Generation of Metachronal Motor Patterns in Segmental Nervous Systems

复杂综合动作的协调是神经系统面临的最具挑战性的任务之一。一种已被证明非常有效的实验方法是对简单模型系统的研究。小龙虾有神经系统，在那里可以识别控制游泳行为的有限数量的神经元。马尔洛尼博士一直是这一神经系统研究的先驱。在NSF的支持下，他发现每个单独肢体的运动是由特定于该肢体的神经元的特殊局部回路驱动的。肢体运动的协调是由一个独立的中间神经元回路控制的。这是我们对运动控制的理解上的重大进步。随着这项拨款的续期，马尔洛尼博士将能够描述这些局部回路的突触组织，并确定正常协调所需的特性。他还将描述细胞机制，通过这些机制，来自较高中枢的输入可以改变这些局部回路的状态，以调节游泳速度和方向。研究结果将在机器人运动系统的设计中有广泛的应用。在该系统中确定的分布式控制类型正在成为指导多附体系统运动的一般原则。

The coordination of complex integrated movements is one of the most challenging tasks that faces the nervous system. An experimental approach that has proved very fruitful is the study of simple model systems. Crayfish have nervous systems where it is possible to identify a limited number of neurons that control swimming behavior. Dr. Mulloney has been a pioneer in the study of this nervous system. With NSF support he has found that the movement of each separate limb is driven by a specialized local circuit of neurons specific for that limb. Coordination of limb movements is controlled by a separate circuit of interneurons. This is a major advance in our understanding of movement control. With the renewal of this grant, Dr. Mulloney will be able to describe the synaptic organization of these local circuits and identify the properties necessary for normal coordination. He will also describe the cellular mechanisms by which inputs descending from higher centers can change the state of these local circuits to modulate swimming rate and direction. The results will have broad applications in the design of robot locomotion systems. The type of distributed control identified in this system is emerging as a general principle for the guidance of locomotion in multi-appendage systems.***//