Modeling General Principles Of Motion : Generating A Species-agnostic Model Of Motor Control (IRG1 - Project Reference 1938759)

我们将建立一个依赖于规模的模型，研究较低级别的运动中心(LLMC)是如何。局部神经节)控制需要与环境互动的有节奏的运动，例如行走或抓住物体，以及更高级别的指挥中心(HLCC)如何控制运动。大脑中央结构)与LLMC相互作用以调节行为。我们最重要的假设是，行为的动态规模，即动物的大小和运动速度，将使我们能够推导出运动控制的跨门类原则，并预测每种动物拥有什么神经电路。我们的团队由来自三个合作的个人研究小组(IRG的2-4)的建模人员组成。我们将使用动物的神经力学模型来产生假设，以测试IRG的2-4，然后比较和概括通过实验发现的东西。我们将通过提供一个理论框架来指导实验和整合其他三个研究团队的结果，使由四个单独的研究小组组成的整个研究团队大于其各部分的总和。我们将通过考虑一系列问题来建模和分析LLMC的动态结构和身体本身如何简化HLCC和LLMC之间必须共享的信息：动物的大小和行为速度如何影响其被动力学？动物的被动机制是否改变了控制所必需的感觉信息的获得或类型？身体的力学如何简化行为的下行控制？所揭示的一般原理将通过它们在控制通用机器人平台的行走和抓取中的使用来验证。我们的建模和机器人工作将由两个具体的假设驱动：假设1：量化动物及其行为的动态规模将使预测用于控制运动的感觉反馈成为可能。随着动物变小(或变慢)，弹性力(或粘性力)与惯性力的比率增加。与大型动物相比，小型和/或速度较慢的动物较少获得负反馈反射，因为弹性和/或粘性力稳定行为。假设2：尽管不同物种的规模不同，但LLMC有一个基本的组织结构，稳定与环境的相互作用。这种组织结构包括模式生成器和LLMC内的反射，以及通过上行通路传递到HLCC的运动反应和返回LLMC的下行命令。通过一种简单、抽象的信息交流代码，这类途径的效率得到了提高。四个具体目标将驱使我们检验这些假设。具体目标1：完善规模如何影响被动体力的理论。具体目标2：构建C3NS模型组织通用的初始建模框架具体目标3：了解和模拟生物如何编码、传输和解码下行和上行信息的共性。具体目标4：验证与环境相互作用控制的通用模型。

We will build a scale-dependent model of how lower-level motor centers (LLMCs..i.e. local ganglia) control rhythmic motions that require interaction with the environment, such as walking or grasping objects, and how higher-level command centers (HLCCs...i.e. central cerebral structures) interface with the LLMCs to modulate behavior. Our overarching hypothesis is that the dynamical scale of a behavior, that is, the size of the animal and the speed of its motion, will enable us to derive cross-phylum principles of motor control and predict what neural circuitry each animal possesses. Our group consists of modelers from within three collaborating individual research groups (IRG's 2-4). We will use neuromechanical models of animals to generate hypotheses to be tested IRG's 2-4, and then compare and generalize what is uncovered by experimentation. We will make the whole research team of 4 individual research groups greater than the sum of its parts, by providing a theoretical framework to guide experimentation and integrate results from the other three research teams. We will model and analyze how the dynamical structure of LLMCs and the body itself simplify what information must be shared between the HLCC and LLMC, by considering a series of questions: How does the size of an animal and the speed of its behavior affect its passive mechanics? Do an animal's passive mechanics change the gain or type of sensory information necessary for control? How do the mechanics of the body simplify the descending control of behavior? The general principles uncovered will be validated by their use in controlling the walking and grasping of a general-purpose robotic platform. Our modelling and robotics work will be driven by two specific hypotheses:Hypothesis 1: Quantifying the dynamic scale of an animal and its behavior will enable the prediction of sensory feedback used to control motion. The ratio of elastic (or viscous) to inertial forces increases as animals become smaller (or slower). Small and/or slow animals have less gain of negative feedback reflexes as compared to larger animals, because the elastic and/or viscous forces stabilize behavior.Hypothesis 2: Despite differences in scale across species, there is a fundamental organization of the LLMCs that stabilizes interactions with the environment. This organization consists of pattern generators and reflexes within the LLMC, as well as motor responses mediated via ascending pathways to the HLCC and descending commands back to the LLMC. The efficacy of such pathways is enhanced by a simple, abstract code for communicating information. Four specific aims will drive us to test these hypothesesSpecific Aim 1: Refine theories of how scale affects passive body forces. Specific Aim 2: Construct an initial modeling framework common to C3NS's model organismsSpecific Aim 3: Understand and model organismal commonalities in how descending and ascending information is encoded, transmitted, and decoded by lower and higher-level networks Specific Aim 4: Validate the generalized model of the control of interaction with the environment.