The study of self-assembling robots represents a promising strand within the emerging field of modular robots research. Self-assembling robots have the potential to autonomously adapt their bodies to new tasks and changing environments long after their initial deployment by forming new or reorganizing existing physical connections to peer robots. In previous research, many approaches have been presented to enable self-assembling robots to form composite morphologies. Recent technological advances have also increased the number of robots able to form such morphologies by at least two orders of magnitude. However, to date, composite robot morphologies have not been able to solve real-world tasks nor have they been able to adapt to changing conditions entirely without human assistance or prior knowledge.In this thesis, we identify three reasons why self-assembling robots may not have been able to fully unleash their potential and propose appropriate solutions. First, composite morphologies are not able to show sensorimotor coordination similar to those seen in their monolithic counterparts. We propose "mergeable nervous systems" -- a novel methodology that unifies independent robotic units into a single holistic entity at the control level. Our experiments show that mergeable nervous systems can enable self-assembling robots to demonstrate feats that go beyond those seen in any engineered or biological system. Second, no proposal has been tabled to enable a robot in a decentralized multirobot system select its communication partners based on their location. We propose a new form of highly scalable mechanism to enable "spatially targeted communication" in such systems. Third, the question of when and how to trigger a self-assembly process has been ignored by researchers to a large extent. We propose "supervised morphogenesis" -- a control methodology that is based on spatially targeted communication and enables cooperation between aerial and ground-based self-assembling robots. We show that allocating self-assembly related decision-making to a robot with an aerial perspective of the environment can allow robots on the ground to operate in entirely unknown environments and to solve tasks that arise during mission time. For each of the three propositions put forward in this thesis, we present results of extensive experiments carried out on real robotic hardware. Our results confirm that we were able to substantially advance the state of the art in self-assembling robots by unleashing their potential for morphological adaptation through enhanced sensorimotor coordination and by improving their overall autonomy through cooperation with aerial robots. / Doctorat en Sciences de l'ingénieur et technologie / info:eu-repo/semantics/nonPublished

Un modèle de morphogenèse aérienne de graminées fourragères, nommé L grass, a été développé lors de travaux précédents. Le but de la thèse est de proposer une méthode d'insertion de la morphogenèse racinaire dans ce modèle afin de tenir compte de l'impact des ressources telluriques sur la structure et le fonctionnement de la plante.</br>Un simulateur de plante entière de ray-grass anglais (Lolium perenne L.) incorporant (i) des règles d'autorégulation de l'architecture aérienne, (ii) le développement architecturé du système racinaire, (iii) des processus de coordination entre les parties aérienne et racinaire et (iv) un système d'allocation du carbone a été développé. La nature autorégulée du modèle lui permet de reproduire les réponses à l'intensité d'une défoliation et à la compétition pour la lumière sans nécessiter de contrôle central. Le couplage du modèle avec un modèle de sol permet de simuler le développement de la plante subissant différents scénarios d'apport en eau sans nécessiter de consignes morphogénétiques données a priori.</br>La représentation architecturée du système racinaire présente quelques limites, principalement en termes de ressources informatiques, pour les simulations de peuplements. Afin de pallier ces limites, un modèle continu de dynamique de densités racinaires a aussi été incorporé pour simuler l'enracinement. Les comparaisons entre les deux modèles de système racinaire ont montré l'intérêt indéniable des modèles de densités racinaires notamment pour les études à l'échelle d'un couvert végétal. / A model of the shoot morphogenesis of forage grasses, called L-grass, was developed in previous studies. The aim of this thesis is to propose a method for introducing root morphogenesis in the current model so the effect of telluric resources availability can be taken into account for shaping plant form and functioning.</br>A simulator of perennial ryegrass (Lolium perenne L.) whole plant, which includes (i) the rules of shoot architecture self-regulation,(ii) the architectural development of the root system, (iii) the coordination processes between shoot and root parts and (iv) a system of allocation of carbon, was developed. The self-adaptable character of the model allows the reproduction of the responses to the intensity of defoliation and the competition for sunlight without the need of any central control. The coupling of the model with a soil model enables to recreate the development of the plant undergoing different scenarios of water supply with no requirement of previously established morphogenetic guidelines.</br>The architectural representation of the root system presents some shortcomings, mainly regarding the need in computing power when simulating plant populations. In order to overcome these limitations, a continuous model of the dynamics of root densities has been also incorporated to simulate plant rooting. The comparison between both models of root systems has shown the undeniable interest of modeling root density, especially for the studies at the vegetation cover level.

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / Feed supplementation of the animals affects the pasture intake and may influence its productive and structural characteristics. Morphogenesis is a valuable tool for the dynamics understanding of the pasture, however the morphogenetic studies related to sorghum culture are still scarce as well as the evaluation of the supplementation effects on these characteristics. The objective of the present study was to evaluate the effects of the different levels of supplementation on the morphogenetic characteristics of sorghum forage (Sorghum bicolor (L.) Moench) submitted to continuous grazing of beef steers. The experiment was performed at the Beef Cattle Laboratory of UFSM from January to April, 2013. Morphogenetic measures were taken by the marked tiller technique in order to determine the morphogenetic variables of sorghum forage. The completely randomized experimental design was used, with measures repeated in time, with three treatments and two repetitions (area) for the morphogenetic characteristics. The results of the morphogenetic variables were submitted to variance analysis with 5% of significance level using PROC MIXED. The analyses were performed with the assistance of the statistical package SAS 9.1.3 (2009). By increasing the supplementation level offered to the animals it was observed a lower value for the Number of Live Leafs (2.77, 3.34 and 3.55) and Leaf Elongation Rate (0.06, 0.09 and 0.08) characteristics. The variables Leaf Appearance Rate (0.0041, 0.0043 and 0.039), Leaf Senescence Rate (0.05, 0.06 and 0.11) and Phyllochron (283.96, 265.21 and 278.62) were not influenced by the different supplementation levels. There was a difference among the evaluation periods for the characteristics Leaf Life Span (1081.1, 986.25 and 788.79) and Leaf Elongation Length (350.58, 312.83 and 326.36). For the characteristics Canopy Height, Pseudo Stem Length, and Final Length of Blades there was an interaction between treatment and period. / A suplementação alimentar dos animais afeta o consumo do pasto e pode influenciar suas caraterísticas produtivas e estruturais. A morfogênese é uma valiosa ferramenta para a compreensão da dinâmica do pasto, porém os estudos morfogênicos referentes à cultura do sorgo ainda são escassos, bem como a avaliação dos efeitos da suplementação sobre estas características. O objetivo do presente estudo foi avaliar os efeitos de diferentes níveis de suplementação sobre as características morfogênicas do sorgo forrageiro (Sorghum bicolor (L.) Moench) submetido ao pastejo contínuo de novilhos de corte. O experimento foi conduzido no Laboratório de Bovinocultura de Corte da UFSM no período de janeiro a abril de 2013. Foram tomadas medidas morfogênicas pela técnica de perfilhos marcados para determinação das variáveis morfogênicas do sorgo forrageiro. O delineamento experimental foi inteiramente casualizado, com medidas repetidas no tempo, com três tratamentos e duas repetições (área) para as características morfogênicas. Os resultados das variáveis morfogênicas foram submetidos à análise de variância em nível de 5% de significância, utilizando o PROC MIXED. As análises foram realizadas com auxílio do pacote estatístico SAS 9.1.3 (2009). Ao aumentar o nível de suplementação ofertado aos animais, observou-se menor valor para as características de Folhas Vivas (2,77, 3,34 e 3,55) e Taxa de Alongamento Foliar (0,06 0,09 e 0,08). Não foram influenciadas pelos diferentes níveis de suplementação as variáveis Taxa de Aparecimento Foliar (0,0041, 0,0043 e 0,039), Taxa de Senescência Foliar (0,05, 0,06 e 0,11), Filocrono (283,96, 265,21 e 278,62). Para as características Duração de Vida da Folha (1081,1, 986,25 e 788,79) e Duração de Elongação Foliar (350,58, 312,83 e 326,36) houve diferença entre os períodos de avaliação. Para as características Altura de Dossel, Comprimento de Pseudocolmo e Comprimento Final de Laminas houve interação entre tratamento e período.

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / The leaf biomass flows of Alexandergrass (Urochloa plantaginea (Link) Hitch), the intensity and frequency of defoliation were evaluated using Zero, 100, 200 or 300 kg ha-1 of nitrogen (N), in the form of urea. The grazing method was continuous with variable number of animals to keep the forage mass in 3000 kg ha-1 DM. The experimental animals were Angus heifers with age and initial average body weight of 15 months and 241.5±5.7 kg, respectively. The experimental design was completely randomized following a repeated measure arrangement measures with four treatments and variable number of experimental units. Application of 100 kg ha-1 N provided higher leaf blades growth flow. The senescence and intake fluxes and defoliation intensity were similar in N fertilizer rates used. The return frequency (days) was influenced by N rates and evaluation periods. It is recommended using 100 kg ha-1 N in Alexandergrass pasture. / Os fluxos de biomassa foliar do papuã (Urochloa plantaginea (Link) Hitch), a intensidade e frequência de desfolha foram avaliados com o uso de Zero, 100, 200 ou 300 kg ha-1 de nitrogênio (N), na forma de ureia. O método de pastejo foi contínuo com número variável de animais para manter a massa de forragem em 3000 kg ha-1 de MS. Os animais experimentais foram bezerras Angus com idade e peso corporal médio inicial de 15 meses e 241,5±5,7 kg, respectivamente. O delineamento experimental foi inteiramente casualizado, com medidas repetidas no tempo, com quatro tratamentos e número variável de unidades experimentais. O uso de 100 kg ha-1 de N proporcionou maior fluxo de crescimento de lâminas foliares. Os fluxos de senescência e de consumo e a intensidade de desfolha foram similares nas doses de N utilizadas. A frequência de retorno (dias) foi influenciada pelas doses de N e períodos de avaliação. É recomendada a utilização de 100 kg ha-1 de N em pastagem de papuã.

Forces requises pour les changements de forme au cours de la morphogenèse des tissus sont générés par d’actine et de myosine. Durant ma thèse, je étudié le rôle de la réglementation MyoII par la voie Rho1-Rok durant l’élongation de l’ectoderme ventro-latéral par intercalation cellulaire. Les pulsations de MyoII médio-apicale se déplacent de manière anisotrope vers les jonctions parallèles avec l’axe dorso-ventral (ou jonctions verticales). Ceci provoque le rétrécissement graduel des jonctions qui sont stabilisées par une population de MyoII polarisée dans le plan du tissu et enrichie au niveau de ces jonctions. Les mécanismes cellulaires qui régulent la pulsatilité, la stabilité et la polarité de la myosine II restent à élucider. J’ai identifié deux propriétés cruciales de la dynamique de la myosine II régie par phospho- à savoir la cinétique d’échange gouvernée par les cycles de phosphorylation-déphosphorylation des chaines légères régulatrices de la MyoII (RLC) et l’advection due à la contraction des moteurs sur le réseau de F-actine. Contrôle spatial sur le chiffre d'affaires MyoII établit 2 régimes stables des taux élevés et faibles dissociation résultant dans MyoII polarité. Pulsatilité est un comportement auto-organisé qui émerge à taux de dissociation intermédiaires permettant d'advection MyoII et les régulateurs en amont. Dans la deuxième partie de ma thèse, je l'ai montré que la protéine GPCR- GRsmog et la brume, et la voie G-protéines en aval permettent l'activation progressive des MyoII, établissant pulsatilité et de la stabilité pour produire des déformations de forme polarisées cours de la morphogenèse. / Forces required to power shape changes during tissue morphogenesis are generated by non-muscle MyosinII (MyoII) pulling filamentous actin. During my PhD, I investigated the role of MyoII regulation through the conserved Rho1-Rok pathway during Drosophila germband extension. The morphogenetic process is powered by cell intercalation involving shrinkage of junctions in the dorsal-ventral axis (‘vertical junctions’) followed by junction extension in the anterior-posterior axis. Advances in light microscopy revealed that the actomyosin networks exhibit pulsed contractions to power junction shrinkage, and alternate with steps of stabilization by MyoII enriched on vertical junctions (planar-polarity) to result in irreversible shape changes. Although described in many different contexts, the underlying mechanisms of this ratchet-like behavior remained unclear. Using genetic and biophysical tools, quantitative imaging and subtle perturbations, I identified 2 critical properties underlying MyoII dynamics- turnover governed by phospho-cycling of the MyoII Regulatory Light Chain, and advection due to contraction of the motors on actin networks. Spatial control over MyoII turnover establishes 2 stable regimes of high and low dissociation rates resulting in MyoII planar polarity. Pulsatility is a self-organized behavior that emerges at intermediate dissociation rates enabling advection of MyoII and upstream regulators. In the second part of my thesis, I showed that G protein coupled receptors- GRsmog and Mist, and the downstream G-protein pathway allow step-wise activation of MyoII, establishing pulsatility and stability, to drive polarized shape deformations during morphogenesis.

Lors d’une infection chronique, le virus de l'hépatite C (HCV) circule sous forme de lipoviroparticule (LVP) : particules hybrides associant des composants viraux (ARN, les protéines structurelles) et des composants cellulaires (apolipoprotéines, cholestérol). Au cours de ma thèse, nous nous sommes intéressés à identifier la plateforme d'assemblage du HCV, et le rôle du rassemblement des protéines virales par NS2 dans sa formation. Nous avons montré que des interactions de natures différentes sur la membrane du RE sont impliquées dans cette association protéique. Nos résultats suggèrent que des interactions complexes (directes ou via des « membranes résistantes aux détergents » (DRM)) entre les protéines complexées par NS2, peuvent immédiatement précéder la formation LVP. Nous avons également démontré que l’hétérodimère E1E2, les apolipoprotéines B et E (ApoB, ApoE) s’associent en un complexe de protéines dans le réticulum endoplasmique (RE) lorsqu'elles sont exprimées ensembles. Ce complexe se forme au début de l'assemblage du HCV, quelle que soit l'expression des autres protéines virales, et est conservée sur les LVP sécrétées. Basé sur ces données, nous avons proposé un mécanisme expliquant l’initiation de la morphogenèse des LVP. Ensuite, nous avons évalué l'importance de l'association E1E2/ApoE pour le cycle de vie du virus. Nous avons initié une étude pour identifier les acides aminés E1E2 impliqués dans l'interaction avec les apolipoprotéines. Avec ces données, nous souhaitons proposer une meilleure compréhension des mécanismes de la morphogenèse du HCV. / In chronic infection, the hepatitis C virus (HCV) circulates as lipoviral particles (LVP): hybrid particles associating viral (RNA, structural proteins) and cellular components (apolipoproteins, cholesterol). During my PhD, we were interested in identifying the HCV assembly platform, and the role of the association of the viral proteins by NS2 during its formation. We showed that different natures of interactions on the ER membrane are involved in this proteic association. Our results suggest that a complex interplay between proteins of the complex formed by NS2, directly or through “detergent resistant membranes” (DRMs) may be immediately followed by LVPs formation. We also demonstrated that E1E2 heterodimer, apolipoproteins B and E (ApoB, ApoE) associate as a protein complex in the endoplasmic reticulum (ER) when expressed together. This complex is formed early in HCV assembly, regardless the expression of other viral proteins, and is conserved on the secreted LVPs. Based on these data, we proposed a mechanism explaining LVP morphogenesis initiation. Then we assessed the importance of E1E2/ApoE association for viral life cycle. We initiate a study to identify the E1E2 amino acids involved in the interaction with apolipoproteins. With these data, we wished to provide a better understanding of the mechanisms of the HCV morphogenesis.

Les membranes basales (MB) jouent un rôle majeur au cours des processus morphogénétiques. Elles et sont principalement composées de Collagène de type IV, de Perlecan et de Laminine. Les récepteurs d'adhésions/signalisations (Intégrines/Dystroglycans) localisés au pôle basal des cellules épithéliales, interagissent directement avec les MBs. De nombreuses études montrent l'importance de la composition des MBs dans le devenir cellulaire. Cependant, le rôle mécanique de la MB au cours du développement d'un organe multicouche n'est pas connu. Comme modèle de morphogenèse épithéliale, nous avons choisi d'étudier l'épithélium du follicule ovarien chez Drosophila melanogaster. La MB entoure chaque follicule ovarien qui est composé d'une monocouche de cellules épithéliales cuboïdes entourant un groupe interne formé de 16 cellules de la lignée germinale (15 cellules nourricières en postérieur et 1 ovocyte en antérieur). Au cours du développement folliculaire, les cellules épithéliales s'aplatissent suivant une vague antéro-postérieur. Cette transition cellulaire cuboïde – aplatie dépend du remodelage des jonctions d'adhérence et du cytosquelette. Mes travaux de thèse ont porté sur l'étude du rôle mécanique et moléculaire de la MB au cours de la morphogenèse épithéliale chez la Drosophile. J'ai ainsi pu montrer (i) que la rigidité de la MB augmente au fur et à mesure du développement du follicule, (ii) que l'aplatissement dépend de la structure de la MB et de la liaison a cette MB grâce aux intégrines (iii) que la MB s'assouplie lors de la transition cuboïde-squameux et que cette assouplissement dépend de ce processus. Ces résultats démontrent un dynamisme mécanique et moléculaire de la MB au cours de l'ovogenèse et de la morphogenèse, révélant le rôle central de la MB lors de ces processus. Parallèlement j'ai développé une approche par segmentation cellulaire afin d'extraire les valeurs métriques (hauteur, anisotropie, surface basale, volume) des cellules épithéliales et de mesurer les variations de ces paramètres au cours de la morphogenèse épithéliale (MARS-ALT) / Epithelial cell morphogenesis is an essential process for animal development. Epithelia are composed of polarized cells with a basal side interacting through Integrins, with a basement membrane (BM) and a lateral side containing cadherin-based junctional complexes. Integrins and Cadherins are, both, linked to actin filaments and are thus involved in cell shape regulation. While these links are well documented, it remains unclear how the components of the BM and the 3D organisation of this tissue influence epithelial cell morphogenesis. The model we are using to study this influence is the follicular epithelium in Drosophila melanogaster. It consists of a monolayer of 800 epithelial cells surrounding the egg chamber consisted of an internal cluster of 16 germline cells (15 nurse cells and one posteriorly-localized oocyte). An extracellular matrix (ECM), composed mainly of Collagen IV and Laminins, surrounds each follicle, directly secreted by follicular cells. During follicle development, the cuboidal epithelial cells become squamous around the nurse cells and columnar around the oocyte. The cuboidal-to-squamous transition depends on both Integrins (formed by the subunits aPS2/bPS) and Cadherin-based adherens junction remodelling. Here we designed an Atomic Force Microscopy (AFM) approach to investigate the elastic modulus of the ECM in a living ovarian follicle at different stages of development and particularly during epithelial cell morphogenesis. First, we found that the stiffness changes temporally during oogenesis with an increase of stiffness during Collagen IV deposition. Second, during cell morphogenesis, we observed a gradient of ECM stiffness. Third, by measuring the stiffness in mutants delaying or promoting cell flattening, we showed that the regional differences occurs in function of the cell ability to flatten. Fourth, to assess the involvement of Collagen IV or its structure for the ECM rigidity properties, we measured the stiffness of ECM produced by follicles mutant for Collagen IV or after collagenase treatment and concluded that collagen fibrils are the source of rigidity properties.Altogether, these results demonstrate the role of the regulation of the ECM stiffness for epithelial cell morphogenesis and highlight a new mechanical aspect in the comprehension of developmental processes

Ce travail de thèse concerne l'articulation trapézométacarpienne. La première partie du travail a concerné l'étude de la morphogénèse de l'arche palmaire par modélisation géométrique 3D. Cinq embryons ont été utilisés. Les résultats de cette étude montre le caractère asymétrique et l'opposition précoce du pouce chez l'embryon humain. La deuxième partie a consisté à partir d'un protocole IRM spécifique sur 5 sujets sains à déterminer la cinématique 3D de l'articulation trapézo-métacarpienne en utilisant les axes hélicoïdaux. La troisième partie, suivant le même protocole sur sujets pathologiques à partir d'image scanner a permis d'évaluer l'effet des différents types de traitement en cas de rhizarthrose. Les résultats trouvent leur application dans l'évaluation quantitative des pathologies de l'articulation trapézo-métacarpienne ainsi que dans le développement des prothèses. / This work concerned the first carpo-metacarpal joint. The first part of this work was the study of the morphogenesis of the palmar arch using three-dimensional geometrie modeling. Five embryos were used for this study. The results of this study support the hypothesis that opposition and asymmetry of the thumb appears early in embryological development. In the second part, with specifie MRI protocol on 5 normal subjects, the objective was to quantify the 3D motion of the trapezo-metacarpal joint using helical axes theory. In the last part, using the same protocol on pathological subjects (CT scan images), the objective was to evaluate the effect of different type of treatment of the first carpo­ metacarpal arthritis.The results of the work are of interest for the quantitative evaluation of pathological trapezo-metacarpal joint and in the development of prosthesis.

L'enveloppe cellulaire bactérienne joue plus qu'un rôle de barrière d'échange. Elle est au coeur des processus cellulaires essentiels comme la morphogenèse et la division. Cette structure abrite environ un quart des protéines codées par le génome. Le but de mon travail a été de mieux comprendre le rôle de deux protéines membranaires dans la construction et la dynamique de l'enveloppe chez Bacillus subtilis. GluP est une protéase intramembranaire rhomboïde. Ces protéases clivent des segments transmembranaires dans la membrane afin de moduler l'activité de diverses protéines. Elles participent à de nombreux processus cellulaires chez les eucaryotes. Cependant, les fonctions biologiques des rhomboïdes procaryotes sont pour l'heure presque totalement inconnues. Nos résultats suggèrent que GluP participe au contrôle qualité des protéines membranaires à la manière des pseudo-rhomboïdes associées au système ERAD eucaryote. Elle forme un complexe avec FtsH, une protéase majeure du contrôle qualité des protéines. Ce complexe est impliqué dans la dégradation d'un substrat de rhomboïde. Le rôle de GluP serait de permettre la dislocation du segment transmembranaire et faciliter la prise en charge du substrat par FtsH. Le second projet auquel j'ai participé a consisté à comprendre le rôle de la protéine CmmB dans la morphogenèse. Son absence conduit à une morphologie cellulaire élargie. CmmB semble faire partie de la machinerie de synthèse du peptidoglycane au cours de l'élongation de la paroi. Elle serait nécessaire au bon fonctionnement d'une ou de plusieurs penicillin-binding proteins (PBPs). En particulier, nous proposons que CmmB est un cofacteur de la transpeptidase PBP2a. / The bacterial cell envelope is an obligatory barrier. It is a fundamental component in essential cellular processes such as morphogenesis and cell division. It hosts about a quarter of the proteins encoded in the genome. My work was aimed at understanding the function of two membrane proteins in the building and the dynamics of the cell envelope in the model bacterium Bacillus subtilis.GluP is a rhomboid intramembrane protease. Usually, rhomboids cleave transmembrane segments within the membrane to modulate protein functions. In eukaryotes, they participate in many cellular processes and their dysfunction lead to several pathologies. However, prokaryotic rhomboid functions remain almost totally unknown. Our results suggest that GluP is involved in bacterial membrane protein quality control, in a process akin to pseudo-rhomboid dependent endoplasmic reticulum associated protein degradation in eukaryotes. GluP forms a complex with FtsH, a major protease in protein quality control. That complex is not involved in the cleavage of a membrane substrate but in its degradation. We propose that GluP is required for the dislocation of the transmembrane segment, thus facilitating full-length substrate degradation by FtsH in the cytoplasm. My thesis second objective was to understand the role of the CmmB protein in morphogenesis. The absence of CmmB leads to slightly enlarged cells. CmmB seems to belong to the peptidoglycan synthesis machinery for cell-wall elongation. Our data support the idea that it is required for the proper activity of one or several penicillin-binding proteins (PBPs). In particular, we propose that CmmB is a cofactor of the PBP2a transpeptidase.

O estudo da morfogênese e da dinâmica de acúmulo de forragem possibilita melhor entendimento dos processos fisiológicos da planta em resposta a práticas de manejo empregadas. O presente estudo foi conduzido em uma área pertencente ao Departamento de Zootecnia da ESALQ/USP, estabelecida com o capim-xaraés [Brachiaria brizantha (Hochst ex A. RICH) STAPF. cv. Xaraés], durante o verão agrostológico de 2006/2007. O objetivo do estudo foi comparar as respostas morfogênicas e estruturais do capim-xaraés submetido a estratégias de pastejo rotativo em janelas temporais pré-estabelecidas, perfazendo um verão agrostológico, para estabelecer possíveis contrastes nas respostas dessa espécie a intervalos de rebrotação variáveis. O experimento envolveu três tratamentos baseados em intervalo de pastejo: a cada 28 dias ou sempre que a interceptação de luz (IL) pelo dossel forrageiro atingisse 95% ou 100% durante a rebrotação. O delineamento experimental utilizado foi o completamente casualizado, com três repetições. Os dados foram coletados em três momentos durante o verão agrostológico, correspondentes aos meses de Out/Nov, Dez/Jan e Fev/Mar. Foram avaliadas as seguintes variáveis-reposta: densidade populacional de perfilhos (DPP) aéreos e basais, altura do dossel, massa de forragem, relação folha:colmo pré-pastejo (F:C), índice de área da folhagem (IAFo), taxa de alongamento de folhas (TAlF), taxa de senescência de folhas (TSeF), taxa de alongamento de colmos (TAlC), comprimento final da folha (CFF), comprimento do colmo (colmo + pseudo-colmo) (CC), número de folhas vivas por perfilho (NFV), filocrono (Fil), duração de vida da folha (DVF) e taxa de crescimento de folhas (TCF). O tratamento 100% IL resultou nos maiores valores de massa de forragem pré- (5200 kg ha-1 MS) e pós-pastejo (1330 kg ha-1 MS), assim como no maior acúmulo médio de forragem (3870 kg ha-1 MS). O tratamento de 28 dias resultou em níveis variáveis de IL pré-pastejo, embora, na média, tenha sido semelhante ao tratamento 95% IL. O tratamento 95% IL e o 28 dias resultaram nos menores valores de IAFo pré-pastejo (3,62 e 3,75, respectivamente), mas os maiores IAFos pós-pastejo. A relação F:C não variou entre os tratamentos, assim como a DPP aéreos e total. O tratamento 100% IL gerou a menor DPP basal (1189 perfilhos m-2) e o tratamento 95% IL a maior (1260 perfilhos m-2). Não houve diferença entre os tratamentos para a TApF, Fil, DVF e NFV nas épocas avaliadas. O tratamento 100% IL resultou nos maiores valores de CFF e TCF e 95% IL nos menores. Conclui-se que o uso da IL como indicador do momento de interrupção da rebrotação e início do pastejo resulta em variações no comprimento do período de descanso em pastos sob lotação intermitente. Além disso, fica evidente que o componente colmo é o principal responsável pelas altas taxas de acúmulo de forragem de gramíneas tropicais em situações de períodos prolongados de descanso. Estudos que estabeleçam padrões de idades fisiológicas podem explicar melhor os contrastes existentes entre tratamentos cujos intervalos de pastejo se baseiam em níveis de interceptação luminosa pelo dossel forrageiro durante a rebrotação. / The study of morphogenesis and the dynamics of forage accumulation allows for a better understanding of plant physiological processes in response to management practices. This study was conducted in Piracicaba, SP, on a pasture established with Xaraés palisadegrass [Brachiaria brizantha (Hochst ex A. Rich) Stapf. cv. Xaraés], during the summer growing season of 2006/2007. The objective was to compare the structural and morphogenic responses of this forage grass subjected to intermittent defoliation strategies during the summer growing season, and try to establish possible contrasts in the responses of this species to varying regrowth intervals. Treatments were three grazing frequencies applied as rest periods: grazing every 28 days or when the light interception (LI) by sward reached 95% or 100% during the regrowth. The experimental design was completely randomized, with three replications. Data were collected and then divided into three portions of the growing season, corresponding to the months of Oct/Nov, Dec/Jan and Feb/Mar. The following responses were measured: tiller (basal and aerial) population density (TPD), canopy height, pre- and post-graze forage mass, pre-graze leaf:stem ratio (L:S), leaf area index (LAI), leaf elongation rate (LER), stem elongation rate (SLR), final leaf length (FLL), stem length (stem+pseudo-stem) (SL), number of live leaves per tiller (NLL), phyllochron (Phy), leaf life span (LLS), and leaf growth rate (LGR). The 100% LI treatment resulted in higher pre-graze forage mass (5200 kg DM ha-1) as well as and post-graze forage mass (1330 kg DM ha-1), as well as higher mean herbage accumulation (3870 kg DM ha-1). The 28-d treatment resulted in varying levels of pre-graze LI, although, on average, it was similar to the 95% LI treatment. The 95% LI and the 28-d resulted in lower pre-graze LAI (3.62 and 3.75, respectively), but the highest post-graze LAI. The L:S ratio did not vary across treatments, and neither did the TPD (total and aerial). The 100% LI treatment resulted in lowest basal DPP (1189 tillers m-2) and the 95% LI in the highest DPP (1260 tillers m-2). There was no difference among treatments for LAR, Phy, LLS, and NLL in any of the periods within the growing season. The 100% LI treatment resulted in higher FLL and LGR and the 95% LI in the lowest values for these responses. It is concluded that the use of LI as an indicator of the time for termination of regrowth and the beginning of grazing results in variations in the length of rest period in pastures under intermittent stocking. In addition, it is clear that the stem is the main component responsible for high rates of accumulation of tropical forage grass in situations of prolonged periods of rest. Studies to establish standards of \"physiological age\" may explain the contrast between the grazing treatments whose intervals are based on levels of light interception by the canopy during pasture regrowth.