target contrast while compressing the signal in a computationally manageable bandwidth. The later two stages provide target motion enhancement and sub-pixel motion detection capabilities. To show the superiority of the BIV target detector over existing traditional detection methods, we perform extensive experiments and performance comparisons using high bit-depth, real-world infrared image sequences of small size and minimal thermal signature targets at long ranges. Our results show that the BIV target detector significantly outperformed 10 conventional spatial-only and spatiotemporal methods for infrared small target detection. The BIV target detector resulted in over 25 dB improvement in the median signal-to-clutter-ratio over the raw input and achieved 43% better detection rate than the best performing existing method.

Selectivity of conditioned fear of touch is modulated by somatosensory precision.

Learning to initiate defenses in response to specific signals of danger is adaptive. Some chronic pain conditions, however, are characterized by widespread anxiety, avoidance, and pain consistent with a loss of defensive response specificity. Response specificity depends on ability to discriminate between safe and threatening stimuli; therefore, specificity might depend on sensory precision. This would help explain the high prevalence of chronic pain in body areas of low tactile acuity, such as the lower back, and clarify why improving sensory precision may reduce chronic pain. We compared the acquisition and generalization of fear of pain-associated vibrotactile stimuli delivered to either the hand (high tactile acuity) or the back (low tactile acuity). During acquisition, tactile stimulation at one location (CS+) predicted the noxious electrocutaneous stimulation (US), while tactile stimulation at another location (CS-) did not. Responses to three stimuli with decreasing spatial proximity to the CS+ (generalizing stimuli; GS1-3) were tested. Differential learning and generalization were compared between groups. The main outcome of fear-potentiated startle responses showed differential learning only in the hand group. Self-reported fear and expectancy confirmed differential learning and limited generalization in the hand group, and suggested undifferentiated fear and expectancy in the back group. Differences in generalization could not be inferred from the startle data. Specificity of fear responses appears to be affected by somatosensory precision. This has implications for our understanding of the role of sensory imprecision in the development of chronic pain.

Management of Meloidogyne incognita with Chemicals and Cultivars in Cotton in a Semi-Arid Environment.

Management of Meloidogyne incognita (root-knot nematode) in cotton in the United States was substantially affected by the decision to stop production of aldicarb by its principle manufacturer in 2011. The remaining commercially available tools to manage M. incognita included soil fumigation, nematicide seed treatments, postemergence nematicide application, and cultivars partially resistant to M. incognita. Small plot field studies were conducted on a total of nine sites from 2011-2013 to examine the effects of each of these tools alone or in combinations, on early season galling, late-season nematode density in soil, yield, and value ($/ha = lint value minus chemical costs/ha). The use of a partially resistant cultivar resulted in fewer galls/root system at 35 d after planting in eight of nine tests, lower root-knot nematode density late in the growing season for all test sites, higher lint yield in eight of nine sites, and higher value/ha in six of nine sites. Galls per root were reduced by aldicarb in three of nine sites and by 1,3-dichloropropene (1,3-D) in two of eight sites, relative to the nontreated control (no insecticide or nematicide treatment). Soil fumigation reduced M. incognita density late in the season in three of nine sites. Value/ha was not affected by chemical treatment in four of nine sites, but there was a cultivar × chemical interaction in four of nine sites. When value/ha was affected by chemical treatment, the nontreated control had a similar value to the treatment with the highest value/ha in seven of eight cultivar-site combinations. The next "best" value/ha were associated with seed treatment insecticide (STI) + oxamyl and aldicarb (similar value to the highest value/ha in six of eight cultivar-site combinations). The lowest valued treatment was STI + 1,3-D. In a semi-arid region, where rainfall was low during the spring for all three years, cultivars with partial resistance to M. incognita was the most profitable method of managing root-knot nematode in cotton.

The use of in utero MR imaging to delineate developmental brain abnormalities in multifetal pregnancies.

BACKGROUND AND PURPOSE: iuMR has been shown to increase the detection rate of developmental abnormalities of the CNS, though most reports are limited to singleton pregnancies. The hypothesis tested in this study was that iuMR performed in multifetal pregnancies will show additional information about fetal CNS abnormalities in a similar proportion of cases when compared with singleton pregnancies. MATERIALS AND METHODS: Fifty women with multifetal pregnancies were recruited consecutively carrying at least 1 fetus with a suspected developmental fetal CNS abnormality on sonography. All had iuMR at the same center by using the same MR imaging protocol. When the sonography and MR imaging reports were discrepant, 1 fetomaternal expert assessed the reports independently to predict in what percentage a change in prognosis/counseling would have occurred if iuMR was included in the diagnostic pathway. RESULTS: There was agreement between the sonography and iuMR reports in 66% and disagreement in 34% of cases. The major cause for discrepancy was the presence or absence of the corpus callosum, which accounted for 10/17 of the disagreements. In 12/17 of the discrepant cases, the effect on management was judged to be significant. CONCLUSIONS: We conclude that iuMR has a similar rate of discrepancy to sonography in multifetal pregnancies compared with the published data concerning singleton pregnancies. Our analysis of the effect on management shows that changes in the decision to consider termination of pregnancy would have occurred in 12/17 of the discrepant cases (ie, in 24% of our cases overall).

Fetuses with ventriculomegaly diagnosed in the second trimester of pregnancy by in utero MR imaging: what happens in the third trimester?

BACKGROUND AND PURPOSE: Although MR imaging of the fetal brain has been shown to provide additional diagnostic information, the optimal timing of the study and the value of repeat studies remain unclear. The primary purpose of this study was to look for structural abnormalities of the fetal brain shown at 30-32 weeks' gestational age but not on the 20-24 weeks' study in fetuses originally referred with isolated VM. In particular, we wished to study the hypothesis that third-trimester fetal MR imaging studies would not show extra brain abnormalities compared with the second-trimester studies in this group. MATERIALS AND METHODS: Ninety-nine women were admitted for a fetal MR study between 20-24 weeks' gestational age, and 46 of these women agreed to return for a second MR imaging examination at 30-32 weeks' gestational age. The other women were either lost to follow-up or declined the invitation to return. Two experienced observers measured the width of the trigones, and the results were compared, to test reliability. Changes in the degree of VM are reported along with changes in the diagnosis of structural brain abnormalities. RESULTS: There was excellent reproducibility of trigone measurements between the 2 observers, with a mean absolute difference of <1 mm in the 40 fetuses that were ultimately shown to have isolated VM. Twenty-eight of 40 fetuses studied had mild VM on the first iuMR imaging examination, but in just more than half, the category of VM changed between the studies (5 had become normal-sized, 7 had progressed to moderate, 3 had become severe, and 13 remained mild). In 1 case, hypogenesis of the corpus callosum was recognized at 30-32 weeks but had not been reported on the 20-24 weeks' examination; the other 5 fetuses had brain pathology recognized on both fetal MR studies. CONCLUSIONS: Trigone measurements can be made in a highly repeatable fashion on iuMR imaging. We have not shown any major advantage in repeating iuMR imaging at 30-32 weeks' gestation in terms of improved diagnosis of other structural brain abnormalities. With the converse of that argument, however, our data suggest that there is no advantage in delaying iuMR imaging studies to 30-32 weeks in the hope of improving detection rates.

A prospective study of fetuses with isolated ventriculomegaly investigated by antenatal sonography and in utero MR imaging.

BACKGROUND AND PURPOSE: Fetal ventriculomegaly (VM) is important because of its high prevalence and high risk of association with other brain abnormalities. The purpose of this article was to investigate the hypotheses that including in utero MR imaging (iuMR) in the diagnostic pathway for fetuses with isolated VM on antenatal imaging will show other brain abnormalities in a high proportion of cases and that these will have a significant effect on clinical management. MATERIALS AND METHODS: One hundred forty-seven pregnant women were recruited prospectively from 8 fetomaternal centers in Britain. All of the fetuses had VM diagnosed on sonography but no other abnormality. iuMR was performed, and the results of the examinations were compared with those of sonography. Two fetomaternal experts made independent assessments of the effects of any new diagnoses on clinical management. RESULTS: Categoric assessments of ventricular size were the same in approximately 90% of fetuses. Other abnormalities were shown in 17% of fetuses. The most frequent additional brain abnormality shown on iuMR was agenesis of the corpus callosum. Severe VM was associated with an approximately 10-fold increase in the risk of another brain abnormality being present when compared with fetuses with mild VM. The most profound effects on clinical management, however, were found in cases of mild VM. CONCLUSIONS: This work supports our hypotheses by showing a high detection rate of other brain pathology when iuMR was used to supplement antenatal sonography (17%). In a high proportion of cases, the detection of the extra pathology would have led to significant changes in clinical management.

Robust models for optic flow coding in natural scenes inspired by insect biology.

The extraction of accurate self-motion information from the visual world is a difficult problem that has been solved very efficiently by biological organisms utilizing non-linear processing. Previous bio-inspired models for motion detection based on a correlation mechanism have been dogged by issues that arise from their sensitivity to undesired properties of the image, such as contrast, which vary widely between images. Here we present a model with multiple levels of non-linear dynamic adaptive components based directly on the known or suspected responses of neurons within the visual motion pathway of the fly brain. By testing the model under realistic high-dynamic range conditions we show that the addition of these elements makes the motion detection model robust across a large variety of images, velocities and accelerations. Furthermore the performance of the entire system is more than the incremental improvements offered by the individual components, indicating beneficial non-linear interactions between processing stages. The algorithms underlying the model can be implemented in either digital or analog hardware, including neuromorphic analog VLSI, but defy an analytical solution due to their dynamic non-linear operation. The successful application of this algorithm has applications in the development of miniature autonomous systems in defense and civilian roles, including robotics, miniature unmanned aerial vehicles and collision avoidance sensors.

Photoreceptor processing improves salience facilitating small target detection in cluttered scenes.

Target detection amidst clutter is a challenging task for both natural and artificial vision, yet one solved at the level of neurons in the 3rd optic ganglion of insects. These neurons are capable of responding to the motion of small objects, even against complex moving backgrounds. While the basic physiology has been investigated, little is known about how these cells are able to reject background motion while robustly responding to such small stimuli. By recording intracellularly from fly photoreceptors stimulated with natural image sequences containing a target viewed against a complex moving background, we show that the process of target detection begins at the earliest stages of vision. The temporal processing by photoreceptors alone, in the absence of any spatial interactions, improved the discrimination of targets (essentially a spatial task) by around 70%. This enhancement of target salience can be explained by elaborate models of photoreceptor temporal non-linear dynamics. The application of the functional principals outlined in this work could be utilized in areas such as robotics and surveillance, medical imaging, or astronomy, anywhere it is necessary to detect a small item from a cluttered surround.

Sexual dimorphism in the hoverfly motion vision pathway.

Many insects perform high-speed aerial maneuvers in which they navigate through visually complex surrounds. Among insects, hoverflies stand out, with males switching from stationary hovering to high-speed pursuit at extreme angular velocities [1]. In dipterans, 50-60 large interneurons -- the lobula-plate tangential cells (LPTCs) -- detect changes in optic flow experienced during flight [2-5]. It has been predicted that large LPTC receptive fields are a requirement of accurate "matched filters" of optic flow [6]. Whereas many fly taxa have three horizontal system (HS) LPTC neurons in each hemisphere, hoverflies have four [7], possibly reflecting the more sophisticated flight behavior. We here show that the most dorsal hoverfly neuron (HS north [HSN]) is sexually dimorphic, with the male receptive field substantially smaller than in females or in either sex of blowflies. The (hoverfly-specific) HSN equatorial (HSNE) is, however, sexually isomorphic. Using complex optic flow, we show that HSN, despite its smaller receptive field, codes yaw velocity as well as HSNE. Responses to a target moving against a plain or textured background suggest that the male HSN could potentially play a role in target pursuit under some conditions.

Implementation of an elaborated neuromorphic model of a biological photoreceptor.

We describe here an elaborated neuromorphic model based on the photoreceptors of flies and realised in both software simulation and hardware using discrete circuit components. The design of the model is based on optimisations and further elaborations to the mathematical model initially developed by van Hateren and Snippe that has been shown to accurately simulate biological responses in simulations under both steady-state and limited dynamic conditions. The model includes an adaptive time constant, nonlinear adaptive gain control, logarithmic saturation and a nonlinear adaptive frequency response mechanism. It consists of a linear phototransduction stage, a dynamic filter stage, two divisive feedback loops and a static nonlinearity. In order to test the biological accuracy of the model, impulses and step responses were used to test and evaluate the steady-state characteristics of both the biological (fly) and artificial (new neuromorphic model) photoreceptors. These tests showed that the model has faithfully captured most of the essential characteristics of the insect photoreceptor cells. The model showed a decreasing response to impulsive stimuli when the background intensity was increased, indicating that the circuit adapted to background luminance in order to improve the overall operating range and better encode the contrast of the stimulus rather than luminance. The model also showed the same change in its frequency response characteristics as the biological photoreceptors over a luminance range of 70,000 cd/m(2), with the corner frequency of the circuit ranging from 10 to 90 Hz depending on the current state of adaptation. Complex naturalistic experiments have also further proven the robustness of the model to perform in real-world scenario. The model showed great correlation to the biological photoreceptors with an r (2) value exceeding 0.83. Our model could act as an excellent platform for future experiments that could be carried out in scenarios where in vivo intracellular recording from biological photoreceptors would be impractical or impossible, or as a front-end for an artificial imaging system.

Mandibular physiological tremor is reduced by increasing-force ramp contractions and periodontal anaesthesia.

We have previously shown that the application of anaesthesia to periodontal mechanoreceptors (PMRs) dramatically reduces the 6-12 Hz physiological tremor (PT) in the human mandible during constant isometric contractions where visual feedback is provided. This current study shows that during a ramp contraction where force is slowly increased, the amplitude of mandibular PT is almost five times smaller on average than when the same force ramp is performed in reverse, i.e. force is slowly decreased. This smaller tremor is associated with a higher mean firing rate of motor units (MUs) as measured by the sub-30 Hz peak in the multi-unit power spectrum. The decrease in the amplitude of PT following PMR anaesthetisation is associated in some instances with a similar increase in the overall firing rate; however this change does not match the diminution of tremor. The authors postulate that the decrease in mandibular PT during increasing force ramps may be due to a change in the mean firing rate of the MUs. The change in tremor seen during PMR anaesthetisation may in part be due to a similar mechanism; however other factors must also contribute to this.

The role of periodontal mechanoreceptors in mastication.

The aim of this review is to discuss what is known about the reflex control of the human masticatory system by the periodontal mechanoreceptors and to put forward a method for standardised investigation. To deliver mechanical stimulus in a reproducible way, the following precautions are suggested: the stimulus should be brought into secure contact with the area of stimulation, and slack between the probe and the area to be stimulated should be taken up by the application of a preload. It is also important to ensure that there is minimal simultaneous activation of receptor systems other than the periodontal mechanoreceptors. It is also necessary to standardise the method for recording and analysing the response.

Periodontal anaesthesia reduces common 8 Hz input to masseters during isometric biting.

During isometric contractions of the jaw muscles, oscillations in the rectified masseteric EMG record that are coherent with the mandibular force output are evident at ~8 Hz. We have investigated the load dependence of these oscillations under both force and EMG feedback conditions and the extent to which these oscillations are coupled bilaterally in the jaw muscles. We further investigated the extent to which afferent information arising from the periodontium during biting influenced the extent of ~8 Hz EMG tremor and the bilateral coupling between masseters at this frequency. Using coherence analysis we have shown that a significant load-independent coupling of EMG between the closing muscles of the jaw occurs at ~8 Hz as a result of common ~8 Hz input to the masseters. This common input is significantly reduced when afferent information from the periodontium is blocked. These results suggest that afferent information arising from the periodontium enhances the expression of peripheral tremulous activity, which may be important for optimising the response of the jaw to changes in forces occurring between the teeth.

Jaw movement alters the reaction of human jaw muscles to incisor stimulation.

The changes in the minimum time to consciously react (reaction time) and the order of jaw muscle recruitment to precisely controlled axial stimulation of the incisors during controlled jaw movements are not known. To this end, ten subjects were recruited to investigate the reaction time of bilateral temporalis and masseter muscles and bite force. Stimuli were delivered axially to the upper central incisors during active jaw closing and opening, and under static conditions. The results showed that the reaction time was increased an average of 35% during both jaw opening and closing movements when compared with static jaw conditions. The left temporalis was recruited approximately 10 ms before the right temporalis, whereas no significant side differences were found between the masseter muscles. The masseter muscles were recruited an average of 20 ms before the temporalis muscles during jaw closing, but no difference existed during opening. Under static conditions the reaction time in the bite force was approximately 16 ms longer than the left temporalis, but was not significantly different from the reaction time of any of the other muscles, indicating that, under the static conditions tested, the left temporalis was more often responsible for initiation of the mechanical reactions in the jaw. Because of active compensation, no force measurements were made during jaw movement. This study is a prerequisite for investigations into the modulation of reflexes during jaw movement, because a response to a stimulus commencing after the minimum reaction time may not be entirely reflex in origin.

EMG, force and discharge rate analysis of human jaw reflexes in response to axial stimulation of the incisor.

Reflex studies utilising controlled stimulation along the long axis of human incisors are relatively new, and the effects that various stimulus parameters have on the elicited reflexes are not fully understood. Twelve subjects were recruited to determine the effects that contraction level, stimulus force and amount of constant force applied between stimuli have on the reflex response of the masseter muscle. Multi-unit intramuscular electromyogram (EMG) was recorded alongside surface EMG to determine whether any differences existed between the two. Furthermore, cumulative peri-stimulus "dischargegrams" were constructed to determine whether events seen in the EMG corresponded to changes in the discharge rates of the underlying motor units. Axial stimulation of the incisor induced a response in the EMG comprising of peak-trough-peak, with the trough being the most dominant. The bite force record showed only a reduction (relaxation) in response to the stimulation. The most significant experimental factor affecting the reflex occurrence and strength was the stimulus force. Although the latency, duration and occurrence rates were not significantly different, the strength of the responses was greater in intramuscular recordings compared with the surface recordings. Discharge rate analysis showed that approximately two-thirds of the late peaks detected in the EMG did not correspond to an increase in the discharge rates of the underlying units; hence they were due to the clustering of action potentials following the trough and not to a change in the membrane potential of the motoneurone. It was also found that the duration of the trough, as seen by the reduced cumulative discharge rate of the underlying units, was longer than indicated by the EMG.