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Kastalskiy IA, Gordleeva SY, Hramov AE, Kazantsev VB. Bridging nonlinear dynamics and physiology: Implications for CPGs and biomimetic robotics. Reply to comments on "Control of movement of underwater swimmers: Animals, simulated animates and swimming robots". Phys Life Rev 2024; 50:32-34. [PMID: 38838497 DOI: 10.1016/j.plrev.2024.05.005] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/17/2024] [Accepted: 05/20/2024] [Indexed: 06/07/2024]
Affiliation(s)
- I A Kastalskiy
- National Research Lobachevsky State University of Nizhny Novgorod, 23 Gagarin Ave., Nizhny Novgorod, 603022, Russia; Moscow Institute of Physics and Technology, 9 Institutskiy Ln., Dolgoprudny, 141701, Moscow Region, Russia.
| | - S Y Gordleeva
- National Research Lobachevsky State University of Nizhny Novgorod, 23 Gagarin Ave., Nizhny Novgorod, 603022, Russia; Moscow Institute of Physics and Technology, 9 Institutskiy Ln., Dolgoprudny, 141701, Moscow Region, Russia; Immanuel Kant Baltic Federal University, 14 A. Nevskogo St., Kaliningrad, 236016, Russia
| | - A E Hramov
- Immanuel Kant Baltic Federal University, 14 A. Nevskogo St., Kaliningrad, 236016, Russia; Saint Petersburg State University, 7-9 Universitetskaya Emb., Saint Petersburg, 199034, Russia
| | - V B Kazantsev
- National Research Lobachevsky State University of Nizhny Novgorod, 23 Gagarin Ave., Nizhny Novgorod, 603022, Russia; Moscow Institute of Physics and Technology, 9 Institutskiy Ln., Dolgoprudny, 141701, Moscow Region, Russia; Immanuel Kant Baltic Federal University, 14 A. Nevskogo St., Kaliningrad, 236016, Russia
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Semenov DM, Fradkov AL. Movement control mechanism of underwater swimmers via resonance entrainment of central pattern generators Comment on "Control of movement of underwater swimmers: Animals, simulated animates and swimming robots" by Gordleeva et al. Phys Life Rev 2024; 49:95-96. [PMID: 38564908 DOI: 10.1016/j.plrev.2024.03.009] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/16/2024] [Accepted: 03/20/2024] [Indexed: 04/04/2024]
Affiliation(s)
- Danila M Semenov
- Institute for Problems of Mechanical Engineering Russian Academy of Sciences, 61 Bolshoy Ave V. O., Saint Petersburg 199178, Russia; Lobachevsky State University of Nizhny Novgorod, 23 Gagarina Ave, Nizhny Novgorod 603950, Russia.
| | - Alexander L Fradkov
- Institute for Problems of Mechanical Engineering Russian Academy of Sciences, 61 Bolshoy Ave V. O., Saint Petersburg 199178, Russia
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Chen J. Flexible tensegrity wing design and insights in principles of swimming kinematics of batoid rays. BIOINSPIRATION & BIOMIMETICS 2021; 16:056007. [PMID: 34186517 DOI: 10.1088/1748-3190/ac0fcd] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/06/2020] [Accepted: 06/29/2021] [Indexed: 06/13/2023]
Abstract
A novel tensegrity wing design is first proposed which can emulate the kinematic waves of the pectoral fin of batoid rays and has a simple structure for manufacture. The attitude control and the regulation of wing natural frequency are realized by wing morphing. Then analytical insights in batoid ray swimming are gained by analyzing the analytical wing (cable)-fluid interaction model, whose parameters are determined based on the biological data. The stride length (traveled distance per cycle normalized by the body length (BL)) is shown to be almost invariant among different-sized rays if the phase and amplitude of wing flexion angles remain unchanged. This result is supported by biological data, 1.5 and 1.47 respectively for the manta ray and cownose ray, though their flapping frequencies (0.15-0.45 Hz and 0.64-1.25 Hz respectively) and body sizes (1.25 m and 0.15 m respectively) are very different, and similar to the expression for the carangiform fish swimming. In other words, the swimming kinematics of two different swimming forms are described by a similar analytical equation when the body resonance is exploited. The fluid force and cable tension are both found to be proportional to the fourth power of the body size and the square of the wing flapping frequency, which may tell that the flapping frequency of the manta ray (BL = 1.25 m) is much smaller than that of the cownose ray (BL = 0.15 m) is to avoid both the large actuation tension and fluid force density due to the size increase.
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Affiliation(s)
- Jun Chen
- The Joint Laboratory of Ocean Observing and Detection, Pilot National Laboratory for Marine Science and Technology (Qingdao), Qingdao, Shandong Province 266237, People's Republic of China
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Zhang YS, Ghazanfar AA. Vocal development through morphological computation. PLoS Biol 2018; 16:e2003933. [PMID: 29462148 PMCID: PMC5834215 DOI: 10.1371/journal.pbio.2003933] [Citation(s) in RCA: 25] [Impact Index Per Article: 4.2] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/14/2017] [Revised: 03/02/2018] [Accepted: 02/01/2018] [Indexed: 11/18/2022] Open
Abstract
The vocal behavior of infants changes dramatically during early life. Whether or not such a change results from the growth of the body during development-as opposed to solely neural changes-has rarely been investigated. In this study of vocal development in marmoset monkeys, we tested the putative causal relationship between bodily growth and vocal development. During the first two months of life, the spontaneous vocalizations of marmosets undergo (1) a gradual disappearance of context-inappropriate call types and (2) an elongation in the duration of context-appropriate contact calls. We hypothesized that both changes are the natural consequences of lung growth and do not require any changes at the neural level. To test this idea, we first present a central pattern generator model of marmoset vocal production to demonstrate that lung growth can affect the temporal and oscillatory dynamics of neural circuits via sensory feedback from the lungs. Lung growth qualitatively shifted vocal behavior in the direction observed in real marmoset monkey vocal development. We then empirically tested this hypothesis by placing the marmoset infants in a helium-oxygen (heliox) environment in which air is much lighter. This simulated a reversal in development by decreasing the effort required to respire, thus increasing the respiration rate (as though the lungs were smaller). The heliox manipulation increased the proportions of inappropriate call types and decreased the duration of contact calls, consistent with a brief reversal of vocal development. These results suggest that bodily growth alone can play a major role in shaping the development of vocal behavior.
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Affiliation(s)
- Yisi S. Zhang
- Princeton Neuroscience Institute, Princeton University, Princeton, New Jersey, United States of America
- Department of Psychology, Princeton University, Princeton, New Jersey, United States of America
| | - Asif A. Ghazanfar
- Princeton Neuroscience Institute, Princeton University, Princeton, New Jersey, United States of America
- Department of Psychology, Princeton University, Princeton, New Jersey, United States of America
- Department of Ecology & Evolutionary Biology, Princeton University, Princeton, New Jersey, United States of America
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Time flies when you are in a groove: using entrainment to mechanical resonance to teach a desired movement distorts the perception of the movement’s timing. Exp Brain Res 2014; 232:1057-70. [DOI: 10.1007/s00221-013-3819-3] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/08/2013] [Accepted: 12/20/2013] [Indexed: 11/25/2022]
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Tytell ED, Hsu CY, Fauci LJ. The role of mechanical resonance in the neural control of swimming in fishes. ZOOLOGY 2013; 117:48-56. [PMID: 24433627 DOI: 10.1016/j.zool.2013.10.011] [Citation(s) in RCA: 23] [Impact Index Per Article: 2.1] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/11/2013] [Revised: 10/25/2013] [Accepted: 10/30/2013] [Indexed: 11/19/2022]
Abstract
The bodies of many fishes are flexible, elastic structures; if you bend them, they spring back. Therefore, they should have a resonant frequency: a bending frequency at which the output amplitude is maximized for a particular input. Previous groups have hypothesized that swimming at this resonant frequency could maximize efficiency, and that a neural circuit called the central pattern generator might be able to entrain to a mechanical resonance. However, fishes swim in water, which may potentially damp out many resonant effects. Additionally, their bodies are elongated, which means that bending can occur in complicated ways along the length of the body. We review previous studies of the mechanical properties of fish bodies, and then present new data that demonstrate complex bending properties of elongated fish bodies. Resonant peaks in amplitude exist, but there may be many of them depending on the body wavelength. Additionally, they may not correspond to the maximum swimming speed. Next, we describe experiments using a closed-loop preparation of the lamprey, in which a preparation of the spinal cord is linked to a real-time simulation of the muscle and body properties, allowing us to examine resonance entrainment as we vary the simulated resonant frequency. We find that resonance entrainment does occur, but is rare. Gain had a significant, though weak, effect, and a nonlinear muscle model produced resonance entrainment more often than a linear filter. We speculate that resonance may not be a critical effect for efficient swimming in elongate, anguilliform swimmers, though it may be more important for stiffer carangiform and thunniform fishes.
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Affiliation(s)
- Eric D Tytell
- Department of Biology, Tufts University, 200 Boston Avenue, Suite 4700, Medford, MA 02155, USA.
| | - Chia-Yu Hsu
- Department of Applied Mathematics, Feng Chia University, Taiwan
| | - Lisa J Fauci
- Department of Mathematics, Tulane University, 6823 Saint Charles Avenue, New Orleans, LA 70118, USA
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Miller LA, Goldman DI, Hedrick TL, Tytell ED, Wang ZJ, Yen J, Alben S. Using computational and mechanical models to study animal locomotion. Integr Comp Biol 2012; 52:553-75. [PMID: 22988026 PMCID: PMC3475976 DOI: 10.1093/icb/ics115] [Citation(s) in RCA: 34] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/14/2022] Open
Abstract
Recent advances in computational methods have made realistic large-scale simulations of animal locomotion possible. This has resulted in numerous mathematical and computational studies of animal movement through fluids and over substrates with the purpose of better understanding organisms' performance and improving the design of vehicles moving through air and water and on land. This work has also motivated the development of improved numerical methods and modeling techniques for animal locomotion that is characterized by the interactions of fluids, substrates, and structures. Despite the large body of recent work in this area, the application of mathematical and numerical methods to improve our understanding of organisms in the context of their environment and physiology has remained relatively unexplored. Nature has evolved a wide variety of fascinating mechanisms of locomotion that exploit the properties of complex materials and fluids, but only recently are the mathematical, computational, and robotic tools available to rigorously compare the relative advantages and disadvantages of different methods of locomotion in variable environments. Similarly, advances in computational physiology have only recently allowed investigators to explore how changes at the molecular, cellular, and tissue levels might lead to changes in performance at the organismal level. In this article, we highlight recent examples of how computational, mathematical, and experimental tools can be combined to ultimately answer the questions posed in one of the grand challenges in organismal biology: "Integrating living and physical systems."
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Affiliation(s)
- Laura A Miller
- Department of Mathematic, Phillips Hall, CB #3250, University of North Carolina, Chapel Hill, NC 27599-3280, USA.
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Tytell E, Holmes P, Cohen A. Spikes alone do not behavior make: why neuroscience needs biomechanics. Curr Opin Neurobiol 2011; 21:816-22. [PMID: 21683575 PMCID: PMC3183174 DOI: 10.1016/j.conb.2011.05.017] [Citation(s) in RCA: 73] [Impact Index Per Article: 5.6] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/20/2011] [Revised: 05/13/2011] [Accepted: 05/20/2011] [Indexed: 10/18/2022]
Abstract
Neural circuits do not function in isolation; they interact with the physical world, accepting sensory inputs and producing outputs via muscles. Since both these pathways are constrained by physics, the activity of neural circuits can only be understood by considering biomechanics of muscles, bodies, and the exterior world. We discuss how animal bodies have natural stable motions that require relatively little activation or control from the nervous system. The nervous system can substantially alter these motions, by subtly changing mechanical properties such as body or leg stiffness. Mechanics can also provide robustness to perturbations without sensory reflexes. By considering a complete neuromechanical system, neuroscientists and biomechanicians together can provide a more integrated view of neural circuitry and behavior.
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Affiliation(s)
- E.D. Tytell
- Department of Mechanical Engineering, Johns Hopkins University, 112 Hackerman Hall, 3400 N. Charles St., Baltimore, MD 21218, USA
| | - P. Holmes
- Program in Applied and Computational Mathematics, Department of Mechanical and Aerospace Engineering, and Princeton Neuroscience Institute, Princeton University, Princeton, NJ 08544, USA
| | - A.H. Cohen
- Institute for Systems Research and Department of Biology, University of Maryland, Biology/Psychology Building, College Park, MD, USA
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Iwasaki T. Multivariable Harmonic Balance for Central Pattern Generators. AUTOMATICA : THE JOURNAL OF IFAC, THE INTERNATIONAL FEDERATION OF AUTOMATIC CONTROL 2008; 44:3061-3069. [PMID: 19956774 PMCID: PMC2712753 DOI: 10.1016/j.automatica.2008.05.024] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/28/2023]
Abstract
The central pattern generator (CPG) is a nonlinear oscillator formed by a group of neurons, providing a fundamental control mechanism underlying rhythmic movements in animal locomotion. We consider a class of CPGs modeled by a set of interconnected identical neurons. Based on the idea of multivariable harmonic balance, we show how the oscillation profile is related to the connectivity matrix that specifies the architecture and strengths of the interconnections. Specifically, the frequency, amplitudes, and phases are essentially encoded in terms of a pair of eigenvalue and eigenvector. This basic principle is used to estimate the oscillation profile of a given CPG model. Moreover, a systematic method is proposed for designing a CPG-based nonlinear oscillator that achieves a prescribed oscillation profile.
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Affiliation(s)
- Tetsuya Iwasaki
- Department of Mechanical and Aerospace Engineering, University of Virginia, 122 Engineer's Way, Charlottesville, VA 22904-4746, USA
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Smarandache CR, Daur N, Hedrich UBS, Stein W. Regulation of motor pattern frequency by reversals in proprioceptive feedback. Eur J Neurosci 2008; 28:460-74. [DOI: 10.1111/j.1460-9568.2008.06357.x] [Citation(s) in RCA: 18] [Impact Index Per Article: 1.1] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/27/2022]
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Chen Z, Zheng M, Friesen WO, Iwasaki T. Multivariable harmonic balance analysis of the neuronal oscillator for leech swimming. J Comput Neurosci 2008; 25:583-606. [PMID: 18663565 DOI: 10.1007/s10827-008-0105-7] [Citation(s) in RCA: 14] [Impact Index Per Article: 0.9] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/27/2007] [Revised: 05/30/2008] [Accepted: 06/02/2008] [Indexed: 11/29/2022]
Abstract
Biological systems, and particularly neuronal circuits, embody a very high level of complexity. Mathematical modeling is therefore essential for understanding how large sets of neurons with complex multiple interconnections work as a functional system. With the increase in computing power, it is now possible to numerically integrate a model with many variables to simulate behavior. However, such analysis can be time-consuming and may not reveal the mechanisms underlying the observed phenomena. An alternative, complementary approach is mathematical analysis, which can demonstrate direct and explicit relationships between a property of interest and system parameters. This paper introduces a mathematical tool for analyzing neuronal oscillator circuits based on multivariable harmonic balance (MHB). The tool is applied to a model of the central pattern generator (CPG) for leech swimming, which comprises a chain of weakly coupled segmental oscillators. The results demonstrate the effectiveness of the MHB method and provide analytical explanations for some CPG properties. In particular, the intersegmental phase lag is estimated to be the sum of a nominal value and a perturbation, where the former depends on the structure and span of the neuronal connections and the latter is roughly proportional to the period gradient, communication delay, and the reciprocal of the intersegmental coupling strength.
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Affiliation(s)
- Zhiyong Chen
- School of Electrical Engineering and Computer Science, The University of Newcastle, Callaghan, New South Wales 2308, Australia.
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