Mutually synchronized relaxation oscillators as prototypes of oscillating systems in biology

Summary This paper discusses the analogy between phenomena in populations of coupled biological oscillators and the behaviour of systems of synchronized mathematical oscillators. Frequency entrainment in a set of coupled relaxation oscillators is investigated with perturbation methods. This analysis leads to quantitative results for entrainment and explains phenomena such as travelling waves in systems of spatially distributed oscillators.     

蛋白质结构的分形及其与进化关系的研究

本文在应用分形理论对蛋白质分子结构的分形进行研究的基础上,从非线性角度,就蛋白质多肽链的结构与形以及球蛋白三维结构的分形与进化的关系问题,进行了理论探讨和分析。     

The fractal structure of glycogen: A clever solution to optimize cell metabolism.

Fractal objects are complex structures built with a simple procedure involving very little information. This has an obvious interest for living beings, because they are splendid examples of optimization to achieve the most efficient structure for a number of goals by means of the most economic way. The lung alveolar structure, the capillary network, and the structure of several parts of higher plant organization, such as ears, spikes, umbels, etc., are supposed to be fractals, and, in fact, mathematical functions based on fractal geometry algorithms can be developed to simulate them. However, the statement that a given biological structure is fractal should imply that the iterative process of its construction has a real biological meaning, i.e., that its construction in nature is achieved by means of a single genetic, enzymatic, or biophysical mechanism successively repeated; thus, such an iterative process should not be just an abstract mathematical tool to reproduce that object. This property has not been proven at present for any biological structure, because the mechanisms that build the objects mentioned above are unknown in detail. In this work, we present results that show that the glycogen molecule could be the first known real biological fractal structure.     

Spontaneous switching of frequency-locking by periodic stimulus in oscillators of plasmodium of the true slime mold

Microfabrication technique was used to construct a model system with a living cell of plasmodium of the true slime mold, Physarum polycephalum, a living coupled oscillator system. Its parameters can be systematically controlled as in computer simulations, so that results are directly comparable to those of general mathematical models. As the first step, we investigated responses in oscillatory cells, the oscillators of the plasmodium, to periodic stimuli by temperature changes to elucidate characteristics of the cells as nonlinear systems whose internal dynamics are unknown because of their complexity. We observed that the forced oscillator of the plasmodium show 1:1, 2:1, 3:1 frequency locking inside so-called Arnold tongues regions as well as in other nonlinear systems such as chemical systems and other biological systems. In addition, we found spontaneous switching behavior from certain frequency locking states to other states, even under certain fixed parameters. This technique can be applied to more complex systems with multiple elements, such as coupled oscillator systems, and would be useful to investigate complicated phenomena in biological systems such as information processing.     

Synchronization of coupled nonidentical genetic oscillators

The study of the collective dynamics of synchronization among genetic oscillators is essential for the understanding of the rhythmic phenomena of living organisms at both molecular and cellular levels. Genetic oscillators are biochemical networks, which can generally be modelled as nonlinear dynamic systems. We show in this paper that many genetic oscillators can be transformed into Lur'e form by exploiting the special structure of biological systems. By using a control theory approach, we provide a theoretical method for analysing the synchronization of coupled nonidentical genetic oscillators. Sufficient conditions for the synchronization as well as the estimation of the bound of the synchronization error are also obtained. To demonstrate the effectiveness of our theoretical results, a population of genetic oscillators based on the Goodwin model are adopted as numerical examples.     

Three people can synchronize as coupled oscillators during sports activities

We experimentally investigated the synchronized patterns of three people during sports activities and found that the activity corresponded to spatiotemporal patterns in rings of coupled biological oscillators derived from symmetric Hopf bifurcation theory, which is based on group theory. This theory can provide catalogs of possible generic spatiotemporal patterns irrespective of their internal models. Instead, they are simply based on the geometrical symmetries of the systems. We predicted the synchronization patterns of rings of three coupled oscillators as trajectories on the phase plane. The interactions among three people during a 3 vs. 1 ball possession task were plotted on the phase plane. We then demonstrated that two patterns conformed to two of the three patterns predicted by the theory. One of these patterns was a rotation pattern (R) in which phase differences between adjacent oscillators were almost 2π/3. The other was a partial anti-phase pattern (PA) in which the two oscillators were anti-phase and the third oscillator frequency was dead. These results suggested that symmetric Hopf bifurcation theory could be used to understand synchronization phenomena among three people who communicate via perceptual information, not just physically connected systems such as slime molds, chemical reactions, and animal gaits. In addition, the skill level in human synchronization may play the role of the bifurcation parameter.     

Interaction of coupled nonlinear oscillators having different intrinsic resting levels

The interaction among coupled oscillators is governed by oscillator properties (intrinsic frequency and amplitude) and coupling mechanisms. This study considers another oscillator property, the intrinsic resting level, and evaluates its role in governing oscillator interactions. The results of computer experiments on a chain of either three or five bidirectionally coupled nonlinear oscillators, suggest that an intrinsic resting level gradient, if present, is one of the factors governing the interaction between coupled oscillators. If there is no intrinsic frequency gradient, then an intrinsic resting level gradient is sufficient to produce many features of interaction among coupled oscillators. If both intrinsic frequency and intrinsic resting level gradients are present, then both of them determine the manner in which the coupled oscillators interact with each other.     

分子进化研究：Ⅱ.5SrRNA序列的分形与分子进化的关系

本文根据分形理论的原理和方法,在对现行的计算核酸序列分维的方法进行修改的基础上,对各类生物的80余种5SrRNA序列的分维进行了计算,并结合耗散结构理论就其分维与分子进化的关系问题进行了研究和探讨。作者认为,5SrRNA序列的分维与其分子进化间的关系是一种复杂的非线性关系,在分子进化的过程中,序列的分维表现为随机涨落。     

The mathematical modeling of entrained biological oscillators

In this paper perturbation methods are used for the mathematical analysis of coupled relaxation oscillators. This study covers entrainment by an external periodic stimulus as well as mutual entrainment of coupled oscillators with different limit cycles. The oscillators are of a type one meets in the modeling of biological oscillators by chemical reactions and electronic circuits. Special attention is given to entrainment different from 1∶1. The results relate to phenomena occurring in physiological experiments, such as the periodic stimulation of neural and cardiac cells, and in the non-regular functioning of organs and organisms, such as the AV-block in the heart.     

Hexapodal gaits and coupled nonlinear oscillator models

The general, model-independent features of different networks of six symmetrically coupled nonlinear oscillators are investigated. These networks are considered as possible models for locomotor central pattern generators (CPGs) in insects. Numerical experiments with a specific oscillator network model are briefly described. It is shown that some generic phase-locked oscillation-patterns for various systems of six symmetrically coupled nonlinear oscillators correspond to the common forward-walking gaits adopted by insects. It is also demonstrated that transitions observed in insect gaits can be modelled as standard symmetry-breaking bifurcations occurring in such systems. The present analysis, which leads to a natural classification of hexapodal gaits by symmetry and to natural sequences of gait bifurcations, relates observed gaits to the overall organizational structure of the underlying CPG. The implications of the present results for the development of simplified control systems for hexapodal walking robots are discussed.     

Chaos, fractals, and our concept of disease

The classic anatomo-clinic paradigm based on clinical syndromes is fraught with problems. Nevertheless, for multiple reasons, clinicians are reluctant to embrace a more pathophysiological approach, even though this is the prevalent paradigm under "which basic sciences work. In recent decades, nonlinear dynamics ("chaos theory") and fractal geometry have provided powerful new tools to analyze physiological systems. However, these tools are embedded in the pathophysiological perspective and are not easily translated to our classic syndromes. This article comments on the problems raised by the conventional anatomo-clinic paradigm and reviews three areas in which the influence of nonlinear dynamics and fractal geometry can be especially prominent: disease as a loss of complexity, the idea of homeostasis, and fractals in pathology.     

Pulse coupled oscillators and the phase resetting curve

Limit cycle oscillators that are coupled in a pulsatile manner are referred to as pulse coupled oscillators. In these oscillators, the interactions take the form of brief pulses such that the effect of one input dies out before the next is received. A phase resetting curve (PRC) keeps track of how much an input advances or delays the next spike in an oscillatory neuron depending upon where in the cycle the input is applied. PRCs can be used to predict phase locking in networks of pulse coupled oscillators. In some studies of pulse coupled oscillators, a specific form is assumed for the interactions between oscillators, but a more general approach is to formulate the problem assuming a PRC that is generated using a perturbation that approximates the input received in the real biological network. In general, this approach requires that circuit architecture and a specific firing pattern be assumed. This allows the construction of discrete maps from one event to the next. The fixed points of these maps correspond to periodic firing modes and are easier to locate and analyze for stability compared to locating and analyzing periodic modes in the original network directly. Alternatively, maps based on the PRC have been constructed that do not presuppose a firing order. Specific circuits that have been analyzed under the assumption of pulsatile coupling include one to one lockings in a periodically forced oscillator or an oscillator forced at a fixed delay after a threshold event, two bidirectionally coupled oscillators with and without delays, a unidirectional N-ring of oscillators, and N all-to-all networks.     

Systems-level modeling of neuronal circuits for leech swimming

This paper describes a mathematical model of the neuronal central pattern generator (CPG) that controls the rhythmic body motion of the swimming leech. The systems approach is employed to capture the neuronal dynamics essential for generating coordinated oscillations of cell membrane potentials by a simple CPG architecture with a minimal number of parameters. Based on input/output data from physiological experiments, dynamical components (neurons and synaptic interactions) are first modeled individually and then integrated into a chain of nonlinear oscillators to form a CPG. We show through numerical simulations that the values of a few parameters can be estimated within physiologically reasonable ranges to achieve good fit of the data with respect to the phase, amplitude, and period. This parameter estimation leads to predictions regarding the synaptic coupling strength and intrinsic period gradient along the nerve cord, the latter of which agrees qualitatively with experimental observations.     

A group-theoretic approach to rings of coupled biological oscillators

In this paper, a general approach for studying rings of coupled biological oscillators is presented. This approach, which is group-theoretic in nature, is based on the finding that symmetric ring networks of coupled non-linear oscillators possess generic patterns of phaselocked oscillations. The associated analysis is independent of the mathematical details of the oscillators' intrinsic dynamics and the nature of the coupling between them. The present approach thus provides a framework for distinguishing universal dynamic behaviour from that which depends upon further structure. In this study, the typical oscillation patterns for the general case of a symmetric ring of n coupled non-linear oscillators and the specific cases of three- and five-membered rings are considered. Transitions between different patterns of activity are modelled as symmetry-breaking bifurcations. The effects of one-way coupling in a ring network and the differences between discrete and continuous systems are discussed. The theoretical predictions for symmetric ring networks are compared with physiological observations and numerical simulations. This comparison is limited to two examples: neuronal networks and mammalian intestinal activity. The implications of the present approach for the development of physiologically meaningful oscillator models are discussed.     

Fern leaves and cauliflower curds are not fractals

The popular demonstration of drawing a mature fern leaf as expressed by Barnsley''s fractal method is mathematically and visually very attractive but anatomically and developmentally misleading, and thus has limited, if any, biological significance. The same is true for the fractal demonstration of the external features of cauliflower curds. Actual fern leaves and cauliflower curds have a very small number of anatomically variable and non-iterating bifurcations, which superficially look self-similar, but do not allow for scaling down of their structure as real fractals do. Moreover, fern leaves and cauliflower curds develop from the inside out through a process totally different from fractal drawing procedures. The above cases demonstrate a general problem of using mathematical tools to investigate or illustrate biological phenomena in an irrelevant manner. A realistic set of mathematical equations to describe fern leaf or cauliflower curd development is needed.     

Multiple pulse interactions and averaging in systems of coupled neural oscillators

Oscillators coupled strongly are capable of complicated behavior which may be pathological for biological control systems. Nevertheless, strong coupling may be needed to prevent asynchrony. We discuss how some neural networks may be designed to achieve only simple locking behavior when the coupling is strong. The design is based on the fact that the method of averaging produces equations that are capable only of locking or drift, not pathological complexity. Furthermore, it is shown that oscillators that interact by means of multiple pulses per cycle, dispersed around the cycle, behave like averaged equations, even if the number of pulses is small. We discuss the biological intuition behind this scheme, and show numerically that it works when the oscillators are taken to be composites, each unit of which is governed by a well-known model of a neural oscillator. Finally, we describe numerical methods for computing from equations for coupled limit cycle oscillators the averaged coupling functions of our theory.Research partially supported by the National Science Foundation under grants DMS 8796235 and DMS 8701405 and the Air Force Office of Scientific Research under University Research Contract F 49620-C-0131 to Northeastern University     

Intersegmental phase lags in the lamprey spinal cord: Experimental confirmation of the existence of a boundary region

A critical feature of the motor pattern generated by the lamprey spinal cord is an intersegmental delay that is constant down the cord and scales with cycle duration. This has been modelled as the output of a chain of coupled oscillators, within a general mathematical framework developed by Kopell and Ermentrout (1986, 1988). The analysis predicts that for asymmetric coupling of equally-activated oscillators, the intersegmental phase lag will be uniform along the chain except in a boundary layer at one end. Here we provide experimental evidence that a boundary layer does occur at the rostral end of an isolated preparation of lamprey spinal cord. In the context of the mathematical analysis, this indicates that ascending coupling is dominant in the control of intersegmental phase lag in the lamprey.     

Uses and abuses of fractal methodology in ecology

Fractals have found widespread application in a range of scientific fields, including ecology. This rapid growth has produced substantial new insights, but has also spawned confusion and a host of methodological problems. In this paper, we review the value of fractal methods, in particular for applications to spatial ecology, and outline potential pitfalls. Methods for measuring fractals in nature and generating fractal patterns for use in modelling are surveyed. We stress the limitations and the strengths of fractal models. Strictly speaking, no ecological pattern can be truly fractal, but fractal methods may nonetheless provide the most efficient tool available for describing and predicting ecological patterns at multiple scales.     

A van der Pol coupled-oscillator model as a basis for developing a system for suppressing MHD instabilities in a tokamak

The main parameters of tokamak discharges are known to be limited by large-scale MHD instabilities. Sometimes, the instabilities lead to a rapid (on time scales of tens of microseconds) disruption of the discharge current and to the release of all the energy stored in the plasma column at the discharge chamber wall. This process, which is called the disruptive instability, may have irreversible catastrophic consequences for the operation of a fusion reactor. In the present paper, a study is made of the dynamics of self-oscillations in systems of two and six van der Pol coupled oscillators. A van der Pol coupled-oscillator model is used to develop a multivariable feedback controller based on the combined principle of compensating for internal cross feedbacks within the object and introducing damping feedbacks in each control channel. By using mathematical simulation methods, it is shown that the controller designed guarantees the suppression of self-oscillations in a system of van der Pol oscillators over a fairly broad range of parameters of the object under control (and thereby provides the structural stability of the object). The nonlinear control system model makes it possible to suppress coupled MHD perturbations developing in a tokamak plasma.     

Analysis of the gait generation principle by a simulated quadruped model with a CPG incorporating vestibular modulation

This study aims to understand the principles of gait generation in a quadrupedal model. It is difficult to determine the essence of gait generation simply by observation of the movement of complicated animals composed of brains, nerves, muscles, etc. Therefore, we build a planar quadruped model with simplified nervous system and mechanisms, in order to observe its gaits under simulation. The model is equipped with a mathematical central pattern generator (CPG), consisting of four coupled neural oscillators, basically producing a trot pattern. The model also contains sensory feedback to the CPG, measuring the body tilt (vestibular modulation). This spontaneously gives rise to an unprogrammed lateral walk at low speeds, a transverse gallop while running, in addition to trotting at a medium speed. This is because the body oscillation exhibits a double peak per leg frequency at low speeds, no peak (little oscillation) at medium speeds, and a single peak while running. The body oscillation autonomously adjusts the phase differences between the neural oscillators via the feedback. We assume that the oscillations of the four legs produced by the CPG and the body oscillation varying according to the current speed are synchronized along with the varied phase differences to keep balance during locomotion through postural adaptation via the vestibular modulation, resulting in each gait. We succeeded in determining a single simple principle that accounts for gait transition from walking to trotting to galloping, even without brain control, complicated leg mechanisms, or a flexible trunk.