Assessing the feasibility of a rapid, high-volume cervical cancer screening programme using HPV self-sampling and digital colposcopy in rural regions of Yunnan, China.

OBJECTIVE: Implementation of a novel, rapid, high-volume, see-and-treat cervical cancer screening programme using self-swab human papillomavirus (HPV) testing and digital colposcopy in underserved regions of Yunnan China. DESIGN: 480-980 women per day self-swabbed for high-risk HPV (hrHPV+). Four careHPV machines (Qiagen) were run simultaneously to test the specimens. All hrHPV+ patients were contacted the same day and digital colposcopy was performed with the enhanced visual assessment system (MobileODT). Digital images were obtained, and all suspected lesions were biopsied and then treated. SETTING: Rural and underserved areas of the Yunnan province, Kunming municipality. PARTICIPANTS: 3600 women, mean age 50.2 years, who had never been screened for cervical cancer. The women were of the Yi, Hui, Dai and Han ethnicities. INTERVENTIONS: Cryotherapy was performed on all lesions suspicious for cervical intraepithelial neoplasia (CIN) 1 and loop electrosurgical excision procedure was performed on all lesions suspicious for ≥CIN2. Endocervical curettage was performed if the transformation zone was not fully visualised. RESULTS: 216 women (6%) were hrHPV+. 168 underwent same-day colposcopy (23 CIN1, 17≥CIN2). Digital colposcopy was able to identify 15 of 16 (93.8%)≥CIN2 lesions. CONCLUSIONS: This study illustrates a high-volume, rapid and practical strategy that can be used to screen and treat an ethnically diverse group of Chinese women. First, HPV self-sampling allows large numbers of women to be screened rapidly and relatively inexpensively. Only hrHPV+ women will then require further evaluation. Digital colposcopy is then performed on hrHPV+ women with a portable digital colposcope. The high-resolution images obtained can facilitate appropriate same-day treatment as they are able to accurately distinguish between CIN1 and ≥CIN2 lesions.

Variability in locomotor dynamics reveals the critical role of feedback in task control.

Animals vary considerably in size, shape, and physiological features across individuals, but yet achieve remarkably similar behavioral performances. We examined how animals compensate for morphophysiological variation by measuring the system dynamics of individual knifefish (Eigenmannia virescens) in a refuge tracking task. Kinematic measurements of Eigenmannia were used to generate individualized estimates of each fish's locomotor plant and controller, revealing substantial variability between fish. To test the impact of this variability on behavioral performance, these models were used to perform simulated 'brain transplants'-computationally swapping controllers and plants between individuals. We found that simulated closed-loop performance was robust to mismatch between plant and controller. This suggests that animals rely on feedback rather than precisely tuned neural controllers to compensate for morphophysiological variability.

People come in different shapes and sizes, but most will perform similarly well if asked to complete a task requiring fine manual dexterity ­ such as holding a pen or picking up a single grape. How can different individuals, with different sized hands and muscles, produce such similar movements? One explanation is that an individual's brain and nervous system become precisely tuned to mechanics of the body's muscles and skeleton. An alternative explanation is that brain and nervous system use a more "robust" control policy that can compensate for differences in the body by relying on feedback from the senses to guide the movements. To distinguish between these two explanations, Uyanik et al. turned to weakly electric freshwater fish known as glass knifefish. These fish seek refuge within root systems, reed grass and among other objects in the water. They swim backwards and forwards to stay hidden despite constantly changing currents. Each fish shuttles back and forth by moving a long ribbon-like fin on the underside of its body. Uyanik et al. measured the movements of the ribbon fin under controlled conditions in the laboratory, and then used the data to create computer models of the brain and body of each fish. The models of each fish's brain and body were quite different. To study how the brain interacts with the body, Uyanik et al. then conducted experiments reminiscent of those described in the story of Frankenstein and transplanted the brain from each computer model into the body of different model fish. These "brain swaps" had almost no effect on the model's simulated swimming behavior. Instead, these "Frankenfish" used sensory feedback to compensate for any mismatch between their brain and body. This suggests that, for some behaviors, an animal's brain does not need to be precisely tuned to the specific characteristics of its body. Instead, robust control of movement relies on many seemingly redundant systems that provide sensory feedback. This has implications for the field of robotics. It further suggests that when designing robots, engineers should prioritize enabling the robots to use sensory feedback to cope with unexpected events, a well-known idea in control engineering.

Sensory Cues Modulate Smooth Pursuit and Active Sensing Movements.

Animals routinely use autogenous movement to regulate the information encoded by their sensory systems. Weakly electric fish use fore-aft movements to regulate visual and electrosensory feedback as they maintain position within a moving refuge. During refuge tracking, fish produce two categories of movements: smooth pursuit that is approximately linear in its relation to the movement of the refuge and ancillary active sensing movements that are nonlinear. We identified four categories of nonlinear movements which we termed scanning, wiggle, drift, and reset. To examine the relations between sensory cues and production of both linear smooth pursuit and nonlinear active sensing movements, we altered visual and electrosensory cues for refuge tracking and measured the fore-aft movements of the fish. Specifically, we altered the length and structure of the refuge and performed experiments with light and in complete darkness. Linear measures of tracking performance were better for shorter refuges (less than a body length) than longer ones (>1.5 body lengths). The magnitude of nonlinear active sensing movements was strongly modulated by light cues but also increased as a function of both longer refuge length and decreased features. Specifically, fish shifted swimming movements from smooth pursuit to scanning when tracking in dark conditions. Finally, fish appear to use nonlinear movements as an alternate tracking strategy in longer refuges: the fish may use more drifts and resets to avoid exiting the ends of the refuge.

Closed-Loop Control of Active Sensing Movements Regulates Sensory Slip.

Active sensing involves the production of motor signals for the purpose of acquiring sensory information [1-3]. The most common form of active sensing, found across animal taxa and behaviors, involves the generation of movements-e.g., whisking [4-6], touching [7, 8], sniffing [9, 10], and eye movements [11]. Active sensing movements profoundly affect the information carried by sensory feedback pathways [12-15] and are modulated by both top-down goals (e.g., measuring weight versus texture [1, 16]) and bottom-up stimuli (e.g., lights on or off [12]), but it remains unclear whether and how these movements are controlled in relation to the ongoing feedback they generate. To investigate the control of movements for active sensing, we created an experimental apparatus for freely swimming weakly electric fish, Eigenmannia virescens, that modulates the gain of reafferent feedback by adjusting the position of a refuge based on real-time videographic measurements of fish position. We discovered that fish robustly regulate sensory slip via closed-loop control of active sensing movements. Specifically, as fish performed the task of maintaining position inside the refuge [17-22], they dramatically up- or downregulated fore-aft active sensing movements in relation to a 4-fold change of experimentally modulated reafferent gain. These changes in swimming movements served to maintain a constant magnitude of sensory slip. The magnitude of sensory slip depended on the presence or absence of visual cues. These results indicate that fish use two controllers: one that controls the acquisition of information by regulating feedback from active sensing movements and another that maintains position in the refuge, a control structure that may be ubiquitous in animals [23, 24].

High-resolution behavioral mapping of electric fishes in Amazonian habitats.

The study of animal behavior has been revolutionized by sophisticated methodologies that identify and track individuals in video recordings. Video recording of behavior, however, is challenging for many species and habitats including fishes that live in turbid water. Here we present a methodology for identifying and localizing weakly electric fishes on the centimeter scale with subsecond temporal resolution based solely on the electric signals generated by each individual. These signals are recorded with a grid of electrodes and analyzed using a two-part algorithm that identifies the signals from each individual fish and then estimates the position and orientation of each fish using Bayesian inference. Interestingly, because this system involves eavesdropping on electrocommunication signals, it permits monitoring of complex social and physical interactions in the wild. This approach has potential for large-scale non-invasive monitoring of aquatic habitats in the Amazon basin and other tropical freshwater systems.

Dynamic modulation of visual and electrosensory gains for locomotor control.

Animal nervous systems resolve sensory conflict for the control of movement. For example, the glass knifefish, Eigenmannia virescens, relies on visual and electrosensory feedback as it swims to maintain position within a moving refuge. To study how signals from these two parallel sensory streams are used in refuge tracking, we constructed a novel augmented reality apparatus that enables the independent manipulation of visual and electrosensory cues to freely swimming fish (n = 5). We evaluated the linearity of multisensory integration, the change to the relative perceptual weights given to vision and electrosense in relation to sensory salience, and the effect of the magnitude of sensory conflict on sensorimotor gain. First, we found that tracking behaviour obeys superposition of the sensory inputs, suggesting linear sensorimotor integration. In addition, fish rely more on vision when electrosensory salience is reduced, suggesting that fish dynamically alter sensorimotor gains in a manner consistent with Bayesian integration. However, the magnitude of sensory conflict did not significantly affect sensorimotor gain. These studies lay the theoretical and experimental groundwork for future work investigating multisensory control of locomotion.

Feedback control as a framework for understanding tradeoffs in biology.

Control theory arose from a need to control synthetic systems. From regulating steam engines to tuning radios to devices capable of autonomous movement, it provided a formal mathematical basis for understanding the role of feedback in the stability (or change) of dynamical systems. It provides a framework for understanding any system with regulation via feedback, including biological ones such as regulatory gene networks, cellular metabolic systems, sensorimotor dynamics of moving animals, and even ecological or evolutionary dynamics of organisms and populations. Here, we focus on four case studies of the sensorimotor dynamics of animals, each of which involves the application of principles from control theory to probe stability and feedback in an organism's response to perturbations. We use examples from aquatic (two behaviors performed by electric fish), terrestrial (following of walls by cockroaches), and aerial environments (flight control by moths) to highlight how one can use control theory to understand the way feedback mechanisms interact with the physical dynamics of animals to determine their stability and response to sensory inputs and perturbations. Each case study is cast as a control problem with sensory input, neural processing, and motor dynamics, the output of which feeds back to the sensory inputs. Collectively, the interaction of these systems in a closed loop determines the behavior of the entire system.

Closed-loop stabilization of the Jamming Avoidance Response reveals its locally unstable and globally nonlinear dynamics.

The Jamming Avoidance Response, or JAR, in the weakly electric fish has been analyzed at all levels of organization, from whole-organism behavior down to specific ion channels. Nevertheless, a parsimonious description of the JAR behavior in terms of a dynamical system model has not been achieved at least in part due to the fact that 'avoidance' behaviors are both intrinsically unstable and nonlinear. We overcame the instability of the JAR in Eigenmannia virescens by closing a feedback loop around the behavioral response of the animal. Specifically, the instantaneous frequency of a jamming stimulus was tied to the fish's own electrogenic frequency by a feedback law. Without feedback, the fish's own frequency diverges from the stimulus frequency, but appropriate feedback stabilizes the behavior. After stabilizing the system, we measured the responses in the fish's instantaneous frequency to various stimuli. A delayed first-order linear system model fitted the behavior near the equilibrium. Coherence to white noise stimuli together with quantitative agreement across stimulus types supported this local linear model. Next, we examined the intrinsic nonlinearity of the behavior using clamped frequency difference experiments to extend the model beyond the neighborhood of the equilibrium. The resulting nonlinear model is composed of competing motor return and sensory escape terms. The model reproduces responses to step and ramp changes in the difference frequency (df) and predicts a 'snap-through' bifurcation as a function of dF that we confirmed experimentally.

Perception and coding of envelopes in weakly electric fishes.

Natural sensory stimuli have a rich spatiotemporal structure and can often be characterized as a high frequency signal that is independently modulated at lower frequencies. This lower frequency modulation is known as the envelope. Envelopes are commonly found in a variety of sensory signals, such as contrast modulations of visual stimuli and amplitude modulations of auditory stimuli. While psychophysical studies have shown that envelopes can carry information that is essential for perception, how envelope information is processed in the brain is poorly understood. Here we review the behavioral salience and neural mechanisms for the processing of envelopes in the electrosensory system of wave-type gymnotiform weakly electric fishes. These fish can generate envelope signals through movement, interactions of their electric fields in social groups or communication signals. The envelopes that result from the first two behavioral contexts differ in their frequency content, with movement envelopes typically being of lower frequency. Recent behavioral evidence has shown that weakly electric fish respond in robust and stereotypical ways to social envelopes to increase the envelope frequency. Finally, neurophysiological results show how envelopes are processed by peripheral and central electrosensory neurons. Peripheral electrosensory neurons respond to both stimulus and envelope signals. Neurons in the primary hindbrain recipient of these afferents, the electrosensory lateral line lobe (ELL), exhibit heterogeneities in their responses to stimulus and envelope signals. Complete segregation of stimulus and envelope information is achieved in neurons in the target of ELL efferents, the midbrain torus semicircularis (Ts).

Beyond the Jamming Avoidance Response: weakly electric fish respond to the envelope of social electrosensory signals.

Recent studies have shown that central nervous system neurons in weakly electric fish respond to artificially constructed electrosensory envelopes, but the behavioral relevance of such stimuli is unclear. Here we investigate the possibility that social context creates envelopes that drive behavior. When Eigenmannia virescens are in groups of three or more, the interactions between their pseudo-sinusoidal electric fields can generate 'social envelopes'. We developed a simple mathematical prediction for how fish might respond to such social envelopes. To test this prediction, we measured the responses of E. virescens to stimuli consisting of two sinusoids, each outside the range of the Jamming Avoidance Response (JAR), that when added to the fish's own electric field produced low-frequency (below 10 Hz) social envelopes. Fish changed their electric organ discharge (EOD) frequency in response to these envelopes, which we have termed the Social Envelope Response (SER). In 99% of trials, the direction of the SER was consistent with the mathematical prediction. The SER was strongest in response to the lowest initial envelope frequency tested (2 Hz) and depended on stimulus amplitude. The SER generally resulted in an increase of the envelope frequency during the course of a trial, suggesting that this behavior may be a mechanism for avoiding low-frequency social envelopes. Importantly, the direction of the SER was not predicted by the superposition of two JAR responses: the SER was insensitive to the amplitude ratio between the sinusoids used to generate the envelope, but was instead predicted by the sign of the difference of difference frequencies.

Active sensing via movement shapes spatiotemporal patterns of sensory feedback.

Previous work has shown that animals alter their locomotor behavior to increase sensing volumes. However, an animal's own movement also determines the spatial and temporal dynamics of sensory feedback. Because each sensory modality has unique spatiotemporal properties, movement has differential and potentially independent effects on each sensory system. Here we show that weakly electric fish dramatically adjust their locomotor behavior in relation to changes of modality-specific information in a task in which increasing sensory volume is irrelevant. We varied sensory information during a refuge-tracking task by changing illumination (vision) and conductivity (electroreception). The gain between refuge movement stimuli and fish tracking responses was functionally identical across all sensory conditions. However, there was a significant increase in the tracking error in the dark (no visual cues). This was a result of spontaneous whole-body oscillations (0.1 to 1 Hz) produced by the fish. These movements were costly: in the dark, fish swam over three times further when tracking and produced more net positive mechanical work. The magnitudes of these oscillations increased as electrosensory salience was degraded via increases in conductivity. In addition, tail bending (1.5 to 2.35 Hz), which has been reported to enhance electrosensory perception, occurred only during trials in the dark. These data show that both categories of movements - whole-body oscillations and tail bends - actively shape the spatiotemporal dynamics of electrosensory feedback.

Stimulus predictability mediates a switch in locomotor smooth pursuit performance for Eigenmannia virescens.

The weakly electric glass knifefish, Eigenmannia virescens, will swim forward and backward, using propulsion from an anal ribbon fin, in response to motion of a computer-controlled moving refuge. Fish were recorded performing a refuge-tracking behavior for sinusoidal (predictable) and sum-of-sines (pseudo-random) refuge trajectories. For all trials, we observed high coherence between refuge and fish trajectories, suggesting linearity of the tracking dynamics. But superposition failed: we observed categorical differences in tracking between the predictable single-sine stimuli and the unpredictable sum-of-sines stimuli. This nonlinearity suggests a stimulus-mediated adaptation. At all frequencies tested, fish demonstrated reduced tracking error when tracking single-sine trajectories and this was typically accompanied by a reduction in overall movement. Most notably, fish demonstrated reduced phase lag when tracking single-sine trajectories. These data support the hypothesis that fish generate an internal dynamical model of the stimulus motion, hence improving tracking of predictable trajectories (relative to unpredictable ones) despite similar or reduced motor cost. Similar predictive mechanisms based on the dynamics of stimulus movement have been proposed recently, but almost exclusively for nonlocomotor tasks by humans, such as oculomotor target tracking and posture control. These data suggest that such mechanisms might be common across taxa and behaviors.

Species differences in group size and electrosensory interference in weakly electric fishes: implications for electrosensory processing.

In animals with active sensory systems, group size can have dramatic effects on the sensory information available to individuals. In "wave-type" weakly electric fishes there is a categorical difference in sensory processing between solitary fish and fish in groups: when conspecifics are within about 1m of each other, the electric fields mix and produce interference patterns that are detected by electroreceptors on each individual. Neural circuits in these animals must therefore process two streams of information-salient signals from prey items and predators and social signals from nearby conspecifics. We investigated the parameters of social signals in two genera of sympatric weakly electric fishes, Apteronotus and Sternopygus, in natural habitats of the Napo River valley in Ecuador and in laboratory settings. Apteronotus were most commonly found in pairs along the Napo River (47% of observations; maximum group size 4) and produced electrosensory interference at rates of 20-300 Hz. In contrast, Sternopygus were alone in 80% of observations (maximum group size 2) in the same region of Ecuador. Similar patterns were observed in laboratory experiments: Apteronotus were in groups and preferentially approached conspecific-like signals in an electrotaxis experiment whereas Sternopygus tended to be solitary and did not approach conspecific-like electrosensory signals. These results demonstrate categorical differences in social electrosensory-related activation of central nervous system circuits that may be related to the evolution of the jamming avoidance response that is used in Apteronotus but not Sternopygus to increase the frequency of electrosensory interference patterns.

Effects of restraint and immobilization on electrosensory behaviors of weakly electric fish.

Weakly electric fishes have been an important model system in behavioral neuroscience for more than 40 years. These fishes use a specialized electric organ to produce an electric field that is typically below 1 volt/cm and serves in many behaviors including social communication and prey detection. Electrical behaviors are easy to study because inexpensive and widely available tools enable continuous monitoring of the electric field of individual or groups of interacting fish. Weakly electric fish have been routinely used in tightly controlled neurophysiological experiments in which the animal is immobilized using neuromuscular blockers (e.g., curare). Although experiments that involve immobilization are generally discouraged because it eliminates movement-based behavioral signs of pain and distress, many observable electrosensory behaviors in fish persist when the animal is immobilized. Weakly electric fish thus offer a unique opportunity to assess the effects of immobilization on behaviors including those that may reflect pain and distress. We investigated the effects of both immobilization and restraint on a variety of electrosensory behaviors in four species of weakly electric fishes and observed minor effects that were not consistent between the species tested or between particular behaviors. In general, we observed small increases and decreases in response magnitude to particular electrosensory stimuli. Stressful events such as asphyxiation and handling, however, resulted in significant changes in the fishes electrosensory behaviors. Signs of pain and distress include marked reductions in responses to electrosensory stimuli, inconsistent responses, and reductions in or complete cessation of the autogenous electric field.

Role of broadcast harmonics in echo delay perception by big brown bats.

Big brown bats (Eptesicus fuscus) emit frequency-modulated (FM) echolocation sounds containing two principal down-sweeping harmonics (FM(1) approximately 55-25 kHz, FM(2) approximately 105-50 kHz). To determine whether each harmonic contributes to perception of echo delay, bats were trained to discriminate between "split-harmonic" echoes that differed in delay. The bat's broadcasts were picked up with microphones, and FM(1) and FM(2) were separated with highpass and lowpass filters at about 55 kHz, where they overlap in frequency. Both harmonics then were delivered from loudspeakers as positive stimuli in a 2-choice delay discrimination procedure with FM(1) delayed 3.16 ms and FM(2) delayed 3.46 ms (300 mus delay split). Negative stimuli contained FM(1) and FM(2) with the same filtering but no delay separation. These were presented at different overall delays from 11 down to 3 ms to measure the bat's delay discrimination acuity for each harmonic in the split harmonic echoes. The bats determined the delays of both FM(1) and FM(2), but performance was overlaid by a broad pedestal of poor performance that extended for 800 micros. Splitting the harmonics by 300 micros appears to defocus the bat's representation of delay, revealing the existence of a process for recognizing the normally simultaneous occurrence of the harmonics.

Detection of targets colocalized in clutter by big brown bats (Eptesicus fuscus).

Echolocating big brown bats (Eptesicus fuscus) frequently catch insects during aerial pursuits in open spaces, but they also capture prey swarming on vegetation, and from substrates. To evaluate perception of targets on cluttered surfaces, big brown bats were trained in a two-alternative forced-choice task to locate a target, varying in height, that was embedded partway in holes (clutter) cut in a foam surface. The holes were colocalized with the possible positions of the target at distances ranging from 25 to 35 cm. For successful perception of the target, the bat had to detect the echoes contributed by the target in the same time window that contained echoes from the clutter. Performance was assessed in terms of target reflective strength relative to clutter strength in the same time window. The bats detected the target whenever the target strength was greater than 1-2 dB above the clutter.

Neuronal connexin expression in the cochlear nucleus of big brown bats.

We present immunohistochemical data describing the presence and distribution of connexins, structural component of gap junctions, in the cochlear nuclei of adult big brown bats (Eptesicus fuscus). Echolocating big brown bats show microsecond scale echo-delay sensitivity that requires accurate synchronization of neuronal responses to the timing of echoes. Midbrain and auditory cortical neuronal response timing is similar to that observed in other non-echolocating mammals, suggesting that lower auditory processing nuclei may have specialized mechanisms for obtaining the required temporal hyperacuity. Our data shows that connexin 36, a gap junction protein specific to neurons, is most densely expressed in the bat's cochlear nuclear complex, the medullary region that receives and processes first-order afferents from the auditory nerve. Cx36 expression is absent in the cochlear nucleus of normal mice, which have high-frequency hearing sensitivity similar to big brown bats. Glial connexins, Cx26 and Cx43, expressed in astrocytes and several inner ear structures, are also found in the bat cochlear nucleus complex, associated with major fiber tracts in and around the cochlear nuclei. The extensive presence of neuronally-associated Cx36 in brainstem auditory structures of adult bats suggests a possible role for gap junctions in mediating echo-delay hyperacuity.

Jamming avoidance response of big brown bats in target detection.

When searching for prey, big brown bats (Eptesicus fuscus) enhance the range of their sonar by concentrating more energy in the nearly constant-frequency (CF) tail portion of their frequency-modulated (FM) sweeps. We hypothesize that this portion of their signals may be vulnerable to interference from conspecifics using the same frequencies in their own emissions. To determine how bats modify their signals when confronted with an interfering stimulus, we compared the echolocation calls of bats when a CF jamming tone was on and off. The bats performed a two-alternative forced-choice detection task in the laboratory that required the use of echolocation. All three bats shifted the tail-end CF component of their emitted frequency bidirectionally away from the CF jamming stimulus only when the jamming frequency was within 2-3 kHz of the preferred baseline frequency of the bat. The duration of their emissions did not differ between the jamming and no-jamming trials. The jamming avoidance response of bats may serve to avoid masking or interference in a narrow range of frequencies important for target detection.

Echo features used by human listeners to discriminate among objects that vary in material or wall thickness: implications for echolocating dolphins.

Echolocating dolphins extract object feature information from the acoustic parameters of echoes. To gain insight into which acoustic parameters are important for object discrimination, human listeners were presented with echoes from objects used in two discrimination tasks performed by dolphins: Hollow cylinders with varying wall thicknesses (+/-0.2, 0.3, 0.4, and 0.8 mm), and spheres made of different materials (steel, aluminum, brass, nylon, and glass). The human listeners performed as well or better than the dolphins at the task of discriminating between the standard object and the comparison objects on both the cylinders (humans=97.1%; dolphin=82.3%) and the spheres (humans= 86.6%; dolphin= 88.7%). The human listeners reported using primarily pitch and duration to discriminate among the cylinders, and pitch and timbre to discriminate among the spheres. Dolphins may use some of the same echo features as the humans to discriminate among objects varying in material or structure. Human listening studies can be used to quickly identify salient combinations of echo features that permit object discrimination, which can then be used to generate hypotheses that can be tested using dolphins as subjects.