Human navigation strategies and their errors result from dynamic interactions of spatial uncertainties.

Goal-directed navigation requires continuously integrating uncertain self-motion and landmark cues into an internal sense of location and direction, concurrently planning future paths, and sequentially executing motor actions. Here, we provide a unified account of these processes with a computational model of probabilistic path planning in the framework of optimal feedback control under uncertainty. This model gives rise to diverse human navigational strategies previously believed to be distinct behaviors and predicts quantitatively both the errors and the variability of navigation across numerous experiments. This furthermore explains how sequential egocentric landmark observations form an uncertain allocentric cognitive map, how this internal map is used both in route planning and during execution of movements, and reconciles seemingly contradictory results about cue-integration behavior in navigation. Taken together, the present work provides a parsimonious explanation of how patterns of human goal-directed navigation behavior arise from the continuous and dynamic interactions of spatial uncertainties in perception, cognition, and action.

Structure Elucidation of a Melam-Melem Adduct by a Combined Approach of Synchrotron X-ray Diffraction and DFT Calculations.

Melam-melem (1:1), an adduct compound that can be obtained from dicyandiamide in autoclave reactions at 450 °C and elevated ammonia pressure, had previously been described based on mass spectrometry and NMR spectroscopy, but only incompletely characterized. The crystal structure of this compound has now been elucidated by means of synchrotron microfocus diffraction and subsequent quantum-chemical structure optimization applying DFT methods. The structure was refined in triclinic space group P 1 ‾ based on X-ray data. Cell parameters of a=4.56(2), b=19.34(8), c=21.58(11) Å, α=73.34(11)°, ß=89.1(2)°, and γ=88.4(2)° were experimentally obtained. The resulting cell volumes agree with the DFT optimized value to within 7 %. Molecular units in the structure form stacks that are interconnected by a vast array of hydrogen bridge interactions. Remarkably large melam dihedral angles of 48.4° were found that allow melam to interact with melem molecules from different stack layers, thus forming a 3D network. π-stacking interactions appear to play no major role in this structure.