Stepping pattern changes in the caterpillar Manduca sexta: the effects of orientation and substrate.

Most animals can successfully travel across cluttered, uneven environments and cope with enormous changes in surface friction, deformability and stability. However, the mechanisms used to achieve such remarkable adaptability and robustness are not fully understood. Even more limited is the understanding of how soft, deformable animals such as tobacco hornworm Manduca sexta (caterpillars) can control their movements as they navigate surfaces that have varying stiffness and are oriented at different angles. To fill this gap, we analyzed the stepping patterns of caterpillars crawling on two different types of substrate (stiff and soft) and in three different orientations (horizontal and upward/downward vertical). Our results show that caterpillars adopt different stepping patterns (i.e. different sequences of transition between the swing and stance phases of prolegs in different body segments) based on substrate stiffness and orientation. These changes in stepping pattern occur more frequently in the upward vertical orientation. The results of this study suggest that caterpillars can detect differences in the material properties of the substrate on which they crawl and adjust their behavior to match those properties.

Transparency in Health Economic Modeling: Options, Issues and Potential Solutions.

Economic models are increasingly being used by health economists to assess the value of health technologies and inform healthcare decision making. However, most published economic models represent a kind of black box, with known inputs and outputs but undisclosed internal calculations and assumptions. This lack of transparency makes the evaluation of the model results challenging, complicates comparisons between models, and limits the reproducibility of the models. Here, we aim to provide an overview of the possible steps that could be undertaken to make economic models more transparent and encourage model developers to share more detailed calculations and assumptions with their peers. Scenarios with different levels of transparency (i.e., how much information is disclosed) and reach of transparency (i.e., who has access to the disclosed information) are discussed, and five key concerns (copyrights, model misuse, confidential data, software, and time/resources) pertaining to model transparency are presented, along with possible solutions. While a shift toward open-source models is underway in health economics, as has happened before in other research fields, the challenges ahead should not be underestimated. Importantly, there is a pressing need to find an acceptable trade-off between the added value of model transparency and the time and resources needed to achieve such transparency. To this end, it will be crucial to set incentives at different stakeholder levels. Despite the many challenges, the many benefits of publicly sharing economic models make increased transparency a goal worth pursuing.

Orientation-dependent changes in single motor neuron activity during adaptive soft-bodied locomotion.

Recent major advances in understanding the organizational principles underlying motor control have focused on a small number of animal species with stiff articulated skeletons. These model systems have the advantage of easily quantifiable mechanics, but the neural codes underlying different movements are difficult to characterize because they typically involve a large population of neurons controlling each muscle. As a result, studying how neural codes drive adaptive changes in behavior is extremely challenging. This problem is highly simplified in the tobacco hawkmoth Manduca sexta, which, in its larval stage (caterpillar), is predominantly soft-bodied. Since each M. sexta muscle is innervated by one, occasionally two, excitatory motor neurons, the electrical activity generated by each muscle can be mapped to individual motor neurons. In the present study, muscle activation patterns were converted into motor neuron frequency patterns by identifying single excitatory junction potentials within recorded electromyographic traces. This conversion was carried out with single motor neuron resolution thanks to the high signal selectivity of newly developed flexible microelectrode arrays, which were specifically designed to record from M. sexta muscles. It was discovered that the timing of motor neuron activity and gait kinematics depend on the orientation of the plane of motion during locomotion. We report that, during climbing, the motor neurons monitored in the present study shift their activity to correlate with movements in the animal's more anterior segments. This orientation-dependent shift in motor activity is in agreement with the expected shift in the propulsive forces required for climbing. Our results suggest that, contrary to what has been previously hypothesized, M.sexta uses central command timing for adaptive load compensation.

Flexible parylene-based microelectrode arrays for high resolution EMG recordings in freely moving small animals.

We present the development, fabrication and in vivo testing of a minimally invasive microelectrode array intended for high resolution multichannel recordings of electromyographic (EMG) signals. Parylene C was chosen as the structural substrate for its mechanical, electrical and physical properties. In particular, the device is extremely flexible. This provides a highly conformal coverage of the muscle surface and, at the same time, some degree of strain relief against the forces of micro-motion between the electrode and the surrounding tissues. By flexing and shaping itself to the muscles, the array is capable of maintaining a more stable electrical contact resulting in a significantly improved signal to noise ratio (SNR). To yield high signal selectivity, the design of the microelectrode array has been custom tailored to match the muscle anatomy of a particular animal system, the tobacco hornworm Manduca sexta. However, using the same fabrication protocol but different design parameters, the microdevice presented here can be easily implemented to study motor control and motor coordination in a vast range of small animals.