Control at beyond-visual ranges is of great significance to animal-robots with wide range motion capability. For pigeon-robots, such control can be done by the way of onboard preprogram, but not constitute a closed-loop yet. This study designed a new control system for pigeon-robots, which integrated the function of trajectory monitoring to that of brain stimulation. It achieved the closed-loop control in turning or circling by estimating pigeons' flight state instantaneously and the corresponding logical regulation. The stimulation targets located at the formation reticularis medialis mesencephali (FRM) in the left and right brain, for the purposes of left- and right-turn control, respectively. The stimulus was characterized by the waveform mimicking the nerve cell membrane potential, and was activated intermittently. The wearable control unit weighted 11.8 g totally. The results showed a 90% success rate by the closed-loop control in pigeon-robots. It was convenient to obtain the wing shape during flight maneuver, by equipping a pigeon-robot with a vivo camera. It was also feasible to regulate the evolution of pigeon flocks by the pigeon-robots at different hierarchical level. All of these lay the groundwork for the application of pigeon-robots in scientific researches.
Animals ; Columbidae/physiology* ; Robotics/methods* ; Cerebral Cortex

The wide frequency band ECG (WFB-ECG) was recorded in 33 (anesthetized) normal pigeons by the microprocessor ECG system (made in Nanjing University) with a wide-frequency response (0-1000 Hz), a high-speed sweep (up to 1401 mm/s) and a high sensitivity (up to 28 mm/mV). The recording methods for limb leads in the pigeon were the same as those in man, except that the needle electrodes (made by No.5 needles) were subcutaneously inserted in the bases of the wings and in the legs. We studied the features of time domain and power spectrum of pigeons WFB-ECG. It presents P, R, S and T waves, but no Q wave, basically similar to the results from Aves described by Sturkie. But there are still many characters that were not be recorded on the conventional ECG: (1) the main QRS complex is inverted and forms the type of rS or rSr , no Q wave in leads II, III, aVF, and the S-T segment is absent, which is different from that of humans. The T wave is upright in leads II, III, and aVF (except one), in agreement with that of man. But in lead aVR, the main QRS complex is upright and forms the type of Rs, and the T wave is inverted without any exception. There is a large notch on the upstroke of S wave without any exception. The amplitude of the notch is 0.413+/-0.133 mV and the duration is 9.733+/-1.291 ms in lead II. (2) The ratio of duration of P wave to P-R segment is about 0.8, lower than that of humans (1.0-1.6), but higher than that of mice (0.4). (3) The low frequency signals (0-80 Hz) are prominent. The relative power content of high frequency range of QRS in lead II is: 100-1000 Hz: (10.181+/-7.443)%; 80-300 Hz: (15.418+/-10.579)%. (4)The QRS vector loop in the frontal plane lies between -90 degrees and -180 degrees. The electrical axis of QRS complex averages -118 +/-10 (ranges from -96 degrees to -136 degrees). The reason that position of vector loop and the direction of main wave of QRS in the pigeon are different from human s and rodent s is probably that the Purkinje fibers cross the whole ventricular wall and terminate in the subepicardium in Aves including pigeons . After the impulses coming from the sinoatrial node reach the ventricular muscles, the subepicardium is depolarized before the endocardium. However in human s and rodent s, the Purkinje fibres only reach one-forth to one-second of the whole thickness from the endocardium to the epicardium, the subendocardium is depolarized before the subepicardium.
Animals ; Columbidae ; physiology ; Electrocardiography ; Female ; Heart ; physiology ; Male

An adult male rufous turtle dove, Streptopelia (S.) orientalis (Aves: Columbiformes), was found dead in Yorii-machi Town, Osato District 369-1217, Saitama Prefecture, Japan, and subjected to necropsy. A large number of immobile hypopi (deutonymphs) of the hypoderatid mite, Hypodectes (H.) propus (Acarina: Hypoderatidae), were found individually encapsulated subcutaneously primarily in the adipose tissue. The mites were 1.43 mm in length and 0.44 mm in width on average, and had provoked mild inflammatory reactions that predominantly manifested as foamy macrophages and lymphoplasmocytes. PCR analysis using ribosomal DNA extracted from paraffin-blocked tissues produced a 240 bp band specific for hypoderatids. Based on the morphological features (distinct coxal apodemes, especially in the anterior portion) and PCR-based findings, the hypopi were identified as H. propus. To the best of our knowledge, this is the first case describing the subcutaneous mite H. propus in a rufous turtle dove, S. orientalis, in Japan. This study also highlights the use of paraffin blocks as a source of tissue DNA for molecular evaluation.
Animals ; Bird Diseases/diagnosis/*parasitology/pathology ; Columbidae/*parasitology ; DNA, Ribosomal/genetics ; Formaldehyde/metabolism ; Japan ; Male ; Mite Infestations/diagnosis/parasitology/pathology/*veterinary ; Mites/growth & development/*physiology ; Nymph/growth & development/physiology ; Paraffin Embedding/veterinary ; Polymerase Chain Reaction/veterinary