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PubMed2006

An efficient dynamic system for real-time robot-path planning.

This paper presents a simple yet efficient dynamic-programming (DP) shortest path algorithm for real-time collision-free robot-path planning applicable to situations in which targets and barriers are permitted to move. The algorithm works in real time and requires no prior knowledge of target or barrier movements. In the case that the barriers are stationary, this paper proves that this algorithm always results in the robot catching the target, provided it moves at a greater speed than the target, and the dynamic-system update frequency is sufficiently large. Like most robot-path-planning approaches, the environment is represented by a topologically organized map. Each grid point on the map has only local connections to its neighboring grid points from which it receives information in real time. The information stored at each point is a current estimate of the distance to the nearest target and the neighbor from which this distance was determined. Updating the distance estimate at each grid point is done using only the information gathered from the point's neighbors, that is, each point can be considered an independent processor, and the order in which grid points are updated is not determined based on global knowledge of the current distances at each point or the previous history of each point. The robot path is determined in real time completely from the information at the robot's current grid-point location. The computational effort to update each point is minimal, allowing for rapid propagation of the distance information outward along the grid from the target locations. In the static situation, where both the targets and the barriers do not move, this algorithm is a DP solution to the shortest path problem, but is restricted by lack of global knowledge. In this case, this paper proves that the dynamic system converges in a small number of iterations to a state where the minimal distance to a target is recorded at each grid point and shows that this robot-path-planning algorithm can be made to always choose an optimal path. The effectiveness of this algorithm is demonstrated through a number of simulations.

Algorithms↗

PubMed1979

A restriction map of cauliflower mosaic virus DNA (strain PV 147). Mapping of the cleavage sites of HhaI, SacI, AvaI, PvuII, PstI, XbaI, EcoRI, Bg/II, HincII, HpaII and HindII + III.

The virion-extracted DNA (Mr5 x 10(6)) of cauliflower mosaic virus (CaMV) has three single-stranded interruptions. The mapping of this DNA using eleven restriction endonucleases (HhaI, SacI, AvaI, PvuII, PstI, XbaI, EcoRI, Bg/II, HincII, HpaII and HindII + III) is reported here. The existence of the three single-stranded breaks complicates the identification and the molecular weight determination of fragments produced by HpaII, HindIII and HindII + III. Indeed the electrophoretic mobility of some fragments in which a single-stranded discontinuity is located is modified, and the fluorescence of ethidium bromide complexed with these fragments is reduced as compared to that observed for the other fragments existing in a molar ratio. These drawbacks were overcome by performing experiments of nick-translation of CaMV DNA with Escherichia coli DNA polymerase I. FRom the data it follows that the CaMV DNA molecule bears bears 1 site for HhaI and SacI, 2 for AvaI and PvuII, 3 for PstI, 4 for XbaI, 5 for EcoRI, 6 for Bg/II and HincII, 11 for HpaII and 15 for HindII + III. The corresponding fragments have all been ordered and precisely located providing a suitable map for further investigations connected with the study of the fine structure and the function of the CaMV genome.

DNA Restriction Enzymes↗

PubMed1996

Genome and chromosome identification in cultivated barley and related species of the Triticeae (Poaceae) by in situ hybridization with the GAA-satellite sequence.

The satellite sequence studied was primarily composed of GAA repeats organized in long tracts of heterochromatic DNA. Fluorescent in situ hybridization (FISH) with the GAA satellite (GAA banding) to the chromosomes of barley, wheat, rye, and other Triticeae species produced banding patterns similar to those obtained by N-banding. The GAA-banding patterns of barley are described in detail and those of 12 other Triticeae species are described briefly. In situ hybridization with the GAA-satellite sequence permits identification of all the chromosomes of barley. It is a valuable alternative to other banding techniques, especially in connection with physical gene mapping by FISH. The application of the GAA-satellite sequence for the characterization of genomes in phylogenetic studies of genera containing the sequence is discussed.

Base Sequence↗

PubMed2004

Biventricular hypertrophy in dogs with chronic AV block: effects of cyclosporin A on morphology and electrophysiology.

Chronic atrioventricular (AV) block (CAVB) and biventricular hypertrophy in dogs increase susceptibility to drug-induced polymorphic ventricular tachycardia (PVT). In various rodent models, cyclosporin A (CsA) prevented hypertrophy. A similar effect in the CAVB model would allow us to determine whether hypertrophy represents an epiphenomenon, the cause of electrophysiological changes, and/or the anatomic substrate for PVTs. Upon AV node ablation, 6 dogs were studied acutely (AAVB), 25 dogs were kept for 6 (6W) and 12 wk (12W), receiving no treatment [CTL-CAVB-6W (n=6) and CTL-CAVB-12W (n=7)] or a daily oral dose of 10-20 mg/kg CsA directly (n=6, CsA-CAVB-6W) or 6 wk after radio-frequency ablation (n=6, CsA-CAVB-12W). For the final study, dogs were anesthetized, and 60 needles were inserted into both ventricles and connected to a multiplexer mapping system. Local effective refractory periods (ERPs) were determined at 56 +/- 22 randomly selected sites (extrastimulus technique, basic cycle length=800 ms). Arrhythmias within 30 min after application of almokalant (0.34 micromol/kg iv) were registered. The hearts were then excised to obtain the heart weight-body weight index (HBWI). Compared with AAVB, CTL-CAVB-6W and CTL-CAVB-12W showed increased HBWI and ERP associated with PVT inducibility in none of six AAVB dogs, four of six CTL-CAVB-6W dogs, and one of seven CTL-CAVB-12W dogs. Compared with CTL-CAVB-6W and CTL-CAVB-12W, CsA-CAVB-6W and CsA-CAVB-12W partially prevented hypertrophy or led to a regression of hypertrophy without reducing ERP prolongation. Despite ERP prolongation, PVTs were no longer inducible with CsA treatment. Thus prolongation of refractoriness seems to provide the trigger, but hypertrophy provides the essential substrate for the induction of PVTs in this model.

Animals↗

PubMedDate not supplied

Subdivisions of auditory cortex and levels of processing in primates.

In a series of experiments on New World and Old World monkeys, architectonic features of auditory cortex were related to tone frequency maps and patterns of connections to generate and evaluate theories of cortical organization. The results suggest that cortical processing of auditory information involves a number of functionally distinct fields that can be broadly grouped into four or more levels of processing. At the first level, there are three primary-like areas, each with a discrete pattern of tonotopic organization, koniocortical histological features, and direct inputs from the ventral division of the medial geniculate complex. These three core areas are interconnected and project to a narrow surrounding belt of perhaps seven areas which receive thalamic input from the major divisions of the medial geniculate complex, the suprageniculate/limitans complex, and the medial pulvinar. The belt areas connect with a lateral parabelt region of two or more fields that are almost devoid of direct connections with the core and the ventral division of the medial geniculate complex. The parabelt fields connect with more distant cortex in the superior temporal gyrus, superior temporal sulcus, and prefrontal cortex. The results indicate that auditory processing involves 15 or more cortical areas, each of which is interconnected with a number of other fields, especially adjoining fields of the same level.

Animals↗

PubMed2005

An overview of the central control of weight regulation and the effect of antipsychotic medication.

Weight regulation is a complex system necessary for maintaining health. Obesity and cachexia are consequences of dysregulation and cause significant physical morbidity and mortality. In the developed world, obesity is a growing epidemic. A greater understanding of the neuroanatomy of weight regulation has been gained through advances in imaging and neural mapping techniques. The neural connections between key hypothalamic and other central nuclei have been elucidated. Advances in molecular biology have led to the identification and cloning of important peripheral and central weight regulating peptides. Weight gain as a consequence of antipsychotic use is increasingly being recognized as a serious clinical issue. The weight regulation system provides a framework upon which antipsychotics exert their weight-inducing effects. Some studies have sought, with inconsistent results, to establish associations between antipsychotic use and levels of weight regulating mediators. The receptor pharmacology of antipsychotics known to increase weight can be studied with a view to establishing genetic variants contributing to the risk. To date, the 5-HT(2C) receptor 759C/T polymorphism shows most promise. Further studies are required to replicate previous findings and establish new associations.

Animals↗

PubMed2004

Pulmonary veins isolation to treat patients with refractory paroxysmal atrial fibrillation: clinical results after a single procedure.

OBJECTIVE: The purpose of this study was to access the clinical outcome of patients submitted to a single procedure of radiofrequency pulmonary veins (PV) isolation to treat refractory paroxysmal atrial fibrillation (AF). METHODS: This study included 49 consecutive patients (36 male; mean age 54+/-10 years old) who had frequent symptomatic paroxysmal AF refractory to at least three antiarrhythmic drugs. We used a circular decapolar catheter for mapping PVs - left atrial connections and a 4-mm distal tip catheter for ablation (30 W and 50 C), aiming to achieve electrical isolation of 3 -4 PVs. RESULTS: Twenty-five patients (51%) did not present any AF recurrence in a mean follow-up of 12+/-5 months. Twenty-four (49%) had at least one recurrence during outcome; twenty (83%) of them within the first month after the procedure and four after two to nine months. After introducing antiarrhythmic drugs 15 (63%) patients were under control, 10 were asymptomatic and five complained of sporadic short duration AF episodes. Nine (37%) patients remained very symptomatic despite the use of antiarrhythmic drugs and were referred to a new procedure of PV isolation. No patient presented major complications. At the end of the follow-up, 35 (71%) patients remained in stable sinus rhythm with no AF recurrences after a single procedure, 50% of them without antiarrhythmic drugs. CONCLUSION: Most patients who present symptomatic paroxysmal AF refractory to antiarrhythmic drugs obtain a good clinical control after a single PV isolation procedure.

Adult↗

PubMed1999

A somatic gene transfer approach using recombinant fusion proteins to map muscle-motoneuron projections in Xenopus spinal cord.

A combination of somatic gene transfer with fusion protein technology has been developed, thus providing an innovative means of mapping muscle-motoneuronal connections in Xenopus tadpole spinal cord. We analyzed whether a neuronal tracer created by the fusion of the LacZ gene to the tetanus toxin C fragment (LacZ-TTC) could be produced from plasmid DNA injected into muscle, and whether it could be released and undergo retrograde transport into motoneurons. Plasmids encoding various fusion protein constructions, with or without a signal peptide, were injected into dorsal or caudal muscles of premetamorphic tadpoles. The marker was produced in the muscle at constantly high levels. At one month post-injection, the fusion protein passed the neuromuscular junction and underwent retrograde transport into motoneurons. Transfer into motoneurons was seen for every animal injected, emphasizing the high reproducibility and efficiency of the process. No uptake of beta-gal protein into motoneurons was observed in the absence of the TTC fragment. Furthermore, no enhancement was obtained by adding a signal peptide. These results provide the first demonstration of the synthesis and transport of a TTC fusion protein produced directly from exogenous DNA in a vertebrate system.

Animals↗

PubMed1989

Integration of distributed cortical systems by reentry: a computer simulation of interactive functionally segregated visual areas.

A computer model based on visual cortex has been constructed to analyze how the operations of multiple, functionally segregated cortical areas can be coordinated and integrated to yield a unified perceptual response. We propose that cortical integration arises through the process of reentry--the ongoing, parallel, recursive signaling between separate maps along ordered anatomical connections. To test the efficacy of this reentrant cortical integration (RCI) model, we have carried out detailed computer simulations of 3 interconnected cortical areas in the striate and extrastriate cortex of the macaque. The simulated networks contained a total of over 222,000 units and 8.5 million connections. The 3 modeled areas, called VOR, VOC, and VMO, incorporate major anatomical and physiological properties of cortical areas V1, V3, and V5 but are vastly simplified compared with monkey visual cortex. Simulated area VOR contains both orientation and directionally selective units; simulated area VMO discriminates the direction of motion of arbitrarily oriented objects; and simulated area VOC responds to both luminance and occlusion boundaries in the stimulus. Area VOC is able to respond to illusory contours (Kanizsa, 1979) by means of the same neural architecture used for the discrimination of occlusion boundaries. This architecture also generates responses to structure-from-motion by virtue of reentrant connections from VMO to VOC. The responses of the simulated networks to these illusions are consistent with the perceptual responses of humans and other species presented with these stimuli. The networks also respond in a consistent manner to a novel illusion that combines illusory contours and structure-from-motion. The response synthesized to this combined illusion provides a strong argument supporting the need for a recursive reentrant process in the cortex. Functional integration of the simulated areas in the RCI model were found to depend upon the combined action of 3 reentrant processes: (1) conflicting responses among segregated areas are competitively eliminated, (2) outputs of each area are used by other areas in their own operations, and (3) outputs of an area are "reentered" back to itself (through lower areas) and can thus be used iteratively to synthesize responses to complex or illusory stimuli. Transection of the reentrant connections selectively abolished these integrative processes and led to failure of figural synthesis. The proposed model of reentry suggests a basis for understanding how multiple visual areas as well as other cortical areas may be integrated within a distributed system.

Animals↗

PubMed1986

[Hemodynamic effects in high-dose infusion of nimodipine, a new calcium antagonist].

Nimodipine, a new calcium channel blocker, seems to be effective in the treatment of vasospasm in cerebral vasculature. Typical cardiovascular side effects have limited the dose in neurology and neurosurgery to 0.03 mg/kg X h. This study was designed to examine the influence of an infusion of high dose nimodipine (0.09 mg/kg X h) on haemodynamics. 52 patients undergoing aorto-coronary bypass surgery and prospectively randomised in a nimodipine group and a control group having received 0.9% saline solution as placebo were investigated at 3 different times: 1. before induction of anaesthesia (n = 6) 2. during anaesthesia (n = 10) 3. during extracorporeal circulation (ECC n = 10). Predominant effect of high-dose nimodipine was a decrease in total systemic resistance (TSR), followed by a decrease in mean arterial pressure (MAP) and a significant increase in cardiac output. Haemodynamic effects were much more pronounced during anaesthesia in comparison to patients before induction of anaesthesia, thus demonstrating an interaction between anaesthetics and calcium channel blocker. Heart rate (HR -9.3%) and dp/dtmax (-17%) showed a decrease, too. The decrease in MAP and HR in connection with a decrease in left ventricular pressure (-21.9%) and left ventricular end diastolic pressure (-42.8%) indicate a reduction in myocardial oxygen demand. An increasing dosage of nimodipine is accompanied by increasing cardiovascular effects. From the haemodynamic point of view high dosage of nimodipine seems to be of advantage in patients with hypertension and/or coronary heart disease suffering simultaneously from cerebral vasospasm.

Coronary Artery Bypass↗

PubMed1983

[Role of various portions of chromosome 17 in the early embryogenesis of the laboratory mouse].

Peculiarities of the early development of mice embryos with structural aberrations of chromosome 17 were studied in mice heterozygous for reciprocal translocations T (16; 17) 43H and T (9; 17) 138Ca. Deficiency for the distal part of chromosome 17 corresponding to the E-region (Df 17 E1-E5), as well as deficiency for its most proximal part, the AB region (Df 17 A1-A-3, B) carrying all genes of complex T-locus, does not block cleavage, blastulation and implantation but severely affects immediate postimplantation development and causes embryonic death during early neurulation. Deficiency for the middle part of chromosome 17, including Giemsa-positive band 17C and the most of Giemsa-negative band D, becomes evident just after a few cleavage divisions and all these embryos die at the morula stage (8-16 blastomeres). It has been concluded that genes of the CD region in chromosome 17 are of major importance for genetic control of the early development in laboratory mice. The possible causes for early embryonic death are discussed in connection with the genetic map of chromosome 17 and a hypothesis of mutual activation of homologous autosomes and their segments at initial stages of embryogenesis is suggested.

Animals↗

PubMed1981

Topographic and morphometric effects of bilateral embryonic eye removal on the optic tectum and nucleus isthmus of the leopard frog.

Rana pipiens were raised through metamorphosis after extirpation of both eye primordia at Shumway embryonic stage 17 (Shumway '40). The visual connections between the isthmic nuclei and the optic tectum were examined in these animals using horseradish peroxidase (HRP) histochemistry. Isthmo-tectal projections are normally aligned with the primary retinotectal map. We asked whether these connections would develop normal topographic organization in the absence of normal retinal input. HRP was formed into a solid pellet (congruent to 200-500 micrometer diameter) and inserted into one tectal lobe on the tip of a fine metal probe. The procedure produced relatively restricted retrograde label in somas and dendrites in both isthmi nuclei. In the nucleus isthmus ipsilateral to the tectal lobe receiving the HRP pellet, processes of tecto-isthmi neurons were labeled by anterograde transport. The topography of the isthmo-tectal and tecto-isthmic projections were identical in the developmentally enucleated animals and in normal frogs, even though eye removal severely reduced the volume of the optic tecta and the isthmi nuclei. Thus our analyses indicate that retinal contacts do not play an active role in the development of the positional or polarity cues that are involved in "mapping" projections between central visual nuclei. These results are discussed in the context of peripheral specification of central connections and in terms of models that have recently been proposed to explain the development of the retinotectal system.

Animals↗

PubMed2000

Structure mapping in the comparison process.

Carrying out similarity and analogy comparisons can be modeled as the alignment and mapping of structured representations. In this article we focus on three aspects of comparison that are central in structure-mapping theory. All three are controversial. First, comparison involves structured representations. Second, the comparison process is driven by a preference for connected relational structure. Third, the mapping between domains is rooted in semantic similarity between the relations that characterize the domains. For each of these points, we review supporting evidence and discuss some challenges raised by other researchers. We end with a discussion of the role of structure mapping in other cognitive processes.

Adult↗

PubMed2001

Visual interhemispheric transfer to areas 17 and 18 in cats with convergent strabismus.

Commissural connections between primary visual cortical maps of the two hemispheres are essential to unify the split representation of the visual field. In normal adult cats, callosal connections are essentially restricted to the border between areas A17 and A18, where the central vertical meridian is projected. In contrast, early convergent strabismus leads to an expanded callosal-receiving zone, as repeatedly indicated by anatomical experiments. We investigated here the functional correlates of this widespread distribution of callosal terminals by analysing transcallosal visual responses in five anaesthetized and paralysed 4-10-month-old cats whose right eye had been surgically deviated on postnatal day 6. After acute section of the optic chiasm, single-unit activity was recorded from A17 and A18 of the right hemisphere while the left eye was visually stimulated. A total of 108/406 units were transcallosally activated. While they were more frequent at the 17/18 border (46% of the units recorded within this region), numerous transcallosally activated units were located throughout A17 (16%), A18 (27%) or within the white matter (17%). In all regions, transcallosally driven units displayed functional deficits usually associated with strabismus, such as decreased binocularity and ability to respond to fast-moving stimuli, and increased receptive field size. Many units also displayed reduced orientation selectivity and increased position disparity. In addition, transcallosal receptive fields were manifestly located within the hemifield ipsilateral to the explored cortex, with almost no contact with the central vertical meridian. Comparison with data from normal adults revealed that strabismus induced a considerable expansion of the callosal receiving zone, both in terms of the cortical region and of the extent of the visual field involved in interhemispheric transfer, with implications in the integration of visual information across the hemispheres.

Animals↗

PubMed1999

A case of catheter ablation of accessory atrioventricular connection between the right atrial appendage and right ventricle guided by a three-dimensional electroanatomic mapping system.

A 12-year-old girl was referred to our institution because of frequent episodes of AV reciprocating tachycardia. Ventriculoatrial and AV intervals were relatively long along the tricuspid annulus. Earliest retrograde atrial activation was recorded at the mid-portion of the right atrial appendage, 7 mm from the tricuspid annulus. The CARTO electroanatomic mapping system was very useful for providing accurate spatial orientation of the accessory connection. Complete ablation of this connection required multiple radiofrequency energy applications over an extensive area because of the multicomponent structure of the connection.

Atrioventricular Node↗

PubMed1995

Differential formation of topographic maps on the cerebral cortex and superior colliculus of the mouse by temporally correlated tactile- tactile and tactile-visual inputs.

Coincident electrical activity of nerve fibres seems to play a fundamental role in the development of ordered connections in the CNS. To test this hypothesis on the formation of topographic maps we connected two cutaneous regions of the body of newborn mice by implanting an artificial bridge of pig hair. Through this procedure we produced the mechanical fusion of the ear with either the shoulder or the nose. In these conditions the ear not only was connected with shoulder or nose, but was also in relation with the nasal or the inferior portion of visual space. Therefore the probability of temporally correlated tactile-tactile inputs (ear-shoulder or ear-nose) as well as tactile-visual inputs (ear-inferior or ear-nasal visual space) increased. By recording from the primary somatosensory cortex and superior colliculus, we found that the formation of topographic maps was based on different principles. The somatosensory cortex developed in terms of tactile-tactile correlated inputs, showing somatosensory neurons with receptive fields extending through the fused parts of the body. Conversely, the superior colliculus processed tactile-visual correlated inputs; we found somatosensory-visual bimodal neurons with visual receptive fields extending into the portion of visual space where the artificial bridge was directed. These results suggest that the fusion of two body parts is represented in terms of cutaneous coordinates in the cortex and external world (visual) coordinates in the superior colliculus. Therefore the differential tactile-tactile and tactile-visual coincident activity seems to be correlated to the different meaning of information processing of these two brain regions.

Acoustic Stimulation↗

PubMed2000

Functional connectivity of the anterior cingulate cortex within the human frontal lobe: a brain-mapping meta-analysis.

A database of positron-emission-tomography studies published between January 1993 and November 1996 was created to address several questions regarding the function and connectivity of the human anterior cingulate cortex (ACC). Using this database, we have previously reported on the relationship between behavioural variables and the probability of blood-flow response in distinct subdivisions of the ACC. The goal of the current analysis was to discover which areas of the frontal cortex show increased blood-flow co-occurring consistently with increased blood-flow in the ACC. Analyses of the frequency distributions of peaks in the ACC and the remaining frontal cortex (FC) yielded several important findings. First, FC peaks in the precentral gyrus, superior frontal gyrus, middle frontal gyrus, inferior frontal gyrus, medial frontal gyrus and orbitomedial frontal gyri were more frequent in subtractions that also yielded a peak in the ACC than in those that did not yield an ACC peak. Second, regional differences in the frequency distribution of these FC peaks were observed when the ACC peaks were subdivided into the rostral versus caudal ACC and supracallosal versus subcallosal ACC. Peaks in the precentral gyrus and in the vicinity of the supplementary motor area were more prevalent in subtractions with co-occurring peaks in the caudal than with the rostral ACC. Peaks in the middle frontal gyrus were more frequent in subtractions with co-occurring peaks in the paralimbic part of the supracallosal ACC, relative to the subcallosal or limbic supracallosal ACC. These observations are consistent with known differences in the anatomic connectivity in these cortical regions, as defined in non-human primates. Further analyses of the influence of behavioural variables on the relationships between the ACC and other regions of the frontal cortex suggested that this type of meta-analysis may provide testable hypotheses about functional and effective connectivity within the human frontal lobe.

Brain Mapping↗

PubMed2003

The amygdaloid complex: anatomy and physiology.

A converging body of literature over the last 50 years has implicated the amygdala in assigning emotional significance or value to sensory information. In particular, the amygdala has been shown to be an essential component of the circuitry underlying fear-related responses. Disorders in the processing of fear-related information are likely to be the underlying cause of some anxiety disorders in humans such as posttraumatic stress. The amygdaloid complex is a group of more than 10 nuclei that are located in the midtemporal lobe. These nuclei can be distinguished both on cytoarchitectonic and connectional grounds. Anatomical tract tracing studies have shown that these nuclei have extensive intranuclear and internuclear connections. The afferent and efferent connections of the amygdala have also been mapped in detail, showing that the amygdaloid complex has extensive connections with cortical and subcortical regions. Analysis of fear conditioning in rats has suggested that long-term synaptic plasticity of inputs to the amygdala underlies the acquisition and perhaps storage of the fear memory. In agreement with this proposal, synaptic plasticity has been demonstrated at synapses in the amygdala in both in vitro and in vivo studies. In this review, we examine the anatomical and physiological substrates proposed to underlie amygdala function.

Amygdala↗