Motion Control in Saccade and Smooth Pursuit for Bionic Eye Based on Three-dimensional Coordinates

Saccade and smooth pursuit are two important functions of human eye.In order to enable bionic eye to imitate the two functions,a control method that implements saccade and smooth pursuit based on the three-dimensional coordinates of target is proposed.An optimal observation position is defined for bionic eye based on three-dimensional coordinates.A kind of motion planning method with high accuracy is developed.The motion parameters of stepper motor consisting of angle acceleration and turning time are computed according to the position deviation,the target's angular velocity and the stepper motor's current angular velocity in motion planning.The motors are controlled with the motion parameters moving to given position with desired angular velocity in schedule time.The experimental results show that the bionic eye can move to optimal observation positions in 0.6 s from initial location and the accuracy of 3D coordinates is improved.In addition,the bionic eye can track a target within the error of less than 20 pixels based on three-dimensional coordinates.It is verified that saccade and smooth pursuit of bionic eye based on three-dimensional coordinates are feasible.     

Postural control system

The postural control system has two main functions: first, to build up posture against gravity and ensure that balance is maintained; and second, to fix the orientation and position of the segments that serve as a reference frame for perception and action with respect to the external world. This dual function of postural control is based on four components: reference values, such as orientation of body segments and position of the center of gravity (an internal representation of the body or postural body scheme); multisensory inputs regulating orientation and stabilization of body segments; and flexible postural reactions or anticipations for balance recovery after disturbance, or postural stabilization during voluntary movement. The recent data related to the organization of this system will be discussed in normal subjects (during ontogenesis), the elderly and in patients with relevant deficits.     

Trichromacy, opponent colours coding and optimum colour information transmission in the retina

This paper presents a systematic analysis of the role of opponent type processing in colour vision and the relation between opponent type colour transformations and the initial three colour mechanisms. It is shown that efficient information transmission is achieved by a transformation of the initial three colour mechanisms into an achromatic and two opponent chromatic channels. The derivation of the transformation is dependent solely on criteria from information theory. Thus it provides a logical rationale reconciling opponent type processing as an optimal necessary step after the initial three colour mechanisms, unifying respectively the Hering and Young-Helmholtz approaches to colour vision. The effects of chromatic adaptation on the spectral response of the achromatic and two chromatic channels are discussed from the point of view of information theory. It is argued that adaptation serves as a dynamic readjustment of these responses, necessary to meet criteria of efficient colour information transmission. The results are confronted with empirical observations to test the principles of the theory and the relation to other theories is discussed. Within the same framework the issue of trichromacy is discussed. It is argued that a broad class of typical colour spectra can effectively be represented by three significant degrees of freedom that make up a trichromatic system.     

pH modulates the quinone position in the photosynthetic reaction center from Rhodobacter sphaeroides in the neutral and charge separated states

The structure of the photosynthetic reaction-center from Rhodobacter sphaeroides has been determined at four different pH values (6.5, 8.0, 9.0, 10.0) in the neutral and in charge separated states. At pH 8.0, in the neutral state, we obtain a resolution of 1.87 A, which is the best ever reported for the bacterial reaction center protein. Our crystallographic data confirm the existence of two different binding positions of the secondary quinone (QB). We observe a new orientation of QB in its distal position, which shows no ring-flip compared to the orientation in the proximal position. Datasets collected for the different pH values show a pH-dependence of the population of the proximal position. The new orientation of QB in the distal position and the pH-dependence could be confirmed by continuum electrostatics calculations. Our calculations are in agreement with the experimentally observed proton uptake upon charge separation. The high resolution of our crystallographic data allows us to identify new water molecules and external residues being involved in two previously described hydrogen bond proton channels. These extended proton-transfer pathways, ending at either of the two oxo-groups of QB in its proximal position, provide additional evidence that ring-flipping is not required for complete protonation of QB upon reduction.     

Spindle-to-cortex communication in cleaving,polyspermic Xenopus eggs

Mitotic spindles specify cleavage planes in early embryos by communicating their position and orientation to the cell cortex using microtubule asters that grow out from the spindle poles during anaphase. Chromatin also plays a poorly understood role. Polyspermic fertilization provides a natural experiment in which aster pairs from the same spindle (sister asters) have chromatin between them, whereas asters pairs from different spindles (nonsisters) do not. In frogs, only sister aster pairs induce furrows. We found that only sister asters recruited two conserved furrow-inducing signaling complexes, chromosome passenger complex (CPC) and Centralspindlin, to a plane between them. This explains why only sister pairs induce furrows. We then investigated factors that influenced CPC recruitment to microtubule bundles in intact eggs and a cytokinesis extract system. We found that microtubule stabilization, optimal starting distance between asters, and proximity to chromatin all favored CPC recruitment. We propose a model in which proximity to chromatin biases initial CPC recruitment to microtubule bundles between asters from the same spindle. Next a positive feedback between CPC recruitment and microtubule stabilization promotes lateral growth of a plane of CPC-positive microtubule bundles out to the cortex to position the furrow.     

Interaction between the otolithic organ and semicircular canals of the vestibular apparatus in the system of directional orientation of man in space

A mathematical model is suggested of the biological system of angular stabilization in space relative to the local vertical using measures whose parameters are near to the parameters of the semicircular canals and otolithic organ of the man. On the basis of computer simulation for physiologically adequate external stimulations contribution of each of measures to the total process of angular stabilization is evaluated.     

Saccadic head and thorax movements in freely walking blowflies

Visual information processing is adapted to the statistics of natural visual stimuli, and these statistics depend to a large extent on the movements of an animal itself. To investigate such movements in freely walking blowflies, we measured the orientation and position of their head and thorax, with high spatial and temporal accuracy. Experiments were performed on Calliphora vicina, Lucilia cuprina and L. caesar. We found that thorax and head orientation of walking flies is typically different from the direction of walking, with differences of 45° common. During walking, the head and the thorax turn abruptly, with a frequency of 5–10 Hz and angular velocities in the order of 1,000°/s. These saccades are stereotyped: head and thorax start simultaneously, with the head turning faster, and finishing its turn before the thorax. The changes in position during walking are saccade-like as well, occurring synchronously, but on average slightly after the orientation saccades. Between orientation saccades the angular velocities are low and the head is held more stable than the thorax. We argue that the strategy of turning by saccades improves the performance of the visual system of blowflies.     

Assessment of inertial and gravitational inputs to the vestibular system

A new device for the assessment of instantaneous angular and linear accelerations of the head is presented, which is based on four linear tri-axial accelerometers suitably attached to the head by an helmet. A procedure for reproducible helmet placement and calibration is given. A method is also illustrated to work out the different linear accelerations sensed by the vestibular organs in the left and right labyrinths and the components of the angular acceleration sensed by their semicircular canals. The computation is based on few individual parameters describing the helmet position with respect to external landmarks and on the average internal position and orientation of the vestibula. The purpose is to study the components of internal inertial forces, which represent the primary inputs to the vestibular system devoted to equilibrium and oculomotor control. The system is designed to be of easy application during rehabilitation exercises and in clinical environment during diagnostic and therapeutic manoeuvres. The prototype is tested with simple free movements such as "yes", "no", and gait.     

A model of visual detection of angular speed for bees

A fly or bee's responses to widefield image motion depend on two basic parameters: temporal frequency and angular speed. Rotational optic flow is monitored using temporal frequency analysers, whereas translational optic flow seems to be monitored in terms of angular speed. Here we present a possible model of an angular speed detector which processes input signals through two parallel channels. The output of the detector is taken as the ratio of the two channels’ outputs. This operation amplifies angular speed sensitivity and depresses temporal frequency tuning. We analyse the behaviour of two versions of this model with different filtering properties in response to a variety of input signals. We then embody the detector in a simulated agent's visual system and explore its behaviour in experiments on speed control and odometry. The latter leads us to suggest a new algorithm for optic flow driven odometry.     

On the micro-circulatory system of the gills of certain freshwater teleostean fishes

The micro-circulatory system of the lamellae is in the form of a network of more or less parallel blood channels. A row of pillar cells separates two contiguous blood channels. All the pillar cells are situated in the same plane between the upper and lower basement membranes to which they remain fixed in position by means of columns. Histochemical investigations show that the basement membrane as well as the columns are collagenous in nature. Though both basement membranes and the columns are PAS positive (magenta colour), reticulin is not present as they do not respond to silver techniques. The development of new blood channels in the micro-circulatory system of Channa striatus has been studied. They arise as buds from the wall of the pre-existing vessels. There is some evidence to show the possible transformation of the smooth muscle cells of the tunica media of blood vessels into the pillar cells of the micro-circulatory system. Various aspects of the physiology of the micro-circulatory system of the gills have been discussed.     

A statistical mechanical model for predicting B-DNA curvature and flexibility

A statistical mechanical model taking into account the symmetric twisting, tilting, sliding fluctuations and asymmetric rolling fluctuations has been proposed to predict the macroscopic curvature and flexibility of B-DNA. Based on the statistical data of structural parameters of double helix in nucleic acid database and the related theoretical analysis, the equilibrium angular parameters (Omega, rho and tau) describing the orientation of successive base-pair planes, the translation parameters (D(y)) along the long axis of neighboring base-pair step and the corresponding force constants are arranged for ten dimers appropriately. Under the assumption of independent angular parameters, independent base-pair steps and a simple energy function, we can calculate the macroscopic curvature and the flexibility of DNA sequences through the transformation matrix and the Boltzmann ensemble average. The predictions on curvature and flexibility of DNA have been compared with the corresponding experimental data. The agreement is remarkably good. It is demonstrated that the lowering of the temperature does increase the DNA curvature.     

Three-dimensional head angular velocity detection from otolith afferent signals

Afferent signals from the otolith organs can produce compensatory eye position and velocity signals which has been described as linear vestibulo-ocular reflex (LVOR). The afferent otolith signals carry information about head orientation and changes of head orientation relative to gravity. A head orientation (tilt) related position signal can be obtained from population vector coding of tonic otolith afferent signals during static or dynamic head tilts, which in turn could produce compensatory eye position signals in the LVOR. On the other hand, eye angular velocity signals may be extracted, as proposed in this study, from the population response of tilt-velocity sensitive otolith afferents. Such afferents are shown to encode instantaneous head orientation relative to gravity at onset of a head movement and, as the movement continues, the projection of head angular velocity onto the earth-horizontal plane, indicating the instantaneous direction of movement relative to gravity. Angular velocity components along the earth-vertical direction which are not directly encoded by otolith afferents can be detected by central signal processing. Central reconstruction of 3D head angular velocity allows to obtain information about absolute head orientation in space even in the absence of semicircular canal related information. Such information is important for generating compensatory eye movements as well as for dynamic control of posture.     

Stereopsis and the random element in the organization of the striate cortex.

Receptive field position and orientation disparities are both properties of binocularly discharged striate neurons. Receptive field position desparities have been used as a key element in the neural theory for binocular depth discrimination. Since most striate cells in the cat are binocular, these position disparities require that cells immediately adjacent to one another in the cortex should show a random scatter in their monocular receptive field positions. Superimposed on the progressive topographical representation of the visual field on the striate cortex there is experimental evidence for a localized monocular receptive field position scatter. The suggestion is examined that the binocular position disparities are built up out of the two monocular position scatters. An examination of receptive field orientation disparities and their relation to the random variation in the monocular preferred orientations of immediately adjacent striate neurons also leads to the conclusion that binocular orientation disparities are a consequence of the two monocular scatters. As for receptive field position, the local scatter in preferred orientation is superimposed on a progressive representation of orientation over larger areas of the cortex. The representation in the striate cortex of visual field position and of stimulus orientation is examined in relation to the correlation between the disparities in receptive field position and preferred orientation. The role of orientation disparities in binocular vision is reviewed.     

Haltere-mediated equilibrium reflexes of the fruit fly, Drosophila melanogaster.

Flies display a sophisticated suite of aerial behaviours that require rapid sensory-motor processing. Like all insects, flight control in flies is mediated in part by motion-sensitive visual interneurons that project to steering motor circuitry within the thorax. Flies, however, possess a unique flight control equilibrium sense that is encoded by mechanoreceptors at the base of the halteres, small dumb-bell-shaped organs derived through evolutionary transformation of the hind wings. To study the input of the haltere system onto the flight control system, I constructed a mechanically oscillating flight arena consisting of a cylindrical array of light-emitting diodes that generated the moving image of a 30 degrees vertical stripe. The arena provided closed-loop visual feedback to elicit fixation behaviour, an orientation response in which flies maintain the position of the stripe in the front portion of their visual field by actively adjusting their wing kinematics. While flies orientate towards the stripe, the entire arena was swung back and forth while an optoelectronic device recorded the compensatory changes in wing stroke amplitude and frequency. In order to reduce the background changes in stroke kinematics resulting from the animal's closed-loop visual fixation behaviour, the responses to eight identical mechanical rotations were averaged in each trial. The results indicate that flies possess a robust equilibrium reflex in which angular rotations of the body elicit compensatory changes in both the amplitude and stroke frequency of the wings. The results of uni- and bilateral ablation experiments demonstrate that the halteres are required for these stability reflexes. The results also confirm that halteres encode angular velocity of the body by detecting the Coriolis forces that result from the linear motion of the haltere within the rotating frame of reference of the fly's thorax. By rotating the flight arena at different orientations, it was possible to construct a complete directional tuning map of the haltere-mediated reflexes. The directional tuning of the reflex is quite linear such that the kinematic responses vary as simple trigonometric functions of stimulus orientation. The reflexes function primarily to stabilize pitch and yaw within the horizontal plane.     

Configurations of fatty acyl chains in egg phosphatidylcholine-cholesterol mixed bilayers

Based on the structural properties of cholesterol and egg phosphatidylcholine, and on the assumption that the van der Waals' type attactive interaction between the steroid nucleus and the fatty acyl chains provides a stabilizing force for the cholesterol-egg phosphatidylcholine complex, some specific orientation and configurations of the fatty acyl chains around the steroid nucleus in the interacting system are proposed in terms of an optimal packing. The proposed model suggests that the saturated chains are largely facing the flattened (α) surface of the steroid nucleus of cholesterol, while the unsaturated chains can interact with both the α and β surfaces of the steroid nucleus. It is also suggested that the angular methyl groups on the β surface of the steroid nucleus lock the unsaturated fatty acyl chain in a relatively immobile configuration. Experimental evidence which provides support for the proposed stereochemical model is presented.     

Energy transformations in human movement by contact.

This study focuses on the transformation of energy in multilinkage systems by a deliberate use of the contact with the ground, leading to a derivation of the directional change of translational velocity of the body's center of mass. The coefficient of friction on the surface on which the impact occurs, and its effect on the overall movement, is studied for general multilinkage systems undergoing impact. The effect of surface friction is made apparent via simulation studies for a two-link example, where two interesting conditions arise: slippage or no slippage on the surface at impact. It is found that once the system stops on the surface, the translational energy increases as the angular velocity increases. Likewise, it is seen that the rotational energy after impact increases as the angular velocity of the first link increases, but the rate of increase of energy is less in the case where the system stops on the ground with no slippage.     

Potassium Channel Gating in the Absence of the Highly Conserved Glycine of the Inner Transmembrane Helix

Potassium channel activation regulates cellular excitability, such as in neuronal and cardiac cells. Regulation of ion channel activity relies on a switching mechanism between two major conformations, the open and closed states, known as gating. It has been suggested that potassium channels are generally gated via a pivoted mechanism of the pore-lining helix (TM2) in the proximity of a glycine that is conserved in about 80% of potassium channels, even though about 20% of the channels lack a glycine at this position. Yet, as we show in G-protein gated potassium (Kir3) channels that lack a glycine at this position, the βγ subunits of G-proteins can still stimulate channel activity. Our results suggest that the effect of mutation of the central glycine (at position 175 in Kir3.4) on βγ-induced whole-cell currents is related to the extent of the interaction between residues located at the position of the central glycine and two residues, one located in the signature sequence of the selectivity filter (T149 in Kir3.4) and the other in the pore helix (E147 in Kir3.4). Our results also suggest that interactions with position 149 are more detrimental to channel function than interactions with position 147. The ability of Gβγ to overcome such restraining interactions is likely to depend on a combination of characteristics specific to each residue.     

Potassium channel gating in the absence of the highly conserved glycine of the inner transmembrane helix

Potassium channel activation regulates cellular excitability, such as in neuronal and cardiac cells. Regulation of ion channel activity relies on a switching mechanism between two major conformations, the open and closed states, known as gating. It has been suggested that potassium channels are generally gated via a pivoted mechanism the pore-lining helix (TM2) in the proximity of a glycine that is conserved in about 80% of potassium channels, even though about 20% of the channels lack a glycine at this position. Yet, as we show in G-protein gated potassium (Kir3) channels that lack a glycine at this position, the betagamma subunits of G-proteins can still stimulate channel activity. Our results suggest that the effect of mutation of the central glycine (at position 175 in Kir3.4) on betagamma-induced whole-cell currents is related to the extent of the interaction between residues located at the position of the central glycine and two residues, one located in the signature sequence of the selectivity filter (T149 in Kir3.4) and the other in the pore helix (E147 in Kir3.4). Our results also suggest that interactions with position 149 are more detrimental to channel function than interactions with position 147. The ability of Gbetagamma to overcome such restraining interactions is likely to depend on a combination of characteristics specific to each residue.     

Persistence of Motor-Equivalent Postural Fluctuations during Bipedal Quiet Standing

Theoretical and empirical work indicates that the central nervous system is able to stabilize motor performance by selectively suppressing task-relevant variability (TRV), while allowing task-equivalent variability (TEV) to occur. During unperturbed bipedal standing, it has previously been observed that, for task variables such as the whole-body center of mass (CoM), TEV exceeds TRV in amplitude. However, selective control (and correction) of TRV should also lead to different temporal characteristics, with TEV exhibiting higher temporal persistence compared to TRV. The present study was specifically designed to test this prediction. Kinematics of prolonged quiet standing (5 minutes) was measured in fourteen healthy young participants, with eyes closed. Using the uncontrolled manifold analysis, postural variability in six sagittal joint angles was decomposed into TEV and TRV with respect to four task variables: (1) center of mass (CoM) position, (2) head position, (3) trunk orientation and (4) head orientation. Persistence of fluctuations within the two variability components was quantified by the time-lagged auto-correlation, with eight time lags between 1 and 128 seconds. The pattern of results differed between task variables. For three of the four task variables (CoM position, head position, trunk orientation), TEV significantly exceeded TRV over the entire 300 s-period.The autocorrelation analysis confirmed our main hypothesis for CoM position and head position: at intermediate and longer time delays, TEV exhibited higher persistence than TRV. Trunk orientation showed a similar trend, while head orientation did not show a systematic difference between TEV and TRV persistence. The combination of temporal and task-equivalent analyses in the present study allow a refined characterization of the dynamic control processes underlying the stabilization of upright standing. The results confirm the prediction, derived from computational motor control, that task-equivalent fluctuations for specific task variables show higher temporal persistence compared to task-relevant fluctuations.     

Thorax and pelvis kinematics during the downswing of male and female skilled golfers

Thorax and pelvis motion during the golf swing have most frequently been described for male golfers at discrete points during the swing, such as top of backswing (TBS) and ball contact (BC). Less is known about the continual motion and coordination of the thorax and pelvis throughout the downswing for either male or female golfers. The purpose of this study was to present detailed 3D kinematic profiles of thorax and pelvis motion during the downswing, and to determine if differences in kinematics exist between male and female skilled golfers. Thorax and pelvis data were collected from 19 male (26±7 years) and 19 female (25±7 years) skilled golfers (handicap ≤4) using an optical motion analysis system. 3D segment position, orientation and angular velocity were calculated, along with phase plane trajectories and thorax–pelvis separation angles. At BC males had greater pelvis posterior tilt, greater pelvis and thorax lateral tilt to the right, and less pelvis and thorax axial rotation to the left compared to females. Males achieved greater peak thorax and pelvis angular velocity, and angular velocity at BC, in the anterior–posterior and lateral tilt directions. Phase plane trajectories revealed that males and females had similar thorax lateral tilt and anterior–posterior tilt angular velocity–displacement relationships at TBS, yet by BC males had greater tilt angles and velocities compared to females. Collectively, the results suggest that male and female skilled golfers have different kinematics for thorax and pelvis motion, predominantly for lateral and anterior–posterior tilt. What might be considered optimal swing characteristics for male golfers should not be generalized to female golfers.