Nerve terminal GABAA receptors activate Ca2+/calmodulin-dependent signaling to inhibit voltage-gated Ca2+ influx and glutamate release

-Aminobutyric acid type A (GABAA) receptors, a family of Cl-permeable ion channels, mediate fast synaptic inhibition as postsynaptically enriched receptors for -aminobutyric acid at GABAergic synapses. Here we describe an alternative type of inhibition mediated byGABAA receptors present on neocortical glutamatergic nerve terminals and examine the underlying signaling mechanism(s). By monitoring the activity of the presynaptic CaM kinase II/synapsin I signaling pathway in isolated nerve terminals, we demonstrate that GABAA receptor activation correlated with an increase in basal intraterminal [Ca2]i. Interestingly, this activation of GABAA receptors resulted in a reduction of subsequent depolarization-evoked Ca2 influx, which thereby led to an inhibition of glutamate release. To investigate how the observed GABAA receptor-mediated modulation operates, we determined the sensitivity of this process to the Na-K-2Cl cotransporter 1 antagonist bumetanide, as well as substitution of Ca2 with Ba2, or Ca2/calmodulin inhibition by W7. All of these treatments abolished the modulation by GABAA receptors. Application of selective antagonists of voltage-gated Ca2 channels (VGCCs) revealed that the GABAA receptor-mediated modulation of glutamate release required the specific activity of L- and R-type VGCCs. Crucially, the inhibition of release by these receptors was abolished in terminals isolated from R-type VGCC knock-out mice. Together, our results indicate that a functional coupling between nerve terminal GABAA receptors and L- or R-type VGCCs is mediated by Ca2/calmodulin-dependent signaling. This mechanism provides a GABA-mediated control of glutamatergic synaptic activity by a direct inhibition of glutamate release.

Effects of neuropathy on high-voltage-activated Ca2+ current in sensory neurones

Voltage-dependent Ca2+ channels (VDCCs) have emerged as targets to treat neuropathic pain; however, amongst VDCCs, the precise role of the CaV2.3 subtype in nociception remains unproven. Here, we investigate the effects of partial sciatic nerve ligation (PSNL) on Ca2+ currents in small/medium diameter dorsal root ganglia (DRG) neurones isolated from CaV2.3(−/−) knock-out and wild-type (WT) mice. DRG neurones from CaV2.3(−/−) mice had significantly reduced sensitivity to SNX-482 versusWTmice. DRGs from CaV2.3(−/−) mice also had increased sensitivity to the CaV2.2 VDCC blocker -conotoxin. In WT mice, PSNL caused a significant increase in -conotoxin-sensitivity and a reduction in SNX-482-sensitivity. In CaV2.3(−/−) mice, PSNL caused a significant reduction in -conotoxin-sensitivity and an increase in nifedipine sensitivity. PSNL-induced changes in Ca2+ current were not accompanied by effects on voltagedependence of activation in either CaV2.3(−/−) or WT mice. These data suggest that CaV2.3 subunits contribute, but do not fully underlie, drug-resistant (R-type) Ca2+ current in these cells. In WT mice, PSNL caused adaptive changes in CaV2.2- and CaV2.3-mediated Ca2+ currents, supporting roles for these VDCCs in nociception during neuropathy. In CaV2.3(−/−) mice, PSNL-induced changes in CaV1 and CaV2.2 Ca2+ current, consistent with alternative adaptive mechanisms occurring in the absence of CaV2.3 subunits.

Transpolar voltage and polar cap flux during the substorm cycle and steady convection events

Transpolar voltages observed during traversals of the polar cap by the Defense Meteorological Satellite Program (DMSP) F-13 spacecraft during 2001 are analyzed using the expanding-contracting polar cap model of ionospheric convection. Each of the 10,216 passes is classified by its substorm phase or as a steady convection event (SCE) by inspection of the AE indices. For all phases, we detect a contribution to the transpolar voltage by reconnection in both the dayside magnetopause and in the crosstail current sheet. Detection of the IMF influence is 97% certain during quiet intervals and >99% certain during substorm/SCE growth phases but falls to 75% in substorm expansion phases: It is only 27% during SCEs. Detection of the influence of the nightside voltage is only 19% certain during growth phases, rising during expansion phases to a peak of 96% in recovery phases: During SCEs, it is >99%. The voltage during SCEs is dominated by the nightside, not the dayside, reconnection. On average, substorm expansion phases halt the growth phase rise in polar cap flux rather than reversing it. The main destruction of the excess open flux takes place during the 6- to 10-hour interval after the recovery phase (as seen in AE) and at a rate which is relatively independent of polar cap flux because the NENL has by then retreated to the far tail. The best estimate of the voltage associated with viscous-like transfer of closed field lines into the tail is around 10 kV.

The role of voltage gated T-type Ca2+ channel isoforms in mediating "capacitative" Ca2+ entry in cancer cells

The mechanism by which Ca2+ enters electrically non-excitable cells is unclear. The sensitivity of the Ca2+ entry pathway in electrically non-excitable cells to inhibition by extracellular Ni2+ was used to direct the synthesis of a library of simple, novel compounds. These novel compounds inhibit Ca2+ entry into and, consequently, proliferation of several cancer cell lines. They showed stereoselective inhibition of proliferation and Ca2+ influx with identical stereoselective inhibition of heterologously expressed Cav3.2 isoform of T-type Ca2+ channels. Proliferation of human embryonic kidney (HEK)293 cells transfected with the Cav3.2 Ca2+ channel was also blocked. Cancer cell lines sensitive to our compounds express message for the Cav3.2 T-type Ca2+ channel isoform, its delta25B splice variant, or both, while a cell line resistant to our compounds does not. These observations raise the possibility that clinically useful drugs can be designed based upon the ability to block these Ca2+ channels.

'Flat phase' PID controllers

Flat Phase PID Controllers have the property that the phase of the transfer function round the associated feedback loop is constant or flat around the design frequency, with the aim that the phase margin and overshoot to a step response is unaffected when the gain of the device under control changes. Such designs have been achieved using Bode Integrals and by ensuring the phase is the same at two frequencies. This paper extends the ‘two frequency’ controller and describes a novel three frequency controller. The different design strategies arc compared.

On improving the performance in robust controllers for robot manipulators with parametric disturbances

This paper presents a new strategy for controlling rigid-robot manipulators in the presence of parametric uncertainties or un-modelled dynamics. The strategy combines an adaptation law with a well known robust controller proposed by Spong, which is derived using Lyapunov's direct method. Although the tracking problem of manipulators has been successfully solved with different strategies, there are some conditions under which their efficiency is limited. Specifically, their performance decreases when unknown loading masses or model disturbances are introduced. The aim of this work is to show that the proposed strategy performs better than existing algorithms, as verified with real-time experimental results with a Puma-560 robot. (c) 2006 Elsevier Ltd. All rights reserved.

Relationship between deadbeat and pole-placement discrete-time PID controllers

This paper considers PID control in terms of its implementation by means of an ARMA plant model. Two controller actions are considered, namely pole placement and deadbeat, both being applied via a PID structure for the adaptive real-time control of an industrial level system. As well as looking at two controller types separately, a comparison is made between the forms and it is shown how, under certain circumstances, the two forms can be seen to be identical. It is shown how the pole-placement PID form does not in fact realise an action which is equivalent to the deadbeat controller, when all closed-loop poles are chosen to be at the origin of the z-plane.

Reduced-order modelling of a high-voltage oscillatory impulse generator

The design of high-voltage equipment encompasses the study of oscillatory surges caused by transients such as those produced by switching. By obtaining a model, the response of which reconstructs that observed in the actual system, simulation studies and critical tests can be carried out on the model rather than on the equipment itself. In this paper, methods for the construction of simplified models are described and it is shown how the use of a complex model does not necessarily result in superior response pattern reconstruction.

Real-time expert system for fault location on high voltage underground distribution cables

To ensure minimum loss of system security and revenue it is essential that faults on underground cable systems be located and repaired rapidly. Currently in the UK, the impulse current method is used to prelocate faults, prior to using acoustic methods to pinpoint the fault location. The impulse current method is heavily dependent on the engineer's knowledge and experience in recognising/interpreting the transient waveforms produced by the fault. The development of a prototype real-time expert system aid for the prelocation of cable faults is described. Results from the prototype demonstrate the feasibility and benefits of the expert system as an aid for the diagnosis and location of faults on underground cable systems.

Automatic tuning of PID controllers using model reference adaptive control techniques

This paper discusses the application of model reference adaptive control concepts to the automatic tuning of PID controllers. The effectiveness of the proposed method is shown through simulated applications. The gradient approach and simulated examples are provided.

Calibration of closed loop controllers for setting impedances in force-reflecting systems

This paper discusses a new method of impedance control that has been successfully implemented on the master robot of a teleoperation system. The method involves calibrating the robot to quantify the effect of adjustable controller parameters on the impedances along its different axes. The empirical equations relating end-effector impedance to the controller's feedback gains are obtained by performing system identification tests along individual axes of the robot. With these equations, online control of end-effector stiffness and damping is possible without having to monitor joint torques or solving complex algorithms. Hard contact conditions and compliant interfaces have been effectively demonstrated on a telemanipulation test-bed using appropriate combinations of stiffness and damping settings obtained by this method.