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Malvern Panalytical nanoparticle motion analysis nta
Nanoparticle Motion Analysis Nta, supplied by Malvern Panalytical, used in various techniques. Bioz Stars score: 99/100, based on 1 PubMed citations. ZERO BIAS - scores, article reviews, protocol conditions and more
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Oxford Instruments actin filament motion analysis
Automated tracking of learned <t>actin</t> structures (ATLAS) workflow. ( A ) ATLAS receives stacks of motility images from a movie as input. ( B ) Each image is fed to the YOLOv5 ensemble, which identifies actin filaments by a detection bounding box ( green ). ( C ) Each individual detection is fed to the UNET segmentation model, which returns <t>filament</t> masks, which are in turn used to determine filament lengths (see for a comprehensive flowchart of the ATLAS routine). ( D ) Simultaneously, filament detections are sent to Deep SORT to assemble actin filament tracks. ( E ) Track data are then used to calculate root mean-square displacement (RMSD), and velocity is determined as the slope of the relationship between RMSD and time interval. ( F ) Sample images from the YOLOv5 and UNET training datasets, with filament contour annotations shown in yellow. ( G ) Branched filament detection due to filament crossings. For each pixel in the skeleton ( green ), the total number of neighboring pixels in the skeleton ( red ) is counted in both the adjacent eight-pixel neighborhood ( yellow ) and the outer 16-pixel neighborhood ( blue ). If either neighborhood has three or more occupied pixels from the filament skeleton ( red ), the entire filament detection is discarded as a “branched” filament. ( H ) Centroid correction. For filaments >2 μm in length, the centroid of the YOLOv5 filament detection ( green dot ) may lie far from the actual center of the filament skeleton ( blue dot ); therefore, the coordinates of the bounding box centroid are replaced with those of the filament center. ( I ) Illustration of Maximum Track Selection to ensure <t>analysis</t> of the maximum number of tracks that each arise from a distinct filament. Each track is identified by its start and stop. (∗) denotes the earliest frame containing the maximum number of tracks (in this case, seven). Tracks active in this frame are exclusively selected for analysis when MTS functionality is enabled.
Actin Filament Motion Analysis, supplied by Oxford Instruments, used in various techniques. Bioz Stars score: 99/100, based on 1 PubMed citations. ZERO BIAS - scores, article reviews, protocol conditions and more
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Automated tracking of learned <t>actin</t> structures (ATLAS) workflow. ( A ) ATLAS receives stacks of motility images from a movie as input. ( B ) Each image is fed to the YOLOv5 ensemble, which identifies actin filaments by a detection bounding box ( green ). ( C ) Each individual detection is fed to the UNET segmentation model, which returns <t>filament</t> masks, which are in turn used to determine filament lengths (see for a comprehensive flowchart of the ATLAS routine). ( D ) Simultaneously, filament detections are sent to Deep SORT to assemble actin filament tracks. ( E ) Track data are then used to calculate root mean-square displacement (RMSD), and velocity is determined as the slope of the relationship between RMSD and time interval. ( F ) Sample images from the YOLOv5 and UNET training datasets, with filament contour annotations shown in yellow. ( G ) Branched filament detection due to filament crossings. For each pixel in the skeleton ( green ), the total number of neighboring pixels in the skeleton ( red ) is counted in both the adjacent eight-pixel neighborhood ( yellow ) and the outer 16-pixel neighborhood ( blue ). If either neighborhood has three or more occupied pixels from the filament skeleton ( red ), the entire filament detection is discarded as a “branched” filament. ( H ) Centroid correction. For filaments >2 μm in length, the centroid of the YOLOv5 filament detection ( green dot ) may lie far from the actual center of the filament skeleton ( blue dot ); therefore, the coordinates of the bounding box centroid are replaced with those of the filament center. ( I ) Illustration of Maximum Track Selection to ensure <t>analysis</t> of the maximum number of tracks that each arise from a distinct filament. Each track is identified by its start and stop. (∗) denotes the earliest frame containing the maximum number of tracks (in this case, seven). Tracks active in this frame are exclusively selected for analysis when MTS functionality is enabled.
7 Camera Motion Analysis System, supplied by Oxford Metrics, used in various techniques. Bioz Stars score: 90/100, based on 1 PubMed citations. ZERO BIAS - scores, article reviews, protocol conditions and more
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Automated tracking of learned <t>actin</t> structures (ATLAS) workflow. ( A ) ATLAS receives stacks of motility images from a movie as input. ( B ) Each image is fed to the YOLOv5 ensemble, which identifies actin filaments by a detection bounding box ( green ). ( C ) Each individual detection is fed to the UNET segmentation model, which returns <t>filament</t> masks, which are in turn used to determine filament lengths (see for a comprehensive flowchart of the ATLAS routine). ( D ) Simultaneously, filament detections are sent to Deep SORT to assemble actin filament tracks. ( E ) Track data are then used to calculate root mean-square displacement (RMSD), and velocity is determined as the slope of the relationship between RMSD and time interval. ( F ) Sample images from the YOLOv5 and UNET training datasets, with filament contour annotations shown in yellow. ( G ) Branched filament detection due to filament crossings. For each pixel in the skeleton ( green ), the total number of neighboring pixels in the skeleton ( red ) is counted in both the adjacent eight-pixel neighborhood ( yellow ) and the outer 16-pixel neighborhood ( blue ). If either neighborhood has three or more occupied pixels from the filament skeleton ( red ), the entire filament detection is discarded as a “branched” filament. ( H ) Centroid correction. For filaments >2 μm in length, the centroid of the YOLOv5 filament detection ( green dot ) may lie far from the actual center of the filament skeleton ( blue dot ); therefore, the coordinates of the bounding box centroid are replaced with those of the filament center. ( I ) Illustration of Maximum Track Selection to ensure <t>analysis</t> of the maximum number of tracks that each arise from a distinct filament. Each track is identified by its start and stop. (∗) denotes the earliest frame containing the maximum number of tracks (in this case, seven). Tracks active in this frame are exclusively selected for analysis when MTS functionality is enabled.
High Speed Motion Analysis System, supplied by Oxford Metrics, used in various techniques. Bioz Stars score: 90/100, based on 1 PubMed citations. ZERO BIAS - scores, article reviews, protocol conditions and more
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Xcitex Inc proanalyst v.1.5 motion analysis software
Automated tracking of learned <t>actin</t> structures (ATLAS) workflow. ( A ) ATLAS receives stacks of motility images from a movie as input. ( B ) Each image is fed to the YOLOv5 ensemble, which identifies actin filaments by a detection bounding box ( green ). ( C ) Each individual detection is fed to the UNET segmentation model, which returns <t>filament</t> masks, which are in turn used to determine filament lengths (see for a comprehensive flowchart of the ATLAS routine). ( D ) Simultaneously, filament detections are sent to Deep SORT to assemble actin filament tracks. ( E ) Track data are then used to calculate root mean-square displacement (RMSD), and velocity is determined as the slope of the relationship between RMSD and time interval. ( F ) Sample images from the YOLOv5 and UNET training datasets, with filament contour annotations shown in yellow. ( G ) Branched filament detection due to filament crossings. For each pixel in the skeleton ( green ), the total number of neighboring pixels in the skeleton ( red ) is counted in both the adjacent eight-pixel neighborhood ( yellow ) and the outer 16-pixel neighborhood ( blue ). If either neighborhood has three or more occupied pixels from the filament skeleton ( red ), the entire filament detection is discarded as a “branched” filament. ( H ) Centroid correction. For filaments >2 μm in length, the centroid of the YOLOv5 filament detection ( green dot ) may lie far from the actual center of the filament skeleton ( blue dot ); therefore, the coordinates of the bounding box centroid are replaced with those of the filament center. ( I ) Illustration of Maximum Track Selection to ensure <t>analysis</t> of the maximum number of tracks that each arise from a distinct filament. Each track is identified by its start and stop. (∗) denotes the earliest frame containing the maximum number of tracks (in this case, seven). Tracks active in this frame are exclusively selected for analysis when MTS functionality is enabled.
Proanalyst V.1.5 Motion Analysis Software, supplied by Xcitex Inc, used in various techniques. Bioz Stars score: 90/100, based on 1 PubMed citations. ZERO BIAS - scores, article reviews, protocol conditions and more
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Oxford Metrics 8-camera motion-analysis system at 250 hz vicon t series
Automated tracking of learned <t>actin</t> structures (ATLAS) workflow. ( A ) ATLAS receives stacks of motility images from a movie as input. ( B ) Each image is fed to the YOLOv5 ensemble, which identifies actin filaments by a detection bounding box ( green ). ( C ) Each individual detection is fed to the UNET segmentation model, which returns <t>filament</t> masks, which are in turn used to determine filament lengths (see for a comprehensive flowchart of the ATLAS routine). ( D ) Simultaneously, filament detections are sent to Deep SORT to assemble actin filament tracks. ( E ) Track data are then used to calculate root mean-square displacement (RMSD), and velocity is determined as the slope of the relationship between RMSD and time interval. ( F ) Sample images from the YOLOv5 and UNET training datasets, with filament contour annotations shown in yellow. ( G ) Branched filament detection due to filament crossings. For each pixel in the skeleton ( green ), the total number of neighboring pixels in the skeleton ( red ) is counted in both the adjacent eight-pixel neighborhood ( yellow ) and the outer 16-pixel neighborhood ( blue ). If either neighborhood has three or more occupied pixels from the filament skeleton ( red ), the entire filament detection is discarded as a “branched” filament. ( H ) Centroid correction. For filaments >2 μm in length, the centroid of the YOLOv5 filament detection ( green dot ) may lie far from the actual center of the filament skeleton ( blue dot ); therefore, the coordinates of the bounding box centroid are replaced with those of the filament center. ( I ) Illustration of Maximum Track Selection to ensure <t>analysis</t> of the maximum number of tracks that each arise from a distinct filament. Each track is identified by its start and stop. (∗) denotes the earliest frame containing the maximum number of tracks (in this case, seven). Tracks active in this frame are exclusively selected for analysis when MTS functionality is enabled.
8 Camera Motion Analysis System At 250 Hz Vicon T Series, supplied by Oxford Metrics, used in various techniques. Bioz Stars score: 90/100, based on 1 PubMed citations. ZERO BIAS - scores, article reviews, protocol conditions and more
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Oxford Metrics 10-camera vicon optoelectronic based motion capture analysis system vicon 2.10.3
Automated tracking of learned <t>actin</t> structures (ATLAS) workflow. ( A ) ATLAS receives stacks of motility images from a movie as input. ( B ) Each image is fed to the YOLOv5 ensemble, which identifies actin filaments by a detection bounding box ( green ). ( C ) Each individual detection is fed to the UNET segmentation model, which returns <t>filament</t> masks, which are in turn used to determine filament lengths (see for a comprehensive flowchart of the ATLAS routine). ( D ) Simultaneously, filament detections are sent to Deep SORT to assemble actin filament tracks. ( E ) Track data are then used to calculate root mean-square displacement (RMSD), and velocity is determined as the slope of the relationship between RMSD and time interval. ( F ) Sample images from the YOLOv5 and UNET training datasets, with filament contour annotations shown in yellow. ( G ) Branched filament detection due to filament crossings. For each pixel in the skeleton ( green ), the total number of neighboring pixels in the skeleton ( red ) is counted in both the adjacent eight-pixel neighborhood ( yellow ) and the outer 16-pixel neighborhood ( blue ). If either neighborhood has three or more occupied pixels from the filament skeleton ( red ), the entire filament detection is discarded as a “branched” filament. ( H ) Centroid correction. For filaments >2 μm in length, the centroid of the YOLOv5 filament detection ( green dot ) may lie far from the actual center of the filament skeleton ( blue dot ); therefore, the coordinates of the bounding box centroid are replaced with those of the filament center. ( I ) Illustration of Maximum Track Selection to ensure <t>analysis</t> of the maximum number of tracks that each arise from a distinct filament. Each track is identified by its start and stop. (∗) denotes the earliest frame containing the maximum number of tracks (in this case, seven). Tracks active in this frame are exclusively selected for analysis when MTS functionality is enabled.
10 Camera Vicon Optoelectronic Based Motion Capture Analysis System Vicon 2.10.3, supplied by Oxford Metrics, used in various techniques. Bioz Stars score: 90/100, based on 1 PubMed citations. ZERO BIAS - scores, article reviews, protocol conditions and more
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Photron Inc chip for motion image analysis 6d-marker analyst
Automated tracking of learned <t>actin</t> structures (ATLAS) workflow. ( A ) ATLAS receives stacks of motility images from a movie as input. ( B ) Each image is fed to the YOLOv5 ensemble, which identifies actin filaments by a detection bounding box ( green ). ( C ) Each individual detection is fed to the UNET segmentation model, which returns <t>filament</t> masks, which are in turn used to determine filament lengths (see for a comprehensive flowchart of the ATLAS routine). ( D ) Simultaneously, filament detections are sent to Deep SORT to assemble actin filament tracks. ( E ) Track data are then used to calculate root mean-square displacement (RMSD), and velocity is determined as the slope of the relationship between RMSD and time interval. ( F ) Sample images from the YOLOv5 and UNET training datasets, with filament contour annotations shown in yellow. ( G ) Branched filament detection due to filament crossings. For each pixel in the skeleton ( green ), the total number of neighboring pixels in the skeleton ( red ) is counted in both the adjacent eight-pixel neighborhood ( yellow ) and the outer 16-pixel neighborhood ( blue ). If either neighborhood has three or more occupied pixels from the filament skeleton ( red ), the entire filament detection is discarded as a “branched” filament. ( H ) Centroid correction. For filaments >2 μm in length, the centroid of the YOLOv5 filament detection ( green dot ) may lie far from the actual center of the filament skeleton ( blue dot ); therefore, the coordinates of the bounding box centroid are replaced with those of the filament center. ( I ) Illustration of Maximum Track Selection to ensure <t>analysis</t> of the maximum number of tracks that each arise from a distinct filament. Each track is identified by its start and stop. (∗) denotes the earliest frame containing the maximum number of tracks (in this case, seven). Tracks active in this frame are exclusively selected for analysis when MTS functionality is enabled.
Chip For Motion Image Analysis 6d Marker Analyst, supplied by Photron Inc, used in various techniques. Bioz Stars score: 90/100, based on 1 PubMed citations. ZERO BIAS - scores, article reviews, protocol conditions and more
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Simi Reality Motion Systems simi motion biomechanics analysis software
Automated tracking of learned <t>actin</t> structures (ATLAS) workflow. ( A ) ATLAS receives stacks of motility images from a movie as input. ( B ) Each image is fed to the YOLOv5 ensemble, which identifies actin filaments by a detection bounding box ( green ). ( C ) Each individual detection is fed to the UNET segmentation model, which returns <t>filament</t> masks, which are in turn used to determine filament lengths (see for a comprehensive flowchart of the ATLAS routine). ( D ) Simultaneously, filament detections are sent to Deep SORT to assemble actin filament tracks. ( E ) Track data are then used to calculate root mean-square displacement (RMSD), and velocity is determined as the slope of the relationship between RMSD and time interval. ( F ) Sample images from the YOLOv5 and UNET training datasets, with filament contour annotations shown in yellow. ( G ) Branched filament detection due to filament crossings. For each pixel in the skeleton ( green ), the total number of neighboring pixels in the skeleton ( red ) is counted in both the adjacent eight-pixel neighborhood ( yellow ) and the outer 16-pixel neighborhood ( blue ). If either neighborhood has three or more occupied pixels from the filament skeleton ( red ), the entire filament detection is discarded as a “branched” filament. ( H ) Centroid correction. For filaments >2 μm in length, the centroid of the YOLOv5 filament detection ( green dot ) may lie far from the actual center of the filament skeleton ( blue dot ); therefore, the coordinates of the bounding box centroid are replaced with those of the filament center. ( I ) Illustration of Maximum Track Selection to ensure <t>analysis</t> of the maximum number of tracks that each arise from a distinct filament. Each track is identified by its start and stop. (∗) denotes the earliest frame containing the maximum number of tracks (in this case, seven). Tracks active in this frame are exclusively selected for analysis when MTS functionality is enabled.
Simi Motion Biomechanics Analysis Software, supplied by Simi Reality Motion Systems, used in various techniques. Bioz Stars score: 90/100, based on 1 PubMed citations. ZERO BIAS - scores, article reviews, protocol conditions and more
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Kissei Pharmaceutical threedimensional motion analysis system kinema tracer
Automated tracking of learned <t>actin</t> structures (ATLAS) workflow. ( A ) ATLAS receives stacks of motility images from a movie as input. ( B ) Each image is fed to the YOLOv5 ensemble, which identifies actin filaments by a detection bounding box ( green ). ( C ) Each individual detection is fed to the UNET segmentation model, which returns <t>filament</t> masks, which are in turn used to determine filament lengths (see for a comprehensive flowchart of the ATLAS routine). ( D ) Simultaneously, filament detections are sent to Deep SORT to assemble actin filament tracks. ( E ) Track data are then used to calculate root mean-square displacement (RMSD), and velocity is determined as the slope of the relationship between RMSD and time interval. ( F ) Sample images from the YOLOv5 and UNET training datasets, with filament contour annotations shown in yellow. ( G ) Branched filament detection due to filament crossings. For each pixel in the skeleton ( green ), the total number of neighboring pixels in the skeleton ( red ) is counted in both the adjacent eight-pixel neighborhood ( yellow ) and the outer 16-pixel neighborhood ( blue ). If either neighborhood has three or more occupied pixels from the filament skeleton ( red ), the entire filament detection is discarded as a “branched” filament. ( H ) Centroid correction. For filaments >2 μm in length, the centroid of the YOLOv5 filament detection ( green dot ) may lie far from the actual center of the filament skeleton ( blue dot ); therefore, the coordinates of the bounding box centroid are replaced with those of the filament center. ( I ) Illustration of Maximum Track Selection to ensure <t>analysis</t> of the maximum number of tracks that each arise from a distinct filament. Each track is identified by its start and stop. (∗) denotes the earliest frame containing the maximum number of tracks (in this case, seven). Tracks active in this frame are exclusively selected for analysis when MTS functionality is enabled.
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Image Search Results


Automated tracking of learned actin structures (ATLAS) workflow. ( A ) ATLAS receives stacks of motility images from a movie as input. ( B ) Each image is fed to the YOLOv5 ensemble, which identifies actin filaments by a detection bounding box ( green ). ( C ) Each individual detection is fed to the UNET segmentation model, which returns filament masks, which are in turn used to determine filament lengths (see for a comprehensive flowchart of the ATLAS routine). ( D ) Simultaneously, filament detections are sent to Deep SORT to assemble actin filament tracks. ( E ) Track data are then used to calculate root mean-square displacement (RMSD), and velocity is determined as the slope of the relationship between RMSD and time interval. ( F ) Sample images from the YOLOv5 and UNET training datasets, with filament contour annotations shown in yellow. ( G ) Branched filament detection due to filament crossings. For each pixel in the skeleton ( green ), the total number of neighboring pixels in the skeleton ( red ) is counted in both the adjacent eight-pixel neighborhood ( yellow ) and the outer 16-pixel neighborhood ( blue ). If either neighborhood has three or more occupied pixels from the filament skeleton ( red ), the entire filament detection is discarded as a “branched” filament. ( H ) Centroid correction. For filaments >2 μm in length, the centroid of the YOLOv5 filament detection ( green dot ) may lie far from the actual center of the filament skeleton ( blue dot ); therefore, the coordinates of the bounding box centroid are replaced with those of the filament center. ( I ) Illustration of Maximum Track Selection to ensure analysis of the maximum number of tracks that each arise from a distinct filament. Each track is identified by its start and stop. (∗) denotes the earliest frame containing the maximum number of tracks (in this case, seven). Tracks active in this frame are exclusively selected for analysis when MTS functionality is enabled.

Journal: Biophysical Reports

Article Title: ATLAS: Machine learning-enhanced filament analysis for the In Vitro Motility Assay

doi: 10.1016/j.bpr.2025.100221

Figure Lengend Snippet: Automated tracking of learned actin structures (ATLAS) workflow. ( A ) ATLAS receives stacks of motility images from a movie as input. ( B ) Each image is fed to the YOLOv5 ensemble, which identifies actin filaments by a detection bounding box ( green ). ( C ) Each individual detection is fed to the UNET segmentation model, which returns filament masks, which are in turn used to determine filament lengths (see for a comprehensive flowchart of the ATLAS routine). ( D ) Simultaneously, filament detections are sent to Deep SORT to assemble actin filament tracks. ( E ) Track data are then used to calculate root mean-square displacement (RMSD), and velocity is determined as the slope of the relationship between RMSD and time interval. ( F ) Sample images from the YOLOv5 and UNET training datasets, with filament contour annotations shown in yellow. ( G ) Branched filament detection due to filament crossings. For each pixel in the skeleton ( green ), the total number of neighboring pixels in the skeleton ( red ) is counted in both the adjacent eight-pixel neighborhood ( yellow ) and the outer 16-pixel neighborhood ( blue ). If either neighborhood has three or more occupied pixels from the filament skeleton ( red ), the entire filament detection is discarded as a “branched” filament. ( H ) Centroid correction. For filaments >2 μm in length, the centroid of the YOLOv5 filament detection ( green dot ) may lie far from the actual center of the filament skeleton ( blue dot ); therefore, the coordinates of the bounding box centroid are replaced with those of the filament center. ( I ) Illustration of Maximum Track Selection to ensure analysis of the maximum number of tracks that each arise from a distinct filament. Each track is identified by its start and stop. (∗) denotes the earliest frame containing the maximum number of tracks (in this case, seven). Tracks active in this frame are exclusively selected for analysis when MTS functionality is enabled.

Article Snippet: Consequently, approaches to automating actin filament motion analysis exist in the form of commercial (e.g., Imaris (Oxford Instruments, Abingdon, UK), Aivia (Leica microsystems, Deerfield, IL), and DiaTrack ( )) as well as custom solutions developed by academic groups ( , , , , , ).

Techniques: Selection

Filament tracking challenges and number of analyzable tracks. ( A ) Small filaments, moving at fast velocities, become untrackable as filament detection overlap ( red shaded area on left ) falls below cutoff values for Deep SORT. ( B ) Example of identity switching. Two filaments identified as ID 1 and ID 2 moving slowly between frames, t to t + 3. Their identities are switched when YOLOv5 detects the two filaments as a single object (frame t + 2). Resolution of this causes the Deep SORT track of the lower filament ( ID 2 ) to transition from the lower filament in frame t to the upper filament in frame t + 3 . In extremely slow-motion conditions, this introduces a large, incorrect displacement into this filament’s track, resulting in an inflated measured velocity. ( C ) Stacks of 2D heatmaps of average number of tracks per filament within each movie frame (left) and average number of tracks per filament in complete movie (right) under various conditions. ( D ) Example of the benefit of “Maximum Track Selection” (MTS) analysis of SAMY movies featuring 10 filaments per movie, moving at velocities ranging from 0.1 to 8 μm/s. Without MTS enabled (−MTS), the number of detected tracks increases with velocity, in spite of a constant number of filaments per frame. With MTS (+MTS), the number of tracks is consistent with the number of filaments and insensitive to velocity. Error bars denote standard deviation.

Journal: Biophysical Reports

Article Title: ATLAS: Machine learning-enhanced filament analysis for the In Vitro Motility Assay

doi: 10.1016/j.bpr.2025.100221

Figure Lengend Snippet: Filament tracking challenges and number of analyzable tracks. ( A ) Small filaments, moving at fast velocities, become untrackable as filament detection overlap ( red shaded area on left ) falls below cutoff values for Deep SORT. ( B ) Example of identity switching. Two filaments identified as ID 1 and ID 2 moving slowly between frames, t to t + 3. Their identities are switched when YOLOv5 detects the two filaments as a single object (frame t + 2). Resolution of this causes the Deep SORT track of the lower filament ( ID 2 ) to transition from the lower filament in frame t to the upper filament in frame t + 3 . In extremely slow-motion conditions, this introduces a large, incorrect displacement into this filament’s track, resulting in an inflated measured velocity. ( C ) Stacks of 2D heatmaps of average number of tracks per filament within each movie frame (left) and average number of tracks per filament in complete movie (right) under various conditions. ( D ) Example of the benefit of “Maximum Track Selection” (MTS) analysis of SAMY movies featuring 10 filaments per movie, moving at velocities ranging from 0.1 to 8 μm/s. Without MTS enabled (−MTS), the number of detected tracks increases with velocity, in spite of a constant number of filaments per frame. With MTS (+MTS), the number of tracks is consistent with the number of filaments and insensitive to velocity. Error bars denote standard deviation.

Article Snippet: Consequently, approaches to automating actin filament motion analysis exist in the form of commercial (e.g., Imaris (Oxford Instruments, Abingdon, UK), Aivia (Leica microsystems, Deerfield, IL), and DiaTrack ( )) as well as custom solutions developed by academic groups ( , , , , , ).

Techniques: Selection, Standard Deviation