A Synthesis of Science, Mathematics and
Computer Science:
Medical Applications, Space Exploration
and Robotics
Theodore Raphan
Dept. Of Computer and Information Science
Brooklyn College and Graduate Center
City University of New York
NASA Roadmap
Bone Loss (Osteoporosis)
• A disease of excessive demineralization of bone, which on average
starts to take place in both sexes after age 35. Men are less affected.
•The decrease in the bone density of postmenopausal women is a much
more serious problem, however by age 75, the gap closes where both
genders become equally prone for bone loss.
•For instance, after sustaining a hip fracture, it is estimated that 20% of
patients die within one year, 50% cannot walk any longer without
assistance, while 25% may have to be institutionalized in long-term
nursing care facilities.
Bone Remodeling
• A process where the adult skeleton undergoes a continuous turnover
whereby old bone is resorbed by osteoclasts and new bone is formed by
osteoblasts.
•Osteoclasts are cell types that degrade bone and its protein components
by releasing calcium from bone into circulation, where calcium can either
remain, or be excreted
•Osteoblasts are cell types that synthesizes new bone.
•Exercise and Bone Loading is Extremely Important for Bone Health
Bone Loss
Comparison of Normal and Abnormal Bone
Conclusions
• Computer Image Analysis is Becoming an Important Technique
For early detection of problems of Bone Density and Architecture
• The image analysis shows that bone architecture as well as bone
density are important factors in bone health
• Computer Image Analysis in Three Dimensions shows even greater
promise of identifying factors that contribute to osteoporosis by
examining its archtecture and density in 3D.
Sensory Motor Function and Adaptation
• Maintains Balance While Walking and Running
• Helps See Clearly While Moving or Objects Move
• Eye Hand Coordination (Hitting a Baseball)
• Many Other Functions
Sensory-Motor Function Necessary For Space Travel
Peripheral Vestibular System (Labyrinth)
Basic Vestibulo-Ocular Reflex (VOR)
COMPENSATORY GAZE MECHANISMS
COMPENSATORY Angular Vestibulo-Ocular Reflex (aVOR) COMPENSATORY Angular Vestibulo-Collic Reflex (VCR)
TENDS TO MAINTAIN TEND TO MAINTAIN
INVARIANT GAZE DIRECTION INVARIANT HEAD POINTING DIRECTION
HEAD ROTATION BODY ROTATION
COMPENSATORY Linear Vestibulo-Ocular Reflex (lVOR) COMPENSATORY Linear Vestibulo-Collic Reflex (lVCR)
TENDS TO MAINTAIN TENDS TO MAINTAIN
INVARIANT GAZE FIXATION POINT INVARIANT HEAD FIXATION POINT
HEAD TRANSLATION HEAD TRANSLATION
Sensors For Detection Linear Acceleration
VCR In Action
Acknowledgement: Video from Ken Money
Benign paroxysmal Positional vertigo (BPPV)
Taken from Web Site of Timothy Hain
Epley Maneuver to Cure BPPV
Taken from Website of Timothy Hain
Robot Design for Static Stability
Inoue-Inaba laboratory Bipedal Robot
Wind-Up Toy
Walking motion must be done relatively slowly and the robot
must be able to balance on one foot. Another way to increase
stability is to make the center of gravity as low as possible.
Qrio Robot from SONY
Taken from SONY website
Nordic Walking
Rocker Motion in Forward Human Locomotion
Sony AIBO Quadrupedal Robot
1. Utilizes Static Stability
2. Loaded with sensors including color camera, heat sensors, an infra-
red range finder, touch sensors, acceleration and speed sensors and a
stereo microphone. It has 18 joints producing 250 types of movement
Robot and Human Locomotion
Simulated VCR In Robot
Simulated VOR In Robot
Robotis Bioloid
(Tribotix)
CONCLUSIONS
•Science Utilizes Methodologies in Mathematics and Computer
Science To Study a Wide Range of Problems Dealing With Health
and Space Travel.
• Robotics is a Growing Field and A Number of new Developments
in Robot Design is Inspired by Sensory Motion Function
•A quadrupedal robot has been outfitted with an artificial vestibular
sensor, which monitors head motion and orientation.
•A rudimentary compensatory system (program) that can maintain head
stability at low frequencies when the robot is moved in space has been
implemented
•The initial necessary steps have been implemented for developing
algorithms for dynamically stable walking in quadrupeds and ultimately
for bipeds
Bernard Cohen Mikhail Kunin Marek Marcinkiewicz
Yasuhiro Osaki Yongqing Xiang Ravi Kauchik
Takao Imai Koji Kudo Simon Parsons
Eishi Hirosaki Lawrence Goetz Jizhong Xiao
Elizabeth Sklar
DC 05222 NIH-NIDCD
Vestibular mechanisms in the Dynamics of Locomotion
EY04148 NIH-NEI
Multidimensional Dynamics of the Vestibulo-Ocular Reflex
P30 D2C0504-01A1
NIH-NIDCD
Core Center
NCC-9-58 NASA through a cooperative Agreement with NSBRI
Advanced Techniques for Assessment of Postural and Locomotor Ataxia, Spatial
Orientation And Gaze Stability
CNS-0520989NSF - NSF-MRI
Acquisition of Bipedal Robot Facility to Support Research into Improvement of
Orientation and Stability of Locomotion
CUNY-Collaborative grant 80209-09-12
Brooklyn College Technical Fee and GRTI Grant
NSF 0633497- CCLI
Develocping a STEM Curriculum for Early College Programs: A High School to
College Continuum