Leg recirculation in horizontal plane locomotion

A protocol prescribing leg motion during the swing phase is developed for the planar lateral leg spring model of locomotion. Inspired by experimental observations regarding insect leg function when running over rough terrain, the protocol prescribes the angular velocity of the swing-leg relative to the body in a feedforward manner, yielding natural variations in the leg touch-down angle in response to perturbations away from a periodic orbit. Analysis of the reduced order model reveals that periodic gait stability and robustness to external perturbations depends strongly upon the angular velocity of the leg at touch-down. While the leg angular velocity at touch-down provides control over gait stability and can be chosen to stabilize unstable gaits, the resulting basin of stability is much smaller than that observed for the original lateral leg spring model with a fixed leg touch-down angle. Comparisons to experimental leg angular velocity data for running cockroaches reveal that while the proposed protocol is qualitatively correct, smaller leg angular accelerations occur during the second half of the swing phase. Modifications made to the recirculation protocol to better match experimental observations yield large improvements in the basin of stability.     

The precedence effect for signals moving in the horizontal plane

The precedence effect refers to a group of auditory phenomena related to the ability to locate sound sources in reverberant environments. In the present study, this phenomenon was investigated using two moving signals. The first signal was direct (lead) and the other was delayed (lag). The motion of the sound source was created by successive switching of ten loudspeakers. The continuity of the motion was created by simultaneously attenuating the stimulus in the previous loudspeaker and enhancing it in the next one. The length of the path of the lead and lag was 34°. The lead moved from 34° to 0° (to the right) and the lag moved –52° to –86° (to the left). The duration of the lead and the lag was 1 s. Lead–lag delays ranged from 1 to 40 ms. Subjects had to indicate the location of the lag. The results indicate that the lead signal dominated in the sound localization at short delay durations (up to 18 ms). In spite of the instructions, all the subjects pointed at the lead, which suggests that they perceived the lag in this location. Two distinct sounds were perceived at the longest delays. The mean echo threshold and its standard deviation in eight subjects was 9.6 ± 4.5 ms.     

Experimental and modelling investigation of learning a fast elbow flexion in the horizontal plane

Changes in the kinematic and electromyographic characteristics that occur while learning to move as fast as possible have been studied experimentally. Experimental investigation of what happens to the individual motor units (MUs) is more difficult. Access to each MU is impossible, and the recruitment and force developing properties of all individual MUs cannot be known. Thus, what is currently known about MU firing is based on experiments that have recorded relatively few MUs compared to what exists in the entire muscle. A recently developed muscle model (Raikova and Aladjov, 2002, J. Biomechanics, 35, 1123-1135) composed of MUs with different properties can be used for such investigation. The process of learning fast elbow flexion in the horizontal plane was simulated and the results were compared with experimentally measured data. Comparing the simulation results of the very first trial of a particular subject with those of the last trail (at the end of the learning process), it can be concluded that the speed of limb motion and muscle forces increase initially as a result of the more synchronous MUs activation and the increase of firing rate of active MUs. Further improvement necessitated an appreciable reduction in the motor task requirements (i.e. less muscle force and less MUs' activity) set in the computational algorithm by optimization criteria. This forced the next process-inclusion of additional MUs.     

A hexapedal jointed-leg model for insect locomotion in the horizontal plane

We develop a simple model for insect locomotion in the horizontal (ground) plane. As in earlier work by Seipel et al. (Biol Cybern 91(0):76–90, 2004) we employ six actuated legs that also contain passive springs, but the legs, with “hip” and ‘knee’ joints, better represent insect morphology. Actuation is provided via preferred angle inputs at each joint, corresponding to zero torques in the hip and knee springs. The inputs are determined from estimates of foot forces in the cockroach Blaberus discoidalis via an inverse problem. The head–thorax–body is modeled as a single rigid body, and leg masses, inertia and joint dissipation are ignored. The resulting three degree-of-freedom dynamical system, subject to feedforward joint inputs, exhibits stable periodic gaits that compare well with observations over the insect’s typical speed range. The model’s response to impulsive perturbations also matches that of freely-running cockroaches (Jindrich and Full, J Exp Biol 205:2803–2823, 2002), and stability is maintained in the face of random foot touchdowns representative of real insects. We believe that this model will allow incorporation of realistic muscle models driven by a central pattern generator in place of the joint actuators, and that it will ultimately permit the study of proprioceptive feedback pathways involving leg force and joint angle sensing.     

Presumptive horizontal symbiont transmission in the fungus-growing termite Macrotermes natalensis

All colonies of the fungus-growing termite Macrotermes natalensis studied so far are associated with a single genetically variable lineage of Termitomyces symbionts. Such limited genetic variation of symbionts and the absence of sexual fruiting bodies (mushrooms) on M. natalensis mounds would be compatible with clonal vertical transmission, as is known to occur in Macrotermes bellicosus. We investigated this hypothesis by analysing DNA sequence polymorphisms as codominant SNP markers of four single-copy gene fragments of Termitomyces isolates from 31 colonies of M. natalensis. A signature of free recombination was found, indicative of frequent sexual horizontal transmission. First, all 31 strains had unique multilocus genotypes. Second, SNP markers (n = 55) were largely in Hardy-Weinberg equilibrium (90.9%) and almost all possible pairs of SNPs between genetically unlinked loci were in linkage equilibrium (96.7%). Finally, extensive intragenic recombination was found, especially in the EF1alpha fragment. Substantial genetic variation and a freely recombining population structure can only be explained by frequent horizontal and sexual transmission of Termitomyces. The apparent variation in symbiont transmission mode among Macrotermes species implies that vertical symbiont transmission can evolve rapidly. The unexpected finding of horizontal transmission makes the apparent absence of Termitomyces mushrooms on M. natalensis mounds puzzling. To our knowledge, this is the first detailed study of the genetic population structure of a single lineage of Termitomyces.     

A dynamical model for reflex activated head movements in the horizontal plane

 We present a controls systems model of horizontal-plane head movements during perturbations of the trunk, which for the first time interfaces a model of the human head with neural feedback controllers representing the vestibulocollic (VCR) and the cervicocollic (CCR) reflexes. This model is homeomorphic such that model structure and parameters are drawn directly from anthropomorphic, biomechanical and physiological studies. Using control theory we analyzed the system model in the time and frequency domains, simulating neck movement responses to input perturbations of the trunk. Without reflex control, the head and neck system produced a second-order underdamped response with a 5.2 dB resonant peak at 2.1 Hz. Adding the CCR component to the system dampened the response by approximately 7%. Adding the VCR component dampened head oscillations by 75%. The VCR also improved low-frequency compensation by increasing the gain and phase lag, creating a phase minimum at 0.1 Hz and a phase peak at 1.1 Hz. Combining all three components (mechanics, VCR and CCR) linearly in the head and neck system reduced the amplitude of the resonant peak to 1.1 dB and increased the resonant frequency to 2.9 Hz. The closed loop results closely fit human data, and explain quantitatively the characteristic phase peak often observed. Received: 15 April 1996 / Accepted in revised form: 1 July 1996     

Homologous recombination in Arabidopsis seeds along the track of energetic carbon ions

Nanomaterials are already used today and offer even greater use and benefits in the future. The progress of nanotechnology must be accompanied by investigations of their potential harmful effects. For airborne nanomaterials, lung toxicity is a major concern and obviously the particle size is discussed as a critical property directing adverse effects. While standard toxicological test methods are generally capable of detecting the toxic effects, the choice of relevant methods for nanomaterials is still discussed. We have investigated two genotoxic endpoints - alkaline Comet assay in lung tissue and micronucleation in polychromatic erythrocytes of the bone marrow - in a combined study 72 h after a single instillation of 18 μg gold nanoparticles (NP) into the trachea of male adult Wistar rats. The administration of three test materials differing only in their primary particle size (2, 20 and 200 nm) did not lead to relevant DNA damage in the mentioned tests. The measurement of clinical pathology parameters in bronchoalveolar lavage fluid (BALF) and blood indicated neither relevant local reactions in the animals' lungs nor adverse systemic effects. Minor histopathology findings occurred in the lung of the animals exposed to 20 nm and 200 nm sized nanomaterials. In conclusion, under the conditions of this study the different sized gold NP tested were non-genotoxic and showed no systemic and local adverse effects at the given dose.     

Dynamics and stability of legged locomotion in the horizontal plane: a test case using insects

 Motivated by experimental studies of insects, we propose a model for legged locomotion in the horizontal plane. A three-degree-of freedom, energetically conservative, rigid-body model with a pair of compliant virtual legs in intermittent contact with the ground allows us to study how dynamics depends on parameters such as mass, moment of inertia, leg stiffness, and length. We find periodic gaits, and show that mechanics alone can confer asymptotic stability of relative heading and body angular velocity. We discuss the relevance of our idealized models to experiments and simulations on insect running, showing that their gait and force characteristics match observations reasonably well. We perform parameter studies and suggest that our model is relevant to the understanding of locomotion dynamics across species. Received: 17 April 2001 / Accepted in revised form: 20 November 2001     

Localization of virtual stimuli moving in the median plane by listeners of different age

Capability for identification of direction of movement of sound images (“upward” or “downward”) was studied in listeners of two age groups: 19–27 year old (11 subjects) and 55–73 year old (9 subjects). Various sound models of movement in the median plane were used as stimuli. Initially, a model of movement was developed based on filtration of broadband noise pulses by sets of “non-individualized,” i. e., measured in other listeners, head-related transfer functions. These functions corresponded to consecutive positions of the sound sources with the 5.6° step between the space points with coordinates of elevation from ?45° to 45°. The signals generated on the basis of transfer function sets of 23 subjects were distinguished by regularity and the value of the spectral minimum shift as well as by dynamic changes of the spectral maximum. These dynamic changes were taken into account at creation of “synthetic” signals. In these signals, the vertical movement of sound images in the median plane was simulated either by a consecutive shift of the spectral minimum in broadband noise pulses or by a combination of the spectral minimum shift with a simultaneous change of the spectral maximum width and power. The obtained data have shown that young listeners with the high capability for vertical localization could identify direction of the sound image movement based on displacement of the spectral minimum in the broadband noise. For identification of direction of the sound image movement, the younger listeners with poor capabilities for vertical localization and the older listeners used dynamic changes of the signal power, which were connected mainly with the spectral maximum range.     

Vertical and horizontal photobiont transmission within populations of a lichen symbiosis

Lichens are widespread symbioses and play important roles in many terrestrial ecosystems. The genetic structure of lichens is the result of the association between fungal and algal populations constituting the lichen thallus. Using eight fungus- and seven alga-specific highly variable microsatellite markers on within-population spatial genetic data from 62 replicate populations across Europe, North America, Asia and Africa, we investigated the contributions of vertical and horizontal transmission of the photobiont to the genetic structure of the epiphytic lichen Lobaria pulmonaria. Based on pairwise comparisons of multilocus genotypes defined separately for the mycobiont and for the photobiont, we inferred the transmission mode of the photobiont and the relative contribution of somatic mutation and recombination. After constraining the analysis of one symbiont to pairs of individuals with genetically identical symbiotic partners, we found that 77% of fungal and 70% of algal pairs were represented by clones. Thus, the predominant dispersal mode was by means of symbiotic vegetative propagules (vertical transmission), which dispersed fungal and algal clones co-dependently over a short distance, thus shaping the spatial genetic structure up to distances of 20m. Evidence for somatic mutation generating genetic diversity was found in both symbionts, accounting for 30% of pairwise comparisons in the alga and 15% in the fungus. While the alga did not show statistically significant evidence of recombination, recombination accounted for 7.7% of fungal pairs with identical algae. This implies that, even in a mostly vegetatively reproducing species, horizontal transmission plays a role in shaping the symbiotic association, as shown in many coral and other symbioses in nature.     

Pteropsin: a vertebrate-like non-visual opsin expressed in the honey bee brain

Insects have excellent color vision based on the expression of different opsins in specific sets of photoreceptive cells. Opsins are members of the rhodopsin superfamily of G-protein coupled receptors, and are transmembrane proteins found coupled to light-sensitive chromophores in animal photoreceptors. Diversification of opsins during animal evolution provided the basis for the development of wavelength-specific behavior and color vision, but with the exception of the recently discovered non-visual melanopsins, vertebrate and invertebrate opsins have generally been viewed as representing distinct lineages. We report a novel lineage of insect opsins, designated pteropsins. On the basis of sequence analysis and intron location, pteropsins are more closely related to vertebrate visual opsins than to invertebrate opsins. Of note is that the pteropsins are missing entirely from the genome of drosophilid flies. In situ hybridization studies of the honey bee, Apis mellifera, revealed that pteropsin is expressed in the brain of this species and not in either the simple or compound eyes. It was also possible, on the basis of in situ hybridization studies, to assign different long wavelength opsins to the compound eyes (AmLop1) and ocelli (AmLop2). Insect pteropsin might be orthologous to a ciliary opsin recently described from the annelid Platynereis, and therefore represents the presence of this vertebrate-like light-detecting system in insects.     

Effect of audiovisual training on monaural spatial hearing in horizontal plane

The article aims to test the hypothesis that audiovisual integration can improve spatial hearing in monaural conditions when interaural difference cues are not available. We trained one group of subjects with an audiovisual task, where a flash was presented in parallel with the sound and another group in an auditory task, where only sound from different spatial locations was presented. To check whether the observed audiovisual effect was similar to feedback, the third group was trained using the visual feedback paradigm. Training sessions were administered once per day, for 5 days. The performance level in each group was compared for auditory only stimulation on the first and the last day of practice. Improvement after audiovisual training was several times higher than after auditory practice. The group trained with visual feedback demonstrated a different effect of training with the improvement smaller than the group with audiovisual training. We conclude that cross-modal facilitation is highly important to improve spatial hearing in monaural conditions and may be applied to the rehabilitation of patients with unilateral deafness and after unilateral cochlear implantation.     

Measurement of distribution of maximum index-fingertip force in all directions at fingertip in flexion/extension plane

The purpose of the present study is to investigate whether distribution patterns of the maximum fingertip force in all directions from 0 deg to 360 deg around the index fingertip are the same among subjects. Distributions of the maximum index fingertip force were measured at four finger postures for five subjects (healthy males, ages 21 to 25). It became apparent that distribution patterns of the fingertip force were very similar among subjects, through the application of an analysis of variance (level of significance: 5%) to the measurement results. In the production of the maximum fingertip force, Valero-Cuevas et al. [1998, 2000] reported that patterns of control signals for driving muscle forces were common among subjects. The results of the present study indicate that patterns of maximum fingertip force are also similar among subjects. Therefore, the possibility is high that the static transfer characteristic for index fingers from input (i.e., control signals to muscles) to output (ie., the maximum fingertip force) is also common among subjects.