Both shared and specialized spinal circuitry for scratching and swimming in turtles

In principle, nervous systems could generate a behavior either via neurons that are relatively specialized for producing one behavior or via multifunctional neurons that are shared among multiple, diverse behaviors. I recorded extracellularly from individual turtle spinal cord neurons while evoking hindlimb scratching, swimming, and withdrawal motor patterns. The majority of spinal neurons recorded were activated during both scratching and swimming motor patterns, consistent with the existence of shared circuitry for these types of limb movements. These neurons tended to have a similar degree of rhythmic modulation of their firing rate and a similar phase preference within the hip flexor activity cycle during scratching and swimming motor patterns. In addition, a substantial minority of neurons were activated during scratching motor patterns but silenced during swimming motor patterns. This raises the possibility that inhibitory interactions between some scratching and swimming neural circuitry play a role in motor pattern selection. These scratch-specialized neurons were also less likely than the putative shared neurons to be activated during withdrawal motor patterns. Thus, these neurons may represent two separate classes, one of which is used generally for hindlimb motor control and the other of which is relatively specialized for a subset of hindlimb movement types.     

Localization of functional regions of human mesial cortex by somatosensory evoked potential recording and by cortical stimulation

We describe methods of localizing functional regions of the mesial wall, based on 47 patients studied intraoperatively or following chronic implantation of subdural electrodes. Somatosensory evoked potentials were recorded to stimulation of posterior tibial, dorsal pudendal, median, and trigeminal nerves. Bipolar cortical stimulation was performed, and in 4 cases movement-related potentials were recorded.The cingulate and marginal sulci formed the inferior and posterior borders of the sensorimotor areas and the supplementary motor area (SMA). The foot sensory area occupied the posterior paracentral lobule, while the genitalia were represented anterior to the foot sensory area, near the cingulate sulcus. The foot motor area was anterior and superior to the sensory areas, but there was overlap in these representations. There was a rough somatotopic organization within the SMA, with the face represented anterior to the hand. However, there was little evidence of the “pre-SMA” region described in monkeys. Complex movements involving more than one extremity were elicited by stimulation of much of the SMA. The region comprising the supplementary sensory area was not clearly identified, but may involve much of the precuneus. Movement-related potentials did not provide additional localizing information, although in some recordings readiness potentials were recorded from the SMA that appeared to be locally generated.     

Development of coordinated movement in chicks: II. Temporal analysis of hindlimb muscle synergies at embryonic day 10 in embryos with spinal gap transections

Spinal neural circuits can recruit muscles to produce organized patterns of activity early in embryonic development. In a previous study, using multichannel electromyographic (EMG) recordings, we characterized burst parameters for these patterns in the legs of chick embryos during spontaneous motility in ovo at embryonic days (E) 9 and E10 (Bradley and Bekoff, 1990). Results of the study suggested both neural and biomechanical factors play an important role in the development of coordinated limb movements. In this study, to explore the contribution of descending neural inputs to the control of leg movements during motility, we applied similar methods to characterize motor patterns produced by the spinal cord in the absence of descending inputs. Thoracic spinal gap transections were performed at E2 and EMG patterns were recorded at E10. Several EMG features for chronic spinal embryos were similar to those for normal embryos and demonstrate that lumbar spinal circuits can be correctly assembled to control limb movements in the absence of connectivity with more rostral neural structures during early differentiation processes. However, certain aspects of the EMG patterns in chronic spinal embryos were different from patterns in normal embryos and provide support for conclusions drawn earlier by Oppenheim (1975). Specifically, our data support the view that propriospinal and/or supraspinal inputs function to regulate the timing of cyclic limb movements controlled by spinal neural circuits. Finally, we consider the possible long-term effects of chronic spinal gap transections as compared to acute spinal transections on the development of motility. © 1992 John Wiley & Sons, Inc.     

Artificial neural network model for the generation of muscle activation patterns for human locomotion.

Skilled locomotor behaviour requires information from various levels within the central nervous system (CNS). Mathematical models have permitted researchers to simulate various mechanisms in order to understand the organization of the locomotor control system. While it is difficult to adequately characterize the numerous inputs to the locomotor control system, an alternative strategy may be to use a kinematic movement plan to represent the complex inputs to the locomotor control system based on the possibility that the CNS may plan movements at a kinematic level. We propose the use of artificial neural network (ANN) models to represent the transformation of a kinematic plan into the necessary motor patterns. Essentially, kinematic representation of the actual limb movement was used as the input to an ANN model which generated the EMG activity of 8 muscles of the lower limb and trunk. Data from a wide variety of gait conditions was necessary to develop a robust model that could accommodate various environmental conditions encountered during everyday activity. A total of 120 walking strides representing normal walking and ten conditions where the normal gait was modified in terms of cadence, stride length, stance width or required foot clearance. The final network was assessed on its ability to predict the EMG activity on individual walking trials as well as its ability to represent the general activation pattern of a particular gait condition. The predicted EMG patterns closely matched those recorded experimentally, exhibiting the appropriate magnitude and temporal phasing required for each modification. Only 2 of the 96 muscle/gait conditions had RMS errors above 0.10, only 5 muscle/gait conditions exhibited correlations below 0.80 (most were above 0.90) and only 25 muscle/gait conditions deviated outside the normal range of muscle activity for more than 25% of the gait cycle. These results indicate the ability of single network ANNs to represent the transformation between a kinematic movement plan and the necessary muscle activations for normal steady state locomotion but they were also able to generate muscle activation patterns for conditions requiring changes in walking speed, foot placement and foot clearance. The abilities of this type of network have implications towards both the fundamental understanding of the control of locomotion and practical realizations of artificial control systems for use in rehabilitation medicine.     

Development of coordinated movement in chicks: II. Temporal analysis of hindlimb muscle synergies at embryonic day 10 in embryos with spinal gap transections.

Spinal neural circuits can recruit muscles to produce organized patterns of activity early in embryonic development. In a previous study, using multichannel electromyographic (EMG) recordings, we characterized burst parameters for these patterns in the legs of chick embryos during spontaneous motility in ovo at embryonic days (E) 9 and E10 (Bradley and Bekoff, 1990). Results of the study suggested both neural and biomechanical factors play an important role in the development of coordinated limb movements. In this study, to explore the contribution of descending neural inputs to the control of leg movements during motility, we applied similar methods to characterize motor patterns produced by the spinal cord in the absence of descending inputs. Thoracic spinal gap transections were performed at E2 and EMG patterns were recorded at E10. Several EMG features for chronic spinal embryos were similar to those for normal embryos and demonstrate that lumbar spinal circuits can be correctly assembled to control limb movements in the absence of connectivity with more rostral neural structures during early differentiation processes. However, certain aspects of the EMG patterns in chronic spinal embryos were different from patterns in normal embryos and provide support for conclusions drawn earlier by Oppenheim (1975). Specifically, our data support the view that propriospinal and/or supraspinal inputs function to regulate the timing of cyclic limb movements controlled by spinal neural circuits. Finally, we consider the possible long-term effects of chronic spinal gap transections as compared to acute spinal transections on the development of motility.     

Bilateral cerebral activity for unilateral foot movement revealed by whole-head magnetoencephalography

The primary motor cortices controlling foot movement are located on opposite sides of the longitudinal fissure. As a separation of closely located activity sources is not successful, the possibility of bilateral activation for lower limb movement remains undetermined. We therefore examined cerebral activity during unilateral foot movement to investigate the possibility of bilateral activation of primary foot motor cortices. Self-paced foot movement and finger movement (for comparison) were performed on ten subjects. Brain magnetic fields were recorded using a 64-channel whole-cortex magnetoencephalography (MEG) system. Brain activities were identified using 1- to 3-dipole models. Results evaluating finger movement were similar to previous reports. Equivalent current dipoles (ECDs) for foot movements were estimated in the primary foot motor and sensory regions. Sensory activity was always localized to the contralateral hemisphere. Motor activity was estimated by one ECD, but the laterality differed between subjects. Additional activity was discovered together with the primary motor activity, localized around the precentral sulcus. In contrast to consistent results of primary sensory activity, the variation of laterality of the foot primary motor ECD can be explained with a cancellation model, in which the magnetic fields generated from two closely spaced ECDs overlap to cancel each other out. Consequently, activation of the primary foot motor cortices was determined to be bilateral. Furthermore, it was estimated that additional activity may occur in the premotor area. This work suggests not only the bilateral activation of the primary foot motor cortices but also the possibility of a contribution of the premotor area.     

Activation of walking by electrical stimulation in humans under the conditions of muscle unloading and its variations under the effect of afferent influences

The possibility of initiating an involuntary walking rhythm in a suspended human leg by electrical stimulation was studied. The subjects lay on the side with one leg suspended in an exoskeleton allowing horizontal rotation in three joints: the hip, knee, and ankle ones. To evoke involuntary walking of the suspended leg, two methods were used: continuous vibration of the quadriceps muscle of the hip and electrical stimulation of the cutaneous nerves innervating the foot of the immobile leg. The hip and ankle were involved in the involuntary movements, with reciprocal bursts of electromyographic activity being also observed in the antagonistic muscles of the hip. The application of an external load (4 N or 8 N) to the foot caused a perceptible intensification of its movements. An additional weight (0.5 kg) or a rubber band wrapped around the foot caused no substantial change in the pattern of stimulated walking. Electrical stimulation is an effective means of activating walking movements, and their characteristics confirm the assumption that the walking rhythm is of central origin. Additional afferentation from the sole’s receptors plays an important role in the modulation of the induced movements and the modification of the general walking pattern under the conditions of muscle unloading.     

Antennal motor activity induced by pilocarpine in the American cockroach

The antennal motor system is activated by the muscarinic agonist pilocarpine in the American cockroach Periplaneta americana, and its output patterns were examined both in restrained intact animals and in isolated CNS preparations. The three-dimensional antennal movements induced by the hemocoelic drug injection were analyzed in in vivo preparations. Pilocarpine effectively induced prolonged rhythmic movements of both antennae. The antennae tended to describe a spatially patterned trajectory, forming loops or the symbol of infinity (∞). Such spatial regularity is comparable to that during spontaneous tethered-walking. Rhythmic bursting activities of the antennal motor nerves in in vitro preparations were also elicited by bath application of pilocarpine. Cross-correlation analyses of the bursting spike activities revealed significant couplings among certain motor units, implying the spatial regularity of the antennal trajectory. The pilocarpine-induced rhythmic activity of antennal motor nerves was effectively suppressed by the muscarinic antagonist atropine. These results indicate that the activation of the antennal motor system is mediated by muscarinic receptors.     

Changes in the H Reflex Preceding Voluntary Movements of the Contralateral Lower Limb in Humans

In electromyographic studies on healthy subjects, we recorded the H reflex from the right m. soleus and measured changes in the magnitude of this reflex response related to voluntary movements of the contralateral lower limb performed according to a visual signal. The effects of back and plantar flexions of the contralateral foot of the tested subject in the lying and standing positions were examined. Changes in the H reflex magnitude began to be recorded 60 to 90 msec prior to voluntary movements of the contralateral limb. When the subject was in the lying position, these changes looked like facilitation of the H reflex at both types of movement of the contralateral foot. When the subject stood, facilitation preceded back flexion of the foot of this extremity, while plantar flexion was preceded by inhibition of the tested H reflex. Our results show that the pattern of preliminary changes in the muscle tone of one of the lower limbs is determined by the type of future movement of another limb and peculiarities of the support function realized by this limb.     

Quantification of the segmental kinematics of spontaneous infant movements

This article introduces a method to capture the movements of the upper and the lower limb of infants using an electromagnetic tracking system and to reliably calculate the segmental kinematics. Analysis of the spontaneous movements of infants is important e.g. in the context of the "General Movement Analysis", which aims at the early diagnosis of motor dysfunctions. Due to special constraints regarding infant anatomy, previous approaches based on optical tracking could only gather position data of the infant' segments, whereas with this method in addition relative segment angles can be calculated. The spontaneous movements of the infant and simple calibration movements of the hand and the foot are used to calculate the joint centers and the joint axes of a multi-segmental chain model. The quality of the calibration movements is assessed at calibration time by calculating the root mean square deviation from the total least squares regression plane. The general accuracy of the recording is evaluated by the difference between recorded and estimated sensor positions and the difference between recorded and estimated sensor orientations. Movements of 20 infants between term and 3 months post term age were recorded and processed. A first application illustrates how abnormal movement patterns are manifested in the segmental kinematics. The results show that the presented method is a practicable and reliable way to record spontaneous infant movements and to calculate the segmental kinematics.     

Evaluation of EEG Oscillatory Patterns and Cognitive Process during Simple and Compound Limb Motor Imagery

Motor imagery (MI), sharing similar neural representations to motor execution, is regarded as a window to investigate the cognitive motor processes. However, in comparison to simple limb motor imagery, significantly less work has been reported on brain oscillatory patterns induced by compound limb motor imagery which involves several parts of limbs. This study aims to investigate differences of the electroencephalogram (EEG) patterns as well as cognitive process between simple limb motor imagery and compound limb motor imagery. Ten subjects participated in the experiment involving three tasks of simple limb motor imagery (left hand, right hand, feet) and three tasks of compound limb motor imagery (both hands, left hand combined with right foot, right hand combined with left foot). Simultaneous imagination of different limbs contributes to the activation of larger cortical areas as well as two estimated sources located at corresponding motor areas within beta rhythm. Compared with simple limb motor imagery, compound limb motor imagery presents a network with more effective interactions overlying larger brain regions, additionally shows significantly larger causal flow over sensorimotor areas and larger causal density over both sensorimotor areas and neighboring regions. On the other hand, compound limb motor imagery also shows significantly larger 10–11 Hz alpha desynchronization at occipital areas and central theta synchronization. Furthermore, the phase-locking value (PLV) between central and occipital areas of left/right hand combined with contralateral foot imagery is significantly larger than that of simple limb motor imagery. All these findings imply that there exist apparent intrinsic distinctions of neural mechanism between simple and compound limb motor imagery, which presents a more complex effective connectivity network and may involve a more complex cognitive process during information processing.     

Long-lasting inhibition of the soleus muscle H reflex related to realization of voluntary arm movements in humans

In healthy humans, we recorded the H reflex induced by transcutaneous stimulation of the tibial nerve (recording from the soleus muscle). In subjects in the lying position, we studied changes in the H reflex values after preceding voluntary arm movements realized with a maximum velocity after presentation of an acoustic signal. On the 200th to 300th msec after forearm flexion, long-lasting inhibition of the H reflex developed following a period of initial facilitation and reached the maximum, on average, 700 msec from the moment of the movement. Flexion of the contralateral upper limb in the elbow joint induced deeper inhibition than analogous movement of the ipsilateral arm. Long-lasting clear inhibition of the H reflex developed after arm flexion in the elbow joint but was slightly expressed after finger clenching. After inhibition reached the maximum, its time course was satisfactorily approximated by a logarithmic function of the time interval between the beginning of the conditioning voluntary movement and presentation of the test stimulus. Durations of inhibition calculated using a regression equation were equal to 6.6 sec and 8.5 sec after ipsilateral and contralateral elbow-joint flexions, respectively. Inhibition was not eliminated under conditions of tonic excitation of motoneurons of the tested muscle upon voluntary foot flexion. Long-lasting inhibition of the H reflex was also observed after electrical stimulation-induced flexions of the upper limb. The obtained data indicate that movements of the upper limb cause reflex long-lasting presynaptic inhibition of the soleus-muscle H reflex that can play a noticeable role in redistribution of the muscle tone during motor activity. Neirofiziologiya/Neurophysiology, Vol. 40, No. 3, pp. 221–227, May–June, 2008.     

The changes in the hemodynamic activity of the brain during motor imagery training with the use of brain-computer interface

With the use of functional MRI (fMRI), we studied the changes in brain hemodynamic activity of healthy subjects during motor imagery training with the use brain-computer interface (BCI), which is based on the recognition of EEG patterns of imagined movements. ANOVA dispersion analysis showed there are 14 areas of the brain where statistically significant changes were registered. Detailed analysis of the activity in these areas before and after training (Student’s and Mann-Whitney tests) showed that the real amount of such areas is five; these are Brodmann areas 44 and 45, insula, middle frontal gyrus and anterior cingulate gyrus. We suggest that these changed are caused by the formation of memory traces of those brain activity patterns which are most accurately recognized by BCI classifiers as correspondent with limb movements imagery. We also observed a tendency of increase in the activity of motor imagery after training. The hemodynamic activity in all these 14 areas during real movements was either approximately the same or significantly higher than during motor imagery; activity during imagined leg movements was higher than that during imagines arm movements, except for the areas of representation of arms.     

Roles of the Caudate Nuclei, Cerebellum, and Caudato-Cerebellar Interconnections in the Control and Coordination of Ballistic Food-Procuring Movements

We studied the roles of the cerebellum and caudate nuclei in the programming and control of ballistic movements. An experimental model of operant food-procuring movements of the rats was used; the activity of single neurons of the above structures was recorded in the course of these motor performances. To evaluate the impact of the cerebellar–caudate interaction on the process of control of the ballistic (centrally programmed) components of food-procuring motor performance, we also recorded modifications of the neuronal activity in one of the above-mentioned structures induced by electrical extrastimulation of another structure in the course of realization of the above components. It is demonstrated that the cerebellum and, in particular, its dentate nuclei are involved in the programming of ballistic food-procuring movements. Neurons of the caudate nuclei play a significant role in the immediate preparation for and subsequent current control of stereotyped ballistic movements. The high plastic properties of the cerebellar neurons manifested in the process of control of ballistic food-procuring movements are proved.     

Encoding of hindlimb kinematics by spinocerebellar circuitry

Earlier work from our laboratory showed that principal component waveforms (PCs) from an ensemble of DSCT movement responses correlated with either the waveform of the limb axis length or orientation trajectories, suggesting that DSCT circuitry might elaborate an explicit representation of limb endpoint kinematics independent from limb geometry. In this study, we tested this idea by decoupling limb geometry from endpoint position with mechanical constraints that blocked the motion of the knee joint during step-like movements applied passively to the hindlimb of anesthetized cats. Only about half of the 50 cells studied showed statistically different response patterns when the limb was constrained compared to the unconstrained condition (control). However, the PC waveforms extracted from responses that showed significant changes with the knee constrained were found to be identical to those extracted from control responses. Instead, the differences between constrained and control responses could be accounted for by changes in the weighting of PCs suggesting a modulation of global response components rather than an explicit representation of local parameters.     

Enhanced Activation of Motor Execution Networks Using Action Observation Combined with Imagination of Lower Limb Movements

The combination of first-person observation and motor imagery, i.e. first-person observation of limbs with online motor imagination, is commonly used in interactive 3D computer gaming and in some movie scenes. These scenarios are designed to induce a cognitive process in which a subject imagines himself/herself acting as the agent in the displayed movement situation. Despite the ubiquity of this type of interaction and its therapeutic potential, its relationship to passive observation and imitation during observation has not been directly studied using an interactive paradigm. In the present study we show activation resulting from observation, coupled with online imagination and with online imitation of a goal-directed lower limb movement using functional MRI (fMRI) in a mixed block/event-related design. Healthy volunteers viewed a video (first-person perspective) of a foot kicking a ball. They were instructed to observe-only the action (O), observe and simultaneously imagine performing the action (O-MI), or imitate the action (O-IMIT). We found that when O-MI was compared to O, activation was enhanced in the ventralpremotor cortex bilaterally, left inferior parietal lobule and left insula. The O-MI and O-IMIT conditions shared many activation foci in motor relevant areas as confirmed by conjunction analysis. These results show that (i) combining observation with motor imagery (O-MI) enhances activation compared to observation-only (O) in the relevant foot motor network and in regions responsible for attention, for control of goal-directed movements and for the awareness of causing an action, and (ii) it is possible to extensively activate the motor execution network using O-MI, even in the absence of overt movement. Our results may have implications for the development of novel virtual reality interactions for neurorehabilitation interventions and other applications involving training of motor tasks.     

Sensory-evoked turning locomotion in red-eared turtles: kinematic analysis and electromyography

We examined the limb kinematics and motor patterns that underlie sensory-evoked turning locomotion in red-eared turtles. Intact animals were held by a band-clamp in a water-filled tank. Turn-swimming was evoked by slowly rotating turtles to the right or left via a motor connected to the shaft of the band-clamp. Animals executed sustained forward turn-swimming against the direction of the imposed rotation. We recorded video of turn-swimming and computer-analyzed the limb and head movements. In a subset of turtles, we also recorded electromyograms from identified limb muscles. Turning exhibited a stereotyped pattern of (1) coordinated forward swimming in the hindlimb and forelimb on the outer side of the turn, (2) back-paddling in the hindlimb on the inner side, (3) a nearly stationary, “braking” forelimb on the inner side, and (4) neck bending toward the direction of the turn. Reversing the rotation caused animals to switch the direction of their turns and the asymmetric pattern of right and left limb activities. Preliminary evidence suggested that vestibular inputs were sufficient to drive the behavior. Sensory-evoked turning may provide a useful experimental platform to examine the brainstem commands and spinal neural networks that underlie the activation and switching of different locomotor forms.     

Supplementary motor area of the monkey: activity of neurones during performance of a learned motor task.

1. Recordings were made of the natural dischages of neurones in the supplementary motor area (SMA) of conscious monkeys trained to perform a stereotyped motor task with either hand. 2. Eighty % of the total population of cells showed modulation of their activity during particular movements of either limb. Two thirds of this group had a similar pattern of modulation regardless of whether the contralateral or ipsilateral hand was used. 3. The number of cells whose activity was related to movements of distal joints was approximately equal to that whose discharges occurred with proximal movements. 4. Only 5% of cells tested sent their axons into the pyramidal tract, and only 15% of units investigated showed responses to passive manipulation of the limbs. The effective afferent input usually was of a rather complex kind. 5. The findings suggest that the discharges of a large number of neurones in SMA are changing during particular movements of either arm, and that only a small number of cells receive afferent sensory input. These results contrast with those obtained in the primary motor area and suggest a different role for SMA the control of movement.     

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     

Effects of passive flexion of the forepaw on the response gain of limb extensors to sinusoidal stimulation of labyrinth receptors

The main aim of the present study was to find out whether the dynamic characteristics of responses of limb extensor muscles to labyrinth stimulation were modified by the proprioceptive input elicited by appropriate displacements of the corresponding limb extremity. In cats decerebrated at precollicular or intercollicular level, the multiunit EMG activity of the medial head of the triceps brachii was recorded during roll tilt of the animal at the frequency of 0.15 Hz, +/- 10 degrees leading to selective stimulation of labyrinth receptors. This stimulation was then tested several times at regular intervals of 2 to 6 min for several hours while maintaining the ipsilateral forelimb in the horizontal extended position, i.e. with the plantar surface of the foot lying on the tilting table, or during passive flexion of the forepaw in plantar or dorsal direction. In all the experiments in which the forelimb was in the control position, the multiunit EMG responses of the triceps brachii were characterized by an increased activity during side-down tilt of the animal and a decreased activity during side up tilt. These responses were related to animal position and not to the velocity of animal displacement, thus being attributed to stimulation of macular, utricular receptors. Static displacement of limb extremities following plantar flexion of the forepaw greatly decreased the amplitude of the EMG modulation and thus the gain of the first harmonic component of the multiunit EMG responses of the ipsilateral triceps brachii to animal tilt. This reduced gain was due not only to a reduced number of motor units recruited during labyrinth stimulation, but also to a reduced modulation of firing rate of the active motor units, as shown by recording the activity of individual motor units. On the other hand, displacement of the same extremity in the opposite direction, i.e. following dorsiflexion of the forepaw, enhanced the amplitude of the EMG modulation and thus the gain of the multiunit EMG responses of the ipsilateral triceps brachii to animal tilt. This finding was mainly due to an increased recruitment of motor units during side-down tilt, although an increased modulation of the firing rate of individual motor units could not be excluded. In both instances, no changes in the phase angle to the responses were observed. The changes in response gain described above depended on the amount of passive displacement of the forepaw and persisted unmodified throughout the new maintained position.(ABSTRACT TRUNCATED AT 400 WORDS)