Biological control model and hypotheses.

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Biological control model and hypotheses. Biological control model and hypotheses. (A) Diagram of wall-following cockroach. The cockroach controls its position y(t) relative to a global reference position of the wall r(t). The error between these two signals is e(t), an error signal generated by antennal bending. (B) Control diagram of wall following where u(t) is the control input. This control model predicts that proportional derivative (PD) information provided by a neural controller is sufficient for stable wall following. (C) Sequence of turning as a blinded cockroach P. americana encounters a wall projection and responds to bending of the antenna. The dotted white line indicates the position of the point of rotation (POR) and asterisks indicate the initiation of a stride. (D) Bulk, population response from the antennal nerve. Despite a brief 40 ms ramp and hold wall stimulus (shown in E), activity was sustained for ∼300 ms, matching the time course of the animal's turn behavior. Vertical lines indicate (from left to right) the onset of the wall movement, RMS peak time and settling time. Adapted from Lee et al. (2008). (F) Neural control hypotheses. We hypothesized that individual mechanoreceptors downstream (H1A; not tested here) or within the antenna (H1B) implement PD control by scaling the error signal e(t) proportional to a gain Kp and computing the derivative of e(t) with scaling by Kd. We hypothesized that population-level processing arises from individual units having the same (H2A) or distinct (H2B) stimulus-response filtering to generate a population response u(t). Jean-Michel Mongeau et al. J Exp Biol 2015;218:2344-2354 © 2015. Published by The Company of Biologists Ltd