Design and analysis of biomimetic joints for morphing of micro air vehicles

Flight capability for micro air vehicles is rapidly maturing throughout the aviation community; however, mission capability has not yet matured at the same pace. Maintaining trim during a descent or in the presence of crosswinds remains challenging for fixed-wing aircraft but yet is routinely performed by birds. This paper presents an overview of designs that incorporate morphing to enhance their flight characteristics. In particular, a series of joints and structures is adopted from seagulls to alter either the dihedral or sweep of the wings and thus alter the flight characteristics. The resulting vehicles are able to trim with significantly increased angles of attack and sideslip compared to traditional fixed-wing vehicles.     

On mathematical modelling of insect flight dynamics in the context of micro air vehicles

We discuss some aspects of mathematical modelling relevant to the dynamics of insect flight in the context of insect-like flapping-wing micro air vehicles (MAVs). MAVs are small flying vehicles developed to reconno?tre in confined spaces. This requires power-efficient, highly-manoeuvrable, low-speed flight with stable hover. All of these attributes are present in insect flight and hence the focus on reproducing the functionality of insect flight by engineering means. Empirical research on insect flight dynamics is limited by experimental difficulties. Force and moment measurements require tethering the animal whose behaviour may then differ from free flight. The measurements are made when the insect actively tries to control its flight, so that its open-loop dynamics cannot be observed. Finally, investigation of the sensory-motor system responsible for flight is even more challenging. Despite these difficulties, much empirical progress has been made recently. Further progress, especially in the context of MAVs, can be achieved by the complementary information derived from appropriate mathematical modelling. The focus here is on a means of computing the data not easily available from experiments and also on making mathematical predictions to suggest new experiments. We consider two aspects of mathematical modelling for insect flight dynamics. The first one is theoretical (computational), as opposed to empirical, generation of the aerodynamic data required for the six-degrees-of-freedom equations of motion. For this purpose we first explain insect wing kinematics and the salient features of the corresponding flow. In this context, we show that aerodynamic modelling is a feasible option for certain flight regimes, focusing on a successful example of modelling hover. Such modelling progresses from the first principles of fluid mechanics, but relies on simplifications justified by the known flow phenomenology and/or geometric and kinematic symmetries. This is relevant to six types of fundamental manoeuvres, which we define as those flight conditions for which only one component of the translational and rotational body velocities is nonzero and constant. The second aspect of mathematical modelling for insect flight dynamics addressed here deals with the periodic character of the aerodynamic force and moment production. This leads to consideration of the types of solutions of nonlinear equations forced by nonlinear oscillations. In particular, the mechanism of synchronization seems relevant and should be investigated further.     

The switch helix: A putative combinatorial relay for interprotomer communication in cGMP-dependent protein kinase

For over three decades the isozymes of cGMP-dependent protein kinase (PKG) have been studied using an array of biochemical and biophysical techniques. When compared to its closest cousin, cAMP-dependent protein kinase (PKA), these studies revealed a set of identical domain types, yet containing distinct, sequence-specific features. The recently solved structure of the PKG regulatory domain showed the presence of the switch helix (SW), a novel motif that promotes the formation of a domain-swapped dimer in the asymmetric unit. This dimer is mediated by the interaction of a knob motif on the C-terminal locus of the SW, with a hydrophobic nest on the opposing protomer. This nest sits adjacent to the cGMP binding pocket of the B-site. Priming of this site by cGMP may influence the geometry of the hydrophobic nest. Moreover, this unique interaction may have wide implications for the architecture of the inactive and active forms of PKG. This article is part of a Special Issue entitled: Inhibitors of Protein Kinases (2012).     

Rumor has it...: relay communication of stress cues in plants

Recent evidence demonstrates that plants are able not only to perceive and adaptively respond to external information but also to anticipate forthcoming hazards and stresses. Here, we tested the hypothesis that unstressed plants are able to respond to stress cues emitted from their abiotically-stressed neighbors and in turn induce stress responses in additional unstressed plants located further away from the stressed plants. Pisum sativum plants were subjected to drought while neighboring rows of five unstressed plants on both sides, with which they could exchange different cue combinations. On one side, the stressed plant and its unstressed neighbors did not share their rooting volumes (UNSHARED) and thus were limited to shoot communication. On its other side, the stressed plant shared one of its rooting volumes with its nearest unstressed neighbor and all plants shared their rooting volumes with their immediate neighbors (SHARED), allowing both root and shoot communication. Fifteen minutes following drought induction, significant stomatal closure was observed in both the stressed plants and their nearest unstressed SHARED neighbors, and within one hour, all SHARED neighbors closed their stomata. Stomatal closure was not observed in the UNSHARED neighbors. The results demonstrate that unstressed plants are able to perceive and respond to stress cues emitted by the roots of their drought-stressed neighbors and, via 'relay cuing', elicit stress responses in further unstressed plants. Further work is underway to study the underlying mechanisms of this new mode of plant communication and its possible adaptive implications for the anticipation of forthcoming abiotic stresses by plants.     

Brief communication: Histology and micro CT as methods for assessment of facial suture patency

The extent of fusion in facial sutures has implications for topics ranging from biomechanics to phylogeny reconstruction. An unfortunate limitation of studying sutural fusion in skeletal specimens is that it is difficult to assess whether apparently patent sutures are in fact fused internally. Both histology and microcomputed tomography (CT) are potential tools for solving this, but relatively few studies have attempted to discern the limits of micro CT for visualization of microanatomical structures. We examined microanatomical aspects of facial sutures in adult cadaveric samples from captive bushbabies. Premaxillary and nasopremaxillary sutures were examined in serially sectioned snouts of four greater bushbabies (Otolemur garnettii) and four lesser bushbabies (Galago moholi). Sections containing sutures with osseous bridging were rated as “fused,” and the presence or absence of grooves on the external side was recorded. One bushbaby was studied using micro CT prior to physical sectioning. O. garnettii and two of the G. moholi show multiple foci of fusion. Histological examination confirmed that sutural fusion is limited to the internal surface in numerous sections, resulting in an external notch. Such points of internal fusion could be clearly visualized in raw CT slices. The presence of such notches suggests that external examination can underestimate the degree of suture fusion. Thus, microanatomical evidence may be needed to fully assess biomechanical correlates and phylogenetic interpretations based on fusion of facial sutures. Our results also indicate micro CT may be a useful tool to obtain this evidence. Am J Phys Anthropol 2009. © 2009 Wiley‐Liss, Inc.     

Vibrio vulnificus metalloprotease VvpE is essentially required for swarming

Bacterial swarming constitutes a good in vitro model for surface adherence and colonization, and is accompanied by expressions of virulence factors related to invasiveness. In this study, it was determined that Vibrio vulnificus swarming was abolished by mutation of the vvpE gene encoding a metalloprotease VvpE and this swarming defect was recovered by complementation of the vvpE gene. Expression of the vvpE gene began simultaneously with the beginning of swarming and increased along with expression of the luxS gene encoding the synthase of the precursor of quorum-sensing signal molecule autoinducer 2, and this increased vvpE expression was decreased by mutation of the luxS gene. Moreover, VvpE destroyed IgA and lactoferrins, which are responsible for mucosal immunity. These results suggest that VvpE may play important roles in the surface adherence and colonization of V. vulnificus by facilitating swarming and in the mucosal invasion of V. vulnificus by destroying IgA and lactoferrin.     

Thalamic relay functions and their role in corticocortical communication: generalizations from the visual system.

All neocortical areas receive thalamic inputs. Some thalamocortical pathways relay information from ascending pathways (first order thalamic relays) and others relay information from other cortical areas (higher order thalamic relays), thus serving a role in corticocortical communication. Most, possibly all, afferents reaching thalamus, ascending and cortical, are branches of axons that innervate lower (motor) centers, so that thalamocortical pathways can be viewed generally as monitors of ongoing motor instructions. In terms of numbers, the thalamic relay is dominated by synapses that modulate the relay functions. One of the roles of these modulatory pathways is to change the transfer of information through the thalamus, in accord with current attentional demands. Other roles remain to be explored. These modulatory functions can be expected to act on corticocortical communication in addition to their action on ascending pathways.     

ExpR is not required for swarming but promotes sliding in Sinorhizobium meliloti

Swarming is a mode of translocation dependent on flagellar activity that allows bacteria to move rapidly across surfaces. In several bacteria, swarming is a phenotype regulated by quorum sensing. It has been reported that the swarming ability of the soil bacterium Sinorhizobium meliloti Rm2011 requires a functional ExpR/Sin quorum-sensing system. However, our previous published results demonstrate that strains Rm1021 and Rm2011, both known to have a disrupted copy of expR, are able to swarm on semisolid minimal medium. In order to clarify these contradictory results, the role played by the LuxR-type regulator ExpR has been reexamined. Results obtained in this work revealed that S. meliloti can move over semisolid surfaces using at least two different types of motility. One type is flagellum-independent surface spreading or sliding, which is positively influenced by a functional expR gene mainly through the production of exopolysaccharide II (EPS II). To a lesser extent, EPS II-deficient strains can also slide on surfaces by a mechanism that is at least dependent on the siderophore rhizobactin 1021. The second type of surface translocation shown by S. meliloti is swarming, which is greatly dependent on flagella and rhizobactin 1021 but does not require ExpR. We have extended our study to demonstrate that the production of normal amounts of succinoglycan (EPS I) does not play a relevant role in surface translocation but that its overproduction facilitates both swarming and sliding motilities.     

The effect of bait air broadcasting by unmanned aerial vehicles on the ant community diversity

To explore the control effect of bait broadcasting by unmanned aerial vehicles (UAVs) on the imported fire ant Solenopsis invicta and evaluate its impact on biodiversity, we tested the drop flow rate and broadcasting evenness of fire ant baits with bait exit hatch sizes, as well as the dynamics of fire ants and other ants when different amounts of bait were used. The amount of bait applied per hectare was 6000–15,000 g in orchards. Fourteen days after broadcasting, the control effect of broadcasting 12,000 g and 15,000 g bait per hectare on active mounds and workers reached 90%, which was significantly higher than that achieved with 6000 g and 9000 g. After the application of bait, the number and species of other ants decreased and then increased; this was reflected in changes in the Shannon–Wiener index (H′), Pielou evenness index (E) and Simpson dominance index (C). The results of this study suggest that broadcasting bait by UAVs can achieve good control of S. invicta, and a reduction in native ant diversity can be achieved in the short term.     

Reproductive swarming of sympatric nereidid polychaetes in an estuary of the Omuta-gawa river in Kyushu, Japan, with special reference to simultaneous swarming of two Hediste species

Habitat differences and spatial and temporal separation in reproductive swarming among sympatric nereidid polychaetes were examined in an estuary of the Omuta-gawa River, Kyushu, Japan by annual periodical sampling from December 2003 to January 2005. Benthic adults of Tylorrhynchus osawai and Hediste diadroma occupied mainly the upper reaches of the estuary, whereas those of H. japonica usually inhabited the middle reaches, though their distributions overlapped. Reproductive swarming of mature adults occurred in the estuary just after high tide at night during spring tides in four nereidids: H. japonica (in the middle and lower reaches from late December to late February), H. diadroma (throughout the whole estuary from middle December to late April), T. osawai (in the middle reaches and another estuary from late October to late December), and Nectoneanthes oxypoda sensu Imajima, 1972 (in the lower reaches in late April and early May). This result shows that temporal separation of reproductive swarming may act as a reproductive isolation mechanism among these nereidids, except for H. japonica and H. diadroma. Simultaneous swarming and mass-spawning of the two Hediste species were commonly observed in the middle and lower reaches from late December to early February, suggesting the absence of a pre-spawning barrier to reproductive isolation between them. We found no difference in spawning behavior between H. japonica and H. diadroma. Males of both species seemed to participate in swarming earlier than females.     

Genetics of swarming motility in Salmonella enterica serovar typhimurium: critical role for lipopolysaccharide

Salmonella enterica serovar Typhimurium can differentiate into hyperflagellated swarmer cells on agar of an appropriate consistency (0.5 to 0.8%), allowing efficient colonization of the growth surface. Flagella are essential for this form of motility. In order to identify genes involved in swarming, we carried out extensive transposon mutagenesis of serovar Typhimurium, screening for those that had functional flagella yet were unable to swarm. A majority of these mutants were defective in lipopolysaccharide (LPS) synthesis, a large number were defective in chemotaxis, and some had defects in putative two-component signaling components. While the latter two classes were defective in swarmer cell differentiation, representative LPS mutants were not and could be rescued for swarming by external addition of a biosurfactant. A mutation in waaG (LPS core modification) secreted copious amounts of slime and showed a precocious swarming phenotype. We suggest that the O antigen improves surface "wettability" required for swarm colony expansion, that the LPS core could play a role in slime generation, and that multiple two-component systems cooperate to promote swarmer cell differentiation. The failure to identify specific swarming signals such as amino acids, pH changes, oxygen, iron starvation, increased viscosity, flagellar rotation, or autoinducers leads us to consider a model in which the external slime is itself both the signal and the milieu for swarming motility. The model explains the cell density dependence of the swarming phenomenon.     

Micelles as delivery vehicles for oligofluorene for bioimaging

With the successful development of organic/polymeric light emitting diodes, many organic and polymeric fluorophores with high quantum efficiencies and optical stability were synthesized. However, most of these materials which have excellent optical properties are insoluble in water, limiting their applications in biological fields. Herein, we used micelles formed from an amino-group-containing poly(ε-caprolactone)-block-poly(ethylene glycol) (PCL-b-PEG-NH₂) to incorporate a hydrophobic blue emitter oligofluorene (OF) to enable its application in biological conditions. Although OF is completely insoluble in water, it was successfully transferred into aqueous solutions with a good retention of its photophysical properties. OF exhibited a high quantum efficiency of 0.84 in a typical organic solvent of tetrahydrofuran (THF). In addition, OF also showed a good quantum efficiency of 0.46 after being encapsulated into micelles. Two cells lines, human glioblastoma (U87MG) and esophagus premalignant (CP-A), were used to study the cellular internalization of the OF incorporated micelles. Results showed that the hydrophobic OF was located in the cytoplasm, which was confirmed by co-staining the cells with nucleic acid specific SYTO 9, lysosome specific LysoTracker Red®, and mitochondria specific MitoTracker Red. MTT assay indicated non-toxicity of the OF-incorporated micelles. This study will broaden the application of hydrophobic functional organic compounds, oligomers, and polymers with good optical properties to enable their applications in biological research fields.     

Salmonella enterica serovar typhimurium swarming mutants with altered biofilm-forming abilities: surfactin inhibits biofilm formation

Swarming motility plays an important role in surface colonization by several flagellated bacteria. Swarmer cells are specially adapted to rapidly translocate over agar surfaces by virtue of their more numerous flagella, longer cell length, and encasement of slime. The external slime provides the milieu for motility and likely harbors swarming signals. We recently reported the isolation of swarming-defective transposon mutants of Salmonella enterica serovar Typhimurium, a large majority of which were defective in lipopolysaccharide (LPS) synthesis. Here, we have examined the biofilm-forming abilities of the swarming mutants using a microtiter plate assay. A whole spectrum of efficiencies were observed, with LPS mutants being generally more proficient than wild-type organisms in biofilm formation. Since we have postulated that O-antigen may serve a surfactant function during swarming, we tested the effect of the biosurfactant surfactin on biofilm formation. We report that surfactin inhibits biofilm formation of wild-type S. enterica grown either in polyvinyl chloride microtiter wells or in urethral catheters. Other bio- and chemical surfactants tested had similar effects.     

The wetting agent required for swarming in Salmonella enterica serovar typhimurium is not a surfactant

We compared the abilities of media from agar plates surrounding swarming and nonswarming cells of Salmonella enterica serovar Typhimurium to wet a nonpolar surface by measuring the contact angles of small drops. The swarming cells were wild type for chemotaxis, and the nonswarming cells were nonchemotactic mutants with motor biases that were counterclockwise (cheY) or clockwise (cheZ). The latter strains have been shown to be defective for swarming because the agar remains dry (Q. Wang, A. Suzuki, S. Mariconda, S. Porwollik, and R. M. Harshey, EMBO J. 24:2034-2042, 2005). We found no differences in the abilities of the media surrounding these cells, either wild type or mutant, to wet a low-energy surface (freshly prepared polydimethylsiloxane); although, their contact angles were smaller than that of the medium harvested from the underlying agar. So the agent that promotes wetness produced by wild-type cells is not a surfactant; it is an osmotic agent.