Single Synapse Information Coding in Intraburst Spike Patterns of Central Pattern Generator Motor Neurons

Burst firing is ubiquitous in nervous systems and has been intensively studied in central pattern generators (CPGs). Previous works have described subtle intraburst spike patterns (IBSPs) that, despite being traditionally neglected for their lack of relation to CPG motor function, were shown to be cell-type specific and sensitive to CPG connectivity. Here we address this matter by investigating how a bursting motor neuron expresses information about other neurons in the network. We performed experiments on the crustacean stomatogastric pyloric CPG, both in control conditions and interacting in real-time with computer model neurons. The sensitivity of postsynaptic to presynaptic IBSPs was inferred by computing their average mutual information along each neuron burst. We found that details of input patterns are nonlinearly and inhomogeneously coded through a single synapse into the fine IBSPs structure of the postsynaptic neuron following burst. In this way, motor neurons are able to use different time scales to convey two types of information simultaneously: muscle contraction (related to bursting rhythm) and the behavior of other CPG neurons (at a much shorter timescale by using IBSPs as information carriers). Moreover, the analysis revealed that the coding mechanism described takes part in a previously unsuspected information pathway from a CPG motor neuron to a nerve that projects to sensory brain areas, thus providing evidence of the general physiological role of information coding through IBSPs in the regulation of neuronal firing patterns in remote circuits by the CNS.

Physiological and pathophysiological interactions between the respiratory central pattern generator and the sympathetic nervous system

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Respiratory rhythm generation: A modeling study of the respiratory central pattern generator and the phrenic motor neuron

The respiratory central pattern generator is a collection of medullary neurons that generates the rhythm of respiration. The respiratory central pattern generator feeds phrenic motor neurons, which, in turn, drive the main muscle of respiration, the diaphragm. The purpose of this thesis is to understand the neural control of respiration through mathematical models of the respiratory central pattern generator and phrenic motor neurons. ^ We first designed and validated a Hodgkin-Huxley type model that mimics the behavior of phrenic motor neurons under a wide range of electrical and pharmacological perturbations. This model was constrained physiological data from the literature. Next, we designed and validated a model of the respiratory central pattern generator by connecting four Hodgkin-Huxley type models of medullary respiratory neurons in a mutually inhibitory network. This network was in turn driven by a simple model of an endogenously bursting neuron, which acted as the pacemaker for the respiratory central pattern generator. Finally, the respiratory central pattern generator and phrenic motor neuron models were connected and their interactions studied. ^ Our study of the models has provided a number of insights into the behavior of the respiratory central pattern generator and phrenic motor neurons. These include the suggestion of a role for the T-type and N-type calcium channels during single spikes and repetitive firing in phrenic motor neurons, as well as a better understanding of network properties underlying respiratory rhythm generation. We also utilized an existing model of lung mechanics to study the interactions between the respiratory central pattern generator and ventilation. ^

Fractional central pattern generators for bipedal locomotion

Locomotion has been a major research issue in the last few years. Many models for the locomotion rhythms of quadrupeds, hexapods, bipeds and other animals have been proposed. This study has also been extended to the control of rhythmic movements of adaptive legged robots. In this paper, we consider a fractional version of a central pattern generator (CPG) model for locomotion in bipeds. A fractional derivative D α f(x), with α non-integer, is a generalization of the concept of an integer derivative, where α=1. The integer CPG model has been proposed by Golubitsky, Stewart, Buono and Collins, and studied later by Pinto and Golubitsky. It is a network of four coupled identical oscillators which has dihedral symmetry. We study parameter regions where periodic solutions, identified with legs’ rhythms in bipeds, occur, for 0<α≤1. We find that the amplitude and the period of the periodic solutions, identified with biped rhythms, increase as α varies from near 0 to values close to unity.

A marcha: a influência do Gerador de Padrão Central

A marcha é influenciada por um conjunto de factores que resultam da interacção e organização própria de sistemas neurais e mecânicos, entre os quais, da dinâmica músculo-esquelética, da modulação pelos centros nervosos superiores, pela modulação aferente e é, também, assumida como sendo controlada pelo Gerador de Padrão Central (GPC), que se define como um programa central baseado num circuito espinal geneticamente determinado, capaz de produzir um ritmo associado a cada marcha. Apresenta-se como objectivo deste trabalho abordar quais os modelos explicativos para o funcionamento do GPC e qual a evidência científica, que continua a ter muitas divergências.

A marcha: a influência do Gerador de Padrão Central

A marcha é influenciada por um conjunto de factores que resultam da interacção e organização própria de sistemas neurais e mecânicos, entre os quais, da dinâmica músculo-esquelética, da modulação pelos centros nervosos superiores, pela modulação aferente e é, também, assumida como sendo controlada pelo Gerador de Padrão Central (GPC), que se define como um programa central baseado num circuito espinal geneticamente determinado, capaz de produzir um ritmo associado a cada marcha. Apresenta-se como objectivo deste trabalho abordar quais os modelos explicativos para o funcionamento do GPC e qual a evidência científica, que continua a ter muitas divergências.

Um novo gerador central de padrões de locomoção para geração de trajectórias em tempo real de robôs quadrúpedes

Neste trabalho estuda-se a geração de trajectórias em tempo real de um robô quadrúpede. As trajectórias podem dividir-se em duas componentes: rítmica e discreta. A componente rítmica das trajectórias é modelada por uma rede de oito osciladores acoplados, com simetria 4 2 Z  Z . Cada oscilador é modelado matematicamente por um sistema de Equações Diferenciais Ordinárias. A referida rede foi proposta por Golubitsky, Stewart, Buono e Collins (1999, 2000), para gerar os passos locomotores de animais quadrúpedes. O trabalho constitui a primeira aplicação desta rede à geração de trajectórias de robôs quadrúpedes. A derivação deste modelo baseia-se na biologia, onde se crê que Geradores Centrais de Padrões de locomoção (CPGs), constituídos por redes neuronais, geram os ritmos associados aos passos locomotores dos animais. O modelo proposto gera soluções periódicas identificadas com os padrões locomotores quadrúpedes, como o andar, o saltar, o galopar, entre outros. A componente discreta das trajectórias dos robôs usa-se para ajustar a parte rítmica das trajectórias. Este tipo de abordagem é útil no controlo da locomoção em terrenos irregulares, em locomoção guiada (por exemplo, mover as pernas enquanto desempenha tarefas discretas para colocar as pernas em localizações específicas) e em percussão. Simulou-se numericamente o modelo de CPG usando o oscilador de Hopf para modelar a parte rítmica do movimento e um modelo inspirado no modelo VITE para modelar a parte discreta do movimento. Variou-se o parâmetro g e mediram-se a amplitude e a frequência das soluções periódicas identificadas com o passo locomotor quadrúpede Trot, para variação deste parâmetro. A parte discreta foi inserida na parte rítmica de duas formas distintas: (a) como um offset, (b) somada às equações que geram a parte rítmica. Os resultados obtidos para o caso (a), revelam que a amplitude e a frequência se mantêm constantes em função de g. Os resultados obtidos para o caso (b) revelam que a amplitude e a frequência aumentam até um determinado valor de g e depois diminuem à medida que o g aumenta, numa curva quase sinusoidal. A variação da amplitude das soluções periódicas traduz-se numa variação directamente proporcional na extensão do movimento do robô. A velocidade da locomoção do robô varia com a frequência das soluções periódicas, que são identificadas com passos locomotores quadrúpedes.

Localization of the central rhythm generator involved in spontaneous consummatory licking in rats: functional ablation and electrical brain stimulation studies.

Localization of the central rhythm generator (CRG) of spontaneous consummatory licking was studied in freely moving rats by microinjection of tetrodotoxin (TTX) into the pontine reticular formation. Maximum suppression of spontaneous water consumption was elicited by TTX (1 ng) blockade of the oral part of the nucleus reticularis gigantocellularis (NRG), whereas TTX injections into more caudal or rostral locations caused significantly weaker disruption of drinking. To verify the assumption that TTX blocked the proper CRG of licking rather than some relay in its output, spontaneously drinking thirsty rats were intracranially stimulated via electrodes chronically implanted into the oral part of the NRG. Lick-synchronized stimulation (a 100-ms train of 0.1-ms-wide rectangular pulses at 100 Hz and 25-150 microA) applied during continuous licking (after eight regular consecutive licks) caused a phase shift of licks emitted after stimulus delivery. The results suggest that the stimulation has reset the CRG of licking without changing its frequency. The reset-inducing threshold current was lowest during the tongue retraction and highest during the tongue protrusion period of the lick cycle. It is concluded that the CRG of licking is located in the oral part of NRG.

PAGAN, a three dimensional pattern generator /

"August, 1971."

Periodic limb movements during sleep and restless legs syndrome in patients with ASIA A spinal cord injury

Objective: To establish the occurrence of Periodic Leg Movements (PLM) and Restless Legs Syndrome (RLS) in Spinal Cord Injury (SCI) subjects. Methods: In this study, twenty four patients were submitted to a full night polysomnography and were assessed with Epworth Sleepiness Scale and an adapted form of International Restless Legs Syndrome Scale Rating Scale (IRLS Rating Scale). Control Group (CG) was composed of 16 subjects, 50% of each sex, age: 24.38 +/- 4 years old. Spinal Cord Injury Group (SCIG) was composed of 8 subjects (29 +/- 5 years old) with a complete SCI (ASIA A) of about three and a half years of duration, 100% males. Results: 100% of SCIG had RLS compared to 17% in CG ( p < 0.0001). SCIG had 18.11 +/- 20.07 of PLM index while CG had 5.96 +/- 11.93 (p = 0.01). Arousals related to PLM were recorded in CG and SCIG. There was a positive moderate correlation between RLS and age (r = 0.5; p = 0.01), RLS and PLM (r = 0.49; p = 0.01), adapted IRLS Rating Scale and PLM index (r = 0.64; p = 0.03) and also a negative moderate correlation between Epworth Sleepiness Scale and PLM index (r = -0.4; p = 0.04) in both groups. Conclusion: RLS and PLM are common findings in SCI patients with a complete injury. (C) 2010 Elsevier B.V. All rights reserved.

Robôs quadrúpedes: geração de trajectórias em tempo real usando sistemas dinâmicos não-lineares

A geração de trajectórias de robôs em tempo real é uma tarefa muito complexa, não existindo ainda um algoritmo que a permita resolver de forma eficaz. De facto, há controladores eficientes para trajectórias previamente definidas, todavia, a adaptação a variações imprevisíveis, como sendo terrenos irregulares ou obstáculos, constitui ainda um problema em aberto na geração de trajectórias em tempo real de robôs. Neste trabalho apresentam-se modelos de geradores centrais de padrões de locomoção (CPGs), inspirados na biologia, que geram os ritmos locomotores num robô quadrúpede. Os CPGs são modelados matematicamente por sistemas acoplados de células (ou neurónios), sendo a dinâmica de cada célula dada por um sistema de equações diferenciais ordinárias não lineares. Assume-se que as trajectórias dos robôs são constituídas por esta parte rítmica e por uma parte discreta. A parte discreta pode ser embebida na parte rítmica, (a.1) como um offset ou (a.2) adicionada às expressões rítmicas, ou (b) pode ser calculada independentemente e adicionada exactamente antes do envio dos sinais para as articulações do robô. A parte discreta permite inserir no passo locomotor uma perturbação, que poderá estar associada à locomoção em terrenos irregulares ou à existência de obstáculos na trajectória do robô. Para se proceder á análise do sistema com parte discreta, será variado o parâmetro g. O parâmetro g, presente nas equações da parte discreta, representa o offset do sinal após a inclusão da parte discreta. Revê-se a teoria de bifurcação e simetria que permite a classificação das soluções periódicas produzidas pelos modelos de CPGs com passos locomotores quadrúpedes. Nas simulações numéricas, usam-se as equações de Morris-Lecar e o oscilador de Hopf como modelos da dinâmica interna de cada célula para a parte rítmica. A parte discreta é modelada por um sistema inspirado no modelo VITE. Medem-se a amplitude e a frequência de dois passos locomotores para variação do parâmetro g, no intervalo [-5;5]. Consideram-se duas formas distintas de incluir a parte discreta na parte rítmica: (a) como um (a.1) offset ou (a.2) somada nas expressões que modelam a parte rítmica, e (b) somada ao sinal da parte rítmica antes de ser enviado às articulações do robô. No caso (a.1), considerando o oscilador de Hopf como dinâmica interna das células, verifica-se que a amplitude e frequência se mantêm constantes para -50.2. A extensão do movimento varia de forma directamente proporcional à amplitude. No caso das equações de Morris-Lecar, quando a componente discreta é embebida (a.2), a amplitude e a frequência aumentam e depois diminuem para - 0.170.5 Pode concluir-se que: (1) a melhor forma de inserção da parte discreta que menos perturbação insere no robô é a inserção como offset; (2) a inserção da parte discreta parece ser independente do sistema de equações diferenciais ordinárias que modelam a dinâmica interna de cada célula. Como trabalho futuro, é importante prosseguir o estudo das diferentes formas de inserção da parte discreta na parte rítmica do movimento, para que se possa gerar uma locomoção quadrúpede, robusta, flexível, com objectivos, em terrenos irregulares, modelada por correcções discretas aos padrões rítmicos.

Complex order biped rhythms

Animal locomotion is a complex process, involving the central pattern generators (neural networks, located in the spinal cord, that produce rhythmic patterns), the brainstem command systems, the steering and posture control systems and the top layer structures that decide which motor primitive is activated at a given time. Pinto and Golubitsky studied an integer CPG model for legs rhythms in bipeds. It is a four-coupled identical oscillators' network with dihedral symmetry. This paper considers a new complex order central pattern generator (CPG) model for locomotion in bipeds. A complex derivative Dα±jβ, with α, β ∈ ℜ+, j = √-1, is a generalization of the concept of an integer derivative, where α = 1, β = 0. Parameter regions where periodic solutions, identified with legs' rhythms in bipeds, occur, are analyzed. Also observed is the variation of the amplitude and period of periodic solutions with the complex order derivative.

Behavioural and neural correlates of operant conditioning in Lymnaea stagnalis : role of previous experience during development /

The freshwater mollusc Lymnaea stagnalis was utilized in this study to further the understanding of how network properties change as a result of associative learning, and to determine whether or not this plasticity is dependent on previous experience during development. The respiratory and neural correlates of operant conditioning were first determined in normally reared Lymnaea. The same procedure was then applied to differentially reared Lymnaea, that is, animals that had never experienced aerial respiration during their development. The aim was to determine whether these animals would demonstrate the same responses to the training paradigm. In normally reared animals, a behavioural reduction in aerial respiration was accompanied by numerous changes within the neural network. Specifically, I provide evidence of changes at the level of the respiratory central pattern generator and the motor output. In the differentially reared animals, there was little behavioural data to suggest learning and memory. There were, however, significant differences in the network parameters, similar to those observed in normally reared animals. This demonstrated an effect of operant conditioning on differentially reared animals. In this thesis, I have identified additional correlates of operant conditioning in normally reared animals and provide evidence of associative learning in differentially reared animals. I conclude plasticity is not dependent on previous experience, but is rather ontogenetically programmed within the neural network.

Perturbing the impulse activity of a single identified neuron augments the formation of long-term memory in a molluscan semi-intact preparation /

The aim of this study was to investigate the neural correlates of operant conditioning in a semi-intact preparation of the pond snail, Lymnaea stagnalis. Lymnaea learns, via operant conditioning, to reduce its aerial respiratory behaviour in response to an aversive tactile stimulus to its open pneumostome. This thesis demonstrates the successful conditioning of na'ive semiintact preparations to show learning in the dish. Furthermore, these conditioned preparations show long-term memory that persists for at least 18 hours. As the neurons that generate this behaviour have been previously identified I can, for the first time, monitor neural activity during both learning and long-term memory consolidation in the same preparation. In particular, I record from the respiratory neuron Right Pedal Dorsal 1 (RPeD 1) which is part of the respiratory central pattern generator. In this study, I demonstrate that preventing RPeDl impulse activity between training sessions reduces the number of sessions needed to produce long-term memory in the present semi-intact preparation.

Caractérisation spatiale des syncytia formés par le couplage des astrocytes du noyau sensoriel principal du nerf trijumeau en fonction de la concentration de calcium extracellulaire.

Le mouvement masticatoire est généré et coordonné par un générateur de patron central (GPC) situé au niveau du pont. Plusieurs résultats antérieurs de notre laboratoire soutiennent que le réseau de neurones à l’origine de la rythmogénèse est situé dans le noyau sensoriel principal du nerf trijumeau (NVsnpr). Ces mêmes expériences révèlent que des diminutions de la concentration calcique extracellulaire ([Ca2+]e) tiennent une place importante dans la génération des bouffées de décharges des neurones de cette région. Notre laboratoire tente de vérifier si la contribution des astrocytes à l’homéostasie de la concentration calcique extracellulaire est impliquée dans la genèse du rythme. Cette étude a pour but la caractérisation spatiale du syncytium astrocytaire au sein du NVsnpr dorsal et l’étude de l’effet de la [Ca2+]e sur les propriétés astrocytaires électrophysiologiques et de connectivité. Nous avons utilisés pour ce faire la technique d’enregistrement par patch-clamp sur une préparation en tranche de tronc cérébral de rat. Nous démontrons ici que la diminution de la [Ca2+]e n’affecte pas les propriétés électrophysiologiques astrocytaires, mais induit une augmentation de la taille du syncytium. De plus, nous établissons l’existence au sein du NVsnpr dorsal d’une organisation anatomofonctionnelle du réseau astrocytaire calquée sur l’organisation neuronale.