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MuscleSpindle.f90
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MuscleSpindle.f90
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! '''
! Neuromuscular simulator in Fortran.
! Copyright (C) 2018 Renato Naville Watanabe
!
! This program is free software: you can redistribute it and/or modify
! it under the terms of the GNU General Public License as published by
! the Free Software Foundation, either version 3 of the License, or
! any later version.
! This program is distributed in the hope that it will be useful,
! but WITHOUT ANY WARRANTY; without even the implied warranty of
! MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
! GNU General Public License for more details.
! You should have received a copy of the GNU General Public License
! along with this program. If not, see <http://www.gnu.org/licenses/>.
! Contact: [email protected]
! '''
module MuscleSpindleClass
! '''
! Class that implements a muscle spindle model.
! '''
use ConfigurationClass
implicit none
integer, parameter :: wp = kind(1.0d0)
real(wp), parameter :: pi = 4 * atan(1.0_wp)
private
public :: MuscleSpindle
type MuscleSpindle
type(Configuration), pointer:: conf
character(len = 6) :: muscle
real(wp) :: beta0Bag1, beta0Bag2, beta0Chain
real(wp) :: beta1Bag1, beta2Bag2, beta2Chain
real(wp) :: GAMMA1Bag1, GAMMA2Bag2, GAMMA2Chain
real(wp) :: freq_bag1_Hz, freq_bag2_Hz, freq_Chain_Hz
real(wp) :: tauBag1_s, tauBag2_s
real(wp) :: KsrBag1, KsrBag2, KsrChain
real(wp) :: MBag1, MBag2, MChain
real(wp) :: L0SrBag1, L0SrBag2, L0SrChain
real(wp) :: L0PrBag1, L0PrBag2, L0PrChain
real(wp) :: LNSrBag1, LNSrBag2, LNSrChain
real(wp) :: LNPrBag2, LNPrChain
real(wp) :: RBag1, RBag2, RChain
real(wp) :: KPrBag1, KPrBag2, KPrChain
real(wp) :: GPrimaryBag1, GPrimaryBag2, GPrimaryChain
real(wp) :: GSecondaryBag1, GSecondaryBag2, GSecondaryChain
real(wp) :: SOcclusionFactor
real(wp) :: betaBag1, betaBag2, betaChain
real(wp) :: GAMMABag1, GAMMABag2, GAMMAChain
real(wp) :: primaryPotentialBag1, primaryPotentialBag2, primaryPotentialChain
real(wp) :: secondaryPotentialBag1, secondaryPotentialBag2, secondaryPotentialChain
real(wp), dimension(3) :: fusimotorActivation
real(wp), dimension(6) :: fiberTension
real(wp) :: IaFR_Hz, IIFR_Hz
real(wp) :: XBag2, XChain
real(wp) :: LSecondaryBag2, LSecondaryChain
contains
procedure :: atualizeMuscleSpindle
procedure :: computeFusimotorActivation
procedure :: computePrimaryActivity
procedure :: computeIa
procedure :: dfdt
procedure :: computeFiberTension
procedure :: dTdt
procedure :: computeSecondaryActivity
procedure :: computeII
procedure :: reset
end type MuscleSpindle
interface MuscleSpindle
module procedure init_MuscleSpindle
end interface MuscleSpindle
contains
type(MuscleSpindle) function init_MuscleSpindle(conf, muscle)
! '''
! Constructor
! - Inputs:
! + **conf**: Configuration object with the simulation parameters.
! + **muscle**: string with the muscle to which the muscle spindle belongs.
! '''
class(Configuration), intent(in), target :: conf
character(len = 6), intent(in) :: muscle
character(len = 80) :: paramChar, paramTag
! ## Configuration object with the simulation parameters.
init_MuscleSpindle%conf => conf
init_MuscleSpindle%muscle = muscle
paramTag = 'beta0Bag1'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%beta0Bag1
paramTag = 'beta0Bag2'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%beta0Bag2
paramTag = 'beta0Chain'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%beta0Chain
paramTag = 'beta1Bag1'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%beta1Bag1
paramTag = 'beta2Bag2'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%beta2Bag2
paramTag = 'beta2Chain'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%beta2Chain
paramTag = 'GAMMA1Bag1'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%GAMMA1Bag1
paramTag = 'GAMMA2Bag2'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%GAMMA2Bag2
paramTag = 'GAMMA2Chain'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%GAMMA2Chain
paramTag = 'freqBag1'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%freq_bag1_Hz
paramTag = 'freqBag2'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%freq_bag2_Hz
paramTag = 'freqChain'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%freq_Chain_Hz
paramTag = 'tauBag1'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%tauBag1_s
paramTag = 'tauBag2'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%tauBag2_s
paramTag = 'KsrBag1'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%KsrBag1
paramTag = 'KsrBag2'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%KsrBag2
paramTag = 'KsrChain'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%KsrChain
paramTag = 'MBag1'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%MBag1
paramTag = 'MBag2'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%MBag2
paramTag = 'MChain'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%MChain
paramTag = 'L0SrBag1'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%L0SrBag1
paramTag = 'L0SrBag2'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%L0SrBag2
paramTag = 'L0SrChain'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%L0SrChain
paramTag = 'L0PrBag1'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%L0PrBag1
paramTag = 'L0PrBag2'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%L0PrBag2
paramTag = 'L0PrChain'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%L0PrChain
paramTag = 'LNSrBag1'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%LNSrBag1
paramTag = 'LNSrBag2'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%LNSrBag2
paramTag = 'LNSrChain'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%LNSrChain
paramTag = 'LNPrBag2'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%LNPrBag2
paramTag = 'LNPrChain'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%LNPrChain
paramTag = 'RBag1'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%RBag1
paramTag = 'RBag2'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%RBag2
paramTag = 'RChain'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%RChain
paramTag = 'KPrBag1'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%KPrBag1
paramTag = 'KPrBag2'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%KPrBag2
paramTag = 'KPrChain'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%KPrChain
paramTag = 'GPrimaryBag1'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%GPrimaryBag1
paramTag = 'GPrimaryBag2'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%GPrimaryBag2
paramtag = 'GPrimaryChain'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%GPrimaryChain
paramTag = 'GSecondaryBag2'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%GSecondaryBag2
paramtag = 'GSecondaryChain'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%GSecondaryChain
paramTag = 'SOcclusionFactor'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%SOcclusionFactor
paramTag = 'XBag2'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%XBag2
paramTag = 'XChain'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%XChain
paramTag = 'LSecondaryBag2'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%LSecondaryBag2
paramTag = 'LSecondaryChain'
paramChar = init_MuscleSpindle%conf%parameterSet(paramTag, muscle, 0)
read(paramChar, *)init_MuscleSpindle%LSecondaryChain
init_MuscleSpindle%betaBag1 = 0.0
init_MuscleSpindle%betaBag2 = 0.0
init_MuscleSpindle%betaChain = 0.0
init_MuscleSpindle%GAMMABag1 = 0.0
init_MuscleSpindle%GAMMABag2 = 0.0
init_MuscleSpindle%GAMMAChain = 0.0
init_MuscleSpindle%primaryPotentialBag1 = 0.0
init_MuscleSpindle%primaryPotentialBag2 = 0.0
init_MuscleSpindle%primaryPotentialChain = 0.0
init_MuscleSpindle%secondaryPotentialBag1 = 0.0
init_MuscleSpindle%secondaryPotentialBag2 = 0.0
init_MuscleSpindle%secondaryPotentialChain = 0.0
! ## Vector with the activation of each fusimotor fiber. The first
! # element is the frequency of Bag1, the second of Bag2 and the
! # third of the Chain.
init_MuscleSpindle%fusimotorActivation = [0.0, 0.0, 0.0]
! ## Vector with the tensions and tensions derivatives of each
! # fusimotor fiber. The first two elements correspond to the Bag1,
! # the third and fourth to Bag2 and the last ones to the Chain.
init_MuscleSpindle%fiberTension = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
init_MuscleSpindle%IaFR_Hz = 0.0
init_MuscleSpindle%IIFR_Hz = 0.0
print '(A)', 'Muscle spindle from muscle ' // trim(init_MuscleSpindle%muscle) // ' built.'
end function
subroutine atualizeMuscleSpindle(self, t, fascicleLength, fascicleVelocity, &
fascicleAcceleration, gammaMNDynamicFR, gammaMNStaticFR)
! '''
! Atualize the dynamical and nondynamical (delay) parts of the motor unit.
! - Inputs:
! + **t**: current instant, in ms.
! '''
class(MuscleSpindle), intent(inout) :: self
real(wp), intent(in) :: t, fascicleLength, fascicleVelocity, fascicleAcceleration
real(wp), intent(in) :: gammaMNDynamicFR, gammaMNStaticFR
call self%computeFusimotorActivation(t, gammaMNDynamicFR, gammaMNStaticFR)
self%betaBag1 = self%beta0Bag1 + self%beta1Bag1 * self%fusimotorActivation(1)
self%betaBag2 = self%beta0Bag2 + self%beta2Bag2 * self%fusimotorActivation(2)
self%betaChain = self%beta0Chain + self%beta2Chain * self%fusimotorActivation(3)
self%GAMMABag1 = self%GAMMA1Bag1 * self%fusimotorActivation(1)
self%GAMMABag2 = self%GAMMA2Bag2 * self%fusimotorActivation(2)
self%GAMMAChain = self%GAMMA2Chain * self%fusimotorActivation(3)
call self%computeFiberTension(t, fascicleLength, fascicleVelocity, fascicleAcceleration)
self%IaFR_Hz = self%computeIa(t)
self%IIFR_Hz = self%computeII(t, fascicleLength)
end subroutine
subroutine computeFusimotorActivation(self, t, gammaMNDynamicFR, gammaMNStaticFR)
! '''
! '''
class(MuscleSpindle), intent(inout) :: self
real(wp), intent(in) :: t, gammaMNDynamicFR, gammaMNStaticFR
real(wp), dimension(2) :: df
df = self%dfdt(t, gammaMNDynamicFR, gammaMNStaticFR)
self%fusimotorActivation(1) = self%fusimotorActivation(1) + self%conf%timeStep_ms / 1000.0 * df(1)
self%fusimotorActivation(2) = self%fusimotorActivation(2) + self%conf%timeStep_ms / 1000.0 * df(2)
self%fusimotorActivation(3) = gammaMNStaticFR**2/(gammaMNStaticFR**2 + self%freq_Chain_Hz**2)
end subroutine
function dfdt(self, t, gammaMNDynamicFR, gammaMNStaticFR) result(df)
! '''
! '''
class(MuscleSpindle), intent(inout) :: self
real(wp), intent(in) :: t, gammaMNDynamicFR, gammaMNStaticFR
real(wp), dimension(2) :: df
df(1) = ((gammaMNDynamicFR**2)/(gammaMNDynamicFR**2 + self%freq_bag1_Hz**2) - self%fusimotorActivation(1)) / self%tauBag1_s
df(2) = ((gammaMNStaticFR**2)/(gammaMNStaticFR**2 + self%freq_bag2_Hz**2) - self%fusimotorActivation(2)) / self%tauBag2_s
end function
subroutine computeFiberTension(self, t, fascicleLength, fascicleVelocity, fascicleAcceleration)
! '''
! '''
class(MuscleSpindle), intent(inout) :: self
real(wp), intent(in) :: t, fascicleLength, fascicleVelocity, fascicleAcceleration
real(wp), dimension(6) :: dT
dT = self%dTdt(t, fascicleLength, fascicleVelocity, fascicleAcceleration)
self%fiberTension = self%fiberTension + self%conf%timeStep_ms / 1000.0 * dT
end subroutine
function dTdt(self, t, fascicleLength, fascicleVelocity, fascicleAcceleration) result(dT)
! '''
! '''
class(MuscleSpindle), intent(inout) :: self
real(wp), intent(in) :: t, fascicleLength, fascicleVelocity, fascicleAcceleration
real(wp), dimension(6) :: dT
real(wp) :: C
if ((fascicleVelocity - self%fiberTension(2)/self%KsrBag1) > 0.0) then
C = 1.0
else
C = 0.42
end if
dT(1) = self%fiberTension(2)
dT(2) = self%KsrBag1 / self%MBag1 * (C * self%betaBag1 * sign(1.0_wp, fascicleVelocity - &
self%fiberTension(2)/self%KsrBag1) &
* (abs(fascicleVelocity - self%fiberTension(2)/self%KsrBag1)**0.3) * &
(fascicleLength - self%L0SrBag1 - self%fiberTension(1)/self%KsrBag1 - self%RBag1)&
+ self%KPrBag1 * (fascicleLength - self%L0SrBag1 - self%fiberTension(1)/self%KsrBag1&
- self%L0PrBag1) &
+ self%MBag1 * fascicleAcceleration + self%GAMMABag1 - self%fiberTension(1))
if ((fascicleVelocity - self%fiberTension(4)/self%KsrBag2) > 0.0) then
C = 1.0
else
C = 0.42
end if
dT(3) = self%fiberTension(4)
dT(4) = self%KsrBag2 / self%MBag2 * (C * self%betaBag2 &
* sign(1.0_wp,fascicleVelocity - self%fiberTension(4)/self%KsrBag2) &
* (abs(fascicleVelocity - self%fiberTension(4)/self%KsrBag2)**0.3) * &
(fascicleLength - self%L0SrBag2 - self%fiberTension(3)/self%KsrBag2 - self%RBag2) &
+ self%KPrBag2 * (fascicleLength - self%L0SrBag2 - self%fiberTension(3)/self%KsrBag2 -&
self%L0PrBag2) &
+ self%MBag2 * fascicleAcceleration + self%GAMMABag2 - self%fiberTension(3))
if ((fascicleVelocity - self%fiberTension(6)/self%KsrChain) > 0.0) then
C = 1.0
else
C = 0.42
end if
dT(5) = self%fiberTension(6)
dT(6) = self%KsrChain / self%MChain * (C * &
self%betaChain * sign(1.0_wp, fascicleVelocity -&
self%fiberTension(6)/self%KsrChain) &
* (abs(fascicleVelocity - self%fiberTension(6)/self%KsrChain)**0.3) * &
(fascicleLength - self%L0SrChain - self%fiberTension(5)/self%KsrChain - self%RChain) &
+ self%KPrChain * (fascicleLength - self%L0SrChain - self%fiberTension(5)/self%KsrChain -&
self%L0PrChain) &
+ self%MChain * fascicleAcceleration + self%GAMMAChain - self%fiberTension(5))
end function
real(wp) function computeIa(self, t) result(IaFR)
! '''
! '''
class(MuscleSpindle), intent(inout) :: self
real(wp), intent(in) :: t
real(wp) :: smaller, larger
call self%computePrimaryActivity(t)
if (self%primaryPotentialBag1 >= (self%primaryPotentialBag2 + self%primaryPotentialChain)) then
larger = self%primaryPotentialBag1
smaller = self%primaryPotentialBag2 + self%primaryPotentialChain
else
smaller = self%primaryPotentialBag1
larger = self%primaryPotentialBag2 + self%primaryPotentialChain
end if
IaFR = self%SOcclusionFactor * smaller + larger
end function
real(wp) function computeII(self, t, fascicleLength) result(IIFR)
class(MuscleSpindle), intent(inout) :: self
real(wp), intent(in) :: t
real(wp), intent(in) :: fascicleLength
call self%computeSecondaryActivity(t, fascicleLength)
IIFR = self%secondaryPotentialBag2 + self%secondaryPotentialChain
end function
subroutine computePrimaryActivity(self, t)
! '''
! '''
class(MuscleSpindle), intent(inout) :: self
real(wp), intent(in) :: t
self%primaryPotentialBag1 = self%GPrimaryBag1 * (self%fiberTension(1) / self%KsrBag1 - &
self%LNSrBag1 + self%L0SrBag1)
self%primaryPotentialBag2 = self%GPrimaryBag2 * (self%fiberTension(3) / self%KsrBag2 - &
self%LNSrBag2 + self%L0SrBag2)
self%primaryPotentialChain = self%GPrimaryChain * (self%fiberTension(5) / self%KsrChain - &
self%LNSrChain + self%L0SrChain)
end subroutine
subroutine computeSecondaryActivity(self, t, fascicleLength)
! '''
! '''
class(MuscleSpindle), intent(inout) :: self
real(wp), intent(in) :: t
real(wp), intent(in) :: fascicleLength
self%secondaryPotentialBag2 = self%GSecondaryBag2 * ((self%XBag2 * self%LSecondaryBag2 / self%L0SrBag2) * &
(self%fiberTension(3)/self%KsrBag2 - (self%LNSrBag2 - self%L0SrBag2)) + &
(1 - self%XBag2) * self%LSecondaryBag2 / self%L0PrBag2 * &
(fascicleLength - self%fiberTension(3)/self%KsrBag2 - self%L0SrBag2 - self%LNPrBag2))
self%secondaryPotentialChain = self%GSecondaryChain * ((self%XChain * self%LSecondaryChain / self%L0SrChain) * &
(self%fiberTension(5)/self%KsrChain - (self%LNSrChain - self%L0SrChain)) + &
(1 - self%XChain) * self%LSecondaryChain / self%L0PrChain * &
(fascicleLength - self%fiberTension(5)/self%KsrChain - self%L0SrChain - self%LNPrChain))
end subroutine
subroutine reset(self)
! '''
! '''
class(MuscleSpindle), intent(inout) :: self
self%betaBag1 = 0.0
self%betaBag2 = 0.0
self%betaChain = 0.0
self%GAMMABag1 = 0.0
self%GAMMABag2 = 0.0
self%GAMMAChain = 0.0
self%primaryPotentialBag1 = 0.0
self%primaryPotentialBag2 = 0.0
self%primaryPotentialChain = 0.0
self%secondaryPotentialBag1 = 0.0
self%secondaryPotentialBag2 = 0.0
self%secondaryPotentialChain = 0.0
self%fusimotorActivation(:) = 0.0
self%fiberTension(:) = 0.0
self%IaFR_Hz = 0.0
self%IIFR_Hz = 0.0
end subroutine
end module MuscleSpindleClass