Premotor neurons in the feeding system of Aplysia californica

Central pattern generator (CPG) circuits control cyclic motor output underlying rhythmic behaviors. Although there have been extensive behavioral and cellular studies of food-induced feeding arousal as well as satiation in Aplysia, very little is known about the neuronal circuits controlling rhythmic consummatory feeding behavior. However, recent studies have identified premotor neurons that initiate and maintain buccal motor programs underlying ingestion and egestion in Aplysia. Other newly identified neurons receive synaptic input from feeding CPGs and in turn synapse with and control the output of buccal motor neurons. Some of these neurons and their effects within the buccal system are modulated by endogenous neuropeptides. With this information we can begin to understand how neuronal networks control buccal motor output and how their activity is modulated to produce flexibility in observed feeding behavior.     

An inter-segmental network model and its use in elucidating gait-switches in the stick insect

Animal locomotion requires highly coordinated working of the segmental neuronal networks that control the limb movements. Experiments have shown that sensory signals originating from the extremities play a pivotal role in controlling locomotion patterns by acting on central networks. Based on the results from stick insect locomotion, we constructed an inter-segmental model comprising local networks for all three legs, i.e. for the pro-, meso- and meta-thorax, their inter-connections and the main sensory inputs modifying their activities. In the model, the local networks are uniform, and each of them consists of a central pattern generator (CPG) providing the rhythmic oscillation for the protractor-retractor motor systems, the corresponding motoneurons (MNs), and local inhibitory interneurons (IINs) between the CPGs and the MNs. Between segments, the CPGs are connected cyclically by both excitatory and inhibitory pathways that are modulated by the aforementioned sensory inputs. Simulations done with our network model showed that it was capable of reproducing basic patterns of locomotion such as those occurring during tri- and tetrapod gaits. The model further revealed a number of elementary neuronal processes (e.g. synaptic inhibition, or changing the synaptic drive at specific neurons) that in the simulations were necessary, and in their entirety sufficient, to bring about a transition from one type of gait to another. The main result of this simulation study is that exactly the same mechanism underlies the transition between the two types of gait irrespective of the direction of the change. Moreover, the model suggests that the majority of these processes can be attributed to direct sensory influences, and changes are required only in centrally controlled synaptic drives to the CPGs.     

Small is beautiful: models of small neuronal networks

Modeling has contributed a great deal to our understanding of how individual neurons and neuronal networks function. In this review, we focus on models of the small neuronal networks of invertebrates, especially rhythmically active CPG networks. Models have elucidated many aspects of these networks, from identifying key interacting membrane properties to pointing out gaps in our understanding, for example missing neurons. Even the complex CPGs of vertebrates, such as those that underlie respiration, have been reduced to small network models to great effect. Modeling of these networks spans from simplified models, which are amenable to mathematical analyses, to very complicated biophysical models. Some researchers have now adopted a population approach, where they generate and analyze many related models that differ in a few to several judiciously chosen free parameters; often these parameters show variability across animals and thus justify the approach. Models of small neuronal networks will continue to expand and refine our understanding of how neuronal networks in all animals program motor output, process sensory information and learn.     

Role of glutamate in locomotor rhythm generating neuronal circuitry

Central pattern generators (CPGs) are defined as neuronal circuits capable of producing a rhythmic and coordinated output without the influence of sensory input. The locomotor and respiratory neuronal circuits are two of the better-characterized CPGs, although much work remains to fully understand how these networks operate. Glutamatergic neurons are involved in most neuronal circuits of the nervous system and considerable efforts have been made to study glutamate receptors in nervous system signaling using a variety of approaches. Because of the complexity of glutamate-mediated signaling and the variety of receptors triggered by glutamate, it has been difficult to pinpoint the role of glutamatergic neurons in neuronal circuits. In addition, glutamate is an amino acid used by every cell, which has hampered identification of glutamatergic neurons. Glutamatergic excitatory neurotransmission is dependent on the release from glutamate-filled presynaptic vesicles loaded by three members of the solute carrier family, Slc17a6-8, which function as vesicular glutamate transporters (VGLUTs). Recent data describe that Vglut2 (Slc17a6) null mutant mice die immediately after birth due to a complete loss of the stable autonomous respiratory rhythm generated by the pre-B?tzinger complex. Surprisingly, we found that basal rhythmic locomotor activity is not affected in Vglut2 null mutant embryos. With this perspective, we discuss data regarding presence of VGLUT1, VGLUT2 and VGLUT3 positive neuronal populations in the spinal cord.     

The cortex as a central pattern generator

Vertebrate spinal cord and brainstem central pattern generator (CPG) circuits share profound similarities with neocortical circuits. CPGs can produce meaningful functional output in the absence of sensory inputs. Neocortical circuits could be considered analogous to CPGs as they have rich spontaneous dynamics that, similar to CPGs, are powerfully modulated or engaged by sensory inputs, but can also generate output in their absence. We find compelling evidence for this argument at the anatomical, biophysical, developmental, dynamic and pathological levels of analysis. Although it is possible that cortical circuits are particularly plastic types of CPG ('learning CPGs'), we argue that present knowledge about CPGs is likely to foretell the basic principles of the organization and dynamic function of cortical circuits.     

Partly shared spinal cord networks for locomotion and scratching

Animals produce a variety of behaviors using a limited number of muscles and motor neurons. Rhythmic behaviors are often generated in basic form by networks of neurons within the central nervous system, or central pattern generators (CPGs). It is known from several invertebrates that different rhythmic behaviors involving the same muscles and motor neurons can be generated by a single CPG, multiple separate CPGs, or partly overlapping CPGs. Much less is known about how vertebrates generate multiple, rhythmic behaviors involving the same muscles. The spinal cord of limbed vertebrates contains CPGs for locomotion and multiple forms of scratching. We investigated the extent of sharing of CPGs for hind limb locomotion and for scratching. We used the spinal cord of adult red-eared turtles. Animals were immobilized to remove movement-related sensory feedback and were spinally transected to remove input from the brain. We took two approaches. First, we monitored individual spinal cord interneurons (i.e., neurons that are in between sensory neurons and motor neurons) during generation of each kind of rhythmic output of motor neurons (i.e., each motor pattern). Many spinal cord interneurons were rhythmically activated during the motor patterns for forward swimming and all three forms of scratching. Some of these scratch/swim interneurons had physiological and morphological properties consistent with their playing a role in the generation of motor patterns for all of these rhythmic behaviors. Other spinal cord interneurons, however, were rhythmically activated during scratching motor patterns but inhibited during swimming motor patterns. Thus, locomotion and scratching may be generated by partly shared spinal cord CPGs. Second, we delivered swim-evoking and scratch-evoking stimuli simultaneously and monitored the resulting motor patterns. Simultaneous stimulation could cause interactions of scratch inputs with subthreshold swim inputs to produce normal swimming, acceleration of the swimming rhythm, scratch-swim hybrid cycles, or complete cessation of the rhythm. The type of effect obtained depended on the level of swim-evoking stimulation. These effects suggest that swim-evoking and scratch-evoking inputs can interact strongly in the spinal cord to modify the rhythm and pattern of motor output. Collectively, the single-neuron recordings and the results of simultaneous stimulation suggest that important elements of the generation of rhythms and patterns are shared between locomotion and scratching in limbed vertebrates.     

The role of postinhibitory rebound in the locomotor central-pattern generator of Clione limacina

In animals, networks of central neurons, called central-patterngenerators (CPGs), produce a variety of locomotory behaviorsincluding walking, swimming, and flying. CPGs from diverse animalsshare many common characteristics that function at the systemlevel, circuit level, and cellular level. However, the relativeroles of common CPG characteristics are variable among differentanimal species, in ways that suit different forms of locomotionin different environmental contexts. Here, we examine some ofthese common features within the locomotor CPG in a model systemused to investigate changes in locomotory speed—the swimsystem of the pteropod mollusk, Clione limacina. In particular,we discuss the role of one cellular characteristic that is essentialfor locomotor pattern generation in Clione, postinhibitory rebound.     

Sensory Feedback Mechanism Underlying Entrainment of Central Pattern Generator to Mechanical Resonance

Rhythmic body motions observed in animal locomotion are known to be controlled by neuronal circuits called central pattern generators (CPGs). It appears that CPGs are energy efficient controllers that cooperate with biomechanical and environmental constraints through sensory feedback. In particular, the CPGs tend to induce rhythmic motion of the body at a natural frequency, i.e., the CPGs are entrained to a mechanical resonance by sensory feedback. The objective of this paper is to uncover the mechanism of entrainment resulting from the dynamic interaction of the CPG and mechanical system. We first develop multiple CPG models for the reciprocal inhibition oscillator (RIO) and examine through numerical experiments whether they can be entrained to a simple pendulum. This comparative study identifies the neuronal properties essential for the entrainment. We then analyze the simplest model that captures the essential dynamics via the method of harmonic balance. It is shown that robust entrainment results from a strong, positive-feedback coupling of a lightly damped mechanical system and the RIO consisting of neurons with the complete adaptation property     

A mathematical modeling study of inter-segmental coordination during stick insect walking

The biomechanical conditions for walking in the stick insect require a modeling approach that is based on the control of pairs of antagonistic motoneuron (MN) pools for each leg joint by independent central pattern generators (CPGs). Each CPG controls a pair of antagonistic MN pools. Furthermore, specific sensory feedback signals play an important role in the control of single leg movement and in the generation of inter-leg coordination or the interplay between both tasks. Currently, however, no mathematical model exists that provides a theoretical approach to understanding the generation of coordinated locomotion in such a multi-legged locomotor system. In the present study, I created such a theoretical model for the stick insect walking system, which describes the MN activity of a single forward stepping middle leg and helps to explain the neuronal mechanisms underlying coordinating information transfer between ipsilateral legs. In this model, CPGs that belong to the same leg, as well as those belonging to different legs, are connected by specific sensory feedback pathways that convey information about movements and forces generated during locomotion. The model emphasizes the importance of sensory feedback, which is used by the central nervous system to enhance weak excitatory and inhibitory synaptic connections from front to rear between the three thorax-coxa-joint CPGs. Thereby the sensory feedback activates caudal pattern generation networks and helps to coordinate leg movements by generating in-phase and out-of-phase thoracic MN activity.     

A Systematic Critical Appraisal for Non-Pharmacological Management of Osteoarthritis Using the Appraisal of Guidelines Research and Evaluation II Instrument

Clinical practice CPGs (CPGs) have been developed to summarize evidence related to the management of osteoarthritis (OA). CPGs facilitate uptake of evidence-based knowledge by consumers, health professionals, health administrators and policy makers. The objectives of the present review were: 1) to assess the quality of the CPGs on non-pharmacological management of OA; using a standardized and validated instrument - the Appraisal of Guidelines Research and Evaluation (AGREE II) tool - by three pairs of trained appraisers; and 2) to summarize the recommendations based on only high-quality existing CPGs. Scientific literature databases from 2001 to 2013 were systematically searched for the state of evidence, with 17 CPGs for OA being identified. Most CPGs effectively addressed only a minority of AGREE II domains. Scope and purpose was effectively addressed in 10 CPGs on the management of OA, stakeholder involvement in 12 CPGs, rigour of development in 10 CPGs, clarity/presentation in 17 CPGs, editorial independence in 2 CPGs, and applicability in none of the OA CPGs. The overall quality of the included CPGs, according to the 7-point AGREE II scoring system, is 4.8±0.41 for OA. Therapeutic exercises, patient education, transcutaneous electrical nerve stimulation, acupuncture, orthoses and insoles, heat and cryotherapy, patellar tapping, and weight control are commonly recommended for the non-pharmacological management of OA by the high-quality CPGs. The general clinical management recommendations tended to be similar among high-quality CPGs, although interventions addressed varied. Non-pharmacological management interventions were superficially addressed in more than half of the selected CPGs. For CPGs to be standardized uniform creators should use the AGREE II criteria when developing CPGs. Innovative and effective methods of CPG implementation to users are needed to ultimately enhance the quality of life of arthritic individuals.     

Setting the pace: new insights into central pattern generator interactions in box jellyfish swimming

Central Pattern Generators (CPGs) produce rhythmic behaviour across all animal phyla. Cnidarians, which have a radially symmetric nervous system and pacemaker centres in multiples of four, provide an interesting comparison to bilaterian animals for studying the coordination between CPGs. The box jellyfish Tripedalia cystophora is remarkable among cnidarians due to its most elaborate visual system. Together with their ability to actively swim and steer, they use their visual system for multiple types of behaviour. The four swim CPGs are directly regulated by visual input. In this study, we addressed the question of how the four pacemaker centres of this radial symmetric cnidarian interact. We based our investigation on high speed camera observations of the timing of swim pulses of tethered animals (Tripedalia cystophora) with one or four rhopalia, under different simple light regimes. Additionally, we developed a numerical model of pacemaker interactions based on the inter pulse interval distribution of animals with one rhopalium. We showed that the model with fully resetting coupling and hyperpolarization of the pacemaker potential below baseline fitted the experimental data best. Moreover, the model of four swim pacemakers alone underscored the proportion of long inter pulse intervals (IPIs) considerably. Both in terms of the long IPIs as well as the overall swim pulse distribution, the simulation of two CPGs provided a better fit than that of four. We therefore suggest additional sources of pacemaker control than just visual input. We provide guidelines for future research on the physiological linkage of the cubozoan CPGs and show the insight from bilaterian CPG research, which show that pacemakers have to be studied in their bodily and nervous environment to capture all their functional features, are also manifest in cnidarians.     

Modulation of circuits underlying rhythmic behaviors

Summary What have we learned about behavior from neuromodulatory studies of the crustacean stomatogastric system? The emphasis of this paper has been on the analysis of one single class of behaviors (rhythmic) in terms of microcircuitry (synaptic connections between identified neurons). But in the general case, all behaviors result from the generation of spatio-temporal patterns by the central nervous system. How individual nerve cells interact with each other to produce such patterns is of fundamental interest. We know from work on simple networks that it is possible to link the circuitry of the nervous system with behavior in a precise way, and that instead of a large number of dedicated circuits, behaviors can be altered by chemically adjusting the functional properties of the neuronal elements. One circuit can be configured to perform a variety of different behaviors by activating neurons which contain neuromodulatory substances or in response to neurohormones circulating in the hemolymph. At present we know only a few of the ways neuromodulatory neurons are triggered to release their contents onto the neurons making up CPGs.The findings described here raise many questions. What are the parameters which control the distribution of neuromodulatory substances throughout the nervous system? What happens when more than one neuromodulator is present? At the cellular level, what mechanisms are involved in transforming each neuron from one functional state to another, and then how does the entire constellation of changes give rise to a new output? It is important to answer such questions in reduced networks, because there are presently no techniques available to answer them in the more complex networks of the brain. While there is no question that modulatory activity occurs in the brain, whether or not the principles which have been discovered by using simple invertebrate circuits scale up to vertebrate circuits remains an intriguing question.     

A Systematic Critical Appraisal of Non-Pharmacological Management of Rheumatoid Arthritis with Appraisal of Guidelines for Research and Evaluation II

Clinical practice guidelines (CPGs) have been developed to summarize evidence about the management of rheumatoid arthritis (RA) and facilitate the uptake of evidence-based knowledge by consumers, health professionals, health administrators and policy makers. The objectives of this review was to assess the quality of CPGS on non-pharmacological management of RA with a standardized and validated instrument - the Appraisal of Guidelines for Research and Evaluation (AGREE II) tool and summarize the key recommendations from these CPGs. Scientific literature databases from 2001 to 2013 were systematically searched and a total of 13 CPGs for RA was identified. Only a minority of AGREE II domains were effectively addressed by the CPGS. Scope and purpose was effectively addressed in 10 out of 13 CPGs, stakeholder involvement in 11 CPGs, rigor of development in 6 CPGs, clarity/presentation in 9 CPGs, editorial independence in 1 CPGs, and applicability in none of the CPGs. The overall quality of the included CPGs according to the 7-point AGREE II scoring system was 4.8±1.04. Patient education/self-management, aerobic, dynamic and stretching exercises were the commonly recommended for the non-pharmacological management of RA by the high-quality CPGs. The general clinical management recommendations tended to be similar among high-quality CPGs. Non-pharmacological management interventions were superficially addressed in more than half of the selected CPGs. CPGs creators should use the AGREE II criteria when developing guidelines. Innovative and effective methods of CPGs implementation to users are needed to ultimately enhance the quality of life of arthritic individuals. In addition, it was difficult to establish between strongly recommended, recommended and weakly recommended, as there is no consensus between the strength of the recommendations between the appraised CPGs.     

Sensory feedback in CNN-based central pattern generators

Central Pattern Generators (CPGs) are a suitable paradigm to solve the problem of locomotion control in walking robots. CPGs are able to generate feed-forward signals to achieve a proper coordination among the robot legs. In literature they are often modelled as networks of coupled nonlinear systems. However the topic of feedback in these systems is rarely addressed. On the other hand feedback is essential for locomotion. In this paper the CPG for a hexapod robot is implemented through Cellular Neural Networks (CNNs). Feedback is included in the CPG controller by exploiting the dynamic properties of the CPG motor-neurons, such as synchronization issue and local bifurcations. These universal paradigms provide the essential issues to include sensory feedback in CPG architectures based on coupled nonlinear systems. Experiments on a dynamic model of a hexapod robot are presented to validate the approach introduced.     

On the dynamics of the spontaneous activity in neuronal networks

Most neuronal networks, even in the absence of external stimuli, produce spontaneous bursts of spikes separated by periods of reduced activity. The origin and functional role of these neuronal events are still unclear. The present work shows that the spontaneous activity of two very different networks, intact leech ganglia and dissociated cultures of rat hippocampal neurons, share several features. Indeed, in both networks: i) the inter-spike intervals distribution of the spontaneous firing of single neurons is either regular or periodic or bursting, with the fraction of bursting neurons depending on the network activity; ii) bursts of spontaneous spikes have the same broad distributions of size and duration; iii) the degree of correlated activity increases with the bin width, and the power spectrum of the network firing rate has a 1/f behavior at low frequencies, indicating the existence of long-range temporal correlations; iv) the activity of excitatory synaptic pathways mediated by NMDA receptors is necessary for the onset of the long-range correlations and for the presence of large bursts; v) blockage of inhibitory synaptic pathways mediated by GABA(A) receptors causes instead an increase in the correlation among neurons and leads to a burst distribution composed only of very small and very large bursts. These results suggest that the spontaneous electrical activity in neuronal networks with different architectures and functions can have very similar properties and common dynamics.     

A generalized locomotion CPG architecture based on oscillatory building blocks

 Neural oscillation is one of the most extensively investigated topics of artificial neural networks. Scientific approaches to the functionalities of both natural and artificial intelligences are strongly related to mechanisms underlying oscillatory activities. This paper concerns itself with the assumption of the existence of central pattern generators (CPGs), which are the plausible neural architectures with oscillatory capabilities, and presents a discrete and generalized approach to the functionality of locomotor CPGs of legged animals. Based on scheduling by multiple edge reversal (SMER), a primitive and deterministic distributed algorithm, it is shown how oscillatory building block (OBB) modules can be created and, hence, how OBB-based networks can be formulated as asymmetric Hopfield-like neural networks for the generation of complex coordinated rhythmic patterns observed among pairs of biological motor neurons working during different gait patterns. It is also shown that the resulting Hopfield-like network possesses the property of reproducing the whole spectrum of different gaits intrinsic to the target locomotor CPGs. Although the new approach is not restricted to the understanding of the neurolocomotor system of any particular animal, hexapodal and quadrupedal gait patterns are chosen as illustrations given the wide interest expressed by the ongoing research in the area. Received: 14 June 2002 / Accepted: 18 February 2003 / Published online: 20 May 2003 Correspondence to: Z. Yang (e-mail: zhijun.yang@ed.ac.uk) Acknowledgements. This work was partially supported by CNPq, the Brazilian Research Agency, under support number 143032/96-8. We are grateful for the helpful discussions with Prof. V.C. Barbosa, Dr. A.E. Xavier, Dr. M.S. Dutra, and Dr. A.F.R. Araújo. The donations of FPGA hardware and software from XILINX Incorporation under the order No. XUP2930 and XUP3576 are also highly appreciated.     

Central pattern generators for social vocalization: androgen-dependent neurophysiological mechanisms

Historically, most studies of vertebrate central pattern generators (CPGs) have focused on mechanisms for locomotion and respiration. Here, we highlight new results for ectothermic vertebrates, namely teleost fish and amphibians, showing how androgenic steroids can influence the temporal patterning of CPGs for social vocalization. Investigations of vocalizing teleosts show how androgens can rapidly (within minutes) modulate the neurophysiological output of the vocal CPG (fictive vocalizations that mimic the temporal properties of natural vocalizations) inclusive of their divergent actions between species, as well as intraspecific differences between male reproductive morphs. Studies of anuran amphibians (frogs) demonstrate that long-term steroid treatments (wks) can masculinize the fictive vocalizations of females, inclusive of its sensitivity to rapid modulation by serotonin. Given the conserved organization of vocal control systems across vertebrate groups, the vocal CPGs of fish and amphibians provide tractable models for identifying androgen-dependent events that are fundamental to the mechanisms of vocal motor patterning. These basic mechanisms can also inform our understanding of the more complex CPGs for vocalization, and social behaviors in general, that have evolved among birds and mammals.     

Conflict of Interest Disclosures for Clinical Practice Guidelines in the National Guideline Clearinghouse

Background

Conflict of interest (COI) is an important potential source of bias in the development of clinical practice guidelines (CPGs) and high rates of COI among guideline authors have been reported in the past. Our objective was to report current rates of disclosure and specific author COI across a broad range of CPGs and to examine whether CPG characteristics were associated with the presence of disclosures and of conflicts.

Methods and Findings

We selected a random sample of 250 CPGs listed in the National Guideline Clearinghouse on November 22, 2010, representing approximately a 10% sample of guidelines listed in the NGC on that date. We abstracted information on author COI from each CPG and examined predictors of the disclosures and COI using a logistic generalized estimating equation regression model. 87% of organizations developing guidelines had a CPG-specific policy, however, 40% of CPGs did not indicate that they had collected disclosures from guideline authors. In addition, 42% of organizations that did collect author disclosures did not have those disclosures available in the public domain. Of CPGs where we had disclosures for all authors, 60% had one or more authors with a conflict. On average, 28% of the authors of CPGs with available disclosures had a COI. Guidelines that were published in journals with an impact factor greater than 5.0 were more likely to have one or more authors with a COI than guidelines not published in journals.

Conclusions

Rates of disclosure of author COI and the public availability of that information are unacceptably low, however rates of COI among guideline authors may have decreased in recent years. Continued efforts are needed to establish and enforce optimal COI policies in clinical practice guideline development in order to minimize the risk of bias associated with those conflicts.     

Central pattern generating networks in insect locomotion

Central pattern generators (CPGs) are neural circuits that based on their connectivity can generate rhythmic and patterned output in the absence of rhythmic external inputs. This property makes CPGs crucial elements in the generation of many kinds of rhythmic motor behaviors in insects, such as flying, walking, swimming, or crawling. Arguably representing the most diverse group of animals, insects utilize at least one of these types of locomotion during one stage of their ontogenesis. Insects have been extensively used to study the neural basis of rhythmic motor behaviors, and particularly the structure and operation of CPGs involved in locomotion. Here, we review insect locomotion with regard to flying, walking, and crawling, and we discuss the contribution of central pattern generation to these three forms of locomotion. In each case, we compare and contrast the topology and structure of the CPGs, and we point out how these factors are involved in the generation of the respective motor pattern. We focus on the importance of sensory information for establishing a functional motor output and we indicate behavior‐specific adaptations. Furthermore, we report on the mechanisms underlying coordination between different body parts. Last but not least, by reviewing the state‐of‐the‐art knowledge concerning the role of CPGs in insect locomotion, we endeavor to create a common ground, upon which future research in the field of motor control in insects can build.