Gait‐specific metabolic costs and preferred speeds in ring‐tailed lemurs (Lemur catta), with implications for the scaling of locomotor costs

Metabolic costs of resting and locomotion have been used to gain novel insights into the behavioral ecology and evolution of a wide range of primates; however, most previous studies have not considered gait‐specific effects. Here, metabolic costs of ring‐tailed lemurs (Lemur catta) walking, cantering and galloping are used to test for gait‐specific effects and a potential correspondence between costs and preferred speeds. Metabolic costs, including the net cost of locomotion (COL) and net cost of transport (COT), change as a curvilinear function of walking speed and (at least provisionally) as a linear function of cantering and galloping speeds. The baseline quantity used to calculate net costs had a significant effect on the magnitude of speed‐specific estimates of COL and COT, especially for walking. This is because non‐locomotor metabolism constitutes a substantial fraction (41–61%, on average) of gross metabolic rate at slow speeds. The slope‐based estimate of the COT was 5.26 J kg^?1 m^?1 for all gaits and speeds, while the gait‐specific estimates differed between walking (0.5 m s^?1: 6.69 J kg^?1 m^?1) and cantering/galloping (2.0 m s^?1: 5.61 J kg^?1 m^?1). During laboratory‐based overground locomotion, ring‐tailed lemurs preferred to walk at ～0.5 m s^?1 and canter/gallop at ～2.0 m s^?1, with the preferred walking speed corresponding well to the COT minima. Compared with birds and other mammals, ring‐tailed lemurs are relatively economical in walking, cantering, and galloping. These results support the view that energetic optima are an important movement criterion for locomotion in ring‐tailed lemurs, and other terrestrial animals. Am J Phys Anthropol, 2012. © 2012 Wiley Periodicals, Inc.     

Control of a Quadruped Robot with Bionic Springy Legs in Trotting Gait

Legged robots have better performance on discontinuous terrain than that of wheeled robots. However, the dynamic trotting and balance control of a quadruped robot is still a challenging problem, especially when the robot has multi-joint legs. This paper presents a three-dimensional model of a quadruped robot which has 6 Degrees of Freedom （DOF） on torso and 5 DOF on each leg. On the basis of the Spring-Loaded Inverted Pendulum （SLIP） model, body control algorithm is discussed in the first place to figure out how legs work in 3D trotting. Then, motivated by the principle of joint function separation and introducing certain biological characteristics, two joint coordination approaches are developed to produce the trot and provide balance. The robot reaches the highest speed of 2.0 m.s-1, and keeps balance under 250 Kg.m.s-1 lateral disturbance in the simulations. The effectiveness of these approaches is also verified on a prototype robot which runs to 0.83 m.s-1 on the treadmill, The simulations and experiments show that legged robots have good biological properties, such as the ground reaction force, and spring-like leg behavior.     

Dynamic simulation and Doppler Ultrasonography validation of blood flow behavior in Abdominal Aortic Aneurysm

Criteria for rupture prediction of Abdominal Aortic Aneurysm (AAA) are based only on the diameter of AAA. This method does not consider complex hemodynamic forces exerted on AAA wall. The methodology used in our study combines Computer-Aided Design (CAD) with Computational Fluid Dynamics (CFD). Three-dimensional vascular structures reconstructions were based on Computed Tomography (CT) images and CAD. CFD theory was used for mathematical modeling and simulations. In this way, dynamic behavior of blood flow in bounded three-dimensional space was described. Doppler Ultrasonography (US) was used for model results validation. All simulations were based on medical investigation of 4 patients (male older than 65 years) with diagnosed AAA. Good correspondence between computed velocities in AAA and measured values with Doppler US (Patient 1 0.60 m·s⁻¹ versus 0.61 m·s⁻¹, Patient 2 0.80 m·s⁻¹ versus 0.80 m·s⁻¹, Patient 3 0.75 m·s⁻¹ versus 0.78 m·s⁻¹, Patient 4 0.50 m·s⁻¹ versus 0.49 m·s⁻¹) was noticed. The good agreement between measured and simulated velocities validates our methodology and the other data available from simulations (eg. von Misses stress) could be used to provide useful information about the possibility of AAA rupture.     

Effect of fatigue on hamstring coactivation during isokinetic knee extensions

We examined the effect of fatigue of the quadriceps muscles on coactivation of the hamstring muscles and determined if the response is different between two isokinetic speeds in ten males and ten females with no history of knee pathology. Electromyographic data were recorded from the vastus lateralis and biceps femoris muscles during 50 maximal knee extensions at isokinetic speeds of 1.75 rad · s⁻¹ (100° · s⁻¹) and 4.36 rad · s⁻¹ (250° · s⁻¹). A greater degree of coactivation was apparent at the higher speed, but the increase in coactivation of the hamstring muscles was similar at both speeds. The results revealed that: (1) coactivation is greater at a higher isokinetic speed, and (2) coactivation increases during fatigue, but the rate of increase is independent of contraction velocity. Accepted: 15 June 1998     

Unholey shoes: Experimental considerations when estimating ankle joint complex power during walking and running

For studies that aim to assess biological ankle function, calculating ankle joint complex (AJC) power between the calcaneus and shank is recommended over conventional inverse dynamics estimates between a rigid-body foot and shank. However, when designing a new experiment, it remains unclear whether holes should be cut in footwear to permit motion tracking via skin-mounted markers, or whether marker placement locations should be tightly controlled across conditions. Here we provide data to assist researchers in answering these questions. We performed a gait analysis study of walking (0.8, 1.2, 1.6 m·s⁻¹) and running (2.6, 2.8, 3.0 m·s⁻¹) while subjects (N = 10) wore custom-modified footwear, which allowed markers to be placed either on the shoe, or on the skin via cut-out windows in the shoes. First, we compared foot markers affixed to the skin vs. on the same locations on the shoe. Using statistical non-parametric mapping techniques, we discovered that skin vs. shoe markers had no statistically significant effect on net AJC power estimates throughout stance phase, for all walking and running speeds. Second, we compared calcaneal markers in the nominal shoe configuration vs. markers in a nearby location (∼27 mm below) on the shoe. We observed significant differences when marker placement on the shoe was varied, which may be relevant to repeated-measures study designs. The results suggest that when computing AJC power for walking and running, you may want to put down the scissors (i.e., forego cutting holes in your footwear), and instead pick up a Sharpie® (pen) or use a template, to maintain consistent marker placement across trials and conditions.     

Modulation of limb dynamics in the swing phase of locomotion

A method was presented for quantifying cat (Felis catus) hind limb dynamics during swing phase of locomotion using a two-link rigid body model of leg and paw, which highlighted the dynamic interactions between segments. Comprehensive determination was made of cat segment parameters necessary for dynamic analysis, and regression equations were formulated to predict the inertial parameters of any comparable cat. Modulations in muscle and non-muscle components of knee and ankle joint moments were examined at two treadmill speeds using three gaits: (a) pace-like walk and trot-like walk, at 1.0 ms-1, and (b) gallop, at 2.1 ms-1. Results showed that muscle and segment interactive moments significantly effected limb trajectories during swing. Some moment components were greater in galloping than in walking, but net joint maxima were not significantly different between speeds. Moment magnitudes typically were greater for pace-like walking than for trot-like walking at the same speed. Generally, across gaits, the net and muscle moments were in phase with the direction of distal joint motion, and these same moments were out of phase with proximal joint motion. Intersegmental dynamics were not modulated exclusively by speed of locomotion, but interactive moments were also influenced significantly by gait mode.     

Influence of normative data’s walking speed on the computation of conventional gait indices

The pathology’s impact on gait pattern may be overestimated by conventional gait indices (Gillette Gait Index – GGI, Gait Deviation Index – GDI, Gait Profile Score – GPS), since impairments’ consequences on kinematics may be amplified by a change in walking speed. The objectives of this study were to evaluate the influence of walking speed on the computation of gait indices and to propose a corrective method to cancel the effects of walking speed. Spatiotemporal parameters and kinematics of fifty-four asymptomatic participants (30 M/24 W, 37.9 ± 13.7 years, 72.8 ± 13.3 kg, 1.74 ± 0.10 m) were collected at four speed conditions (C₁:[0,0.4] m s⁻¹, C₂:[0.4,0.8] m s⁻¹, C₃:[0.8,1.2] m s⁻¹, C₄:spontaneous). Four values of each index were computed for each trial using successively the four conditions as normative data repository. Mean values over all participants were statistically compared (paired t-tests, 95% confidence level). Indices values computed with normative at equivalent walking speed were not statistically different from reference values. Meanwhile, deviations appeared when the walking speed discrepancy between conditions and normative increased. These drifts related to walking speed mismatch have been quantified and fitting functions proposed. A correction was applied to indices. GGI was efficiently adjusted while GDI and GPS remain different from their reference values for C₁ and C₂. Gait indices must be interpreted cautiously in function of the normative data repository’s walking speed used for computation. Furthermore, a coupled use of conventional and corrected gait indices could lead to a better comprehension of the contribution of impairments and walking speed on gait deviations and overall gait quality.     

A novel thermophilic β-mannanase with broad-range pH stability from Lichtheimia ramosa and its synergistic effect with α-galactosidase on hydrolyzing palm kernel meal

β-Mannanase is the key enzyme in the hydrolysis of mannan which has been widely applied in diverse industrial fields such as biobleaching pulps, food and feed industry, bioethanol and pharmaceutical applications. In this study, a novel GH5 family β-mannanase gene (LrMan5B) with 381 amino acid residues was identified from Lichtheimia ramosa, and highly expressed in Pichia pastoris X33. The amino acid sequence shares the highest identity (64%) with the β-mannanase from Rhizomucor miehei. Purified recombinant LrMan5B showed the optimal activity at pH 5.0 and 65 °C. It had broad-range pH stability (retaining >65% activity after incubation at pH 3.0–8.0 at 37 °C for 24 h) and was highly thermostable (retaining >80% activity after incubation at 60 °C for 30 min). LrMan5B displayed the highest catalytic efficiency for locust bean gum and the k_cat/K_m value was 1357.47 mL·mg⁻¹·s⁻¹, followed by guar gum (512.82 mL·mg⁻¹·s⁻¹), konjac glucomannan (454.21 mL·mg⁻¹·s⁻¹), and palm kernel meal (137.00 mL·mg⁻¹·s⁻¹). In order to evaluate the synergistic effect of LrMan5B and α-galactosidase LrAgal36A from L. ramosa, LrAgal36A was supplemented to hydrolyze palm kernel meal with LrMan5B together, showing that the reducing sugar release significantly increased by 21% (compared with the sum of that by hydrolysis of single Lrman5B or LrAgal36A). Due to its favorable enzymatic properties, LrMan5B might own potential applications in the area of food and feed processing.     

THE MECHANISM OF DAYLENGTH PERCEPTION IN THE RED ALGA ACROSYMPHYTON PURPURIFERUM1

The red alga Acrosymphyton purpuriferum (J. Ag.) Sjöst. (Dumontiaceae) is a short day plant in the formation of its tetrasporangia. Tetrasporogenesis was not inhibited by 1 h night-breaks when given at any time during the long (16 h) dark period (tested at 2 h intervals). However, tetrasporogenesis was inhibited when short (8 h) main photoperiods were extended beyond the critical daylength with supplementary light periods (8 h) at an irradiance below photosynthetic compensation. The threshold irradiance for inhibition of tetrasporogenesis was far lower when supplementary light periods preceded the main photoperiod than when they followed it (<0.05 μmol·m⁻²·s⁻¹ vs. 3 μmol·m⁻²·s⁻¹). The threshold level also depended on the irradiance given during the main photoperiod and was higher after a main photoperiod in bright light than after one in dim light (threshold at 3 μmol·m⁻²·s⁻¹ after a main photoperiod at ca. 65 μmol·m⁻²·s⁻¹ vs. threshold at <0.5 μmol·m⁻²·s⁻¹ after a main photoperiod at ca. 35 μmol·m⁻²·s⁻¹). The spectral dependence of the response was investigated in day-extensions (supplementary light period (8 h) after main photoperiod (8 h) at 48 μmol·m⁻²·s⁻¹) with narrow band coloured light. Blue light (λ= 420 nm) was most effective, with 50% inhibition at a quantum-dose of 2.3 mmol·m⁻². However, yellow (λ= 563 nm) and red light (λ= 600 nm; λ= 670 nm) also caused some inhibition, with ca. 30% of the effectiveness of blue light. Only far-red light (λ= 710 nm; λ= 730 nm) was relatively ineffective with no significant inhibition of tetrasporogenesis at quantum-doses of up to 20 mmol·m⁻².     

Gas exchange characteristics of Gulf of Mexico coastal marsh macrophytes

Gas exchange characteristics of three major Louisiana Mississippi River deltaic plain marsh species, Spartina patens (Ait.) Muhl., Spartina altemiflora Lois., and Panicum hemitomon Shult., was studied under controlled environment conditions. The optimum temperature for maximum photosynthesis was ≈ 36 °C for S. patens, 27 °C for S. alterniflora, and 28 °C for rP. hemitomon. Net photosynthesis rates at optimum temperature averaged 20.1 μmol · m^t-2 · s^t-1 in S. patens, 22.8 μmol · m⁻² · s⁻¹ in S. alterniflora, and 11.4 μmol · m⁻² · s⁻¹ in P. hemitomon. Photosynthetic light saturation occurred ≈720, 530, and 750 μmol · m⁻² · s⁻¹ in S. patens, S. alterniflora, and P. hemitomon, respectively. Only S. patens had a midday depression of stomatal conductance, but net photosynthesis was not reduced by the depression. Maximum stomatal conductances were 285 mmol · m⁻² · s⁻¹ in S. patens, 238 mmol · m⁻² · s⁻¹ in S. alterniflora, and 335 mmol · m⁻² · s⁻¹ in P. hemitomon. In contract, net photosynthesis values were lower in P. hemitomon compared with the Spartina species, indicating a greater degree of water use efficiency of photosynthesis for both Spartina species.     

Virtual Constraint Based Control of Bounding Gait of Quadruped Robots

This paper presents a control approach for bounding gait of quadruped robots by applying the concept of Virtual Constraints (VCs).A VC is a relative motion relation between two related joints imposed to the robots in terms of a specified gait,which can drive the robot to run with desired gait.To determine VCs for highly dynamic bounding gait,the limit cycle motions of the passive dynamic model of bounding gait are analyzed.The leg length and hip/shoulder angle trajectories corresponding to the limit cycles are parameterized by leg angles using 4 th-order polynomials.In order to track the calculated periodic motions,the polynomials are imposed on the robot as virtual motion constraints by a high-level state machine controller.A bounding speed feedback strategy is introduced to stabilize the robot running speed and enhance the stability.The control approach was applied to a newly designed lightweight bioinspired quadruped robot,AgiDog.The experimental results demonstrate that the robot can bound at a frequency up to 5 Hz and bound at a maximum speed of 1.2 m·s-1 in sagittal plane with a Froude number approximating to 1.     

Effect of age and speed on the step-to-step transition phase during walking

Gait is a powerful measurement tool to evaluate the functional decline throughout ageing. Falls in elderly adults happen mainly during the redirection of the center of mass of the body (CoM) in the transition between steps. In young adults, this step–to–step transition begins before the double contact phase (DC) with a simultaneous forward and upward acceleration of the CoM. We hypothesize that, compared to young adults, elderly adults would exhibit unbalanced contribution of the back leg and the front leg during the transition. We calculated the mean vertical push-off done by the back leg (F_BACK) and the mean impact force on the front leg (F_FRONT) during the transition. Eight young (mean ± SD; age: 24 ± 2 y) and 19 elderly (age: 74 ± 6 y) healthy adults walked on a force-measuring treadmill at five selected speeds ranging from 0.56 to 1.67 m·s⁻¹. Results show that, at mid and high speeds, elderly adults exhibit a smaller F_BACK compared to young adults, possibly linked to the decreased plantar flexion of the back foot. As a consequence, F_FRONT is significantly increased and the transition begins lately in the step, at the beginning of DC. Also, elderly adults show an inability to accelerate the CoM upward and forward simultaneously. Our findings show a different adaptation of the step–to–step transition with speed in elderly adults and identify two potential indicators of gait impairment with age: the F_FRONT/F_BACK contribution and the synchronization between the upward and forward acceleration of the CoM during the transition.     

Maximum velocity during loaded countermovement jumps obtained with an accelerometer,linear encoder and force platform: A comparison of technologies

The maximum velocity (Vmax) reached during countermovement jumps (CMJ) has been considered a performance indicator to evaluate vertical jump ability. The aim of this study was to compare Vmax during loaded CMJ (CMJloaded) using three different technologies to show a criterion for selecting the more appropriate depending on its use. Nine recreationally active men performed a CMJloaded test. Five jumps were made in each of 6 series with a 20- kg barbell + 0, + 5, + 10, + 15, + 20 and + 25 kg, with 2 seconds rest between the jumps and 5 minutes rest between the series to explore a wide range of speeds. Vmax was obtained from force platform, inertial device and linear encoder technologies. Bland-Altman plots and mean differences were used to compare devices. Reproducibility was tested using the intraclass correlation coefficient (ICC) for single measures and typical error (TE). All technologies showed high levels of reproducibility, ICC higher than 0.75 and TE lower than 10 %. There were non-significant differences in Vmax between each pair of technologies (linear encoder 2.11 ± 0.24 m·s^-1, accelerometer 2.11 ± 0.26 m·s^-1, force platform 2.12 ± 0.24 m·s^-1) reporting a very low bias. However the limits of agreement between the different technologies evaluated were high (± 0.33 m·s^-1). In conclusion, the accelerometer, linear encoder and force platform were suitably reliable to be used to measure Vmax during loaded vertical jumps but their values were not interchangeable.     

Open states in native polynucleotides. II. Hydrogen-exchange study of cytosine-containing double helices.

Hydrogen-exchange studies of I · C and G · C double helices were carried out to test the generality of conclusions reached previously in studies of adenine-containing polymers (preceding paper). The cytosine amino group shows hydrogen-exchange behavior similar to the analogous group in adenine; a pH-independent pathway and a parallel general catalysis pathway require prior separation of the base-pair and pre-equilibrium protonation at the ring N. The cytosine amino group does, however, display greater sensitivity to specific and to general catalysis than found for adenine. In the G · C helix, the ring NH proton of guanine exchanges at the opening-limited rate, as does the analogous proton in A · U and A · T pairs, while the guanine amino protons exchange without a prior opening of structure. From the observed exchange rates and the known chemistry for the pH-independent reaction, one can calculate equilibrium opening constants of 4 × 10⁻³ for poly(rI) · poly(rC) and perhaps one tenth of that for poly(rG) · poly(rC). Also the opening rate constant for the G · C helix is 0.01 s⁻¹.These results, when applied to published exchange curves for DNA, indicate an equilibrium opening constant of 0.005, an opening rate constant of 0.04 s⁻¹, and a closing rate constant of 10 s⁻¹. (All values refer to studies at 0 °C.) These values point to the same kind of traveling-loop model for base-pair opening discussed previously for the opening reactions in adenine-containing double helices.     

Electrokinetic properties of asparaginase sensitive or resistant mouse leukemic cells treated with L-asparaginase

The electrophoretic mobility of L5178Y cells in 0.0145 M NaCl, 4.5% sorbitol, 0.6 mM NaHCO₃, pH 7.2, at 25°C was — 1.78 μ·s^?1·V^?1·cm^?1 while that of an L-asparaginase resistant subline, L5178Y/ASN, was — 1.11 μm·s^?1·V^?1·cm^?1. Both cell lines were characterized by terminal sialic acid residues on their surfaces. Treatment of L5178Y cells for 90 min with 10 units of L-asparaginase per ml in saline decreased the electrophoretic mobility of the cells to — 1.65 μm·s^?1·V^?1·cm^?1 while treatment in Fischer's medium decreased the mobility to — 1.25 μm·s^?1·V^?1·cm^?1; neither treatment had a significant effect on the L5178Y/ASN electrophoretic mobility. The results suggest that L-asparaginase has an immediate and specific effect on synthesis of cell surface asparaginyl glycoproteins.     

Effect of hip joint angle on concentric knee extension torque

This study tested the hypothesis that the effect of hip joint angle on concentric knee extension torque depends on knee joint angle during a single knee extension task. Twelve men performed concentric knee extensions in fully extended and 80° flexed hip positions with maximal effort. The angular velocities were set at 30° s⁻¹ and 180° s⁻¹. The peak torque and torques attained at 30°, 50°, 70° and 90° (anatomical position = 0°) of the knee joint were compared between the two hip positions. Muscle activations of the vastus lateralis, medialis, rectus femoris and biceps femoris were determined using surface electromyography. The peak torque was significantly greater in the flexed than in the extended hip position irrespective of angular velocity. The torques at 70° and 90° of the knee joint at both angular velocities and at 50° at 180° s⁻¹ were significantly greater in the flexed than in the extended hip position, whereas corresponding differences were not found at 30° (at either angular velocity) and 50° (at 30° s⁻¹) of the knee joint. No effect of hip position on muscle activation was observed in any muscle. These results supported our hypothesis and may be related to the force–length and force–velocity characteristics of the rectus femoris.     

Effect of light intensity and eye development on prey capture by larval striped bass Morone saxatilis

The efficacy of visual and non-visual feeding among pelagic striped bass Morone saxatilis larvae adapted to a turbid estuary was determined in the laboratory in clear water. Capture of Artemia salina (density 100 l⁻¹) was significantly affected by the interaction between age of larvae (range: 8–25 days post-hatch, dph) and light intensity (range: 0–10·6 μmol s⁻¹ m⁻² at the water surface). Visual feeding by larvae aged 9–11 dph was highest in dim light (0·086–0·79 μmol s⁻¹ m⁻²), with fish capturing up to 5 prey larva⁻¹ h⁻¹. As the larvae grew, prey capture in brighter light improved, associated with an increasing proportion of twin cone photoreceptors and improving ability of the retina to light- and dark-adapt. By age >22 dph, mean prey capture was greatest at highest light intensities (0·79 and 10·6 μmol s⁻¹ m⁻²) exceeding 100 prey larva⁻¹ h⁻¹. Incidence of feeding larvae generally improved as the larvae grew, reaching >80% in all light intensities from 16 dph onwards. The lower threshold for visual feeding, between 0·0084 and 0·03 μmol s⁻¹ m⁻², remained constant as the larvae grew, despite an increasing density of rod photoreceptors. Below this threshold, non-visual feeding was evident at a low rate (<6 prey larva⁻¹ h⁻¹) that was independent of larval age.     

Effect of thermo-velocity barriers on fish: influence of water temperature,flow velocity and body size on the volitional swimming capacity of northern straight-mouth nase (Pseudochondrostoma duriense)

Water temperature and flow velocity directly affect the fish swimming capacity, and thus, both variables influence the fish passage through river barriers. Nonetheless, their effects are usually disregarded in fishway engineering and management. This study aims to evaluate the volitional swimming capacity of the northern straight-mouth nase (Pseudochondrostoma duriense), considering the possible effects of water temperature, flow velocity and body size. For this, the maximum distance, swim speed and fatigue time (FT) were studied in an outdoor open-channel flume in the Duero River (Burgos, Spain) against three nominal velocities (1.5, 2.5 and 3 m s⁻¹) and temperatures (5.5, 13.5 and 18.5°C), also including the changes between swimming modes (prolonged and sprint). Results showed that a nase of 20.8 cm mean fork length can develop a median swim speed that exceeds 20.7 BL s⁻¹ (4.31 m s⁻¹) during a median time of 3.4 s in sprint mode, or 12.2 BL s⁻¹ (2.55 m s⁻¹) for 23.7 s in prolonged mode under the warmest scenario. During prolonged swimming mode, fish were able to reach further distances in warmer water conditions for all situations, due to a greater swimming speed and FT, whereas during sprint mode, warmer conditions increased the swim speed maintaining the FT. In conclusion, the studied temperature range and flow velocity range influence fish swimming performance, endurance and distance travelled, although with some differences depending on the swimming mode. The provided information goes a step forward in the definition of real fish swimming capacities, and in turn, will contribute to establish clear passage criteria for thermo-velocity barriers, allowing the calculation of the proportion of fish able to pass a barrier under different working scenarios, as well designing of the optimized solutions to improve the fish passage through river barriers.