Les mouvements révolutifs des feuilles deMimosa pudica L

The nutational movements performed by the leaves of the “Sensitive plant”,Mimosa pudica L., result from periodical turgor variations taking place in the parenchymatous cells of specialized motor organs. The trajectories in the three kinds of leaf motor organs usually show irregular elliptical paths with a period ranging from 10 to 60 min. The morphological analogy of these turgor movements is discussed in relation to nutational movements observed in growing organs.      

Assessing the effect of complex ground types on ground‐dwelling arthropod movements with video monitoring: Dealing with concealed movements under a layer of plant residues

Understanding the effect of ground types on foraging movements of ground‐dwelling arthropods is a key step to managing their spatial distribution as required for successful conservation biological control. Indeed, fine movements at the centimeter scale can strongly influence the foraging ability of pest predators. However, because radio frequency identification or harmonic tracking techniques are not yet suitable for small species and video tracking focuses on uniform and light backgrounds, foraging movements have rarely been studied in relation to ground types. We present a method to track a ground‐dwelling arthropod (the earwig Euborellia caraibea) at night, walking on two contrasted ground types: bare soil and soil partly covered with a stratum of banana plant residues allowing individuals to hide periodically. The tracking of individuals within these ground types was achieved by infrared light, tagging individuals, video treatments, and semi‐automatic cleaning of trajectories. We tested different procedures to obtain segments with identical durations to quantify speeds and sinuosities. These procedures were characterized by the junction time gap between trajectory fragments, the rediscretization time of trajectories, and whether or not to use interpolation to fill in missing points in the trajectories. Earwigs exhibited significantly slower and more sinuous movements on soil with banana plant residues than on bare soil. Long time gaps for trajectory junction, extended rediscretization times, and interpolation were complementary means to integrate concealed movements in the trajectories. The highest slowdown in plant residues was detected when the procedure could account for longer periods under the residues. These results suggest that earwigs spent a significant amount of time concealed by the residues. Additionally, the residues strongly decreased the earwigs'' movement. Since the technical solutions presented in this study are inexpensive, easy to set up, and replicate, they represent valuable contributions to the emerging field of video monitoring.     

Comparative analysis of growth and movements of the aboveground parts in some deciduous woody species

Vertical projections of nutation movements in the epicotyls of sessile oak, Turkey oak, horse chestnut and hypocotyls of European beech were recorded by means of photography and time-lapse cinematography at the early stages of their ontogeny. Attention was paid to the kinetics of growth rate, diameter of the lower part of the elongating zone, and the form, amplitude and frequency of nutation turns. At the beginning of ontogeny the vertical projection of the movements of all woody species under study was represented by irregular curves, followed by elliptical trajectories, particularly when reaching the maximum growth rate. The highest average growth rate was recorded in horse chestnut, followed by oak, and the lowest values were exhibited by beech. As to the size of amplitudes opposite results were obtained. The frequency of turns proved to be a less sensitive parameter characterizing the movement. It is suggested that the geocontrol system of horse chestnut is more effective than that of oak and, especially, of beech.     

A Compact Representation of Drawing Movements with Sequences of Parabolic Primitives

Some studies suggest that complex arm movements in humans and monkeys may optimize several objective functions, while others claim that arm movements satisfy geometric constraints and are composed of elementary components. However, the ability to unify different constraints has remained an open question. The criterion for a maximally smooth (minimizing jerk) motion is satisfied for parabolic trajectories having constant equi-affine speed, which thus comply with the geometric constraint known as the two-thirds power law. Here we empirically test the hypothesis that parabolic segments provide a compact representation of spontaneous drawing movements. Monkey scribblings performed during a period of practice were recorded. Practiced hand paths could be approximated well by relatively long parabolic segments. Following practice, the orientations and spatial locations of the fitted parabolic segments could be drawn from only 2–4 clusters, and there was less discrepancy between the fitted parabolic segments and the executed paths. This enabled us to show that well-practiced spontaneous scribbling movements can be represented as sequences (“words”) of a small number of elementary parabolic primitives (“letters”). A movement primitive can be defined as a movement entity that cannot be intentionally stopped before its completion. We found that in a well-trained monkey a movement was usually decelerated after receiving a reward, but it stopped only after the completion of a sequence composed of several parabolic segments. Piece-wise parabolic segments can be generated by applying affine geometric transformations to a single parabolic template. Thus, complex movements might be constructed by applying sequences of suitable geometric transformations to a few templates. Our findings therefore suggest that the motor system aims at achieving more parsimonious internal representations through practice, that parabolas serve as geometric primitives and that non-Euclidean variables are employed in internal movement representations (due to the special role of parabolas in equi-affine geometry).     

Virtual trajectory and stiffness ellipse during multijoint arm movement predicted by neural inverse models

We predict the virtual trajectories and stiffness ellipses during multijoint arm movements by computer simulations. A two-link manipulator with four single-joint muscles and two double-joint muscles is used as a model of the human arm. Physical parameters of the model are derived from several experimental data. Among them, special emphasis is put on low values of the dynamic hand stiffness recently measured during single joint and multijoint movements. The feedback-error-learning scheme to acquire the inverse dynamics model and the inverse statics model is utilized for this prediction. The virtual trajectories are much more complex than the actual trajectories. This indicates that planning the virtual trajectory is as difficult as solving the inverse dynamics problem for medium and fast movements, and simply falsifies the advocated computational advantage of the virtual trajectory control hypothesis. Thus, we conclude that learning inverse models is essential even in the virtual trajectory control framework. Finally, we propose a new computational model to learn the complicated shape of the virtual trajectories by integrating the virtual trajectory control and the feedback-error-learning scheme.     

Sensorimotor transformations underlying the organization of arm movements in three-dimensional space

Coordinated movements in three-dimensional space involve sensorimotor transformations between extrinsic and intrinsic coordinates. It is hypothesized that a key aspect underlying the organization of such movements is the need to simplify these transformations by means of suitable approximations and the imposition of constraints. Motor tasks involving the drawing of circles and ellipses in different planes were analyzed from this perspective, and some rules are presented whereby the plane of motion and the slant of an ellipse can be specified in a simple way in terms of intrinsic parameters. It is shown that these rules can be generalized to hold for more complicated wrist motions if one assumes that they consist of segments of elliptical arcs.     

Relative contribution of the pressure variations under the feet and body weight distribution over both legs in the control of upright stance

The resultant centre of pressure (CP(Res)) trajectories are aimed at controlling body movements in upright stance. When standing on two legs, these trajectories are generated by exerting reaction forces under each foot and by loading-unloading mechanisms intervening at the hip level. To assess the respective contribution of each of these factors in stance maintenance, a group of healthy individuals were tested in several conditions including standing quietly and voluntarily producing under each foot larger CP displacements in phase and in opposite phase along medio-lateral (ML) and antero-posterior (AP) axes. The results, based on the computation of coefficients of correlation between CP(Res) trajectories and various time series including the relative body weight applied to one leg and plantar CP trajectories, highlight some differences according to the axes along which the displacements take place and the amplitudes of the movements. Furthermore, the comparison of the CP(Res) trajectories resulting from each one of these two factors reveals the predominant role played by the loading-unloading mechanisms intervening at the hip level for the movements along the ML axis and those of the plantar CP displacements along the AP axis. Increasing the plantar CP displacements in phase or in opposite phase substantially modifies these contributions although without inferring a shift to the benefit of the other mechanism. The specific morphology of the ankle and hip joints implicated in this postural task plainly explains this postural control organisation. In particular, the link between the segmental configuration of the lower limbs and these mechanisms are discussed.     

Analysis of an optimal control model of multi-joint arm movements

 In this paper, we propose a model of biological motor control for generation of goal-directed multi-joint arm movements, and study the formation of muscle control inputs and invariant kinematic features of movements. The model has a hierarchical structure that can determine the control inputs for a set of redundant muscles without any inverse computation. Calculation of motor commands is divided into two stages, each of which performs a transformation of motor commands from one coordinate system to another. At the first level, a central controller in the brain accepts instructions from higher centers, which represent the motor goal in the Cartesian space. The controller computes joint equilibrium trajectories and excitation signals according to a minimum effort criterion. At the second level, a neural network in the spinal cord translates the excitation signals and equilibrium trajectories into control commands to three pairs of antagonist muscles which are redundant for a two-joint arm. No inverse computation is required in the determination of individual muscle commands. The minimum effort controller can produce arm movements whose dynamic and kinematic features are similar to those of voluntary arm movements. For fast movements, the hand approaches a target position along a near-straight path with a smooth bell-shaped velocity. The equilibrium trajectories in X and Y show an ‘N’ shape, but the end-point equilibrium path zigzags around the hand path. Joint movements are not always smooth. Joint reversal is found in movements in some directions. The excitation signals have a triphasic (or biphasic) pulse pattern, which leads to stereotyped triphasic (or biphasic) bursts in muscle control inputs, and a dynamically modulated joint stiffness. There is a fixed sequence of muscle activation from proximal muscles to distal muscles. The order is preserved in all movements. For slow movements, it is shown that a constant joint stiffness is necessary to produce a smooth movement with a bell-shaped velocity. Scaled movements can be reproduced by varying the constraints on the maximal level of excitation signals according to the speed of movement. When the inertial parameters of the arm are altered, movement trajectories can be kept invariant by adjusting the pulse height values, showing the ability to adapt to load changes. These results agree with a wide range of experimental observations on human voluntary movements. Received: 4 December 1995 / Accepted in revised form: 17 September 1996     

Reconstruction of equilibrium trajectories and joint stiffness patterns during single-joint voluntary movements under different instructions

 A method for reconstructing joint compliant characteristics during voluntary movements was applied to the analysis of oscillatory and unidirectional elbow flexion movements. In different series, the subjects were given one of the following instructions: (1) do not intervene voluntarily; (2) keep the trajectory; (3) in cases of perturbations, return back to the starting position as quickly as possible (only during unidirectional movements). Under the instruction ‘keep trajectory’, the apparent joint stiffness increased by 50% to 250%. During oscillatory movements, this was accompanied by a decrease in the maximal difference between the actual and equilibrium joint trajectories and, in several cases, led to a change in the phase relation between the two trajectories. The coefficients of correlation between joint torque and angle were very high (commonly, over 0.9) under the ‘do not intervene’ instruction. They dropped to about 0.6 under the ‘keep trajectory’ and to about 0.3 under the ‘return back’ instructions. Under these two instructions, the low values of the coefficients of correlation did not allow reconstruction of segments of equilibrium trajectories and joint stiffness values in all the subjects. The results provide further support for the λ-version of the equilibrium-point hypothesis and for using the instruction ‘do not intervene voluntarily’ to obtain reproducible time patterns of the central motor command. Received: 14 December 1993/Accepted in revised form: 16 April 1994     

Motor control of voluntary arm movements

The motor control of pointing and reaching-to-grasp movements was investigated using two different approaches (kinematic and modelling) in order to establish whether the type of control varies according to modifications of arm kinematics. Kinematic analysis of arm movements was performed on subjects' hand trajectories directed to large and small stimuli located at two different distances. The subjects were required either to grasp and to point to each stimulus. The kinematics of the subsequent movement, during which subject's hand came back to the starting position, were also studied. For both movements, kinematic analysis was performed on hand linear trajectories as well as on joint angular trajectories of shoulder and elbow. The second approach consisted in the parametric identification of the black box (ARMAX) model of the controller driving the arm movement. Such controller is hypothesized to work for the correct execution of the motor act. The order of the controller ARMAX model was analyzed with respect to the different experimental conditions (distal task, stimulus size and distance). Results from kinematic analysis showed that target distance and size influenced kinematic parameters both of angular and linear displacements. Nevertheless, the structure of the motor program was found to remain constant with distane and distal task, while it varied with precision requirements due to stimulus size. The estimated model order of the controller confirmed the invariance of the control law with regard to movement amplitude, whereas it was sensitive to target size.     

Intercellular communication of notochord cells during their differentiation in Cynops orientalis

Intercellular communication of notochord cells during their differentiation was studied by microinjection of a fluorescent dye.Lucifer Yellow,Close correlation existed between the incidences of dye coupling and quantitative evaluation of gap junctions.high incidences of dye coupling and of gap junctions occurred at a stage when notochord cells were active in the change of cell shape and cell arrangement.With the subsidence of cell movements,both dye coupling and gap junctions were reduced to lower levels.It was,therefore,Suggested that intercellular communication via gap junctions played an important role in the coordination of notochord cell movements.Gap Junctions of altered configuration occurred in notochord cells in late taibud stage.The comparison of incidences of dye coupling at this stage with those at other stages strongly suggested that the gap junctions of altered configuration functioned just as those of generalized type.     

Movement curvature planning through force field internal models

Human motion studies have focused primarily on modeling straight point-to-point reaching movements. However, many goal-directed reaching movements, such as movements directed towards oneself, are not straight but rather follow highly curved trajectories. These movements are particularly interesting to study since they are essential in our everyday life, appear early in development and are routinely used to assess movement deficits following brain lesions. We argue that curved and straight-line reaching movements are generated by a unique neural controller and that the observed curvature of the movement is the result of an active control strategy that follows the geometry of one’s body, for instance to avoid trajectories that would hit the body or yield postures close to the joint limits. We present a mathematical model that accounts for such an active control strategy and show that the model reproduces with high accuracy the kinematic features of human data during unconstrained reaching movements directed toward the head. The model consists of a nonlinear dynamical system with a single stable attractor at the target. Embodiment-related task constraints are expressed as a force field that acts on the dynamical system. Finally, we discuss the biological plausibility and neural correlates of the model’s parameters and suggest that embodiment should be considered as a main cause for movement trajectory curvature.     

A dynamical neural network for hitting an approaching object

Besides making contact with an approaching ball at the proper place and time, hitting requires control of the effector velocity at contact. A dynamical neural network for the planning of hitting movements was derived in order to account for both these requirements. The model in question implements continuous required velocity control by extending the Vector Integration To Endpoint model while providing explicit control of effector velocity at interception. It was shown that the planned movement trajectories generated by the model agreed qualitatively with the kinematics of hitting movements as observed in two recent experiments. Outstanding features of this comparison concerned the timing and amplitude of the empirical backswing movements, which were largely consistent with the predictions from the model. Several theoretical implications as well as the informational basis and possible neural underpinnings of the model were discussed.     

眼－头运动协同中头部运动的双重模式控制

本文通过目标运动引起的眼－头运动协同的实验，测量和分析了头部运动的动态特性来探讨其头部运动的控制机制。研究结果揭示了眼－头协同的注视运动中头部运动的双重模式控制机制：在小幅度运动范围是线性比例控制，在大幅度运动范围是使用最大作用力的Ｂａｎｇ－Ｂａｎｇ开关控制。     

Variation approach to the problem of isoenergetic regulation of movement

It was shown theoretically that trajectories of movements might be invariant to energy expenditure of the organism. In this instance control parameters are changed discontinuously, and force actions of muscles are characterized by potentials. The analysis of well-known experimental data, as well as special investigations of human walking and forearm rhythmic movements confirmed that the activity of the muscle and nervous systems was adapted to the isoenergetic control.     

Gene expression profiling and its relevance to the blood-epididymal barrier in the human epididymis

The luminal environment along the epididymal duct is important for spermatozoal maturation. This environment is unique and created by the blood-epididymal barrier, which is formed by tight and adhering junctions. For the human epididymis, little information exists on the proteins that comprise these junctions. Our objectives were to assess the gene expression profiles in the different segments of the human epididymis and to identify the proteins that make up the blood-epididymal barrier. Using microarrays, we identified 2980 genes that were differentially expressed by at least 2-fold between the various segments. Of the many genes involved in diverse functions, were those that encoded adhesion proteins (cadherins and catenins) and tight junctional proteins (claudins [CLDN] and others). PCR analyses confirmed the microarray data. Immunolocalization of CLDNs 1, 3, 4, 8, and 10 revealed that the localization of CLDNs differed along the epididymis. In all three segments, CLDNs 1, 3, and 4 were localized to tight junctions, along the lateral margins of adjacent principal cells, and at the interface between basal and principal cells. CLDN8 was localized to tight junctions in all three segments, in addition to being localized in the caput along the lateral margins of principal cells, and in the corpus, at the interface between principal and basal cells. CLDN10, tight junction protein 1, and occludin were localized exclusively to tight junctions in all three epididymal segments. These data indicate that the epididymis displays a complex pattern of gene expression, which includes genes that are implicated in the formation of the blood-epididymal barrier, which suggests complex regulation of this barrier.     

Characteristics of locomotion regulation in man

It has been found by transforming experimental kinematic data to normal coordinates with calculating of muscle force moments during walking that the locomotor movements are regulated almost discontinuously at each degree of freedom of leg, so two piece constant parameters of control are switched few times during gait cycle. Therefore musculature acts like switched elastic constraints, and energy expenditure depends on the trajectories of movements essentially less than on the kinematic conditions displayed during fixed switchings.     

A micropatterning approach for imaging dynamic Cx43 trafficking to cell–cell borders

The precise expression and timely delivery of connexin 43 (Cx43) proteins to form gap junctions are essential for electrical coupling of cardiomyocytes. Growing evidence supports a cytoskeletal-based trafficking paradigm for Cx43 delivery directly to adherens junctions at the intercalated disc. A limitation of Cx43 localization assays in cultured cells, in which cell–cell contacts are essential, is the inability to control for cell geometry or reproducibly generate contact points. Here we present a micropatterned cell pairing system well suited for live microscopy to examine how the microtubule and actin cytoskeleton confer specificity to Cx43 trafficking to precisely defined cell–cell junctions. This system can be adapted for other cell types and used to study dynamic intracellular movements of other proteins important for cell–cell communication.