Analysis of an optimal control model of multi-joint arm movements

 In this paper, we propose a model of biological motor control for generation of goal-directed multi-joint arm movements, and study the formation of muscle control inputs and invariant kinematic features of movements. The model has a hierarchical structure that can determine the control inputs for a set of redundant muscles without any inverse computation. Calculation of motor commands is divided into two stages, each of which performs a transformation of motor commands from one coordinate system to another. At the first level, a central controller in the brain accepts instructions from higher centers, which represent the motor goal in the Cartesian space. The controller computes joint equilibrium trajectories and excitation signals according to a minimum effort criterion. At the second level, a neural network in the spinal cord translates the excitation signals and equilibrium trajectories into control commands to three pairs of antagonist muscles which are redundant for a two-joint arm. No inverse computation is required in the determination of individual muscle commands. The minimum effort controller can produce arm movements whose dynamic and kinematic features are similar to those of voluntary arm movements. For fast movements, the hand approaches a target position along a near-straight path with a smooth bell-shaped velocity. The equilibrium trajectories in X and Y show an ‘N’ shape, but the end-point equilibrium path zigzags around the hand path. Joint movements are not always smooth. Joint reversal is found in movements in some directions. The excitation signals have a triphasic (or biphasic) pulse pattern, which leads to stereotyped triphasic (or biphasic) bursts in muscle control inputs, and a dynamically modulated joint stiffness. There is a fixed sequence of muscle activation from proximal muscles to distal muscles. The order is preserved in all movements. For slow movements, it is shown that a constant joint stiffness is necessary to produce a smooth movement with a bell-shaped velocity. Scaled movements can be reproduced by varying the constraints on the maximal level of excitation signals according to the speed of movement. When the inertial parameters of the arm are altered, movement trajectories can be kept invariant by adjusting the pulse height values, showing the ability to adapt to load changes. These results agree with a wide range of experimental observations on human voluntary movements. Received: 4 December 1995 / Accepted in revised form: 17 September 1996     

A dynamic model of motor basal ganglia functions

 Fast aiming movements were measured in a choice reaction paradigm in a healthy control group and in Parkinsonian patients. The patients were tested without (‘off ’) and with 3,4-dihydroxyphenylalanine (‘on’) (L-dopa) medication. The movement trajectories were used to estimate the parameters of a dynamic linear model. The model is based on the functional structure of the basal ganglia-thalamocortical circuit with direct and indirect pathways linking the putamen to the basal ganglia output nuclei (Albin et al. 1989). The output of the circuit is connected to a model for the motor neuron-musculo-skeletal system. The gain k _d for the direct pathway and the gain k _i for the indirect pathway were estimated. They were found to be significantly decreased for Parkinsonian patients in ‘off ’ compared with the control group. L-dopa therapy in Parkinsonian patients increased the gains of the direct and the indirect pathway almost to normal values which implies that the long-term dopamine level in the striatum was excitatory for the direct and for the indirect pathway. This result is restricted to movements of correct size. For movements of diminished size, which are typical for Parkinsonian patients, the model predicts that the dopamine level in the striatum is excitatory for the direct pathway but inhibitory for the indirect pathway. The simulated values for neuronal activities are in agreement with expected values according to the experimental data. The proposed model of the ‘motor’ basal ganglia thalamocortical circuit implies that information about biomechanical properties of the musculo-skeletal system is stored in the ‘motor’ basal ganglia-thalamocortical circuit, and that the basal ganglia are involved in computation of the desired movement amplitude. Received: 24 April 1996/Accepted in revised form: 25 February 1997     

A modular artificial neural net for controlling a six-legged walking system

 A system that controls the leg movement of an animal or a robot walking over irregular ground has to ensure stable support for the body and at the same time propel it forward. To do so, it has to react adaptively to unpredictable features of the environment. As part of our study of the underlying mechanisms, we present here a model for the control of the leg movement of a 6-legged walking system. The model is based on biological data obtained from the stick insect. It represents a combined treatment of realistic kinematics and biologically motivated, adaptive gait generation. The model extends a previous algorithmic model by substituting simple networks of artificial neurons for the algorithms previously used to control leg state and interleg coordination. Each system controlling an individual leg consists of three subnets. A hierarchically superior net contains two sensory and two ‘premotor’ units; it rhythmically suppresses the output of one or the other of the two subordinate nets. These are continuously active. They might be called the ‘swing module’ and the ‘stance module’ because they are responsible for controlling the swing (return stroke) and the stance (power stroke) movements, respectively. The swing module consists of three motor units and seven sensory units. It can produce appropriate return stroke movements for a broad range of initial and final positions, can cope with mechanical disturbances of the leg movement, and is able to react to an obstacle which hinders the normal performance of the swing movement. The complete model is able to walk at different speeds over irregular surfaces. The control system rapidly reestablishes a stable gait when the movement of the legs is disturbed. Received: 13 July 1994/Accepted in revised form: 15 November 1994     

Independent control of joint stiffness in the framework of the equilibrium-point hypothesis

In the framework of the equilibrium-point hypothesis, virtual trajectories and joint stiffness patterns have been reconstructed during two motor tasks practiced against a constant bias torque. One task required a voluntary increase in joint stiffness while preserving the original joint position. The other task involved fast elbow flexions over 36°. Joint stiffness gradually subsided after the termination of fast movements. In both tasks, the external torque could slowly and unexpectedly change. The subjects were required not to change their motor commands if the torque changed, i.e. “to do the same no matter what the motor did”. In both tasks, changes in joint stiffness were accompanied by unchanged virtual trajectories that were also independent of the absolute value of the bias torque. By contrast, the intercept of the joint compliant characteristic with the angle axis,r(t)-function, has demonstrated a clear dependence upon both the level of coactivation and external load. We assume that a template virtual trajectory is generated at a certain level of the motor hierarchy and is later scaled taking into account some commonly changing dynamic factors of the movement execution, for example, external load. The scaling leads to the generation of commands to the segmental structures that can be expressed, according to the equilibrium-point hypothesis, as changes in the thresholds of the tonic stretch reflex for corresponding muscles.     

Pot casts in the Upper Muschelkalk (Middle Triassic) of Weimar/Thuringia—Composition,microfabrics and diagnesis

Summary A horizon with pot casts (potholes) is described from shallow-marine limestones of thespinosus-zone (‘Discitesschichten’, Upper Muschelkalk) near Weimar/Thuringia. The erosional structures are not developed as sole marks but occur as isolated structures. They differe distinctly in size and composition from pot casts described from the Muschelkalk of Southern Germany. Vertical sedimentary zonation and varying sediment infill in the structures suggest continuous erosion and deposition contemporaneous with the background sedimentation. Deposition may have been caused by oscillatory and unidirectional flows as well as a long period of micrite deposition. Early diagenetic deformations (e.g. dewatering, brecciation, pressure solution) have controlled by a higher continuous water flux inside the pot casts and higher intergranular dispersal pressure.     

Impact of sulfur on density of <Emphasis Type="Italic">Tetranychus pacificus</Emphasis> (Acari: Tetranychidae) and <Emphasis Type="Italic">Galendromus occidentalis</Emphasis> (Acari: Phytoseiidae) in a central California vineyard

Sulfur is the oldest and most widely used fungicide in the vineyards of California, where it is used for control of powdery mildew (Uncinula necator [Schw.] Burr). For decades, sulfur use has been associated with outbreaks of Tetranychus pacificus McGregor (Acari: Tetranychidae) on cultivated grapes in the San Joaquin Valley. I undertook large-scale field studies to test this association, to evaluate the impact of sulfur on Galendromus occidentalis (Nesbit) (Acari: Phytoseiidae), a major predator of T. pacificus, and to determine if timing of sulfur applications with respect to grape bloom has an impact on T. pacificus density. The studies took place in a 32 ha vineyard in Fresno County, and all fungicide applications were made with commercial-scale equipment. In 1998 a ‘high sulfur’ treatment, a combination of wettable sulfur and sulfur dust, was compared to ‘low sulfur,’ in which demethylation inhibitor (DMI) fungicides partially substituted for sulfur. In 1999 treatments were ‘sulfur,’ ‘DMI,’ ‘sulfur pre-bloom’ (here sulfur was applied prior to grape bloom, in late May, and then DMIs were applied until mid-season) and ‘sulfur post-bloom’ (the reverse of ‘sulfur pre-bloom’). In each year, the T. pacificus population increase came after the end of fungicide applications, and results clearly show a relationship between sulfur use and T. pacificus density. In 1998, mean T. pacificus density was 2.7 times higher and mean G. occidentalis density 2.5 times higher in ‘high sulfur’ compared to ‘low sulfur.’ In 1999, the highest T. pacificus counts were in the ‘sulfur’ and ‘sulfur pre-bloom’ treatments, 4.8 times higher than ‘sulfur post-bloom’ and 2 times higher than ‘DMIs.’ Density of G. occidentalis was 2.3 times as high in ‘sulfur’ or ‘sulfur pre-bloom’ than ‘DMIs.’ The predator/prey ratio was not significantly different among treatments in 1998, but in 1999 it was highest in the ‘sulfur pre-bloom’ treatment. In 1999, density of Homeopronematus anconai (Baker) (Acari: Tydeidae) was 2.7 times higher in ‘sulfur pre-bloom’ compared to ‘sulfur,’ and higher by 2.7 times in ‘DMI’ compared to ‘sulfur post-bloom,’ suggesting a negative effect of sulfur on this tydeid. These results do not support the hypotheses that the cause of the increase in T. pacificus density is due to negative effects of sulfur on phytoseiids or tydeids. Rather, it appears that a plant-based explanation is likely, first, because of the differences in pre-bloom versus post-bloom sulfuring, and second, because of the long lag time between the end of the sulfur applications and the corresponding increase in spider mite density.     

Impedance characteristics of a neuromusculoskeletal model of the human arm II. Movement control

The modulation of neuromusculoskeletal impedance during movements is analysed using a motor control model of the human arm. The motor control system combines feedback and feedforward control and both control modes are determined in one optimization process. In the model, the stiffness varies at the double movement frequency for 2-Hz oscillatory elbow movements and has high values at the movement reversals. During goal-directed two-degrees-of-freedom arm movements, the stiffness is decreased during the movement and may be increased in the initial and final phases, depending on the movement velocity. The stiffness has a considerable curl during the movement, as was also observed in experimental data. The dynamic stiffness patterns of the model can be explained basically by the α−γ coactivation scheme where feedback gains covary with motor control signals. In addition to the modulation of the gain factors, it is argued that the variation of the intrinsic stiffness has a considerable effect on movement control, especially during fast movements. Received: 14 October 1997 / Accepted in revised form: 18 May 1999     

Steroidal glycoalkaloid content of potato,tomato and their somatic hybrids

Summary Analyses of leaves and ‘tubers’ from somatic hybrids of potato and tomato (‘pomato’ with plastids of potato, ‘topato’ with plastids of tomato) produced by fusion of protoplasts from liquid cultures of dihaploid potato and mesophyll of tomato revealed the presence of the two major potato glycoalkaloids (α-solanine and α-chaconine) as well as the tomato glycoalkaloid (αtomatine). The total alkaloid content of leaves was greater than that of ‘tubers’ and similar to levels in the foliage of parent plants. However, glycoalkaloids were more abundant in hybrid ‘tubers’ than in normal potato tubers by a factor of 5–15. In hybrid foliage, approximately 98% of the alkaloid present was of potato origin whereas in ‘tubers’ the reverse was the case, with tomatine comprising 60–70% of the total alkaloid. The similarities in alkaloid content and ratios between the pomato and the topato lines indicate that plastomes do not influence the biosynthesis and distribution of these alkaloids. The results indicate that major secondary metabolites may prove useful for assessing the hybrid nature of such plants.     

Application of the equilibrium concept to the development of agaric fruit-bodies, with special reference to their straight downward growth in light from below

Equilibrium, a concept of dynamics, is found to be applicable to the phototropic and gravitropic growth in agaric fruit-bodies. The fruit-bodies exposed to light from below grow straight downward without bending upward, and those exposed to light from obliquely below grow first downward and then upward by negative gravitropism. The fruit-bodies exposed to light from above grow upward. Fruit-bodies growing straight downward or upward do not change the direction of growth; they are in ‘equilibria’. The straight downward growth can be regarded as an ‘unstable equilibrium’ having a higher potential, and the straight upward growth as a ‘stable equilibrium’ having a lower potential. The change in the direction of growth can be explained by the change in the potential; the upward bending in fruit-bodies that have grown obliquely downward can be regarded as a ‘transition’ from the unstable equilibrium to the stable one.     

Influence of dent corn genetic backgrounds on QTL detection for plant-height traits and their relationships in high-oil maize

QTL mapping for plant-height traits has not been hitherto reported in high-oil maize. A high-oil maize inbred ‘GY220’ was crossed with two dent maize inbreds (‘8984’ and ‘8622’) to generate two connected F_2:3 populations. Four plant-height traits were evaluated in 284 and 265 F_2:3 families. Single-trait QTL mapping and multiple-trait joint QTL mapping was used to detect QTLs for the traits and the genetic relationship between plant height (PH) and two other plant-height traits. A total of 28 QTLs and 12 pairs of digenic interactions among detected QTLs for four traits were detected in the two F_2:3 families. Only one marker was shared between the two populations. Joint analysis of PH with ear height (EH) and PH with top height (TH) detected 32 additional QTLs. Our results showed that QTL detection for PH was dependent on the genetic background of dent corn inbreds. Multiple-trait joint QTL analysis could increase the number of detected QTLs.     

Selection of Highly Informative Microsatellite Markers to Identify Pollen Donors in ‘Hass’ Avocado Orchards

‘Hass’ is the most popular avocado (Persea americana Mill.) cultivar in the world. It has been characterized as a crop requiring cross-pollination. However, the potential extent of self-pollination and the most effective pollen donors (best cross-pollinizing cultivars) have not been determined. In this study, 56 markers were screened against ‘Hass’ and nine commonly used pollinizing cultivars grown in southern California: ‘Bacon,’ ‘Ettinger,’ ‘Fuerte,’ ‘Harvest,’ ‘Lamb Hass,’ ‘Marvel,’ ‘Nobel,’ ‘Sir Prize,’ and ‘Zutano.’ Seventeen microsatellite, i.e., simple sequence repeat (SSR) markers, were found to be very promising for paternity analysis. Four highly informative SSR markers were selected to accurately and unequivocally identify pollen parents of ‘Hass’ fruit from an orchard interplanted with these pollinizing cultivars. From 2003 to 2006, 7,984 ‘Hass’ fruit were analyzed for their paternity. Overall, the pollen parents of 99.55% of the analyzed fruit could be unequivocally identified with a single multiplex polymerase chain reaction (PCR). Only 36 fruits (<0.45%) required a second PCR reaction to reach unequivocal identification of the pollen parents.     

Habitat use and mating system of the houbara bustard (Chlamydotis undulata undulata) in a semi-desertic area of North Africa: implications for conservation

Studies of the movements and home-ranges of houbara bustards (Chlamydotis undulata undulata) showed sexual and seasonal differences in the use of space, with a polygynous mating system similar to an ‘exploded-lek’ or a ‘resource-defence-polygyny’, that remains undefined. We used the arthropod biomass as an index of the trophic quality of six defined habitats and we radio-tracked 7 females and 13 males to test whether sexual and seasonal variations in habitat use were related to resource availability, and to verify if critical resources for breeding females were monopolised by males. We analysed habitat selection in both sexes separately. We used the habitat type composition of buffer zones around radio-locations to study annual and seasonal habitat selection and to identify preferred habitats, using the chi-square goodness-of-fit test. Habitat use between sexes and between seasons were compared using MANOVA based on log-ratios of habitat proportions. During the year, and in each season, both sexes appeared to be significantly selective for habitats in comparison to their availability. But males avoided esparto grass, while females used all habitats. Habitat use differed between sexes in the breeding season, but not in the non-breeding season. In spring, when food resources were abundant and uniformly distributed in space, males preferred ‘temporarily flooded areas’ and females preferred ‘reg with tall perennials’ that offered both food and cover for brooding. Critical resources were not monopolised by males and the mating system fulfilled the definition of the ‘exploded-lek’. Leks are key sites for reproduction and should be considered as priority areas in further conservation plans.     

Delectable Creatures and the Fundamental Reality of Metaphor: Biosemiotics and Animal Mind

This article argues that organisms, defined by a semi-permeable membrane or skin separating organism from environment, are (must be) semiotically alert responders to environments (both Innenwelt and Umwelt). As organisms and environments complexify over time, so, necessarily, does semiotic responsiveness, or ‘semiotic freedom’. In complex environments, semiotic responsiveness necessitates increasing plasticity of discernment, or discrimination. Such judgements, in other words, involve interpretations. The latter, in effect, consist of translations of a range of sign relations which, like metaphor, are based on transfers (carryings over) of meanings or expressions from one semiotic ‘site’ to another. The article argues that what humans describe as ‘metaphor’ (and believe is something which only pertains to human speech and mind and, in essence, is ‘not real’) is, in fact, fundamental to all semiotic and biosemiotic sign processes in all living things. The article first argues that metaphor and mind are immanent in all life, and are evolutionary, and, thus, that animals certainly do have minds. Following Heidegger and then Agamben, the article continues by asking about the place of animal mind in humans, and concludes that, as a kind of ‘night science’, ‘humananimal’ mind is central to the semiotics of Peircean abduction.     

Effect of amino acids,growth regulators and genotype on androgenesis in barley

The effects of an amino acid mixture and of plant growth regulators added to the FHG barley anther culture medium were examined using three barley cultivars (Cadette, Léger, and Igri) grown in two environments (growth cabinet and glasshouse). ‘Léger’ and ‘Igri’ were known as responsive, and ‘Cadette’ as recalcitrant to androgenesis. Our first experiment showed that the amino acid-supplemented medium was best for embryogenesis and regeneration of ‘Cadette’ and ‘Igri’ in both environments, and if ‘Léger’ in the growth cabinet. The addition of ABA and TDZ did not improve embryogenesis and plant regeneration, and PAA decreased them in the growth cabinet. The addition of the amino acid mixture in the FHG medium also reduced the percentage of albino plants in the growth cabinet, but growth regulators did not improve the percentage of albino plants, and in some cases increased it. In the growth cabinet, disregarding media, ‘Léger’ produced more embryos than ‘Cadette’ and ‘Igri’, and Léger' and ‘Igri’ produced more green plants than ‘Cadette‘. Percentages of albino plants were higher or ‘Cadette’ than for ‘Igri’ or ‘Léger’. In a second experiment, we compared seven hybrids with their parents for androgenic responsiveness. Hybrids had a higher ability to generate green plants than expected based upon the weighted average reflecting the contribution of each parent. This revised version was published online in June 2006 with corrections to the Cover Date.     

Understanding the Relationships between Landscape Connectivity and Abundance of Ixodes ricinus Ticks

The density of Ixodes ricinus ticks in a heterogeneous landscape of northern Spain was determined and associated with some aspects of habitat topology. The habitat mosaic was used to quantify connectivity between patches of different tick density. The analysis revealed that patches with high tick abundance are ‘stepping-stone’ territories that, when removed from the landscape, cause large changes in connectivity. Sites with medium tick abundance do not cause such a critical transition in connectivity. Patches with low tick abundance, but optimal abiotic conditions for survival are located within the minimum cost corridors network joining the patches, while those sites where the tick has been intermittently collected are located at variable distances from this network. These results suggest that tick distribution in a zone is highly affected not only by abiotic variables (vegetation and weather) but also by host movements. Whether these high-density ‘stepping-stone’ patches occur in other tick species needs to be evaluated because of the potential implications of these foci for human health. This revised version was published online in July 2006 with corrections to the Cover Date.     

Hybrid origin of some ornamentals of Allium subgenus Melanocrommyum verified with GISH and RAPD

 Random amplified polymorphic DNA (RAPD) and genomic in situ hybridization (GISH) methods have been used to verify the hybridogenic origin and to identify the parental species of some ornamental cultivars in the subgenus Melanocrommyum of the genus Allium. The cultivars had been selected from seed obtained after uncontrolled pollination in breeders’ fields. The combination of GISH analysis with RAPD markers is very suitable for testing the hybridogenic origin of plants and to ascertain the parental species of the hybrids in such cases. As suspected, A. macleanii and A. cristophii are the parental species of ‘Globemaster’. The parental species of cultivar ‘Globus’ are A. karataviense and A. stipitatum, and not A. cristophii and A. giganteum as has been assumed on morphological grounds. Cultivars ‘Lucy Ball’ and ‘Gladiator’ are of hybrid origin, though only one of the parental species, A. hollandicum, could be confirmed. The cultivars ‘Purple Sensation’, ‘Mount Everest’, ‘White Giant’, ‘Michael H. Hoog’ and ‘Mars’ are not hybrids since neither GISH nor RAPD suggest the presence of a second genome. ‘Purple Sensation’ belongs to A. hollandicum, ‘Mount Everest’, ‘White Giant’ and ‘Mars’ to A. stipitatum,‘Michael H. Hoog’ to A. rosenorum. Received: 3 July 1997 / Accepted: 9 October 1997     

Osmoregulation and osmoprotection in the leaf cells of two olive cultivars subjected to severe water deficit

In this study, we compared the efficacy of defense mechanisms against severe water deficit in the leaves of two olive (Olea europaea L.) cultivars, ‘Chemlali’ and ‘Meski’, reputed drought resistant and drought sensitive, respectively. Two-year old plants growing in sand filled 10-dm³ pots were not watered for 2 months. Changes in chlorophyll fluorescence parameters and malondialdehyde content as leaf relative water content (RWC) decreased showed that ‘Chemlali’ was able to maintain functional and structural cell integrity longer than ‘Meski’. Mannitol started to accumulate later in the leaves of ‘Chemlali’ but reached higher levels than in the leaves of ‘Meski’. The latter accumulated several soluble sugars at lower dehydration. ‘Chemlali’ leaves also accumulated larger quantities of phenolic compounds which can improve its antioxidant response. Furthermore, the activity of three antioxidant enzymes catalase (CAT), peroxidase (POD) and ascorbate peroxidase (APX) increased as leaf RWC decreased. However, differences were observed between the two cultivars for CAT and POD but not for APX. The activity of the first two enzymes increased earlier in ‘Meski’, but reached higher levels in ‘Chemlali’. At low leaf hydration levels, ‘Chemlali’ leaves accumulated mannitol and phenolic compounds and had increased CAT and POD activities. These observations suggest that ‘Chemlali’ was more capable of maintaining its leaf cell integrity under severe water stress because of more efficient osmoprotection and antioxidation mechanisms.     

Where does heteroclisis come from? Evidence from Romanian dialects

This study examines some cases of heteroclisis in the history of Romanian dialects, and concludes that the data call for a reconsideration of Stump’s distinction (Language 82:279–322, 2006) between ‘cloven’ heteroclisis, where the intraparadigmatic ‘split’ is aligned with some morphosyntactic feature distinction, and ‘fractured’ heteroclisis, where this is not the case and the pattern of heteroclisis is purely morphological. Stump’s account creates the impression that the ‘cloven’ variety is universally predominant, and that the ‘fractured’ variety tends to follow very closely the available ‘cloven’ patterns of the language. I shall suggest, instead, that the ‘fractured-only’ situation may in fact underlie heteroclisis cross-linguistically, the phenomenon being in general sensitive not directly to morphosyntactic content, but rather to characteristic, and often purely ‘morphomic’, patterns of stem-allomorphy. Research for this paper was undertaken as part of the Arts and Humantities Research Council-funded project Autonomous Morphology in Diachrony: comparative evidence from the Romance Languages, currently being conducted at Oxford University.     

Parasitism ofLeptinotarsa decemlineata [Coleoptera: Chrysomelidae] byEdovum puttleri [Hymenoptera: Eulophidae] in different cultivars of eggplant

Experiments were conducted to quantify parasitism of Colorado potato beetle,Leptinotarsa decemlineata (Say), by the egg parasitoid,Edovum puttleri Grissell, on 3 different cultivars of eggplant,Solanum melongena L. Levels of parasitism were higher (P<0.05) on ‘Black Pride’ than on other cultivars. The percentage of egg masses that were parasitized was 1.2-fold higher (P<0.05) on ‘Black Pride’ than on ‘Harris Special’ and ‘White’. The number of eggs per mass that were parasitized was 1.3- and 1.4- fold greater (P<0.05) on ‘Black Pride’ than on ‘Harris Special’ and ‘White’, respectively. The percentage of eggs that were parasitized per mass and percentage of emerged adult parasitoids did not differ (P>0.05) among cultivars; between 2.1- to 2.6- fold more females than males emerged from eggs on all cultivars during the growing season.Edovum puttleri suppressed the 2nd generation ofL. decemlineata on ‘Black Pride’ and ‘Harris Special’, but did not suppress populations on ‘White’.