Oscillations of force in the standing legs of a walking insect (Carausius morosus)

In the experiments presented here adult stick insects (Carausius morosus) walk on a treadwheel with various legs standing on platforms fixed relative to the body of the insect. These standing legs produce large forees directed towards the rear which are modulated in the rhythm of the walking legs. Neighbouring legs which both stand on a platform often oscillate in phase. Possible reasons for the occurrence of the force oscillations are discussed.Supported by DFG (Cr 58/1)     

The contributions of diverse sense organs to the control of leg movement by a walking insect

Summary During locomotion, stick insectsCarausius morosus, place the tarsus of the rear leg near the tarsus of the ipsilateral middle leg, whatever the position of the latter. This adjustment by the hind leg requires that it receive information on the actual position of the middle leg tarsus. It is shown by ablation experiments that such information is contributed by the following proprioceptors of the middle leg: the ventral and dorsal coxal hairplates, the coxal hair rows, the trochanteral hairplate and the femoral chordotonal organ. Additional information comes from other, as yet unidentified, sense organs. Several alternatives are considered to explain how the signals from the diverse sense organs of the subcoxal joint might be combined in computing the target position for the protracting hind leg. The experimental results support the hypothesis that the signals are added nonlinearly and that a signal deviating from the majority pattern is weighted less.Abbreviations cxHPu ventral coxal hairplate - cxHPd dorsal coxal hairplate - trHP trochanteral hairplate - HR hair row - feCO femoral chordotonal organ - AEP anterior extreme position     

Ordered water structure in an A-DNA octamer at 1.7 A resolution

The crystal structure of the deoxyoctamer d(G-G-Br U-A-BrU-A-C-C) was refined to a resolution of 1.7 A using combined diffractometer and synchrotron data. The analysis was carried out independently in two laboratories using different procedures. Although the final results are identical the comparison of the two approaches highlights potential problems in the refinement of oligonucleotides when only limited data are available. As part of the analysis the positions of 84 solvent molecules in the asymmetric unit were established. The DNA molecule is highly solvated, particularly the phosphate-sugar back-bone and the functional groups of the bases. The major groove contains, in the central BrU-A-BrU-A region, a ribbon of water molecules forming closed pentagons with shared edges. These water molecules are linked to the base O and N atoms and to the solvent chains connecting the O-1 phosphate oxygen atoms on each strand. The minor groove is also extensively hydrated with a continuous network in the central region and other networks at each end. The pattern of hydration is briefly compared with that observed in the structure of a B-dodecamer.     

Lymphatic mapping and sentinel lymph node biopsy in patients with melanoma of the lower extremity

Lymphatic mapping and sentinel lymph node biopsy is a new technique used in the surgical treatment of patients with malignant melanoma. The purpose of this study was to evaluate the results of this approach for patients with melanoma of the lower extremity. Between May of 1994 and June of 1997 at the H. Lee Moffitt Cancer Center and Research Institute, 85 consecutive patients with clinical stage I and II melanoma of the lower extremity underwent lymphatic mapping and sentinel lymph node biopsy. These nodes were identified in all 85 patients by intraoperative lymphatic mapping with both radiolymphoscintigraphy and a vital blue dye injection. Eleven patients (12.9 percent) had histologically positive sentinel lymph nodes, and 10 patients underwent inguinal complete lymph node dissections. All 10 patients had no further histologically positive lymph nodes confirmed by subsequent complete dissection. Among 74 patients with histologically negative sentinel lymph nodes, only 2 patients (2.7 percent) developed inguinal nodal metastases during a mean follow-up period of 21.8 months (range, 13.5 to 58.3 months). The sensitivity of lymphatic mapping and sentinel lymph node biopsy in this series was 100 percent and the specificity was 97.3 percent. Therefore, we conclude that the use of lymphatic mapping and sentinel lymph node biopsy can accurately stage patients with melanoma of the lower extremity and provide a rational surgical approach for these patients.     

The CD20 homologue MS4A4 directs trafficking of KIT toward clathrin-independent endocytosis pathways and thus regulates receptor signaling and recycling

MS4A family members differentially regulate the cell cycle, and aberrant, or loss of, expression of MS4A family proteins has been observed in colon and lung cancer. However, the precise functions of MS4A family proteins and their mechanistic interactions remain unsolved. Here we report that MS4A4 facilitates trafficking of the receptor tyrosine kinase KIT through endocytic recycling rather than degradation pathways by a mechanism that involves recruitment of KIT to caveolin-1–enriched microdomains. Silencing of MS4A4 in human mast cells altered ligand-induced KIT endocytosis pathways and reduced receptor recycling to the cell surface, thus promoting KIT signaling in the endosomes while reducing that in the plasma membrane, as exemplified by Akt and PLCγ1 phosphorylation, respectively. The altered endocytic trafficking of KIT also resulted in an increase in SCF-induced mast cell proliferation and migration, which may reflect altered signaling in these cells. Our data reveal a novel function for MS4A family proteins in regulating trafficking and signaling, which could have implications in both proliferative and immunological diseases.     

Tight turns in stick insects

We investigated insects Carausius morosus walking whilst hanging upside down along a narrow 3 mm horizontal beam. At the end of the beam, the animal takes a 180° turn. This is a difficult situation because substrate area is small and moves relative to the body during the turn. We investigated how leg movements are organised during this turn. A non-contact of either front leg appears to indicate the end of the beam. However, a turn can only begin if the hind legs stand in an appropriate position relative to each other; the outer hind leg must not be placed posterior to the inner hind leg. When starting the turn, both front legs are lifted and usually held in a relatively stable position and then the inner middle leg performs a swing-and-search movement: The leg begins a swing, which is continued by a searching movement to the side and to the rear, and eventually grasps the beam. At the same time the body is turned usually being supported by the outer middle leg and both hind legs. Then front legs followed by the outer middle leg reach the beam. A scheme describing the turns based on a few simple behavioural elements is proposed.     

Controlling a system with redundant degrees of freedom. I. Torque distribution in still standing stick insects

The question is investigated as to how a stick insect solves the task of distributing its body weight onto its six legs, i.e., how are the torques coordinated that are produced by the 18 joints (3 per leg). Three-dimensional force measurements of ground reaction forces have been used to calculate the torques developed by each of the 18 joints. Torques were found to change considerably although the body and the legs of the animal did not move. This result implies a tight cooperation between the 18 joint controllers. Indeed, in each individual experiment, strong correlations could be observed between specific pairs of joints. However, in spite of thorough analysis, no general correlation rules between torques could be detected. The only common attribute found for all experiments was that high absolute torques observed at the beginning of the experiment tend to converge to some minimum over time. Thus, the insects tend to decrease the torques while standing still, but do not use fixed rules. Rather they appear to exploit their extra degrees of freedom and produce time courses that can strongly vary between experiments. Possible mechanisms underlying this behaviour are discussed in a companion paper [Lévy and Cruse (2008) Controlling a system with redundant degrees of freedom: ii. solution of the force distribution problem without a body model, submitted].     

The coordination of force oscillations and of leg movement in a walking insect (Carausius morosus)

As in the preceding paper stick insects walk on a treadwheel and different legs are put on platforms fixed relative to the insect's body. The movement of the walking legs is recorded in addition to the force oscillations of the standing legs. The coordination between the different legs depends upon the number and arrangement of the walking legs and the legs standing on platforms. In most experimental situations one finds a coordination which is different from that of a normal walking animal.Supported by DFG (Cr 58/1)     

Systemanalytische Untersuchung eines aufgeschnittenen Regelkreises,der die Beinstellung der Stabheuschrecke Carausius morosus kontrolliert: Kraftmessungen an den Antagonisten Flexor und Extensor tibiae

In the leg of the stick insect Carausius morosus there exists a feedback loop which controls the position of the femur-tibia joint (Bässler, 1965). This feedback mechanism is broken to investigate the open loop system. As output the forces of the two antagonistic muscles flexor tibiae and extensor tibiae are measured separately. As input the feedback transducer of the control mechanism, a chordotonal organ, is stimulated by different kinds of input functions: sine-, step-, delta-, rectangular-and ramp functions. As a qualitative result one can say, that both the flexor-system and the extensor-system have rectifying and high-pass filter properties. However, the comparison between responses to different input functions show that the quantitative properties of this high-pass filter change very strongly with the shape of the input function. Therefore the existence of different nonlinearities has to be assumed.

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Mit Unterstützung der Deutschen Forschungsgemeinschaft (Nr. Ba 578/1)

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Die Arbeit enthält einen Teil der Dissertation von J. Storrer