Movement planning of video and of manual aiming movements

We studied aiming performance of adults for video- and manual aiming tasks when they had visual information about the location of the starting base or when they had not. In video-aiming, foveating the starting base and then the target prior to movement initiation (Foveation) resulted in less aiming bias and variability than when the starting base was not visible (PNV), or visible without the participants foveating it prior to movement initiation (PSV). In manual aiming, Foveation and PSV procedures resulted in identical results but reduced aiming bias and variability in comparison to the PNV procedures. The results indicate that participants had difficulty in transforming the locations of the starting base and of the target when seen on a vertical screen into an appropriate movement trajectory. Successive foveation of the starting base and of the target facilitated this transformation, resulting in direction variability being reduced by more than half in comparison to the PNV and PSV conditions. This suggests that in video-aiming the efference copy of the saccade can be used by the CNS to approximate the hand trajectory in the workspace and/or in joint coordinates (Jouffrais and Boussaoud, 1999). Hand trajectory could be readily available in manual aiming if the target location can be recoded directly in hand-coordinates as recently suggested by Buneo et al. (2002).     

End-point constraints in aiming movements: effects of approach angle and speed

 The present study focuses on two trajectory-formation models of point-to-point aiming movements, viz., the minimum-jerk and the minimum torque-change model. To date, few studies on minimum-jerk and minimum torque-change trajectories have incorporated self- or externally imposed end-point constraints, such as the direction and velocity with which a target area is approached. To investigate which model accounts best for the effects on movement trajectories of such – in many circumstances – realistic end-point constraints, we adjusted both the minimum-jerk and the minimum torque-change model so that they could generate trajectories of which the final part has a specific direction and speed. The adjusted models yield realistic trajectories with a high curvature near movement completion. Comparison of simulated and measured movement trajectories show that pointing movements that are constrained with respect to final movement direction and speed can be described in terms of minimization of joint-torque changes. Received: 7 July 1999 / Accepted in revised form: 8 January 2001     

Pattern generating and reflex-like processes controlling aiming movements in the presence of inertia,damping and gravity

A model is proposed, in which goal-directed movements of the forearm are controlled by a central pattern generator (CPG) initiated for exactly one period, and by reflex-analogous processes. Movement width is proportional to the amplitude factor of the CPG's output, and to the square of the CPG's period length. The period duration can be freely selected, thus enabling the CPG to accommodate its time scale to the period of others CPG's. Parameters which influence movement accuracy can be adjusted by means of closed control loop, which are discrete with respect to time: The time unit corresponds to the period of the CPG. For instance, momentum adjustment balances the CPG in such a manner that the velocity of the arm becomes zero on termination of the period, while gain adjustment serves to attain a correct movement length in the presence of an inertial load. Friction, stiffness and gravitational force are neutralized by additional reflex-type processes, interpretable as positive feedback loops with adjustable gain factors, using position and velocity signals.     

EEG-based communication and control: speed-accuracy relationships

People can learn to control mu (8–12 Hz) or beta (18–25 Hz) rhythm amplitude in the EEG recorded over sensorimotor cortex and use it to move a cursor to a target on a video screen. In our current EEG-based brain–computer interface (BCI) system, cursor movement is a linear function of mu or beta rhythm amplitude. In order to maximize the participant's control over the direction of cursor movement, the intercept in this equation is kept equal to the mean amplitude of recent performance. Selection of the optimal slope, or gain, which determines the magnitude of the individual cursor movements, is a more difficult problem. This study examined the relationship between gain and accuracy in a 1-dimensional EEG-based cursor movement task in which individuals select among 2 or more choices by holding the cursor at the desired choice for a fixed period of time (i.e., the dwell time). With 4 targets arranged in a vertical column on the screen, large gains favored the end targets whereas smaller gains favored the central targets. In addition, manipulating gain and dwell time within participants produces results that are in agreement with simulations based on a simple theoretical model of performance. Optimal performance occurs when correct selection of targets is uniform across position. Thus, it is desirable to remove any trend in the function relating accuracy to target position. We evaluated a controller that is designed to minimize the linear and quadratic trends in the accuracy with which participants hit the 4 targets. These results indicate that gain should be adjusted to the individual participants, and suggest that continual online gain adaptation could increase the speed and accuracy of EEG-based cursor control.     

Rapid dendritic movements during synapse formation and rearrangement

Major technical advances in the imaging of live cells have led to a recent flurry of studies demonstrating how dendrites remodel dynamically during development. Taken together with our current understanding of axonal development, these studies help provide a more unified picture of how neural circuits might be formed altered or maintained throughout life.     

Trajectory formation based on physiological characteristics of skeletal muscles

Human arm trajectories in natural unrestricted reaching movements were studied. They have particular properties such that a hand path is a rather simple straight or curved line, and a tangential velocity profile of hand is bell-shaped. Also these properties are invariant, independent of movement duration and hand-held load. In this study, trajectory formation is investigated on the basis of physiological characteristics of skeletal muscles, and a criterion prescribed by a derivative of isometric muscle torque is proposed. Subsequently, optimal trajectories are formulated under various conditions of movement to account for a planning strategy of human arm trajectories. In addition to such a theoretical approach, human arm trajectories are experimentally observed by a measuring system which provides a visual sensor and a target tracking device, enabling totally unrestricted movements. Then, optimal trajectories are quantitatively evaluated in comparison with experimental data in which essential properties of human arm trajectories are demonstrated. These results support the idea that human arm trajectories are planned in order to minimize the proposed criterion which is determined from physiological aspects. Finally, the physiological advantages of human arm trajectories are discussed with regard to the analysis of observed and optimal trajectories. Received: 2 December 1997 / Accepted in revised form: 20 March 1998     

Misexpression screen in Drosophila melanogaster aiming to reveal novel factors involved in formation of body parts

To identify novel factors that lead a fly imaginal disc to adopt its developmental fate, we carried out a modular dominant misexpression screen in imaginal discs. We have identified two factors that appear to change the fate of the respective body structure and appear to lead to the transformation of a body part. In one mutant line, notum tissue, normally derived from wing imaginal tissue, formed close to the site of the sternopleural bristles, which are leg disc derivatives. In the other line, the arista is transformed into a tubular structure, resembling an abnormal leg. We found that ectopic expression of abrupt was responsible for this potential transformation of the arista.     

Interplay of magnetic interactions and active movements in the formation of magnetosome chains

Magnetotactic bacteria assemble chains of magnetosomes, organelles that contain magnetic nano-crystals. A number of genetic factors involved in the controlled biomineralization of these crystals and the assembly of magnetosome chains have been identified in recent years, but how the specific biological regulation is coordinated with general physical processes such as diffusion and magnetic interactions remains unresolved. Here, these questions are addressed by simulations of different scenarios for magnetosome chain formation, in which various physical processes and interactions are either switched on or off. The simulation results indicate that purely physical processes of magnetosome diffusion, guided by their magnetic interactions, are not sufficient for the robust chain formation observed experimentally and suggest that biologically encoded active movements of magnetosomes may be required. Not surprisingly, the chain pattern is most resembling experimental results when both magnetic interactions and active movement are coordinated. We estimate that the force such active transport has to generate is compatible with forces generated by the polymerization or depolymerization of cytoskeletal filaments. The simulations suggest that the pleiotropic phenotypes of mamK deletion strains may be due to a defect in active motility of magnetosomes and that crystal formation in magneteosome vesicles is coupled to the activation of their active motility in M. gryphiswaldense, but not in M. magneticum.     

Extensive cell movements accompany formation of the otic placode

A centrally important factor in initiating egg activation at fertilization is a rise in free Ca(2+) in the egg cytosol. In echinoderm, ascidian, and vertebrate eggs, the Ca(2+) rise occurs as a result of inositol trisphosphate-mediated release of Ca(2+) from the endoplasmic reticulum. The release of Ca(2+) at fertilization in echinoderm and ascidian eggs requires SH2 domain-mediated activation of a Src family kinase (SFK) and phospholipase C (PLC)gamma. Though some evidence indicates that a SFK and PLC may also function at fertilization in vertebrate eggs, SH2 domain-mediated activation of PLC gamma appears not to be required. Much work has focused on identifying factors from sperm that initiate egg activation at fertilization, either as a result of sperm-egg contact or sperm-egg fusion. Current evidence from studies of ascidian and mammalian fertilization favors a fusion-mediated mechanism; this is supported by experiments indicating that injection of sperm extracts into eggs causes Ca(2+) release by the same pathway as fertilization.     

Optimal trajectory formation of constrained human arm reaching movements

Opening a door, turning a steering wheel, and rotating a coffee mill are typical examples of human movements that are constrained by the physical environment. The constraints decrease the mobility of the human arm and lead to redundancy in the distribution of actuator forces (either joint torques or muscle forces). Due to this actuator redundancy, there is an infinite number of ways to form a specific arm trajectory. However, humans form trajectories in a unique way. How do humans resolve the redundancy of the constrained motions and specify the hand trajectory? To investigate this problem, we examine human arm movements in a crank-rotation task. To explain the trajectory formation in constrained point-to-point motions, we propose a combined criterion minimizing the hand contact force change and the actuating force change over the course of movement. Our experiments show a close matching between predicted and experimental data.     

A kinematic analysis of the formation of precise instrumental movements in cats

Kinematic parameters of cats local manipulating movements have been studied in the process of formation and stabilization of precise habit of moving and holding the lever in the zone of "working" space signalled by sound. It is shown that change of activity of the motor control system in the course of training is connected with the transfer from current correction of performed reaction to optimization of controlled parameters of pre-paired movements. It has been established that the formed precise coordination is realized owing to rapid movements with monomodal asymmetric profile of speed. During habit stabilization time to peak velocity significantly dropped from 274.6 +/- 84.7 to 211.0 +/- 22.9 ms and its value increased from 119.5 +/- 27.8 to 182.2 +/- 44.4 degrees/s. The stabilized habit is provided by uniform movements of ballistic type and characterized by independence from sound indication of final position, its reaching time becoming a function of amplitude-temporal values of speed maximum. It has been found that in the process of motor learning the relation of the duration of acceleration growth to the beginning of movement inhibition becomes an invariant parameter of the central program of precise reactions.     

Foraging-efficiency-predation-risk trade-off in the grey squirrel

Many animals must often respond to environmental patterns that simulatneously influence both foraging efficiency and predation risk. We noted that grey squirrels (Sciurus carolinensis) sometimes immediately consume food items in areas of relatively great exposure to predators, and at other times carry food items to the safety of a tree prior to consumption. We outlined a hypothesis that the squirrels were somehow trading-off energy intake rate against predation risk. A simple model shows that maximal energetic efficiency is associated with immediate consumption, whereas (under the field conditions studied) carrying items to the safety of trees provides for minimal exposure to predation. Our analysis of the model predicts that the tendency to carry a food item should decrease with distance of food from cover (travel time) and increase with item size (handling time). To test our predictions, we presented free-roaming grey squirrels with patches containing a fixed number of identical food items. We estimated the proportion of items carried to trees before consumption for 12 different combinations of distance to the nearest tree and item size. The results support our hypothesis and indicate that a simple behavioural criterion based solely on foraging rate or time exposed to predators is insufficient to explain the variation in the data.     

Maternal trade-off in treating high-risk children

Low birthweight and the infant's health status are expected to strongly influence the child's reproductive value and, thus, the maternal decisions on the amount and timing of investment. A total of 590 Hungarian primiparous mothers giving birth in the late 1980s were recruited for the longitudinal study. Mothers of high-risk infants shortened the duration of breast-feeding and interbirth intervals, compared to those with an infant of higher survival prospects. The most powerful predictor of the length of the lactation period was the infant's weight at birth, whereas birth spacing was significantly influenced by the health status of the older child. Socioeconomic status had a positive effect on maternal care as well, but it did not change the basic pattern of diminishing maternal care as a function of the infants' low reproductive value. The combination of the above factors resulted in a cumulative effect on maternal investment of mothers with handicapped children of various degrees of risk. An attempt has been made to exclude alternative explanations and to discuss the proximate mechanisms of discriminative parental solicitude.     

Chongmague reveals an essential role for laminin-mediated boundary formation in chordate convergence and extension movements

Although cell intercalation driven by non-canonical Wnt/planar cell polarity (PCP) pathway-dependent mediolateral cell polarity is important for notochord morphogenesis, it is likely that multiple mechanisms shape the notochord as it converges and extends. Here we show that the recessive short-tailed Ciona savignyi mutation chongmague (chm) has a novel defect in the formation of a morphological boundary around the developing notochord. chm notochord cells initiate intercalation normally, but then fail to maintain their polarized cell morphology and migrate inappropriately to become dispersed in the larval tail. This is unlike aimless (aim), a mutation in the PCP pathway component Prickle, which has a severe defect in early mediolateral intercalation but forms a robust notochord boundary. Positional cloning identifies chm as a mutation in the C. savignyi ortholog of the vertebrate alpha 3/4/5 family of laminins. Cs-lamalpha3/4/5 is highly expressed in the developing notochord, and Cs-lamalpha3/4/5 protein is specifically localized to the outer border of the notochord. Notochord convergence and extension, reduced but not absent in both chm and aim, are essentially abolished in the aim/aim; chm/chm double mutant, indicating that laminin-mediated boundary formation and PCP-dependent mediolateral intercalation are each able to drive a remarkable degree of tail morphogenesis in the absence of the other. These mechanisms therefore initially act in parallel, but we also find that PCP signaling has an important later role in maintaining the perinotochordal/intranotochordal polarity of Cs-lamalpha3/4/5 localization.     

Morphogenetic movements during axolotl neural tube formation tracked by digital imaging

During neurulation in vertebrate embryos, epithelial cells of the neural plate undergo complex morphogenetic movements that culminate in rolling of the plate into a tube. Resolution of the determinants of this process requires an understanding of the precise movements of cells within the epithelial sheet. A computer algorithm that allows automated tracking of epithelial cells visible in digitized video images is presented. It is used to quantify the displacement field associated with morphogenetic movements in the axolotl (Ambystoma mexicanum) neural plate during normal neural tube formation. Movements from lateral to medial, axial elongations and area changes are calculated from the displacement field data and plotted as functions of time. Regional and temporal differences are identified. The approach presented is suitable for analyzing a wide variety of morphogenetic movements.