Abstract
It is known that a lamprey brainstem receives efference copies from the central pattern generator (CPG), by which the control signal from the brainstem to the CPG is modulated. We therefore discuss the feedback control system of a lamprey CPG in this article. Three topics are focused on. First, it is shown by a model of two oscillators that phasic control of the CPG is effective in controlling the phase difference between oscillators. Second, a feedback-control mechanism of a lamprey CPG through a brainstem is discussed, giving consideration to the signal conduction time. We will explain that the CPG is capable of conserving the constant-phase relation in spite of the change in frequency when the brainstem receives the efference copy from the CPG and sends control signals to the neck region. Third, a learning scheme to acquire an appropriate control system for locomotion is proposed.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Arbib MA (1989) The metaphorical brain 2, Neural networks and beyond. Wiley, New York
Bell CC (1984) Central physiology. In: Electroreception in mormyrid fish, Wiley, New York, pp 423–452
Buchanan JT, Cohen AH (1982) Activities of identified interneurons, motoneurons and muscle fibers during fictive swimming in the lamprey and effects of reticulospinal and dorsal cell stimulation. J Neurophysiol 47:948–960
Dubuc R, Grillner S (1989) The role of spinal cord inputs in modulating the activity of reticulospinal neurons during fictive locomotion in the lamprey. Brain Res 483:196–200
Grillner S (1981) Control of locomotion in bipeds, tetrapods and fish. In: Brooks VB (eds) Handbook of Physiology, sect. 1. The nervous system II. Motor control. American Physiological Society, Waverly Press, Maryland, pp 1179–1236
Grillner S, Wallen P, Brodin L (1991) Neuronal network generating locomotor behavior in lamprey: circuitry, transmitters, membrane, properties and simulation. Annu Rev Neurosci 14:169–199
Harris-Warrick RM (1988) Modulation of pattern generators. In: Cohen AH, Rossignol S, Grillner S (eds) Neural control of rhythmic movements in vertebrates, Wiley, New York, pp 285–331
Kasicki S, Grillner S, Ohta Y, Dubuc R, Brodin L (1989) Phasic modulation of reticulospinal neurones during locomotion and other types of spinal motor activity in lamprey. Brain Res 484:203–216
Nishii J, Uno Y, Suzuki R (1994) Mathematical models for the swimming pattern of a lamprey. I: Analysis of collective oscillators with time delayed interaction and multiple coupling. Biol Cybern 72:1–9
Rand RH, Cohen AH, Holmes PJ (1988) Systems of coupled oscillators as models of central pattern generators. In: Cohen AH, Rossignol S, Grillner S (eds) Neural control of rhythmic movements in vertebrates, Wiley, New York, pp 333–367
Rovainen CM (1967) Physiological and anatomical studies on large neurons of central nervous system on the sea lamprey (Petromyzon Marinus). II: Dorsal cells and giant interneurons. J Neurophysiol 30:1024–1042
Rovainen CM (1974) Synaptic interactions of reticulospinal neurons and nerve cells in the spinal cord of the sea lamprey. J Comp Neurol154:207–223
Wallen P, Williams TL (1984) Fictive locomotion in the lamprey spinal cord in vitro compared with swimming in the intact and spinal animals. J Physiol 347:225–239
Author information
Authors and Affiliations
Rights and permissions
About this article
Cite this article
Nishii, J., Uno, Y. & Suzuki, R. Mathematical models for the swimming pattern of a lamprey. Biol. Cybern. 72, 11–18 (1994). https://doi.org/10.1007/BF00206234
Received:
Accepted:
Issue Date:
DOI: https://doi.org/10.1007/BF00206234