Interaction of alpha-tocopherol with free fatty acids. Mechanism of stabilization of lipid bilayer microviscosity

Using ESR-spin probes and 1H-NMR-spectroscopy methods the effect of alpha-tocopherol on liposome microviscosity has been studied. alpha-Tocopherol has been shown to remove the chaotropic action of free fatty acids on bilayer. The stabilization effect found has a common nature and does not depend on the chemical structure of the phopsholipid functional polar groups, the unsaturation degree of free fatty acids as well as fatty acids residua entering into phospholipid composition. Analog of alpha-tocopherol without phytol chain 2,2,5,7,8-penthamethyl-6-oxychroman does not show the stabilizing effect on the microviscosity of lipid bilayer under the action of free fatty acids. It indicates that both chromanol nucleus and phytol chain of alpha-tocopherol molecule are necessary for stabilizing action. The data obtained allow to suppose that the interaction of alpha-tocopherol with free fatty acids may be one of the molecular mechanisms of lipid bilayer microvicosity stabilization.     

Effects of phospholipase A2 and alpha-tocopherol on the activity of adenylate cyclase of rat brain synaptosomes

The action of phospholipase A2 and alpha-tocopherol on adenylate cyclase system functioning and on the lipid bilayer microviscosity of the rat brain synaptosome membranes was investigated. It was shown that the exposure of the synaptosomes to phospholipase A2 increases the adenylate cyclase activity stimulated by guanylyl imidotriphosphate (GITP), decreases the adenylate cyclase activity stimulated both by isoproterenol and by isoproterenol with GITP. The preincubation of synaptosomes in medium containing alpha-tocopherol does not change the character of the phospholipase action on the adenylate cyclase activity stimulated by isoproterenol but normalizes the adenylate cyclase activity stimulated both by GITP and by GITP with isoproterenol. In the last case the normalizing action of alpha-tocopherol is not caused by alteration of the microviscosity of the lipid bilayer. It appears to be due to the modification of the lipid-protein interactions of annular lipids with activated complex of catalytic subunit and guanyl nucleotide-binding protein.     

Vitamin E and its function in membranes

Vitamin E is a fat-soluble vitamin. It is comprised of a family of hydrocarbon compounds characterised by a chromanol ring with a phytol side chain referred to as tocopherols and tocotrienols. Tocopherols possess a saturated phytol side chain whereas the side chain of tocotrienols have three unsaturated residues. Isomers of these compounds are distinguished by the number and arrangement of methyl substituents attached to the chromanol ring. The predominant isomer found in the body is alpha-tocopherol, which has three methyl groups in addition to the hydroxyl group attached to the benzene ring. The diet of animals is comprised of different proportions of tocopherol isomers and specific alpha-tocopherol-binding proteins are responsible for retention of this isomer in the cells and tissues of the body. Because of the lipophilic properties of the vitamin it partitions into lipid storage organelles and cell membranes. It is, therefore, widely distributed in throughout the body. Subcellular distribution of alpha-tocopherol is not uniform with lysosomes being particularly enriched in the vitamin compared to other subcellular membranes. Vitamin E is believed to be involved in a variety of physiological and biochemical functions. The molecular mechanism of these functions is believed to be mediated by either the antioxidant action of the vitamin or by its action as a membrane stabiliser. alpha-Tocopherol is an efficient scavenger of lipid peroxyl radicals and, hence, it is able to break peroxyl chain propagation reactions. The unpaired electron of the tocopheroxyl radical thus formed tends to be delocalised rendering the radical more stable. The radical form may be converted back to alpha-tocopherol in redox cycle reactions involving coenzyme Q. The regeneration of alpha-tocopherol from its tocopheroxyloxyl radical greatly enhances the turnover efficiency of alpha-tocopherol in its role as a lipid antioxidant. Vitamin E forms complexes with the lysophospholipids and free fatty acids liberated by the action of membrane lipid hydrolysis. Both these products form 1:1 stoichiometric complexes with vitamin E and as a consequence the overall balance of hydrophobic:hydrophillic affinity within the membrane is restored. In this way, vitamin E is thought to negate the detergent-like properties of the hydrolytic products that would otherwise disrupt membrane stability. The location and arrangement of vitamin E in biological membranes is presently unknown. There is, however, a considerable body of information available from studies of model membrane systems consisting of phospholipids dispersed in aqueous systems. From such studies using a variety of biophysical methods, it has been shown that alpha-tocopherol intercalates into phospholipid bilayers with the long axis of the molecule oriented parallel to the lipid hydrocarbon chains. The molecule is able to rotate about its long axis and diffuse laterally within fluid lipid bilayers. The vitamin does not distribute randomly throughout phospholipid bilayers but forms complexes of defined stoichiometry which coexist with bilayers of pure phospholipid. alpha-Tocopherol preferentially forms complexes with phosphatidylethanolamines rather than phosphatidylcholines, and such complexes more readily form nonlamellar structures. The fact that alpha-tocopherol does not distribute randomly throughout bilayers of phospholipid and tends to form nonbilayer complexes with phosphatidylethanolamines would be expected to reduce the efficiency of the vitamin in its action as a lipid antioxidant and to destabilise rather than stabilise membranes. The apparent disparity between putative functions of vitamin E in biological membranes and the behaviour in model membranes will need to be reconciled.     

A study of the effect of low alpha-tocopherol concentrations on the dynamical parameters of microsomal membranes by the method of spin probes

The effect of alpha-tocopherol (alpha-tp) prepared in solvents of different polarity in a wide range of concentrations (10(-4) M - 10(-25) M) on lipid phase structural characteristics of microsomal membranes isolated from mouse liver cells has been investigated in vitro. Structural changes in membranes were detected on a Bruker-200D ESR-spectrometer (Germany) by the method of spin probes. Changes in the rigidity of surface lipid bilayer regions (8 A) and microviscosity of deep membrane layers (20 A) were studied using the stable nitroxyl radicals 5- and 16-doxylstearic acids, correspondingly. As a result, nonlinear multimodal dose dependences were obtained. It was demonstrated that the physiological (10(-4) M - 10(-9) M) and ultralow doses of alpha-tocopherol up to "apparent" concentrations (10(-11) M - 10(-25) M) increased the rigidity of surface lipid bilayer regions and microviscosity in the depth of membrane. Additionally, these doses of alpha-tp induced an increase in the number of thermoinduced structural transitions in deep lipid bilayer regions. The effect at "apparent" concentrations (< 10(-18) M) has only been observed in polar alpha-tocopherol solutions. The results obtained are statistically reliable with a significance level of 95%.     

Stabilization of synaptic membranes with alpha-tocopherol against the damaging effect of phospholipases. Possible mechanism of the biological action of vitamin E

Using fluorescent and EPR spin probing techniques, the effects of phospholipases A2, C and D on rat brain synaptosomal membranes were investigated. It was shown that treatment of synaptosomal membranes with phospholipases A2, C and D results in their depolarization and increase of their surface negative charge. In case of phospholipases A2 and C, these changes are also accompanied by a decrease of the microviscosity of the synaptosomal membrane lipid bilayer. alpha-Tocopherol protects synaptosomal membranes against the damaging action of phospholipases. The stabilization of synaptosomes by vitamin E consists in the reconstitution of the transmembrane potential and in an increased microviscosity of phospholipase-treated membranes. The stabilizing effect of alpha-tocopherol is due to the binding of phospholipid hydrolysis products rather than to the inhibition of phospholipases. The observed stabilization of synaptosomal membranes by alpha-tocopherol is interpreted as a feasible mechanism of biological effects of vitamin E on biological membranes.     

The effect of holotoxin A1 on transport of calcium ions across the lipid models of biological membranes

Planar bilayer lipid membranes formed from trepang phospholipids possess an intrinsic Ca2(+)-permeability. These phospholipids dissolved in a non-polar solvent can extract 45Ca2+ from the aqueous to the organic phase. The triterpenic glycoside holotoxin A isolated from the trepang Stichopus japonicus inhibits the Ca2+ flux of lipid bilayers from trepang phospholipids as well as the Ca2+ flux induced in phosphatidylcholine bilayers by the calcium ionophore X-537A. Toxin inhibits the Ca2+ ionophore A23187 induced Ca2+ efflux from phosphatidylcholine liposomes and 45Ca2+ transition from the aqueous to the organic phase. Holotoxin A does not inhibit the 45Ca2+ transfer to the non-polar phase induced by holoturia phospholipids and does not affect the phosphatidylcholine hydroperoxide-induced Ca2+ flux of lipid bilayers. Using the fluorescent probe pyrene, it was demonstrated that toxin increases the microviscosity of liposomal membranes and trepang oocyte "ghosts".     

Antioxidant properties and membranotropic effect of certain derivatives of 1,4-dihydropyridine

Interaction of alpha-tocopherol and 1,4-dihydropyridine with endoplasmic reticulum membranes and model systems, human serum albumin and phospholipid bilayer, was studied using the microcalorimetry and fluorescent probes procedures. Dependence of microviscosity changes in the endoplasmic reticulum membranes on the place of antioxidants localization (protein structures or phospholipid phase) was shown. Increase of membrane structuralization under the influence of 1,4-dihydropyridines blocked their antioxidant action in spontaneous and induced lipid peroxidation.     

Influence of vitamin E on phosphatidylethanolamine lipid polymorphism

The effect of vitamin E, in its major form alpha-tocopherol and its synthetic analog alpha-tocopheryl acetate, on phosphatidylethanolamine lipid polymorphism has been studied by mean of differential scanning calorimetry and 31P-nuclear magnetic resonance techniques. From the interaction of these tocopherols with dielaidoylphosphatidylethanolamine it is concluded that both molecules promote the formation of the hexagonal HII phase at temperatures lower than those of the pure phospholipid. When the tocopherols were incorporated in the saturated dimiristoylphosphatidylethanolamine, which has been shown not to undergo bilayer to hexagonal HII phase transition, up to 90 degrees C, they induce the phospholipid to partially organize in hexagonal HII phase. From our experiments it is shown that alpha-tocopherol is more effective than its analog in promoting HII phase in these systems. It is also shown that, while alpha-tocopheryl acetate does not significantly perturb the gel to liquid-crystalline phase transition of dimirystoylphosphatidylethanolamine, alpha-tocopherol does so and more than one peak appears in the calorimetric profile, indicating that lateral phase separations are taking place.     

Effect of the functional groups of tocopherol molecules on lipid viscosity of mitochondria

The influence of tocopherol and its analogue (oxychroman) on the microviscosity of mitochondrial lipids was studied, using spin labels. The viscosity of the lipid bilayer was shown to enhance with the increase in the antioxidant content in the membrane. Small concentrations of alpha-tocopherol (10(-5)-10(-6) mol/l) were shown to increase, while large concentrations (10(-3)-10(-4) mol/l) decreased the fluidity of the lipid bilayer. The influence of alpha-tocopherol on fluidity of the lipid bilayer depending on its concentration could be realized in two ways: by direct influence on the lipid bilayer and via reception. It was shown that alterations in the viscosity of the lipid bilayer depend on chroman cycle of tocopherols, while the temperature of structural transfer and effective energy of activation depend on the lateral phytyl chain.     

Membranotropic action of cardiotonic agents and ubiquinone

Interaction of cardiotonic drugs (strophantidine acetate, suphan, para-oxybenzoic acid) and ubiquinone with phospholipid bilayers has been studied. Exothermic effect of the reaction followed by an increase in microviscosity and hydrophobicity of the bilayer from cardiolipin, but by a decrease of the microviscosity of the bilayer from lecithin has been estimated. A correlation is observed between changes in the lecithin bilayer fluidity and the heat effect of the interaction at the initial period of time after mixing of reagents.     

Protein-lipid interaction. Biophysical studies of (Ca2+ + Mg2+)-ATPase reconstituted systems

Differential scanning calorimetry, fluorescence spectroscopy and freeze-fracture electron microscopy have been applied to a study of the reconstituted Ca2+-ATPase proteins from sarcoplasmic reticulum when they are incorporated into pure lipid/water systems. The results obtained with these techniques have been used to examine the effects of this intrinsic protein upon the surrounding lipid at temperatures above and below the main lipid solid-fluid phase transition temperature (Tc). 1. Above this Tc value, the freeze-fracture data show that the proteins are randomly distributed within the plane of the bilayer. The fluorescence data show that as the protein content in the bilayer increases, so does the 'microviscosity'. 2. Below Tc the proteins occur in high protein to lipid patches, separate from the remaining crystalline lipid. The fluorescence data indicate that at these temperatures the presence of the protein causes a decrease in microviscosity, whilst the calorimetric data indicate a decrease in enthalpy of the main lipid transition. 3. A premelting of the high protein to lipid patches formed by phase separation within the lipid bilayers is indicated by the calorimetric and fluorescence data. This observation is used to rationalise the 'anomalous' properties of the dipalmitoyl phosphatidylcholine-ATPase of exhibiting activity at temperatures well below the lipid phase transition at 41 degrees C.     

alpha-Tocopherol--a modifier of the phase state of a lipid bilayer

Using 1H-NMR high resolution spectroscopy it was demonstrated that alpha-tocopherol modifies the character of phase transition in the membrane lipid bilayer. Injection of 5 mol% tocopherol into the lipid bilayer from dipalmitoylphosphatidylcholine (DPPC) decreased the temperature and increased the width of the phase transition. Similar action was produced by injection into the bilayer from DPPC of 15-20 mol% linoleic acid. Injection of an equimolar amount of alpha-tocopherol into the bilayer from DPPC predestabilized by linoleic acid exerted a stabilizing action, the mode of phase transition being similar to that observed for pure DPPC. It is assumed that the stabilizing effect of alpha-tocopherol in question is a mechanism via which alpha-tocopherol protects the membrane from the damage-inducing action of free fatty acids.     

Calorimetric and molecular mechanics studies of the thermotropic phase behavior of membrane phospholipids.

In this review, we summarize the results of recent studies on the main phase transition behavior of phospholipid bilayers using the combined approaches of molecular mechanics simulations and high-resolution differential scanning calorimetry. Following a brief overview of the phase transition phenomenon exhibited by the lipid bilayer, we begin with the review by showing how several structural parameters underlying various phospholipids including phosphatidylcholine, phosphatidylethanolamine, and phosphatidylglycerol are defined and determined. Specifically, these structural parameters are obtained with saturated lipids packed in the gel-state bilayer using computer-based molecular mechanics calculations. Then we proceed to present the calorimetric data obtained with the lipid bilayer composed of saturated phospholipids as it undergoes the gel-to-liquid-crystalline phase transition in excess water. The general equations that can correlate the gel-to-liquid-crystalline phase transition temperature (T(m)) of the lipid bilayer with the structural parameters of the lipid molecule constituting the lipid bilayer are subsequently presented. From these equations, two tables of predicated T(m) values for well over 400 molecular species of saturated phosphatidylcholine and saturated phosphatidylethanolamine are generated. We further review the structure and chain-melting behavior of a large number of sn-1 saturated/sn-2 unsaturated phospholipids. Two T(m)-diagrams are shown, from which the effects of the number and the position of one to five cis carbon-carbon double bonds on T(m) can be viewed simultaneously. Finally, in the last part of this review, simple molecular models that have been invoked to interpret the characteristic T(m) trends exhibited by lipid bilayers composed of unsaturated lipids with different numbers and positions of cis carbon-carbon double bonds as seen in the T(m)-diagram are presented.     

Atomic force microscopy of supported lipid membranes and their complexes with polycations

The method of atomic force microscopy has been used to investigate the morphology of mica-supported bilayer lipid membranes and stability of their complexes with a cationic polymer, poly-(N-ethyl-4-vinylpyridinium bromide). Lipid bilayers with a minimum of defects were obtained by the fusion of monolamellar neutral or mixed anionic bilayer vesicles (liposomes) on the mica surface, followed by excessive solvent removal by means of rapid rotation of a plate in horizontal plane (spin-coating). It has been shown that the cationic polymer does not interact with the bilayers, where the outer leaflet (i.e., the monolayer exposed to the surrounding aqueous solution) is made of an electroneutral phosphatidylcholine (PC). At the same time, the polymer irreversibly binds to the bilayer containing an anionic lipid.     

Real-time structural investigation of a lipid bilayer during its interaction with melittin using sum frequency generation vibrational spectroscopy

Interactions between membrane bilayers and peptides/proteins are ubiquitous throughout a cell. To determine the structure of membrane bilayers and the associated peptides/proteins, model systems such as supported lipid bilayers are often used. It has been difficult to directly investigate the interactions between a single membrane bilayer and peptides/proteins without exogenous labeling. In this work we demonstrate that sum frequency generation vibrational spectroscopy can be employed to study the interactions between peptides/proteins and a single lipid bilayer in real time, in situ, and without exogenous labeling. Using melittin and a dipalmitoyl phosphatidylglycerol bilayer as a model system, we monitored the C-H and C-D stretching signals from isotopically symmetric or asymmetric dipalmitoyl phosphatidylglycerol bilayers during their interaction with melittin. It has been found that the extent and kinetics of bilayer perturbation induced by melittin are very sensitive to melittin concentration. Such concentration dependence is correlated to melittin's mode of action. Melittin is found to function via the early and late stage of the carpet model at low and high concentrations, respectively, whereas the toroidal model is probable at intermediate concentrations. This research illustrates the potential of sum frequency generation as a biophysical technique to monitor individual leaflet structure of lipid bilayers in real time during their interactions with biomolecules.     

Transmembrane Peptides Influence the Affinity of Sterols for Phospholipid Bilayers

Cholesterol is distributed unevenly between different cellular membrane compartments, and the cholesterol content increases from the inner bilayers toward the plasma membrane. It has been suggested that this cholesterol gradient is important in the sorting of transmembrane proteins. Cholesterol has also been to shown play an important role in lateral organization of eukaryotic cell membranes. In this study the aim was to determine how transmembrane proteins influence the lateral distribution of cholesterol in phospholipid bilayers. Insight into this can be obtained by studying how cholesterol interacts with bilayer membranes of different composition in the presence of designed peptides that mimic the transmembrane helices of proteins. For this purpose we developed an assay in which the partitioning of the fluorescent cholesterol analog CTL between LUVs and mβCD can be measured. Comparison of how cholesterol and CTL partitioning between mβCD and phospholipid bilayers with different composition suggests that CTL sensed changes in bilayer composition similarly as cholesterol. Therefore, the results obtained with CTL can be used to understand cholesterol distribution in lipid bilayers. The effect of WALP23 on CTL partitioning between DMPC bilayers and mβCD was measured. From the results it was clear that WALP23 increased both the order in the bilayers (as seen from CTL and DPH anisotropy) and the affinity of the sterol for the bilayer in a concentration dependent way. Although WALP23 also increased the order in DLPC and POPC bilayers the effects on CTL partitioning was much smaller with these lipids. This indicates that proteins have the largest effect on sterol interactions with phospholipids that have longer and saturated acyl chains. KALP23 did not significantly affect the acyl chain order in the phospholipid bilayers, and inclusion of KALP23 into DMPC bilayers slightly decreased CTL partitioning into the bilayer. This shows that transmembrane proteins can both decrease and increase the affinity of sterols for the lipid bilayers surrounding proteins. This is likely to affect the sterol distribution within the bilayer and thereby the lateral organization in biomembranes.     

Interactions of a Rhodococcus sp. biosurfactant trehalose lipid with phosphatidylethanolamine membranes

Trehalose lipids are an important group of glycolipid biosurfasctants mainly produced by rhodococci. Beside their known industrial applications, there is an increasing interest in the use of these biosurfactants as therapeutic agents. We have purified a trehalose lipid from Rhodococcus sp. and made a detailed study of the effect of the glycolipid on the thermotropic and structural properties of phosphatidylethanolamine membranes of different chain length and saturation, using differential scanning calorimetry, small and wide angle X-ray diffraction and infrared spectroscopy. It has been found that trehalose lipid affects the gel to liquid crystalline phase transition of phosphatidylethanolamines, broadening and shifting the transition to lower temperatures. Trehalose lipid does not modify the macroscopic bilayer organization of saturated phosphatidylethanolamines and presents good miscibility both in the gel and the liquid crystalline phases. Infrared experiments evidenced an increase of the hydrocarbon chain conformational disorder and an important dehydrating effect of the interfacial region of the saturated phosphatidylethanolamines. Trehalose lipid, when incorporated into dielaidoylphosphatidylethanolamine, greatly promotes the formation of the inverted hexagonal HII phase. These results support the idea that trehalose lipid incorporates into the phosphatidylethanolamine bilayers and produces structural perturbations which might affect the function of the membrane.     

Fourier transform infrared spectroscopic studies of the interaction of the antimicrobial peptide gramicidin S with lipid micelles and with lipid monolayer and bilayer membranes

We have utilized Fourier transform infrared spectroscopy to study the interaction of the antimicrobial peptide gramicidin S (GS) with lipid micelles and with lipid monolayer and bilayer membranes as a function of temperature and of the phase state of the lipid. Since the conformation of GS does not change under the experimental conditions employed in this study, we could utilize the dependence of the frequency of the amide I band of the central beta-sheet region of this peptide on the polarity and hydrogen-bonding potential of its environment to probe GS interaction with and location in these lipid model membrane systems. We find that the GS is completely or partially excluded from the gel states of all of the lipid bilayers examined in this study but strongly partitions into lipid micelles, monolayers, or bilayers in the liquid-crystalline state. Moreover, in general, the penetration of GS into zwitterionic and uncharged lipid bilayer coincides closely with the gel to liquid-crystalline phase transition of the lipid. However, GS begins to penetrate into the gel-state bilayers of anionic phospholipids prior to the actual chain-melting phase transition, while in cationic lipid bilayers, GS does not partition strongly into the liquid-crystalline bilayer until temperatures well above the chain-melting phase transition are reached. In the liquid-crystalline state, the polarity of the environment of GS indicates that this peptide is located primarily at the polar/apolar interfacial region of the bilayer near the glycerol backbone region of the lipid molecule. However, the depth of GS penetration into this interfacial region can vary somewhat depending on the structure and charge of the lipid molecule. In general, GS associates most strongly with and penetrates most deeply into more disordered bilayers with a negative surface charge, although the detailed chemical structure of the lipid molecule and physical organization of the lipid aggregate (micelle versus monolayer versus bilayer) also have minor effects on these processes.     

Characterization of the interaction of phospholipase A(2) with phosphatidylcholine-phosphatidylglycerol mixed lipids

The first requirement in the hydrolysis of phospholipid bilayers by phospholipase A(2) is the interaction of the enzyme with the bilayer surface. The catalytic ability of phospholipase A(2) has been shown to be extremely sensitive to the topology of the bilayer to which it binds and hydrolyzes. Phospholipid bilayer properties and composition such as unsaturation, charge, and the presence of reaction products are known regulators of the catalytic activity of phospholipase A(2) toward the phospholipids and influences the binding of enzyme to the membrane. We show in this paper that the effect of increased anionic lipid results in enhanced binding that can be described quantitatively in terms of a simple phenomenological model. However, the interaction with anionic lipid does not singularly dominate the thermodynamics of binding, nor can the lag phase observed in the time course of hydrolysis of large unilamellar vesicles simply be the result of limited interaction between the enzyme and the bilayer. Furthermore, we show that phospholipase A(2) from Akgistrodon piscivorus piscivorus can exist in at least two bilayer-bound states and that the absence of a fluorescence change upon mixing the enzyme with lipid bilayers does not necessarily indicate the absence of an interaction.     

Does cholesterol suppress the antimicrobial peptide induced disruption of lipid raft containing membranes?

The activity of antimicrobial peptides has been shown to depend on the composition of the target cell membrane. The bacterial selectivity of most antimicrobial peptides has been attributed to the presence of abundant acidic phospholipids and the absence of cholesterol in bacterial membranes. The high amount of cholesterol present in eukaryotic cell membranes is thought to prevent peptide-induced membrane disruption by increasing the cohesion and stiffness of the lipid bilayer membrane. While the role of cholesterol on an antimicrobial peptide-induced membrane disrupting activity has been reported for simple, homogeneous lipid bilayer systems, it is not well understood for complex, heterogeneous lipid bilayers exhibiting phase separation (or "lipid rafts"). In this study, we show that cholesterol does not inhibit the disruption of raft-containing 1,2-dioleoyl-sn-glycero-3-phosphocholine:1,2-dipalmitoyol-sn-glycero-3-phosphocholine model membranes by four different cationic antimicrobial peptides, MSI-78, MSI-594, MSI-367 and MSI-843 which permeabilize membranes. Conversely, the presence of cholesterol effectively inhibits the disruption of non-raft containing 1,2-dioleoyl-sn-glycero-3-phosphocholine or 1,2-dipalmitoyol-sn-glycero-3-phosphocholine lipid bilayers, even for antimicrobial peptides that do not show a clear preference between the ordered gel and disordered liquid-crystalline phases. Our results show that the peptide selectivity is not only dependent on the lipid phase but also on the presence of phase separation in heterogeneous lipid systems.