Predictive feedback control and Fitts–law

Fitts’ law is a well established empirical formula, known for encapsulating the “speed-accuracy trade-off”. For discrete, manual movements from a starting location to a target, Fitts’ law relates movement duration to the distance moved and target size. The widespread empirical success of the formula is suggestive of underlying principles of human movement control. There have been previous attempts to relate Fitts’ law to engineering-type control hypotheses and it has been shown that the law is exactly consistent with the closed-loop step-response of a time-delayed, first-order system. Assuming only the operation of closed-loop feedback, either continuous or intermittent, this paper asks whether such feedback should be predictive or not predictive to be consistent with Fitts law. Since Fitts’ law is equivalent to a time delay separated from a first-order system, known control theory implies that the controller must be predictive. A predictive controller moves the time-delay outside the feedback loop such that the closed-loop response can be separated into a time delay and rational function whereas a non- predictive controller retains a state delay within feedback loop which is not consistent with Fitts’ law. Using sufficient parameters, a high-order non-predictive controller could approximately reproduce Fitts’ law. However, such high-order, “non-parametric” controllers are essentially empirical in nature, without physical meaning, and therefore are conceptually inferior to the predictive controller. It is a new insight that using closed-loop feedback, prediction is required to physically explain Fitts’ law. The implication is that prediction is an inherent part of the “speed-accuracy trade-off”.     

Stability and motor adaptation in human arm movements

In control, stability captures the reproducibility of motions and the robustness to environmental and internal perturbations. This paper examines how stability can be evaluated in human movements, and possible mechanisms by which humans ensure stability. First, a measure of stability is introduced, which is simple to apply to human movements and corresponds to Lyapunov exponents. Its application to real data shows that it is able to distinguish effectively between stable and unstable dynamics. A computational model is then used to investigate stability in human arm movements, which takes into account motor output variability and computes the force to perform a task according to an inverse dynamics model. Simulation results suggest that even a large time delay does not affect movement stability as long as the reflex feedback is small relative to muscle elasticity. Simulations are also used to demonstrate that existing learning schemes, using a monotonic antisymmetric update law, cannot compensate for unstable dynamics. An impedance compensation algorithm is introduced to learn unstable dynamics, which produces similar adaptation responses to those found in experiments.     

Identified descending brain neurons control different stridulatory motor patterns in an acridid grasshopper

During courtship sequences male grasshoppers of the species Omocestus viridulus successively perform with their hindlegs three different stridulatory movement patterns: ordinary stridulation, hindleg shaking and precopulatory movements. Microinjection of acetylcholine into protocerebral neuropil regions can either elicit complete courtship sequences or evoke one of the three motor patterns. Intracellular recordings and stainings revealed three types of descending brain neurons: B-DC-3, B-DC-4 and B-DC-5. All three types of interneurons have a medial axon position in the connectives. They cross the midline of the protocerebrum and exhibit a profuse arborization pattern within the medial dorsal protocerebral neuropil. Stimulation of each type of interneuron specifically elicits one particular motor pattern of courtship behaviour. Courtship of the grasshopper O. viridulus may therefore be controlled by successive activation of these descending brain neurons. Accepted: 27 September 1996     

Performance enhancement in rally car drivers via heat acclimation and race simulation

To investigate the combined use of an interactive racecar simulator and heat acclimation on psychomotor (driving) performance, eight rally drivers underwent 4 days of repeated heat (50 degrees C) exposure (1 h x day(-1)) during which they performed a simulated rally drive (3x12-min stages each separated by a 2-min break), after first cycling for 15 min at 125 W to induce some degree of fatigue and heat storage prior to beginning the rally. During the rally stages, a generic set of pace notes were read to the subject by a co-driver. In each simulation, sweat loss, heart rate, core (rectal) and skin temperatures were recorded and driving and psychomotor performance were assessed by recording stage times and time to complete a psychomotor test. Levels of physiological and perceived thermal strain were also recorded. Significant decreases in rally stage times (88 s; P<0.005), psychomotor test time (18 s; P<0.01), final core (0.25 degrees C; P<0.001) and skin (0.44 degrees C; P<0.005) temperatures, heart rate (16 beats x min(-1); P<0.05) and physiological (15 W x m(-2); P<0.005) and perceived thermal (3.7 units; P<0.01) strain were evident by the end of the final simulation, and a significant (P<0.05) increase in sweat sensitivity (+0.33 g x h(-1) x degrees C(-1)) was also recorded. These results suggest that both heat acclimation and race simulation can improve the psychomotor performance of rally drivers, although the relative contribution of each factor was not determined here. However, in a practical setting, these factors would not be used in isolation. After performing the acclimation and simulation protocol prior to an actual rally, drivers subjectively reported improvements in tolerating a high thermal load and in their ability to control the rally vehicle.     

The effects of eccentric exercise on motor performance in young and older women

The purpose of the present study was to determine if old individuals show a greater exercise-induced decrement in motor performance and slower recovery compared to young individuals. Ten college-age women (23.6 years) and ten older women (67.4 years) performed an exercise consisting of 24 eccentric actions of the forearm flexors. In young subjects, eccentric exercise is known to produce repairable muscle damage. Before the exercise and for 5 days after, isometric strength, soreness, reaction time, and movement time were measured. For both groups, strength was reduced and soreness developed in the days following the exercise, generally indicating that muscle damage had occurred. The older subjects showed a slower strength recovery such that by 5 days after exercise they had not returned to their initial level of strength. There was no significant difference in soreness development between groups. Reaction time and movement time were not adversely affected by the exercise. Thus, the older subjects demonstrated a slower strength recovery after damage-inducing exercise, and, with regard to response speed, the older subjects could compensate for the impaired muscle function as well as the younger subjects.     

Overcompensatory recruitment and generation delay in discrete age-structured population models

 The effect of overcompensatory recruitment and the combined effect of overcompensatory recruitment and generation delay in discrete nonlinear age-structured population models is studied. Considering overcompensatory recruitment alone, we present formal proofs of the supercritical nature of bifurcations (both flip and Hopf) as well as an extensive analysis of dynamics in unstable parameter regions. One important finding here is that in case of small and moderate year to year survival probabilities there are large regions in parameter space where the qualitative behaviour found in a general n+1 dimensional model is retained already in a one-dimensional model. Another result is that the dynamics at or near the boundary of parameter space may be very complicated. Generally, generation delay is found to act as a destabilizing effect but its effect on dynamics is by no means unique. The most profound effect occurs in the n-generation delay cases. In these cases there is no stable equilibrium X ^* at all, but whenever X ^* small, a stable cycle of period n+1 where the periodic points in the cycle are on a very special form. In other cases generation delay does not alter the dynamics in any substantial way. Received 25 April 1995; received in revised form 21 November 1995     

Interaction of maturation delay and nonlinear birth in population and epidemic models

 A population with birth rate function B(N) N and linear death rate for the adult stage is assumed to have a maturation delay T>0. Thus the growth equation N′(t)=B(N(t−T)) N(t−T) e⁻ d ₁ T−dN(t) governs the adult population, with the death rate in previous life stages d ₁≧0. Standard assumptions are made on B(N) so that a unique equilibrium N _e exists. When B(N) N is not monotone, the delay T can qualitatively change the dynamics. For some fixed values of the parameters with d ₁>0, as T increases the equilibrium N _e can switch from being stable to unstable (with numerically observed periodic solutions) and then back to stable. When disease that does not cause death is introduced into the population, a threshold parameter R ₀ is identified. When R ₀<1, the disease dies out; when R ₀>1, the disease remains endemic, either tending to an equilibrium value or oscillating about this value. Numerical simulations indicate that oscillations can also be induced by disease related death in a model with maturation delay. Received: 2 November 1998 / Revised version: 26 February 1999     

Modeling human postural sway using an intermittent control and hemodynamic perturbations

Ground reaction force during human quiet stance is modulated synchronously with the cardiac cycle through hemodynamics [1]. This almost periodic hemodynamic force induces a small disturbance torque to the ankle joint, which is considered as a source of endogenous perturbation that induces postural sway. Here we consider postural sway dynamics of an inverted pendulum model with an intermittent control strategy, in comparison with the traditional continuous-time feedback controller. We examine whether each control model can exhibit human-like postural sway, characterized by its power law behavior at the low frequency band 0.1–0.7 Hz, when it is weakly perturbed by periodic and/or random forcing mimicking the hemodynamic perturbation. We show that the continuous control model with typical feedback gain parameters hardly exhibits the human-like sway pattern, in contrast with the intermittent control model. Further analyses suggest that deterministic, including chaotic, slow oscillations that characterize the intermittent control strategy, together with the small hemodynamic perturbation, could be a possible mechanism for generating the postural sway.     

Comparative study of observed actions,motor imagery and control therapeutic exercise on the conditioned pain modulation in the cervical spine: a randomized controlled trial

Abstract

Aim: The aim of this study was to compare the effects of cervical exercise, motor imagery (MI) and action observation (AO) of cervical exercise actions on conditioned pain modulation and pressure pain thresholds. The second objective was to assess the effects of these interventions on cervical motor activity (ranges of motion and muscle endurance), attention, and the ability to generate motor images.

Study design: Single-blinded randomized controlled trial.

Materials and methods: Fifty-four healthy subjects were randomly assigned to each group. Response conditioned pain modulation, pressure pain threshold, were the main variables. The secondary outcome measures included, cervical range of motion, Neck flexor endurance test, mental movement representation associated and psychosocial variables.

Results: All groups showed significant differences in time factor for all evaluated variables (p?<?.01) except pressure pain threshold over the tibial region. The post hoc analysis revealed significant within-group differences in the AE and AO groups in conditioned pain modulation (p?<?.05), with medium effect size in time [AE (d –0.61); AO (d –0.74)].

Conclusion: The results showed that within-group changes in conditioned pain modulation, cervical muscle endurance, and attention where founded only in the AE and AO groups. Variations in pain thresholds at pressure in the trapezium area were also obtained in the three groups. Changes in the ranges of flexion-extension and rotation movement were presented exclusively in the exercise group, and in the capacity to generate motor images only in the AO group. However, there was no difference in the pressure pain threshold over the tibial region.     

Effects of contraction history on control and stability in explosive actions

In this model study, the effect of contraction history in skeletal muscle on joint movement and stability was investigated. A joint system was constructed with two identical (antagonistic) muscles. The muscles were modelled either according to the Hill tradition or as a modified Hill system including history-dependent properties. The joint system underwent movements with full activity of both muscles, mimicking explosive actions with high stability demands. Movements starting away from a balanced mid-position, as well as perturbation experiments, were simulated. The comparison between the Hill and modified Hill systems showed that contraction history improved stability (stiffness under perturbation) and, under certain conditions, caused a shift in the final joint position, which depended on the task characteristics (starting position and perturbations characteristics). This result indicates that modulations of muscle activity, required to move a joint to a particular end-position, do not only depend on the end-position but also on the preceding movements. This finding does not agree with the equilibrium-point hypothesis and is discussed accordingly.     

Coordination of wing motion and walking suggests common control of zigzag motor program in a male silkworm moth

The male silkworm moth, Bombyx mori, exhibits a zigzagging pattern as it walks upwind to pheromones. This species usually does not fly, but obvious wing-beating accompanies the pheromone-mediated walking. Males supported by a `sled', after having their legs removed, also moved upwind in a pheromone plume along zigzagging tracks, indicating that wing-generated thrust and torque result in locomotory paths similar to those observed from walking moths. Using a high-speed video system we investigated the correlation between the wing movements and zigzag walking. The wing ipsilateral to the direction of the turn showed a greater degree of retraction with respect to the contralateral wing. The timing of the wing retraction pattern was synchronized with changes of direction in the walking track. Coordination of wing movements and walking pattern was not dependent on visual feedback or sensory feedback generated from neck movements associated with turning. The results presented here, taken together with our previous studies of descending interneurons suggest that the coordination of wing movements with the walking pattern may result from the activity of a set of identified interneurons descending from the brain to the thoracic ganglia and/or may be coordinated by coupling of oscillating circuits for walking and wing beating. Accepted: 15 May 1997     

The remapping of space in motor learning and human–machine interfaces

Studies of motor adaptation to patterns of deterministic forces have revealed the ability of the motor control system to form and use predictive representations of the environment. One of the most fundamental elements of our environment is space itself. This article focuses on the notion of Euclidean space as it applies to common sensory motor experiences. Starting from the assumption that we interact with the world through a system of neural signals, we observe that these signals are not inherently endowed with metric properties of the ordinary Euclidean space. The ability of the nervous system to represent these properties depends on adaptive mechanisms that reconstruct the Euclidean metric from signals that are not Euclidean. Gaining access to these mechanisms will reveal the process by which the nervous system handles novel sophisticated coordinate transformation tasks, thus highlighting possible avenues to create functional human–machine interfaces that can make that task much easier. A set of experiments is presented that demonstrate the ability of the sensory-motor system to reorganize coordination in novel geometrical environments. In these environments multiple degrees of freedom of body motions are used to control the coordinates of a point in a two-dimensional Euclidean space. We discuss how practice leads to the acquisition of the metric properties of the controlled space. Methods of machine learning based on the reduction of reaching errors are tested as a means to facilitate learning by adaptively changing he map from body motions to controlled device. We discuss the relevance of the results to the development of adaptive human–machine interfaces and optimal control.     

杀虫单、氟虫腈及其混剂对二化螟的防治效果

20 0 0～ 2 0 0 1年在安徽省庐江县进行了 2次药剂及剂量对二化螟的防治和保苗效果试验。试验1表明 ,40 %氟虫腈·杀虫单WP 42 0g(每hm2 有效成分用量 )处理的虫口减退率为 94 7% ,与 5 40g,660g及 5 %氟虫腈 (锐劲特 )SC 3 0g处理相差不大。试验 2表明 ,3 0 %杀虫单·氟虫腈WP 2 70g喷雾即可达到96 2 %的防效 ,接近 3 60g和 5 %氟虫腈SC 2 2 5g的效果。 2次试验中各处理的保苗效果与虫口减退率基本一致。比较药剂成本 ,可见这 2种新型复配剂对二化螟具有良好的防治和保苗效果 ,且上述剂量是经济高效的。     

Subcellular distribution of sulfated glucuronyl glycolipids in human peripheral motor and sensory nerves

Sulfated glucuronyl glycolipids (SGGL) have been implicated as important target antigens in patients with demyelinating polyneuropathy and IgM paraproteinemia. Sulfated glucuronyl paragloboside (SGPG), a major species of SGGL, was identified in the subcellular fractions of human peripheral motor and sensory nerves using a simple and quantitative method. SGPG was found to be concentrated in the myelin-enriched fractions of both motor and sensory nerves (1.3±0.3 and 1.5±0.4 µg/mg protein, respectively), whereas its concentration was 0.9±0.2 and 1.8±0.6 µg/mg protein in the axolemma-enriched fractions of motor and sensory nerves, respectively. Our finding that SGPG is more abundant in the human sensory nerve axolemma-enriched fraction may account for the clinical and pathological observations that the lesions are more heavily concentrated in the sensory nerve than in other parts of the nerve tissues in this disorder.     

Involvement of the suboesophageal and thoracic ganglia in the control of antennal movements in crickets

In crickets (Gryllus campestris, Gryllus bimaculatus) the contribution of the suboesophageal ganglia (SOG) and thoracic ganglia to the generation of antennal movements during visual tracking, walking and flight was investigated by the transection of connectives. Transection of one circumoesophageal connective abolished the movements and postures of the antenna ipsilateral to the lesion, while the contralateral antenna behaved normally. Simple antennal reflexes remained. Transection of one neck connective reduced fast components of antennal movements during tracking and walking. During flight the ipsilateral antenna could not be maintained in a prolonged forward position. Antennal movements during tracking and walking appeared normal after transection of one connective between pro- and mesothoracic ganglia. However, the antennal flight posture required uninterrupted connections between brain and mesothoracic ganglion. The ablation of more posterior ganglia had no effect on the antennal behaviours investigated. Recordings from an antennal motor nerve revealed a unilateral net excitation relayed via the SOG to the brain. Two ascending interneurones with activity closely correlated with antennal movements are candidates for such a relay function. The data show that the brain is not sufficient to generate antennal movements and postures as integral parts of several behaviours. The SOG and the thoracic ganglia are required in addition. Accepted: 12 March 1997     

The induction of apoptosis by daunorubicin and idarubicin in human trisomic and diabetic fibroblasts

In this study, we investigated apoptosis induced in human trisomic and diabetic fibroblasts by daunorubicin (DNR) and its derivative, idarubicin (IDA). The cells were incubated with DNR or IDA for 2 h and then cultured in a drug-free medium for a further 2–48 h. The apoptosis in the cultured cell lines was assessed by biochemical analysis. We found that both drugs induced a timedependent loss of mitochondrial membrane potential, and a significant increase in intracellular calcium and caspase-3 activity. Mitochondrial polarization and changes in the level of intracellular calcium were observed during the first 2–6 h after drug treatment. Caspase-3 activation occurred in the late stages of the apoptotic pathway. Our findings also demonstrated that idarubicin was more cytotoxic and more effective than daunorubicin in inducing apoptosis in trisomic and diabetic fibroblasts.     

Plasma membrane shedding and colloid vacuoles in hyperactive human thyroid tissue

The ultrastructural appearance of colloid vacuoles, considered to be a typical sign of hyperactivity in the human thyroid gland, was studied in human thyroid tissue transplanted to nude mice and in human thyroid tissue fixed directly after surgical removal in patients with thyrotoxicosis. Transplanted normal thyroid tissue and toxic diffuse goiter (TDG) tissue was fixed by vascular perfusion with glutaraldehyde 5 or 12 weeks after transplantation. Light microscopic quantification showed that daily injections for 2 weeks of a gamma globulin fraction of patient sera containing thyroid-stimulating immunoglobulins (TSI) greatly increased the number of colloid vacuoles in both types of transplants. The vacuoles were mainly located in the periphery of the follicle lumen, giving the colloid a scalloped appearance. Electron microscopy of TSI-exposed tissue revealed, in addition to colloid vacuoles, the presence of large amounts of membrane material in the follicle lumen. Only sparse amounts of intraluminal membrane material were present in controls. The colloid vacuoles were almost invariably associated with such membrane material, which lined the border between the vacuole and the surrounding colloid. The intraluminal material consisted of spherical and elongated formations, each structure limited by a triple-layered membrane and often containing a dense interior. The elongated structures were often of the same dimensions as microvilli. The apical surface of follicle cells in TSI-exposed tissue expressed numerous microvilli, of which many showed a similar dense interior as the intraluminal membrane structures. The intraluminal membranes frequently showed, like the apical plasma membrane of the follicle cells, a positive reaction for peroxidase. Organelles, such as mitochondria, lysosomes or rough endoplasmic reticulum, were not encountered among the intraluminal membrane structures. These observations indicate that the intraluminal membrane material is derived from the apical plasma membrane of the follicle cells, presumably by shedding of microvilli. A similar association between colloid vacuoles and membrane material was also found in thyroid tissue from patients with thyrotoxicosis fixed directly at operation. It is suggested that the presence of membrane material in the follicle lumen precipitates the formation of colloid vacuoles in hyperactive thyroid tissue. The possible involvement of intraluminal membrane material in the development of microsomal autoantibodies in Graves’ disease, i.e. exposure and presentation of thyroid microsomal antigen (identical to thyroperoxidase) to the immune system, is discussed.     

Potentials and limitations for human control over historic fire regimes in the boreal forest

Fire, being both a natural and cultural phenomenon, presents problems in disentangling the historical effect of humans from that of climate change. Here, we investigate the potential impact of humans on boreal fire regimes from a perspective of fuels, ignitions and culture. Two ways for a low technology culture to impact the fire regime are as follows: (i) by altering the number of ignitions and their spatial distribution and timing and (ii) by hindering fire spread. Different cultures should be expected to have quite different impacts on the fire regimes. In northern Fennoscandia, there is evidence for fire regime changes associated with the following: a reindeer herding culture associated with few ignitions above the natural; an era of cattle husbandry with dramatically increased ignitions and somewhat higher fire frequency; and a timber exploitation era with decreasing fire sizes and diminishing fire frequency. In other regions of the boreal zone, such schemes can look quite different, but we suggest that a close look at the resource extraction and land use of different cultures should be part of any analysis of past fire regimes.     

Decreased expression of Intestinal I- and L-FABP levels in rare human genetic lipid malabsorption syndromes

We investigated, for the first time, the expression of I- and L-FABP in two very rare hereditary lipid malabsorption syndromes as compared with normal subjects. Abetalipoproteinemia (ABL) and Anderson’s disease (AD) are characterized by an inability to export alimentary lipids as chylomicrons that result in fat loading of enterocytes. Duodeno-jejunal biopsies were obtained from 14 fasted normal subjects, and from four patients with ABL and from six with AD. Intestinal FABP expression was investigated by immuno-histochemistry, western blot, ELISA and Northern blot analysis. In contrast to normal subjects, the cellular immunostaining for both FABPs was clearly decreased in patients, as the enterocytes became fat-laden. In patients with ABL, the intestinal contents of I- (60.7 ± 13.38 ng/mg protein) and L-FABP (750.3 ± 121.3 ng/mg protein) are significantly reduced (50 and 35%, P < 0.05, respectively) as compared to normal subjects (I-135.3 ± 11.1 ng, L-1211 ± 110 ng/mg protein). In AD, the patients also exhibited decreased expression (50%, P < 0.05; I-59 ± 11.88 ng, L-618.2 ± 104.6 ng/mg protein). Decreased FABP expression was not associated with decreased mRNA levels. The results suggest that enterocytes might regulate intracellular FABP content in response to intracellular fatty acids, which we speculate may act as lipid sensors to prevent their intracellular transport.     

Zebularine exerts its antiproliferative activity through S phase delay and cell death in human malignant mesothelioma cells

Malignant mesothelioma is an asbestos-related aggressive tumor and current therapy remains ineffective. Zebularine as a DNA methyltransferase (DNMT) inhibitor has an anti-tumor effect in several human cancer cells. The aim of the present study was to investigate whether zebularine could induce antiproliferative effect in human malignant mesothelioma cells. Zebularine induced cell growth inhibition in a dose-dependent manner. In addition, zebularine dose-dependently decreased expression of DNMT1 in all malignant mesothelioma cells tested. Cell cycle analysis indicated that zebularine induced S phase delay. Zebularine also induced cell death in malignant mesothelioma cells. In contrast, zebularine did not induce cell growth inhibition and cell death in human normal fibroblast cells. These results suggest that zebularine has a potential for the treatment of malignant mesothelioma by inhibiting cell growth and inducing cell death.