Biology subjects

Harel, R.

Publications and source records attributed to Harel, R..

9 recordsLinked to original sources

bioRxiv2024

Cerebellar output shapes cortical preparatory activity during motor adaptation

The cerebellum plays a key role in motor adaptation by driving trial-to-trial recalibration of movements based on previous errors. In primates, cortical correlates of adaptation are encoded already in the pre-movement motor plan, but these early cortical signals could be driven by a cerebellar-to-cortical information flow or evolve independently through intracortical mechanisms. To address this question, we trained female macaque monkeys to reach against a viscous force field (FF) while blocking cerebellar outflow. The cerebellar block led to impaired FF adaptation and a compensatory, re-aiming-like shift in motor cortical preparatory activity. In the null-field conditions, the cerebellar block altered neural preparatory activity by increasing task-representation dimensionality and impeding generalization. A computational model indicated that low-dimensional (cerebellar-like) feedback is sufficient to replicate these findings. We conclude that cerebellar signals carry task structure information that constrains the dimensionality of the cortical preparatory manifold and promotes generalization. In the absence of these signals, cortical mechanisms are harnessed to partially restore adaptation.

neuroscience↗

bioRxiv2024

Disentangling acute motor deficits and adaptive responses evoked by the loss of cerebellar output

Patients with cerebellar damage experience various motor impairments, but the specific sequence of primary and compensatory processes that contribute to these deficits remains unclear. To clarify this, we reversibly blocked cerebellar outflow in monkeys engaged in planar reaching tasks. This intervention led to a spatially selective reduction in hand velocity, primarily due to decreased muscle torque, especially in movements requiring high inter-joint torque coupling. When examining repeated reaches to the same target, we found that the reduced velocity resulted from both an immediate deficit and a gradually developing compensatory slowing to reduce passive inter-joint interactions. However, the slowed hand velocity did not account for the fragmented and variable movement trajectories observed during the cerebellar block. Our findings indicate that cerebellar impairment results in motor deficits due to both inadequate muscle torque and an altered motor control strategy for managing impaired limb dynamics. Additionally, impaired motor control elevates noise, which cannot be entirely mitigated through compensatory strategies.

neuroscience↗

bioRxiv2023

Revealing principles of autonomous thermal soaring in windy conditions using vulture-inspired deep reinforcement-learning

Thermal soaring, a technique used by birds and gliders to utilize updrafts of hot air, is an appealing model-problem for studying motion control and how it is learned by animals and engineered autonomous systems. Thermal soaring has rich dynamics and nontrivial constraints, yet it uses few control parameters and is becoming experimentally accessible. Following recent developments in applying reinforcement learning methods for training deep neural-network (deep-RL) models to soar autonomously both in simulation and real gliders, here we develop a simulation-based deep-RL system to study the learning process of thermal soaring. We find that this process has learning bottlenecks, we define a new efficiency metric and use it to characterize learning robustness, we compare the learned policy to data from soaring vultures, and find that the neurons of the trained network divide into function clusters that evolve during learning. These results pose thermal soaring as a rich yet tractable model-problem for the learning of motion control.

animal behavior and cognition↗

bioRxiv2023

Estimating individuals' exposure to predation risk in group-living baboons, Papio anubis

In environments with multiple predators, the vulnerabilities attached to the spatial positions of group-living prey are not uniform and depend on the hunting styles of the predators. Coursing predators, mainly canids and hyenas, follow their prey over long distances and attack open areas, making individuals at the edge of the group more dangerous than those at the center (marginal predation). In contrast, ambush predators, mainly cats, approach their prey undetected and appear randomly anywhere in the group; therefore, isolated individuals are at a greater risk of predation. However, identifying individuals at high risk of predation requires the simultaneous recording of predator locations and direct observation of predation events, which are both difficult. Therefore, several theoretical methods have been proposed to assess predation risk (predation risk proxies). In a group of wild anubis baboons exposed to predation by leopards, lions, and hyenas, we calculated predation risk proxies using movement data collected from global positioning system (GPS) collars and found that adult males were on the edge of the group with a higher risk of predation (Hypothesis 1). In addition, adult males were more isolated within this group (Hypothesis 2). None of the predation risks differed among the other age-sex classes. The most dominant male was expected to be in the safety center of the group (Hypothesis 3) but was isolated on the periphery, like the other males. Therefore, we discussed why adult males were more peripheral and isolated.

zoology↗

bioRxiv2021

Ecological and social pressures interfere with homeostatic sleep regulation in the wild

Sleep is fundamental to the health and fitness of all animals. The physiological importance of sleep is underscored by the central role of homeostasis in determining sleep investment - following periods of sleep deprivation, individuals experience longer and more intense sleep bouts. Yet, most studies of sleep have been conducted in highly controlled settings, disconnected from the ecological and social context that may exert pressures on sleep patterns in conflict with homeostatic regulation. Using tri-axial accelerometry and GPS to track the sleep patterns of a group of wild baboons (Papio anubis) at multiple temporal and spatial scales, we found that ecological and social pressures indeed interfere with homeostatic sleep regulation. Baboons sacrificed time spent sleeping when in less familiar locations and when sleeping in proximity to more group-mates, regardless of how much they had slept the prior night or how much they had physically exerted themselves the preceding day. Moreover, we found that the collective dynamics characteristic of social animal groups persist into the sleep period, as baboons exhibited synchronized patterns of waking throughout the night, particularly with nearby group-mates. Thus, for animals whose fitness depends critically on avoiding predation and developing social relationships, maintaining sleep homeostasis may be only secondary to remaining vigilant when sleeping in risky habitats and interacting with group-mates during the night. Our results highlight the importance of studying sleep in ecologically relevant contexts, where the adaptive function of sleep patterns directly reflect the complex trade-offs that have guided its evolution.

animal behavior and cognition↗

bioRxiv2021

Animal lifestyle changes acceptable mass limits for attached tags

O_LIAnimal-attached devices have transformed our understanding of vertebrate ecology. To minimize tag-related harm for these studies, researchers have long advocated that tag masses should not exceed 3% of the animals body mass. However, this proposition ignores tag forces generated as a result of animal movement. C_LIO_LIUsing data from collar-attached accelerometers on diverse free-ranging terrestrial animals, we detail a tag-based acceleration method (TbAM) in which we quantify animal athleticism in terms of fractions of animal movement time devoted to different collar-recorded accelerations. The varying accelerations are converted to forces imposed on the animals based on the acceleration and tag mass and allow derivation of defined force limits, including those amounting to 3% of the animals mass, for specified fractions of any animals active time. C_LIO_LIWe demonstrate how species athleticism is the principal determinant of tag forces, whereas body mass is of little importance. Forces exerted by 3% tags were mostly equivalent to 4-19% of the animals masses during moving, with a maximum of 54% in a hunting cheetah. Cumulative frequency curves of tag acceleration for periods when animals were active, all showed a characteristic sigmoid pattern, which was displaced further to the right as higher acceleration activities accounted for an increasing proportion of any animals time. Specifying that tags should exert forces that are less than 3% of the animals body mass for 95% of the time led to corrected tag masses constituting between 1.6% and 2.98% of our study animals masses, with values depending on animal athleticism. C_LIO_LIRecognition that animal athleticism affects tag forces of their carriers fundamentally changes how acceptable tag mass limits should be determined by ethics bodies. In order to have a scientifically robust acceptable threshold to limit the forces experienced by an animal carrier, we suggest practitioners derive a similar cumulative acceleration profile for their study species and use a minimum of the 95% limits on the plot (although higher limits may be more appropriate). C_LI

zoology↗

bioRxiv2020

Locomotor compromises maintain group cohesion in baboon troops on the move

When members of a group differ in locomotor capacity, coordinating collective movement poses a challenge: some individuals may have to move faster (or slower) than their preferred speed to remain together. Such compromises have energetic repercussions yet research in collective behavior has largely neglected locomotor consensus costs. Here we integrate high-resolution tracking of wild baboon locomotion and movement with simulations to demonstrate that size-based variation in locomotor capacity poses an obstacle to collective movement. While all baboons modulate their gait and move-pause dynamics during collective movement, the costs of maintaining cohesion are disproportionately borne by smaller group members. Although consensus costs are not distributed equally, all group-mates do make locomotor compromises, suggesting a shared decision-making process drives the pace of collective movement in this highly despotic species. These results highlight the importance of considering how social dynamics and locomotor capacity interact to shape the movement ecology of group-living species.

ecology↗

bioRxiv2020

Motor cortical plasticity in response to skill acquisition in adult monkeys

Cortical maps often undergo plastic changes during learning or in response to injury. In sensory areas, these changes are thought to be triggered by alterations in the pattern of converging inputs and a functional reassignment of the deprived cortical region. In the motor cortex, training on a task that engages distal effectors was shown to increase their cortical representation (as measured by response to intracortical microstimulation). However, this expansion could be a specific outcome of using a demanding dexterous task. We addressed this question by measuring the long-term changes in cortical maps of monkeys that were sequentially trained on two different tasks involving either proximal or distal joints. We found that motor cortical remodeling in adult monkeys was symmetric such that both distal and proximal movements can comparably alter motor maps in a fully reversible manner according to task demands. Further, we found that the change in mapping often included a switch between remote joints (e.g., a finger site switched to a shoulder site) and reflected a usage-consistent reorganization of the map rather than the local expansion of one representation into nearby sites. Finally, although cortical maps were considerably affected by the performed task, motor cortical neurons throughout the motor cortex were equally likely to fire in a task-related manner independent of the task and/or the recording site. These results may imply that in the motor system, enhanced motor efficiency is achieved through a dynamical allocation of larger cortical areas and not by specific recruitment of task-relevant cells.

neuroscience↗

bioRxiv2018

Reversible block of cerebellar outflow reveals cortical circuitry for motor coordination

Coordinated movements are achieved by selecting muscles and activating them at specific times. This process relies on intact cerebellar circuitry, as demonstrated by motor impairments triggered by cerebellar lesions. Based on anatomical connectivity and symptoms observed in cerebellar patients, we hypothesized that cerebellar dysfunction should disrupt the temporal patterns of motor cortical activity but not the selected motor plan. To test this hypothesis, we reversibly blocked cerebellar outflow in primates while monitoring motor behavior and neural activity. This manipulation replicated the impaired motor timing and coordination characteristic of cerebellar ataxia. We found extensive changes in motor cortical activity, including a loss of response transients at movement onset and a decoupling of task-related activity. Nonetheless, the spatial tuning of cells was unaffected and their early preparatory activity was mostly intact. These results indicate that the timing of actions, but not the selection of muscles, is regulated through cerebellar control of motor cortical activity.\n\nHIGHLIGHTSO_LIHigh frequency stimulation blocked cerebellar outflow and impaired motor behavior\nC_LIO_LIResponse patterns and coordinated firing of CTC neurons were disrupted\nC_LIO_LIThe spatial tuning and early preparatory activity of neurons were unaffected\nC_LIO_LICerebellar control of local and global cortical synchrony supports motor timing\nC_LI\n\nIN BRIEFNashef et al. used high frequency stimulation to block cerebellar outflow. This manipulation impaired motor timing and coordination similarly to symptoms found in cerebellar patients. In parallel, the response patterns of cortical neurons and cell-to-cell synchronization were altered, yet spatial tuning was maintained. Motor timing and coordination are regulated by a dedicated cerebellar signal that organizes execution-related activity of a motor cortical subnetwork.

neuroscience↗