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

运动一般原理建模：生成与物种无关的运动控制模型（IRG1 - 项目参考号 1938759）

基本信息

批准号：
MR/T046619/1
负责人：
Gregory Sutton
金额：
$ 125.77万
依托单位：
University of Lincoln
依托单位国家：
英国
项目类别：
Research Grant
财政年份：
2020
资助国家：
英国
起止时间：
2020 至无数据
项目状态：
未结题

来源：
https://gtr.ukri.org/projects?ref=MR%2FT046619%2F1
关键词：
Modeling General Principles Motion Generating

项目摘要

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.

我们将建立一个规模依赖模型，如何较低水平的运动中心（LLMCs）。即局部神经节）控制需要与环境交互的节奏运动，如行走或抓取物体，以及更高级别的指挥中心（HLCC）如何控制这些运动。即中枢脑结构）与LLMC相互作用以调节行为。我们的首要假设是，行为的动态尺度，即动物的大小和运动速度，将使我们能够推导出跨门运动控制原理，并预测每种动物拥有什么样的神经回路。我们的团队由来自三个合作研究小组（IRG的2-4）的建模者组成。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，然后比较和概括实验所发现的。我们将通过提供一个理论框架来指导实验并整合其他三个研究团队的结果，使整个研究团队的4个独立研究小组大于其部分的总和。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：动物的大小和行为的速度如何影响其被动力学？动物的被动力学是否改变了控制所需的感官信息的获得或类型？身体的机制如何简化行为的下降控制？所揭示的一般原则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特定的假设驱动：假设1：量化动物的动态规模及其行为将能够预测用于控制运动的感觉反馈。当动物变得更小（或更慢）时，弹性（或粘性）力与惯性力的比率增加。小的和/或慢的动物有较少的增益的负反馈反射相比，较大的动物，因为弹性和/或粘性力稳定behavior.Hypothesis 2：尽管在跨物种的规模差异，有一个基本的组织的LLMCs，稳定与环境的相互作用。该组织包括LLMC内的模式发生器和反射，以及通过上行路径到HLCC和下行命令返回LLMC介导的运动反应。这种途径的功效通过一种简单、抽象的信息交流代码来增强。四个具体目标将驱使我们测试这些假设具体目标1：完善规模如何影响被动体力的理论。具体目标二：构建C3 NS模型有机体共同的初始建模框架具体目标3：理解和建模有机体的共性，即下行和上行信息如何被较低和较高级别的网络编码、传输和解码具体目标4：建立与环境交互控制的广义模型。